JP2023090345A - Vehicle control device - Google Patents

Abstract

To prevent generation of noise and oscillation or disturbance in vehicle behavior due to an abrupt change in a demand value.SOLUTION: A control device executes calculation processing to calculate a demand value for identical control object equipment for each of a plurality of demand control RQ1 to RQ4. The control device also executes adjustment processing MP to select one demand value from a plurality of demand values for demand control RQ1 to RQ4. The adjustment processing MP includes size comparison adjustment MP2 and priority adjustment MP1. The priority adjustment MP1 receives input of the demand value selected through the size comparison adjustment MP2 in addition to the demand value from the demand control RQ1 and RQ2 having different priority. The control device selects one demand value through the priority adjustment MP1 and outputs a signal corresponding to the selected demand value. The demand control RQ1 and RQ2 which inputs the demand value into the priority adjustment MP1 inputs the demand value calculated through gradual change processing when stopping a demand for the control object equipment into the size comparison adjustment MP2.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle control system.

A vehicle is equipped with various devices such as an engine, a transmission, and an actuator mounted thereon. The controller calculates demand values for these devices. Then, the control device outputs a signal corresponding to the calculated request value to the devices to control these devices.

For the same device, the required values may be calculated in various controls with different purposes. A vehicle control device executes an arbitration process of selecting one request value from a plurality of request values output to the same device.

Patent Literature 1 discloses an example of performing priority arbitration for selecting a request value according to the priority set according to the type of control as such an arbitration process.
Patent Document 2 discloses, as an example of such arbitration processing, minimum value arbitration for selecting the smallest requested value among a plurality of input requested values. Further, Patent Literature 2 also discloses maximum value arbitration for selecting the largest requested value among a plurality of input requested values.

The vehicle control device can perform arbitration processing that combines these various types of arbitration. Then, the vehicle control device can adjust the plurality of control requests through the arbitration process and finally determine the request value for the device to be controlled.

JP-A-2004-52769 Japanese Patent Application Laid-Open No. 2009-47102

By the way, when a signal corresponding to a request value selected through priority arbitration is output, when the request from the control with the highest priority disappears, the request value from the control with the next highest priority is selected. become. In this case, if there is a large discrepancy between the request value selected up to that point and the request value in the control with the next highest priority, the request value for the equipment will change suddenly when the selected request value is switched. Become. As a result, a sudden change in the demand value causes a sudden change in the behavior of the device. Then, there is a risk that vibration, noise, or the like will occur, or that the behavior of the vehicle will be disturbed.

Means for solving the above problems and their effects will be described below.
A control device for a vehicle for solving the above-described problems executes a calculation process for calculating a request value for the same control amount for the same controlled device in a plurality of controls with different purposes. Further, the control device executes an arbitration process of selecting one of the plurality of request values calculated through each calculation process in the plurality of controls. The arbitration processing includes minimum value arbitration for selecting the smallest requested value from among the plurality of input requested values or maximum value arbitration for selecting the largest requested value from among the plurality of inputted requested values. and priority arbitration for selecting the request value with the highest priority among the input request values according to the priority set in advance according to the type of control. . In the priority arbitration, the request value selected through the size comparison arbitration is input as the request value with the lowest priority in addition to the request values from the plurality of controls having different priorities. The control device selects one request value as the request value for the controlled device through the priority arbitration, and outputs a signal corresponding to the selected request value to the controlled device. Among the plurality of controls, the control for inputting the request value to the priority arbitration gradually changes the request value toward the suspension of the request when the request to the device to be controlled is suspended. The request value calculated through the gradual change process for increasing the priority is input to the size comparison arbitration instead of the priority arbitration.

When all requests from the control inputting the request values to the priority arbitration are stopped, the request values input to the priority arbitration are only the request values selected through the size comparison arbitration. As a result, the request value selected through the arbitration process is switched to the request value selected through the magnitude comparison arbitration.

If there is a large divergence between the requested value from the control that inputs the requested value to the priority arbitration and the requested value from the control that inputs the requested value to the size comparison and arbitration, when the selected requested value is switched, The required value for the equipment will change suddenly.

On the other hand, in the above configuration, after the request from the control that inputs the request value to the priority arbitration is stopped, the request value output from the control that stopped the request is calculated by performing gradual change processing. Enter the requested value in the magnitude comparison arbitration. Therefore, even if the request value selected through the arbitration process is switched to the request value selected through the size comparison and arbitration, the request value output as the request value to the control target device will not change suddenly.

