Patent ID: 7522983

Claim:
An integrated control system for vehicle control, comprising at least three subsystems, operating autonomously and in parallel, and dispensable of a hierarchical system for a level higher than the subsystem, the integrated control system comprising a sensing unit that senses and stores information relating to a vehicle state, wherein a first subsystem provides a basic control function, and comprises a first request unit that calculates a first control quantity based on at least part of the sensed information received from the sensing unit, a first arbitration unit that arbitrates the first control quantity received from the first request unit and at least a second control quantity received from a second arbitration unit of a second subsystem, and an output unit that controls an actuator of the vehicle based on the arbitration result of the first arbitration unit, wherein the second subsystem provides a stabilization control function, and comprises a second request unit that calculates a third control quantity based on at least part of the sensed information received from the sensing unit, and the second arbitration unit that arbitrates the third control quantity and a fourth control quantity received from a third arbitration unit of a third subsystem of the subsystems in order to output the second control quantity to the first arbitration unit of the first subsystem, wherein the third subsystem provides a driving support function, and comprises a third request unit that calculates a fifth control quantity based on at least part of the sensed information received from the sensing unit, and the third arbitration unit that arbitrates the fifth control quantity received from the fifth request unit in order to output the fourth control quantity to the second arbitration unit of the second subsystem.