Information processing device, non-transitory storage medium, and information processing method

An information processing method includes receiving shift requests to control a shift range of a vehicle from a plurality of application software products configured to implement driver assistance functions of the vehicle, arbitrating the shift requests by using, as a condition, whether each of the received shift requests is a request in a traveling range or a request in a parking range, when the traveling range is the shift range in which a driving wheel of the vehicle is rotatable and the parking range is the shift range in which the driving wheel is not rotatable, and generating an instruction value for an action request to drive an actuator based on a result of arbitration.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No. 2023-033619 filed on Mar. 6, 2023, incorporated herein by reference in its entirety.

BACKGROUND

1. Technical Field

The present disclosure relates to an information processing device, a non-transitory storage medium, and an information processing method.

2. Description of Related Art

An information processing device of Japanese Unexamined Patent Application Publication No. 2020-032894 (JP 2020-032894 A) receives motion requests from a plurality of application software products that implements driver assistance functions of a vehicle. The information processing device arbitrates the received motion requests. The information processing device generates an instruction value for an action request to drive an actuator based on an arbitration result.

SUMMARY

The information processing device as disclosed in JP 2020-032894 A receives, from each application software product, a shift request to control a shift range of the vehicle as one of the motion requests associated with the application software product. When arbitrating a plurality of shift requests, the information processing device of JP 2020-032894 A selects, as the arbitration result, a shift request received first from among those that are still being received. Therefore, the information processing device of JP 2020-032894 A has a possibility that, when a plurality of shift requests is received, for example, a shift request received later is not fulfilled even if the shift request received later should be fulfilled.

A first aspect of the present disclosure relates to an information processing device. The information processing device includes a processor. The processor is configured to receive shift requests to control a shift range of a vehicle from a plurality of application software products configured to implement driver assistance functions of the vehicle, arbitrate the shift requests by using, as a condition, whether each of the received shift requests is a request in a traveling range or a request in a parking range, when the traveling range is the shift range in which a driving wheel of the vehicle is rotatable and the parking range is the shift range in which the driving wheel is not rotatable, and generate an instruction value for an action request to drive an actuator based on a result of arbitration.

In the first aspect, the processor may be configured to receive priority levels in association with the shift requests when receiving the shift requests. The priority levels may be determined individually for the application software products that are sources of the shift requests. The processor may be configured to arbitrate the shift requests by using, as a condition, the priority levels associated with the received shift requests, and whether each of the received shift requests is the request in the traveling range or the request in the parking range.

In the first aspect, the processor may be configured to, when the priority level associated with the received request in the traveling range and the priority level associated with the received request in the parking range are the same, select the request in the parking range as a result of arbitration of the shift requests when the priority level associated with the received request in the traveling range and the priority level associated with the received request in the parking range are the same.

In the first aspect, the processor may be configured to determine, as a representative of the request in the traveling range, a request in the traveling range that is received first among requests in the traveling range that are received continuously. The processor may be configured to arbitrate the shift requests by using, as a candidate, the request in the traveling range that is determined as the representative.

A second aspect of the present disclosure relates to a non-transitory storage medium storing instructions that are executable by one or more processors of an information processing device and that cause the one or more processors to perform functions. The functions include receiving shift requests to control a shift range of a vehicle from a plurality of application software products configured to implement driver assistance functions of the vehicle, arbitrating the shift requests by using, as a condition, whether each of the received shift requests is a request in a traveling range or a request in a parking range, when the traveling range is the shift range in which a driving wheel of the vehicle is rotatable and the parking range is the shift range in which the driving wheel is not rotatable, and generating an instruction value for an action request to drive an actuator based on a result of arbitration.

A third aspect of the present disclosure relates to an information processing method to be executed by an information processing device. The information processing method includes receiving shift requests to control a shift range of a vehicle from a plurality of application software products configured to implement driver assistance functions of the vehicle, arbitrating the shift requests by using, as a condition, whether each of the received shift requests is a request in a traveling range or a request in a parking range, when the traveling range is the shift range in which a driving wheel of the vehicle is rotatable and the parking range is the shift range in which the driving wheel is not rotatable, and generating an instruction value for an action request to drive an actuator based on a result of arbitration.

According to the first aspect, the second aspect, and the third aspect of the present disclosure, the shift requests are arbitrated in consideration of whether the received shift request is the request in the traveling range or the request in the parking range. Therefore, for example, when the request in the traveling range is received first as the shift request and the request in the parking range is received as the shift request afterward, the parking range may be selected by the arbitration. With the above configuration, it is possible to fulfill the shift request having priority when a plurality of shift requests is received.