That is, the vehicle control device has the effect of suppressing the occurrence of noise and vibration and the disturbance of the behavior of the vehicle due to a sudden change in the required value.

FIG. 1 is a schematic diagram showing the relationship between a vehicle control unit, which is one embodiment of a vehicle control device, and an engine and a motor generator. FIG. 2 is a control block diagram illustrating arbitration processing executed by the vehicle control unit of the embodiment. FIG. 3 is a time chart showing the transition of the demand value output through the arbitration process of the vehicle control unit of the comparative example. FIG. 4 is a time chart showing changes in demand values output through arbitration processing of the vehicle control unit of the embodiment.

An embodiment of a vehicle control device will be described below with reference to FIGS. 1 to 4. FIG.
<Relationship Between Vehicle Control Unit 100 and Vehicle>
FIG. 1 shows the relationship between a vehicle control unit 100, which is an embodiment of a vehicle control device, an engine 200, and a motor generator 300. As shown in FIG. A vehicle in which vehicle control unit 100 is mounted is a hybrid vehicle including engine 200 and motor generator 300 .

As shown in FIG. 1 , engine 200 includes injector 201 , ignition device 202 , and throttle valve 203 . These injector 201 , ignition device 202 and throttle valve 203 are control target devices controlled by the vehicle control unit 100 . Vehicle control unit 100 controls injector 201 , ignition device 202 and throttle valve 203 of engine 200 via engine control unit 120 . The motor generator 300 is also a control target device controlled by the vehicle control unit 100 . Vehicle control unit 100 controls motor generator 300 via motor control unit 130 .

The vehicle control unit 100, the engine control unit 120, and the motor control unit 130 each include a processing circuit and a memory storing programs executed by the processing circuit.

<Sensor>
As shown in FIG. 1, the vehicle control unit 100 is connected with various sensors for grasping the state of the vehicle.

Specifically, an accelerator position sensor 50 and a vehicle speed sensor 60 are connected to the vehicle control unit 100 . The accelerator position sensor 50 detects the amount of operation of the accelerator. A vehicle speed sensor 60 detects the vehicle speed. A crank position sensor 10 and a water temperature sensor 20 are also connected to the vehicle control unit 100 . Crank position sensor 10 outputs a crank angle signal each time the crankshaft of engine 200 rotates by a certain angle. The vehicle control unit 100 calculates the rotation phase of the crankshaft and the engine rotation speed, which is the rotation speed of the crankshaft, based on the crank angle signal. Water temperature sensor 20 detects the temperature of cooling water for engine 200 .

An airflow meter 40 is also connected to the vehicle control unit 100 . Airflow meter 40 is provided in an intake passage of engine 200 . The airflow meter 40 detects an intake air amount, which is the amount of intake air flowing through the intake passage, and an intake air temperature, which is the temperature of the intake air. Further, the vehicle control unit 100 is connected to an air-fuel ratio sensor 30 and an exhaust temperature sensor 70 which are both provided in an exhaust passage of the engine 200 . The air-fuel ratio sensor 30 detects the air-fuel ratio of the exhaust. An exhaust temperature sensor 70 detects an exhaust temperature, which is the temperature of the exhaust. The vehicle control unit 100 calculates the temperature of the exhaust purification catalyst installed in the exhaust passage based on the amount of intake air and the temperature of the exhaust gas.

The current, voltage and temperature of the battery are input to the motor control unit 130 . Based on these current, voltage and temperature, the motor control unit 130 calculates the state of charge index value SOC, which is the ratio of the remaining charge to the charge capacity of the battery.

The engine control unit 120 and the motor control unit 130 are each connected to the vehicle control unit 100 via communication lines. Each of these control units mutually exchanges and shares information based on detection signals input from sensors and calculated information via CAN communication.

Various sensors as described above may be connected to the engine control unit 120 and the motor control unit 130 . In that case, vehicle control unit 100 acquires information from engine control unit 120 and motor control unit 130 .

<Vehicle driving force control>
This vehicle can perform motor running in which the driving force of the motor generator 300 is used to drive the motor generator 300 using the electric power stored in the battery. In addition, it is possible to perform hybrid running in which engine 200 and motor generator 300 are used for running.

The vehicle control unit 100 outputs the required power and the required engine rotation speed to the engine control unit 120 based on the accelerator operation amount, the vehicle speed, and the state of charge index value SOC. Vehicle control unit 100 also outputs the required torque and target rotation speed for motor generator 300 to motor control unit 130 .

