To provide a vehicle control apparatus capable of appropriately controlling a lateral motion of the vehicle.SOLUTION: A vehicle control apparatus includes an arbitration part for arbitrating plural control instructions obtained from plural operation support applications that realize operation support functions respectively and causing an instruction based on a post-arbitration control instruction to be output to: a first control part that is capable of controlling a steering actuator; and a second control part that is capable of controlling at least one of a brake actuator and a drive actuator. Further, the arbitration part obtains, as a control instruction, a steering angle and a yaw rate from the operation support applications.SELECTED DRAWING: Figure 1
【課題】車両の横方向の運動を好適に制御することができる車両制御装置を提供する。【解決手段】運転支援機能をそれぞれ実現する複数の運転支援アプリケーションから取得した複数の制御指令を調停し、調停後の制御指令に基づく指示を、操舵アクチュエータを制御可能な第1制御部、及び制動アクチュエータ又は駆動アクチュエータの少なくとも一方を制御可能な第2制御部に出力させる調停部を備えた、車両制御装置であって、調停部は、運転支援アプリケーションから制御指令として操舵角及びヨーレートを取得する。【選択図】図1
VEHICLE CONTROL APPARATUS, CONTROL DEVICE, MANAGER, METHOD, PROGRAM, AND VEHICLE
車両制御装置、制御装置、マネージャ、方法、プログラム、及び車両
2021-05-20
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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