DETAILED DESCRIPTION OF EMBODIMENTS

Schematic Configuration of Vehicle

An embodiment of the present disclosure will be described below with reference toFIGS.1to4. First, a schematic configuration of a vehicle100will be described.

As shown inFIG.1, the vehicle100includes an engine70, a transmission80, and a brake device90. The engine70is a drive source for the vehicle100. Therefore, the engine70can apply a driving force to driving wheels of the vehicle100via the transmission80. The engine70includes a throttle valve, fuel injection valves, ignition devices, and the like (not shown).

Examples of the transmission80include a stepped automatic transmission including a plurality of clutches, a plurality of friction engagement elements, and a plurality of planetary gear mechanisms. The shift range of the transmission80can be changed by operating the clutches and the friction engagement elements (not shown). The shift range of the transmission80includes “parking”, “neutral”, “drive”, and “reverse”.

The brake device90generates a braking force for the vehicle100. The brake device90is a so-called mechanical brake device that mechanically brakes the driving wheels of the vehicle100. Examples of the brake device90include a disc brake.

As shown inFIG.1, the vehicle100includes a central electronic control unit (ECU)10, an engine ECU20, a transmission ECU30, a brake ECU40, and an advanced driver assistance ECU50. The vehicle100also includes a first external bus61, a second external bus62, a third external bus63, and a fourth external bus64.

The central ECU10centrally controls the vehicle100as a whole. The central ECU10includes a central processing unit (CPU)11and a storage device12. The storage device12prestores various programs and various types of data. The storage device12includes a read only memory (ROM), a random access memory (RAM), and a storage. The CPU11implements various processes by executing the programs stored in the storage device12.

The engine ECU20is connected to the central ECU10via the first external bus61. Therefore, the engine ECU20can communicate with the central ECU10. The engine ECU20controls the engine70by outputting a control signal to the engine70. The engine ECU20includes a CPU21and a storage device22. The storage device22prestores various programs and various types of data. The storage device22prestores an engine application23A as one of the various programs. The engine application23A is application software for controlling the engine70. The storage device22includes a ROM, a RAM, and a storage. The CPU21implements a function as an engine control unit23described later by executing the engine application23A stored in the storage device22.

The transmission ECU30is connected to the central ECU10via the second external bus62. Therefore, the transmission ECU30can communicate with the central ECU10. The transmission ECU30controls the transmission80by outputting a control signal to the transmission80. The transmission ECU30includes a CPU31and a storage device32. The storage device32prestores various programs and various types of data. The storage device32prestores a transmission application33A as one of the various programs. The transmission application33A is application software for controlling the transmission80. The storage device32includes a ROM, a RAM, and a storage. The CPU31implements a function as a transmission control unit33described later by executing the transmission application33A stored in the storage device32.

The brake ECU40is connected to the central ECU10via the third external bus63. Therefore, the brake ECU40can communicate with the central ECU10. The brake ECU40controls the brake device90by outputting a control signal to the brake device90. The brake ECU40includes a CPU41and a storage device42. The storage device42prestores various programs and various types of data. The storage device42prestores a brake application43A as one of the various programs. The brake application43A is application software for controlling the brake device90. The storage device42further prestores a motion manager application45A as one of the various programs. The motion manager application45A is application software for arbitrating a plurality of motion requests. The storage device42includes a ROM, a RAM, and a storage. The CPU41implements a function as a brake control unit43described later by executing the brake application43A stored in the storage device42. The CPU41implements a function as a motion manager45described later by executing the motion manager application45A stored in the storage device42. In the present embodiment, the brake ECU40is an example of an information processing device. The motion manager application45A is an example of an information processing program. A series of methods implemented by the brake ECU40executing the motion manager application45A is an example of an information processing method.