The engine control unit 120 controls the engine 200 to achieve the requested power and requested engine speed. Motor control unit 130 controls motor generator 300 so as to achieve the required torque and target rotation speed.

<Regarding arbitration>
In the vehicle, various controls are executed in addition to the driving force control described above. The vehicle control unit 100 executes a calculation process for calculating a request value for the same control amount for each controlled device in various controls with different purposes. Then, an arbitration process is executed to select one demand value from a plurality of demand values calculated through the calculation processes in such a plurality of controls. Then, the vehicle control unit 100 outputs a signal corresponding to the request value selected through the arbitration process to each control target device via the engine control unit 120 and the motor control unit 130, thereby controlling each control target device.

FIG. 2 is a control block diagram showing an example of arbitration processing executed by the vehicle control unit 100. As shown in FIG. The arbitration process MP executed by the vehicle control unit 100 arbitrates the required values from a plurality of controls with different purposes as described above, selects and outputs one required value. FIG. 2 shows four controls, a first request control RQ1, a second request control RQ2, a third request control RQ3, and a fourth request control RQ4, as examples of a plurality of controls for inputting request values to the arbitration process MP. ing.

As shown in FIG. 2, the arbitration process MP includes priority arbitration MP1 and magnitude comparison arbitration MP2. The magnitude comparison and arbitration MP2 is minimum value arbitration for selecting the smallest requested value among a plurality of input request values or maximum value arbitration for selecting the largest request value among a plurality of input request values. Then, the priority arbitration MP1 selects the request value with the highest priority among the input request values according to the priority set in advance according to the type of control for inputting the request value to the arbitration process MP. processing.

As shown in FIG. 2, in the arbitration process MP, the request value calculated through the calculation process of the third request control RQ3 is input to the magnitude comparison and arbitration MP2. The request value calculated through the calculation process of the fourth request control RQ4 is also input to the magnitude comparison and arbitration MP2. Further, as shown in FIG. 2, in the arbitration process MP, the request value calculated through the calculation process of the first request control RQ1 is input to the priority arbitration MP1. The request value calculated through the calculation process of the second request control RQ2 is also input to the priority arbitration MP1. Further, as shown in FIG. 2, in the arbitration process MP, the request value selected through the size comparison arbitration MP2 is input to the priority arbitration MP1.

In the priority arbitration MP1, the request value input from the first request control RQ1 has the highest priority, and the request value input from the magnitude comparison arbitration MP2 has the lowest priority. In short, in the arbitration process MP shown in FIG. 2, the priority of the request values is lowered in the order of the request value from the first request control RQ1, the request value from the second request control RQ2, and the request value from the size comparison and arbitration MP2. ing. In this way, the priority arbitration MP1 receives the request value selected through the magnitude comparison arbitration MP2 as the request value with the lowest priority, in addition to the request values from a plurality of controls with different priorities. Then, the request value selected through the priority arbitration MP1 becomes the output of the arbitration process MP.

Next, the arbitration process MP in the vehicle control unit 100 will be described in detail, taking arbitration of the required value for the ignition device 202, which is one of the devices to be controlled, as an example.
Vehicle control unit 100 determines an efficiency coefficient for determining the amount of retardation of ignition timing as a required value for ignition device 202 and outputs it to engine control unit 120 . The amount of retardation is the amount of retardation of the ignition timing from the optimum ignition timing at which torque is maximized. As the retardation amount increases, the combustion becomes slower and the efficiency of the operation of the engine 200 decreases, so the torque generated by the combustion decreases. On the other hand, the exhaust temperature increases. The efficiency coefficient is a coefficient with the efficiency at the optimum ignition timing set to "1.0". The efficiency coefficient is a positive value of "1.0" or less. The engine control unit 120 controls the ignition device 202 according to the efficiency coefficient so that the smaller the efficiency coefficient, the greater the ignition timing retard amount.

The efficiency coefficient, which is the required value, becomes a positive value of "1.0" or less, and the required value is "1.0" when there is no request from each control. Therefore, in this example, the magnitude comparison and arbitration MP2 is a minimum value arbitration that selects a request value that increases the retardation amount.

