Patent ID: 11884260
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle control device comprising:
an arbitration unit configured to:
acquire steering angles and yaw rates serving as control commands from a plurality of driving support applications that respectively implements driving support functions, wherein
each of the plurality of driving support applications is respectively executed by an execution unit that is implemented by an electronic control unit;
arbitrate the steering angles and yaw rates serving as the control commands by selecting a control command from the steering angles and the yaw rates acquired, based on a predetermined selection criterion;
derive a lateral momentum based on a result of arbitrating the steering angles and the yaw rates;
output instructions based on the derived lateral momentum to a first control unit configured to control a steering actuator and a second control unit configured to control at least one of a brake actuator or a drive actuator;
output an instruction based on at least a steering angle serving as a control command after arbitration to the first control unit in a case where the control command after arbitration is able to be realized only by controlling the steering actuator; and
output an instruction based on at least a yaw rate serving as the control command after arbitration to the second control unit in a case where the control command after arbitration is not able to be realized only by controlling the steering actuator,
wherein the case where the control command after arbitration is not able to be realized only by controlling the steering actuator is a case where the steering angle serving as the control command after arbitration deviates, by a predetermined value or more, from an actual steering angle of the steering actuator that has operated in accordance with the instruction based on the steering angle.