The advanced driver assistance ECU50is connected to the central ECU10via the fourth external bus64. Therefore, the advanced driver assistance ECU50can communicate with the central ECU10. The advanced driver assistance ECU50executes various types of driver assistance. The advanced driver assistance ECU50includes a CPU51and a storage device52. The storage device52prestores various programs and various types of data. The various programs include a first assistance application56A, a second assistance application57A, and a third assistance application58A. Examples of the first assistance application56A include application software for collision damage reduction braking, that is, so-called autonomous emergency braking (AEB) that automatically applies braking in order to reduce damage of a collision to the vehicle100. Examples of the second assistance application57A include application software for so-called lane keeping assist (LKA) that keeps a lane where the vehicle100is traveling. Examples of the third assistance application58A include application software for so-called adaptive cruise control (ACC) that allows the vehicle100to follow a preceding vehicle traveling ahead of the vehicle100while keeping a constant inter-vehicle distance. In the present embodiment, the first assistance application56A, the second assistance application57A, and the third assistance application58A are each application software for implementing driver assistance functions of the vehicle100. The storage device52includes a ROM, a RAM, and a storage. The CPU51implements a function as a first assistance unit56described later by executing the first assistance application56A stored in the storage device52. The CPU51implements a function as a second assistance unit57described later by executing the second assistance application57A stored in the storage device52. The CPU51implements a function as a third assistance unit58described later by executing the third assistance application58A stored in the storage device52.

Basic Configuration Related to Motion Manager

Next, a basic configuration related to the motion manager45will be described with reference toFIG.2. As illustrated inFIG.2, the motion manager45can communicate with the first assistance unit56, the second assistance unit57, and the third assistance unit58. The motion manager45can communicate with the engine control unit23, the transmission control unit33, and the brake control unit43.

The first assistance unit56, the second assistance unit57, and the third assistance unit58output motion requests to the motion manager45when executing various types of control. At this time, the first assistance unit56, the second assistance unit57, and the third assistance unit58continue to output the motion requests, for example, from the time when the various types of control become necessary to the time when such control is not needed any more. The motion request includes, for example, an acceleration request value for controlling a longitudinal acceleration of the vehicle100, and a shift request SR that is a request value for controlling the shift range of the transmission80in the vehicle100.

As shown inFIG.2, the motion manager45includes a reception unit46, an arbitration unit47, and a generation unit48. The reception unit46of the motion manager45receives the motion requests from the first assistance unit56, the second assistance unit57, and the third assistance unit58. Therefore, the reception unit46of the motion manager45may receive a plurality of motion requests simultaneously. In the present embodiment, the reception of the motion requests from the first assistance unit56, the second assistance unit57, and the third assistance unit58corresponds to reception of motion requests from the application software products that implement the driver assistance functions of the vehicle100. The arbitration unit47of the motion manager45arbitrates the received motion requests. The generation unit48of the motion manager45generates instruction values for action requests to control various actuators based on an arbitration result. The various actuators include the engine70, the transmission80, the brake device90, and the like. When controlling, for example, the engine70, the motion manager45outputs an instruction value for an action request to the engine control unit23. The engine control unit23outputs a control signal to the engine70based on the instruction value for the action request. When controlling, for example, the transmission80, the motion manager45outputs an instruction value for an action request to the transmission control unit33. The transmission control unit33outputs a control signal to the transmission80based on the instruction value for the action request. When controlling, for example, the brake device90, the motion manager45outputs an instruction value for an action request to the brake control unit43. The brake control unit43outputs a control signal to the brake device90based on the instruction value for the action request.

Shift Arbitration Control

Next, shift arbitration control to be executed by the motion manager45will be described with reference toFIGS.3and4. The motion manager45repeats the shift arbitration control in each predetermined control cycle.

When the shift arbitration control is started, as shown inFIG.3, the motion manager45executes a process of step S11. In step S11, the reception unit46of the motion manager45executes a reception process. Specifically, as shown inFIG.4, the reception unit46receives shift requests SR from the first assistance unit56, the second assistance unit57, and the third assistance unit58. At this time, the reception unit46may simultaneously receive a plurality of shift requests SR. When receiving the shift requests SR, the reception unit46receives priority levels SL from the first assistance unit56, the second assistance unit57, and the third assistance unit58in association with the shift requests SR. The priority levels SL are predetermined individually for the first assistance unit56, the second assistance unit57, and the third assistance unit58that are the sources of the shift requests SR. In other words, the priority levels SL are predetermined individually for the application software products that are the sources of the shift requests SR and implement the driver assistance functions of the vehicle100. In the present embodiment, the priority levels SL are, for example, determined as follows. First, any one of the first assistance unit56, the second assistance unit57, and the third assistance unit58with higher reliability in terms of design is identified in consideration of the reliabilities of sensors and data used by the first assistance unit56, the second assistance unit57, and the third assistance unit58to output the motion requests. For example, the third assistance unit58, the second assistance unit57, and the first assistance unit56are identified in descending order of reliability. In this case, the priority levels SL associated with the first assistance application56A, the second assistance application57A, and the third assistance application58A can be determined as “1”, “2”, and “3” in the order of the first assistance application56A, the second assistance application57A, and the third assistance application58A. That is, in the present embodiment, the reliability increases as the numerical value indicating the priority level SL increases. When no shift request SR is received by the reception unit46at the time of the process of step S11, the reception unit46repeats the process of step S11. When one or more shift requests SR are received by the reception unit46at the time of the process of step S11, the reception unit46advances the process to step S12as shown inFIG.3.