An efficiency coefficient, which is a required value for the ignition device 202, is calculated through various controls with different purposes. For example, the exhaust purification catalyst efficiently purifies the exhaust when warm-up is completed and the temperature of the catalyst reaches or exceeds the activation temperature. The catalyst warm-up control calculates an efficiency coefficient as a required value for the ignition device 202 for the purpose of increasing the temperature of the exhaust gas in order to warm up the exhaust purification catalyst. The vehicle control unit 100 estimates the temperature of the exhaust purification catalyst based on the exhaust gas temperature, fuel injection amount, engine speed, and the like. Then, when the estimated temperature of the exhaust gas purification catalyst is less than the activation temperature, the vehicle control unit 100 calculates the required value through calculation processing as part of the catalyst warm-up control. The demand value thus calculated is input to the arbitration process MP as the demand value from the catalyst warm-up control. Note that when the temperature of the exhaust purification catalyst reaches the activation temperature or higher, the request from the catalyst warm-up control is stopped.

If the engine 200 has not been completely warmed up and the temperature of the combustion chamber is low, the air-fuel mixture will not burn properly, and particulate matter is likely to be generated. Engine warm-up control calculates an efficiency coefficient as a required value for ignition device 202 for the purpose of increasing the temperature of the exhaust gas in order to warm up engine 200 . When the cooling water temperature detected by the water temperature sensor 20 is lower than the threshold for warm-up determination, the vehicle control unit 100 calculates the required value through calculation processing as part of the engine warm-up control. The request value calculated in this manner is input to the arbitration process MP as the request value from the engine warm-up control. Note that when the cooling water temperature reaches or exceeds the threshold, the request from the engine warm-up control is stopped.

Heat generated by the engine 200 is used to heat the passenger compartment. Heat management control calculates an efficiency coefficient as a request value for ignition device 202 in order to secure heat necessary for heating. The vehicle control unit 100 calculates the required value through calculation processing as part of heat management control based on the intake air temperature and the cooling water temperature. The request value calculated in this way is input to the arbitration process MP as a request value from heat management control.

While the vehicle is running, filter regeneration control is executed to remove particulate matter deposited on the filter provided in the exhaust passage. The filter regeneration control calculates an efficiency factor as a demand value for the ignition device 202 in order to remove particulate matter deposited on the filter. When the amount of loose matter deposited on the filter increases, the vehicle control unit 100 calculates the required value through a calculation process based on the temperature of the filter as part of filter regeneration control. The request value thus calculated is input to the arbitration process MP as a request value from filter regeneration control.

Since the catalyst warm-up control and the engine warm-up control are controls related to exhaust emission regulations, they have high priority. In particular, the exhaust gas cannot be properly purified unless the exhaust purification catalyst has been completely warmed up. Therefore, the catalyst warm-up control is a control with particularly high priority.

Therefore, when applied to FIG. 2, the catalyst warm-up control corresponds to the first request control RQ1, and the engine warm-up control corresponds to the second request control RQ2. The heat management control corresponds to the third request control RQ3, and the filter regeneration control corresponds to the fourth request control RQ4.

FIG. 3 is a time chart illustrating an example of the request value arbitration process MP for the ignition device 202 . A dashed line in FIG. 3 indicates the transition of the required value from the catalyst warm-up control. The dashed-dotted line in FIG. 3 indicates the transition of the requested value from the filter regeneration control. The solid line in FIG. 3 indicates the transition of the request value selected through the arbitration process MP, that is, the request value output from the arbitration process MP.

As indicated by the dashed line, in the example shown in FIG. 3, the required value from the catalyst warm-up control gradually decreases until it reaches "0.8" at time T1. The required value from the catalyst warm-up control is maintained at "0.8" from time T1 to time T3. The required value from the catalyst warm-up control gradually increases from time T3 to time T5. The required value from the catalyst warm-up control is maintained at "1.0" after reaching "1.0" at time T5.

On the other hand, as indicated by the dashed line, in the example shown in FIG. 3, the value requested by the filter regeneration control is maintained at "1.0" until time T2. The requested value from filter regeneration control is maintained at "0.9" after being changed to "0.9" at time T2.

If the input of the request value to the arbitration process MP is stopped immediately when it becomes unnecessary to request retardation of the ignition timing, the request value selected through the arbitration process MP will suddenly change. Therefore, in the example shown in FIG. 3, in the catalyst warm-up control, when the request for retarding the ignition timing becomes unnecessary at time T3, the request value is set toward "1.0" in the calculation process in the catalyst warm-up control. Execute gradual change processing to change gradually. In the catalyst warm-up control, the request value calculated through the gradual change process continues to be input to the priority arbitration MP1 until the request value calculated through the gradual change process reaches approximately "1.0" at time T5.

