Patent ID: 8332118

Claim:
A control request arbitration apparatus, disposed in a vehicle equipped with an acceleration control apparatus for controlling acceleration of the vehicle by variation of an acceleration control quantity, and equipped with a plurality of control request apparatuses variously generating position control requests expressing respective requested vehicle position values, speed control requests expressing respective requested vehicle speed values and acceleration control requests expressing respective requested vehicle acceleration values; wherein the control request arbitration apparatus comprises: a position control request section configured for receiving a plurality of the position control requests and for selecting one of the received position control requests in accordance with predetermined criteria; a position control request conversion section configured for converting the selected position control request to a first converted control request, the first converted control request being determined as one of a speed control request and an acceleration control request in accordance with a destination thereof; a speed control request arbitration section configured for receiving a plurality of speed control requests and for selecting one of the received speed control requests in accordance with predetermined criteria, a speed control request conversion section configured for converting the selected speed control request to a second converted control request, the second converted control request being determined as one of a position control request and an acceleration control request in accordance with a destination thereof; an acceleration control request arbitration section configured for receiving a plurality of acceleration control requests and for selecting one of the received acceleration control requests in accordance with predetermined criteria; and an acceleration control request conversion section configured for converting the selected acceleration control request to a motion control request expressing a requested value of the acceleration control quantity.