As shown inFIG.3, the reception unit46of the motion manager45executes a request categorization process in step S12. Specifically, the reception unit46categorizes each of the shift requests SR received in step S11into a traveling range request SA that is a request in a traveling range or a parking range request SB that is a request in a parking range. The traveling range includes “neutral”, “drive”, and “reverse” among the shift ranges that can be implemented by the transmission80. In other words, the traveling range is a shift range in which the driving wheels of the vehicle100can rotate. The parking range is “parking” among the shift ranges that can be implemented by the transmission80. In other words, the parking range is a shift range in which the driving wheels of the vehicle100cannot rotate. For example, when the reception unit46categorizes the shift request SR as the traveling range request SA, the reception unit46outputs the shift request SR to the arbitration unit47together with a categorization result as indicated by a dashed arrow inFIG.4. Further, the reception unit46outputs the priority level SL to the arbitration unit47in association with the shift request SR. For example, when the reception unit46categorizes the shift request SR as the parking range request SB, the reception unit46outputs the shift request SR to the arbitration unit47together with a categorization result as indicated by a long dashed short dashed arrow inFIG.4. Further, the reception unit46outputs the priority level SL to the arbitration unit47in association with the shift request SR. As shown inFIG.3, the reception unit46advances the process to step S13after step S12.

As shown inFIG.3, the arbitration unit47of the motion manager45executes a first arbitration process in step S13. Specifically, as indicated by dashed arrows inFIG.4, the arbitration unit47extracts only the shift requests SR that are continuously received by the reception unit46and categorized as the traveling range requests SA. The arbitration unit47determines the traveling range request SA received first among the extracted traveling range requests SA as a representative traveling range request SA. Similarly, as indicated by long dashed short dashed arrows inFIG.4, the arbitration unit47extracts only the shift requests SR that are continuously received by the reception unit46and categorized as the parking range requests SB. The arbitration unit47determines the parking range request SB received first among the extracted parking range requests SB as a representative parking range request SB. Therefore, in the first arbitration process of step S13, the arbitration unit47may determine both the representative traveling range request SA and the representative parking range request SB. As shown inFIG.3, the arbitration unit47advances the process to step S14after step S13.

As shown inFIG.3, the arbitration unit47of the motion manager45executes a second arbitration process in step S14. In the second arbitration process, the arbitration unit47executes arbitration using, as candidates, the traveling range request SA determined as the representative in the process of step S13and the parking range request SB determined as the representative in the process of step S13. At this time, the arbitration unit47uses, as conditions, the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives, and whether the shift request SR is the traveling range request SA or the parking range request SB.

Specifically, when there is a traveling range request SA determined as a representative but there is no parking range request SB determined as a representative in the first arbitration process of step S13, the arbitration unit47selects the traveling range request SA as a result of arbitration of the shift requests SR. When there is no candidate for the traveling range request SA determined as a representative but there is a parking range request SB determined as a representative in the first arbitration process of step S13, the arbitration unit47selects the parking range request SB as a result of arbitration of the shift requests SR. When only one of the representative traveling range request SA and the representative parking range request SB is present in this way, the arbitration unit47selects the present shift request SR regardless of the priority level SL.

It is assumed that both the traveling range request SA determined as a representative and the parking range request SB determined as a representative are present in the first arbitration process of step S13. When the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives are different from each other, the arbitration unit47selects the shift request SR having a higher priority level SL as a result of arbitration of the shift requests SR. It is assumed that both the traveling range request SA determined as a representative and the parking range request SB determined as a representative are present. When the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives are the same, the arbitration unit47selects the parking range request SB as a result of arbitration of the shift requests SR. Then, the arbitration unit47outputs the arbitration result to the generation unit48as indicated by a continuous arrow inFIG.4. As shown inFIG.3, the arbitration unit47advances the process to step S15after step S14.