Thus, in the example shown in FIG. 3, the request value continues to be input to the priority arbitration MP1 from the catalyst warm-up control, which is the first request control RQ1, until time T5. Therefore, until time T5, the requested value for the catalyst warm-up control indicated by the broken line is selected as the requested value output by the arbitration process MP as indicated by the solid line in FIG. By adopting such a configuration, a sudden change in the requested value due to the suspension of the request from the catalyst warm-up control can be suppressed.

However, after the request value returns to "1.0" at time T5 as shown in FIG. 3, the request value selected by the minimum value arbitration by the size comparison arbitration MP2 is selected as the request value to be output from the arbitration process MP. It will be done. In this example, although the request value for filter regeneration control indicated by the dashed line continues to be input from time T2, the request value for filter regeneration control is not selected from time T4 to time T6. After returning the request value to "1.0", the request value for filter regeneration control is finally selected at time T6.

Thus, in the example shown in FIG. 3, until time T5, the request value from the catalyst warm-up control, which is the first request control RQ1 for inputting the request value to the priority arbitration MP1, is selected. After time T5, the requested value from the filter regeneration control, which is the fourth requested control RQ4 for inputting the requested value to the magnitude comparison and arbitration MP2, is selected. In FIG. 3, the period during which the request value input to the priority arbitration MP1 is selected and output is indicated as "priority request". Also, the period during which the requested value input to the minimum value arbitration, which is the magnitude comparison arbitration MP2, is selected and output is indicated as "minimum value request".

<Arbitration process MP in this embodiment>
The vehicle control unit 100 takes measures to eliminate useless fluctuations in the required value such as between time T4 and time T6 in FIG. Specifically, in the vehicle control unit 100, the request value calculated through the gradual change process when stopping the request to the device to be controlled is input to the magnitude comparison and arbitration MP2 as indicated by the dashed line in FIG. That is, the vehicle control unit 100 inputs the request value calculated through the gradual change process when stopping the request to the device to be controlled to the magnitude comparison arbitration MP2 instead of the priority arbitration MP1.

<Action>
Next, referring to FIG. 4, arbitration processing in the vehicle control unit 100 of this embodiment will be described while comparing with the example shown in FIG.

As described above, the vehicle control unit 100 inputs the request value calculated through the gradual change process when stopping the request to the device to be controlled to the magnitude comparison and arbitration MP2, as indicated by the dashed line in FIG. That is, in the vehicle control unit 100, when stopping the request from the catalyst warm-up control, which is the first request control RQ1, the request value from the catalyst warm-up control is immediately input to the priority arbitration MP1 at time T3. have stopped. After the time T3, the vehicle control unit 100 inputs the gradually changed request value to the minimum value arbitration, which is the magnitude comparison arbitration MP2.

Therefore, as shown in FIG. 4, in the vehicle control unit 100, the "minimum value request" is set after time T3, and the request value from the filter regeneration control indicated by the one-dot chain line is selected at time T4. Become.

As a result, as shown in FIG. 4, after time T4, the requested value from the filter regeneration control becomes the requested value output from the arbitration process MP.
That is, it is possible to eliminate useless fluctuations in the required value, such as between time T4 and time T6 in FIG.

Effects of the present embodiment will be described.
(1) When all requests from the control for inputting the request value to the priority arbitration MP1 are stopped, the request value input to the priority arbitration MP1 is only the request value selected through the magnitude comparison arbitration MP2. As a result, the request value selected through the arbitration process MP is switched to the request value selected through the magnitude comparison arbitration MP2.

If there is a large discrepancy between the requested value from the control that inputs the requested value to the priority arbitration MP1 and the requested value from the control that inputs the requested value to the size comparison and arbitration MP2, the selected requested value is switched. At the same time, the demand value for the equipment changes suddenly.

On the other hand, after the request from the control that inputs the request value to the priority arbitration MP1 is stopped, the vehicle control unit 100 gradually changes the request value output from the control that stopped the request. The request value calculated by the above is input to the size comparison and arbitration MP2. Therefore, even if the requested value selected through the arbitration process MP is switched to the requested value selected through the size comparison and arbitration MP2, the requested value output as the requested value to the controlled device will not change suddenly.

That is, the vehicle control unit 100 has the effect of suppressing disturbances in the behavior of the vehicle due to sudden changes in the required values.
(2) The vehicle control unit 100 inputs the request value calculated through the gradual change process to the magnitude comparison arbitration MP2 instead of the priority arbitration MP1 for the control of inputting the request value to the priority arbitration MP1. As a result, as shown in FIG. 3, compared to the case where the "minimum value request" is finally realized after the request value is returned to "1.0", the "minimum value request" is performed immediately at time T3. ” can be realized.

As a result, it is possible to eliminate useless fluctuations in the requested value as in the example shown in FIG.
This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.

- Although an example of arbitrating the required values for the ignition device 202 has been shown, a configuration similar to the arbitration process MP illustrated in FIG. 3 can also be applied to arbitrating required values for other control target devices. The block diagram shown in FIG. 2 is just an example of the arbitration process MP. Therefore, the types and number of controls for inputting a request value to the priority arbitration MP1 and the types and number of controls for inputting a request value to the magnitude comparison and arbitration MP2 are not limited to the above examples.

For example, the same configuration can be applied to an arbitration process in which the target rotation speed of motor generator 300 is used as a request value, or an arbitration process in which the target rotation speed of engine 200 is used as a request value. In that case, maximum value arbitration for selecting the largest requested value from among a plurality of requested values may be used as the magnitude comparison arbitration MP2. For example, immediately after starting the engine 200, in order to avoid operation in a high rotation range, the control immediately after starting to output the target rotation speed of the engine 200 is executed as the control for inputting the request value to the priority arbitration MP1. A target rotational speed required to achieve the purpose of other controls is input to the magnitude comparison and arbitration MP2. In this case, when there is no longer a request by the control immediately after starting, a value obtained by gradually changing the target rotation speed output by the control immediately after starting is input to the magnitude comparison and arbitration MP2. As a result, a sudden change in the target rotation speed can be suppressed in the same manner as in the above-described embodiment.

Further, for example, a similar arbitration processing configuration can be applied to the control of the amount of intake air and the degree of opening of a valve that controls the flow of engine cooling water. In the case of such valve control, control for checking the opening/closing operation may be executed immediately after operation. The control for such checking is the control for inputting the request value to the priority arbitration MP1. Then, after the control for checking is completed, a required value required for achieving the purpose of other control is output. Therefore, in this case, the "required value required to achieve the purpose of other control" is input to the magnitude comparison and arbitration MP2.

- Although the above-mentioned embodiment showed the example of vehicle control unit 100 which controls a hybrid vehicle, the object vehicle is not restricted to a hybrid vehicle. A similar configuration can also be applied to a vehicle provided with engine 200 only. As described above, the arbitration process MP is not limited to ignition timing control. Therefore, a similar configuration can also be applied to vehicles with diesel engines. Of course, a similar configuration can also be applied to a battery-powered vehicle having only a motor.

DESCRIPTION OF SYMBOLS 10... Crank position sensor 20... Water temperature sensor 30... Air fuel ratio sensor 40... Air flow meter 50... Accelerator position sensor 60... Vehicle speed sensor 70... Exhaust temperature sensor 100... Vehicle control unit 120... Engine control unit 130... Motor control unit 200... Engine 201... Injector 202... Ignition device 203... Throttle valve 300... Motor generator RQ1... First request control RQ2... Second request control RQ3... Third request control RQ4... Fourth request control MP... Arbitration processing MP1... Priority arbitration MP2... Size comparison mediation

Claims (1)

In a plurality of controls with different purposes, calculation processing is executed to calculate a request value for the same control amount for the same controlled device, and the plurality of request values calculated through each calculation processing in the plurality of controls. perform an arbitration process that selects one of said request values from
The arbitration processing comprises minimum value arbitration for selecting the smallest requested value from among the plurality of input requested values or maximum value arbitration for selecting the largest requested value from among the plurality of inputted requested values. and priority arbitration for selecting the request value with the highest priority among the input request values according to the priority set in advance according to the type of control. ,
In the priority arbitration, in addition to the request values from the plurality of controls with different priorities, the request value selected through the size comparison arbitration is input as the request value with the lowest priority,
A control device for a vehicle that selects one of the requested values as the requested value for the controlled device through the priority arbitration and outputs a signal corresponding to the selected requested value to the controlled device,
Among the plurality of controls, the control for inputting the request value to the priority arbitration gradually changes the request value toward stopping the request when stopping the request to the controlled device. A control device for a vehicle that inputs the requested value calculated through the variable process to the magnitude comparison arbitration instead of the priority arbitration.

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