As shown inFIG.3, the generation unit48of the motion manager45executes a generation process in step S15. Specifically, the generation unit48generates an instruction value for an action request to control the transmission80based on the arbitration result in the process of step S14. As indicated by a continuous arrow inFIG.4, the motion manager45outputs the instruction value for the action request to the transmission control unit33. As shown inFIG.3, the generation unit48terminates the current shift arbitration control after step S15. Then, the generation unit48advances the process to step S11again.

Operations of Embodiment

It is assumed that the reception unit46of the motion manager45receives a traveling range request SA as the shift request SR from the second assistance unit57among the first assistance unit56, the second assistance unit57, and the third assistance unit58at a first timing serving as a certain timing onward. In this case, the arbitration unit47of the motion manager45selects the traveling range request SA as a result of arbitration of the shift requests SR at the first timing. Then, the generation unit48of the motion manager45generates an instruction value for an action request to control the transmission80based on the traveling range request SA that is the arbitration result.

It is assumed that, at a second timing after the first timing, the reception unit46of the motion manager45continues to receive the traveling range request SA as the shift request SR from the second assistance unit57and receives a parking range request SB as the shift request SR from the third assistance unit58. In this case, the arbitration unit47of the motion manager45determines the traveling range request SA received from the second assistance unit57as a representative traveling range request SA at the second timing. The arbitration unit47of the motion manager45determines the parking range request SB received from the third assistance unit58as a representative parking range request SB. The arbitration unit47of the motion manager45selects, as a result of arbitration of the shift requests SR, one of the traveling range request SA determined as the representative and the parking range request SB determined as the representative. Specifically, the shift requests SR are arbitrated by using, as conditions, the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives, and whether the shift request SR is the traveling range request SA or the parking range request SB. For example, it is assumed that the priority level SL associated with the traveling range request SA determined as the representative from the second assistance unit57is “2” and the priority level SL associated with the parking range request SB determined as the representative from the third assistance unit58is “3”. In this case, the arbitration unit47of the motion manager45selects the parking range request SB received from the third assistance unit58and having the higher priority level SL as the result of arbitration of the shift requests SR. Then, the generation unit48of the motion manager45generates an instruction value for an action request to control the transmission80based on the parking range request SB that is the arbitration result.

Effects of Embodiment

In the present embodiment described above, for example, when the traveling range request SA is received first as the shift request SR and the parking range request SB is received as the shift request SR afterward, the parking range request SB may be selected as an arbitration result. Therefore, in the present embodiment, it is possible to fulfill the shift request SR having priority when a plurality of shift requests SR is received.

For example, the reliabilities of the motion requests of the first assistance unit56, the second assistance unit57, and the third assistance unit58change depending on the reliabilities of the sensors and data used by the first assistance unit56, the second assistance unit57, and the third assistance unit58to output the motion requests. When the motion request having a higher reliability is fulfilled, there is a stronger possibility of motion desirable for the vehicle100. Therefore, it may be desirable to arbitrate the shift requests SR received by the reception unit46from the first assistance unit56, the second assistance unit57, and the third assistance unit58in order of priority associated with the reliability of the motion request.

In this regard, when receiving the shift requests SR, the reception unit46receives the priority levels SL from the first assistance unit56, the second assistance unit57, and the third assistance unit58in association with the shift requests SR. The arbitration unit47arbitrates the shift requests SR by using, as conditions, the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives. Thus, the shift requests SR are arbitrated in consideration of the priority levels SL of the first assistance unit56, the second assistance unit57, and the third assistance unit58. As a result, it is possible to increase the possibility of selection of an appropriate shift request SR as the arbitration result depending on the status of the vehicle100compared to, for example, a case where the shift requests SR are arbitrated by simply using, as a condition, whether the shift request SR is the traveling range request SA or the parking range request SB.

In the present embodiment, when the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives are the same, the arbitration unit47selects the parking range request SB as a result of arbitration of the shift requests SR. In general, the vehicle100is safer in a situation where the vehicle100is parked than in a situation where the vehicle100is traveling. According to the present embodiment, when the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives are the same, the parking range request SB with higher safety for the vehicle100can be selected as the arbitration result.

It is assumed that the reception unit46of the motion manager45receives a traveling range request SA as the shift request SR from the second assistance unit57among the first assistance unit56, the second assistance unit57, and the third assistance unit58at a third timing serving as a certain timing onward. It is assumed that, at a fourth timing after the third timing, the reception unit46of the motion manager45continues to receive the traveling range request SA as the shift request SR from the second assistance unit57and receives a traveling range request SA as the shift request SR from the third assistance unit58. The traveling range includes “neutral”, “drive”, and “reverse” among the shift ranges that can be implemented by the transmission80. Therefore, if the traveling range request SA received from the third assistance unit58at the fourth timing is determined as a representative traveling range request SA, the actual shift range of the transmission80may change.

In this regard, in the present embodiment, the arbitration unit47determines, as the representative traveling range request SA, the traveling range request SA received first among the traveling range requests SA that are continuously received by the reception unit46. Therefore, even in the situation where the reception unit46receives a plurality of traveling range requests SA at the fourth timing, priority is given to the traveling range request SA received first from the second assistance unit57. Thus, at the fourth timing, the traveling range request SA made before the fourth timing is continued. Accordingly, it is possible to suppress unnecessary change of the actual shift range of the transmission80.

MODIFICATIONS

The present embodiment can be modified as follows. The present embodiment and the following modifications may be combined as long as no technical contradiction arises.

In the above embodiment, the shift arbitration control may be changed. For example, in step S13, the arbitration unit47need not determine, as the representative traveling range request SA, the traveling range request SA received first among the traveling range requests SA that are continuously received by the reception unit46. As a specific example, in step S13, the arbitration unit47of the motion manager45may determine the representative traveling range request SA among the traveling range requests SA that are continuously received by the reception unit46based on the priority levels SL associated with the traveling range requests SA. For example, it is assumed that the reception unit46of the motion manager45continues to receive the traveling range request SA as the shift request SR from the second assistance unit57and receives a traveling range request SA as the shift request SR from the third assistance unit58afterward. It is assumed that the priority level SL associated with the traveling range request SA from the second assistance unit57is “2” and the priority level SL associated with the traveling range request SA from the third assistance unit58is “3”. In this case, the arbitration unit47of the motion manager45may determine, as the representative traveling range request SA, the traveling range request SA received from the third assistance unit58and having the higher priority level SL among the traveling range requests SA that are continuously received by the reception unit46.

Similarly to the above, in the first arbitration process of step S13, the arbitration unit47need not determine, as the representative parking range request SB, the parking range request SB received first among the parking range requests SB that are continuously received by the reception unit46. As a specific example, in step S13, the arbitration unit47of the motion manager45may determine the representative parking range request SB among the parking range requests SB that are continuously received by the reception unit46based on the priority levels SL associated with the parking range requests SB.

For example, in step S14, when the priority levels SL associated with the traveling range request SA and the parking range request SB determined as the representatives are the same, the arbitration unit47may select the traveling range request SA as a result of arbitration of the shift requests SR.

For example, in step S14, the arbitration unit47may arbitrate the shift requests SR regardless of the priority levels SL. As a specific example, it is assumed in step S14that both the traveling range request SA and the parking range request SB determined as the representatives in the process of step S13are present. In this case, the arbitration unit47may select a predetermined one of the shift requests SR as the result of arbitration of the shift requests SR regardless of the priority levels SL. In this configuration, it is preferable that the arbitration unit47select the parking range request SB as the result of arbitration of the shift requests SR. In this configuration, when receiving the shift requests SR in step S11, the reception unit46need not receive the priority levels SL associated with the shift requests SR from the first assistance unit56, the second assistance unit57, and the third assistance unit58.

In the above embodiment, the configuration of the vehicle100may be changed. For example, the configuration related to the priority levels SL may be changed. As a specific example, the values of the priority levels SL may be set regardless of the reliabilities of the sensors and data used by the first assistance unit56, the second assistance unit57, and the third assistance unit58to output the motion requests.

For example, the storage device52of the advanced driver assistance ECU50may store application software products that implement driver assistance functions of two, four, or more vehicles100. In this configuration, the reception unit46may receive two, four, or more shift requests SR.

For example, the information processing device may be a component other than the brake ECU40. As a specific example, the CPU11of the central ECU10instead of the brake ECU40may implement the function of the motion manager45by executing the motion manager application45A stored in the storage device12. In this case, the central ECU10serves as the information processing device. That is, the central ECU10, the engine ECU20, the transmission ECU30, the brake ECU40, and the advanced driver assistance ECU50may function as the information processing device.