Abstract: A terminal apparatus includes a communication interface and a controller configured to communicate using the communication interface. The controller receives information for generating a 3D model that represents another user who participates in a call in a virtual space using another terminal apparatus and also represents a direction of focus of the another user and outputs information for displaying an image for display obtained by rendering the virtual space in which the 3D model is placed to be focusing in the direction of focus.

Abstract: A power storage system that performs charging and discharging with an external system includes a power converter, a plurality of assembled batteries, and a control device. The control device operates the power converter to supply power from the designated first assembled battery of the plurality of assembled batteries to the designated at least one second assembled battery of the plurality of assembled batteries to completely discharge the first assembled battery. The control device operates the power converter to power the first assembled battery from the at least one second assembled battery to fully charge the first assembled battery. The control device calculates the full charge capacity of the first assembled battery based on the transition from the fully discharged state to the fully charged state.

Abstract: A power electronics assembly, power electronics device assemblies, and a cold plate incorporating power electronics device assemblies are disclosed. The power electronics assembly includes a cold plate including a power electronics device assembly including an S-cell and a power electronics device. The S-cell includes a first graphite layer a second graphite layer and a metal layer encasing the first graphite layer and the second graphite layer. A recess is formed in an outer surface of the metal layer. The power electronics device is disposed within the recess of the outer surface of the S-cell.

Abstract: An information processing apparatus includes a converting portion having a plurality of electrical conductors to be arranged in mutual separation and a medium arranged so as to mutually connect the plurality of electrical conductors, wherein the converting portion is the information processing apparatus to convert an input signal to an output signal. The medium includes the electrolyte and is configured to be capable of controlling an electrical conductivity of an electrically conductive path mutually electrically connecting the plurality of electrical conductors, and the medium is selected such that the electrical conductivity of the electrically conductive path changes over time with the input signal not being present.

Abstract: A power electronics assembly includes a circuit board assembly including a first electrically insulating layer, an electrically insulating substrate, a laminate panel provided between the first electrically insulating layer and the electrically insulating substrate, and one or more electrically conductive layers provided within the electrically insulating substrate. The laminate panel includes a power electronics device assembly including an S-cell and a power electronics device. The S-cell includes a graphite layer and a metal layer encasing the graphite layer. A recess is formed in an outer surface of the metal layer and the power electronics device is disposed within the recess of the outer surface of the S-cell.

Abstract: The battery pack includes a tray having a bottom wall, a cell module disposed on the tray and having at least one battery cell, a high voltage connection portion provided on the bottom surface of the cell module and electrically connected to the at least one battery cell, a high voltage busbar connected to the high voltage connection portion, and a water absorbing sheet disposed between the bottom wall of the tray and the bottom surface of the cell module. A first opening portion is defined in the water absorbing sheet at a position opposite the high voltage connection portion.

Abstract: An electronic control device of a vehicle including an engine, a motor rotationally driven by the engine, and an air conditioner includes: (a) limiting a power consumption of a motor compressor that drives the air conditioner to be less than a predetermined amount when a state-of-charge value SOC of a main battery that is charged by electric power generated by the motor is less than a determination value SOC in a case where the engine is running in an engine using the engine as a power source and the vehicle is in a predetermined high-altitude environment; (b) the operation of the air conditioner is stopped when the state-of-charge value SOC is less than a determination value SOC that is lower than a determination value.

Abstract: A method may include learning reward functions for a plurality of first vehicles based on first vehicle data associated with the plurality of first vehicles using inverse reinforcement learning, associating each vehicle of the plurality of first vehicles with one cluster among a plurality of clusters based on the reward functions, determining a centroid reward function for each of the clusters based on the reward functions associated with each cluster, performing a comparison between second vehicle data associated with a second vehicle and the first vehicle data, determining a vehicle among the plurality of first vehicles having associated first vehicle data that is most similar to the second vehicle data based on the comparison, associating the second vehicle with the cluster associated with the determined vehicle, and controlling operation of the second vehicle based on the centroid reward function of the cluster associated with the second vehicle.

Abstract: Pilot posture information indicating a posture of a pilot is input, and action control is executed on a bipedal robot capable of switching modes between a walk mode and a stand mode based on the pilot posture information. The above action control includes stand transition control, the stand transition control including calculating reference posture information indicating a reference posture of the bipedal robot based on initial posture information indicating an initial posture of the bipedal robot corresponding to an initial posture of the pilot and foot position information indicating current foot positions of the bipedal robot, and controlling a posture of the bipedal robot based on the pilot posture information and the calculated reference posture information when the modes are switched from the walk mode to the stand mode.

Abstract: An object of the present disclosure is to provide a membrane electrode assembly excellent in power generation performance and durability. This embodiment is a membrane electrode assembly. The membrane electrode assembly includes a solid polymer electrolyte membrane, an anode catalyst layer, and a cathode catalyst layer. The anode catalyst layer is disposed on one surface of the solid polymer electrolyte membrane. The cathode catalyst layer is disposed on the other surface of the solid polymer electrolyte membrane. The anode catalyst layer at least contains an electrode catalyst, an ionomer, a metal ion, and a host compound. The ionomer has sulfonate group. The metal ion is selected from cerium ion or manganese ion. The host compound allows forming an inclusion compound with the metal ion. The host compound has a molecular weight of 300 or more.

Abstract: A method for coating a vehicle body on which an electrodeposition coating has been performed includes in this order: applying a first base coating material over an outer surface of the vehicle body to form a first base layer; applying a mixture of a second base coating material and a first curing agent over an inner surface of the vehicle body to form an inner second base layer; applying the second base coating material over the first base layer that has not been baked to form an outer second base layer; applying a clear coating material over the inner second base layer and the outer second base layer to form a clear layer; and baking the first base layer, the inner second base layer, the outer second base layer, and the clear layer for curing thereof.

Abstract: An electrode body including a current collector and an electrode layer that includes layers in the order of a first electrode layer and a second electrode layer from the current collector side in a thickness direction. The first electrode layer includes an end surface A, and the second electrode layer includes an end surface B. In a cross-sectional view in the thickness direction, the end surface A includes an end part A1 in the current collector side, and an end part A2 in the second electrode layer side, and the end surface B includes an end part B1 in the first electrode layer side, and an end part B2 in an opposite side to the first electrode layer; the end surface A includes, in a vertical direction to the thickness direction, and a first inclination part in which the end part A1 protrudes form the end part A2.

Abstract: An airbag device includes an airbag that is supplied with gas during a vehicle collision, and that inflates and deploys from a rear side of a vehicle seat toward a front side via an upper side thereof. In an inflated and deployed state the airbag includes a pair of front-rear chambers extending in a front-rear direction via left and right sides of the head of a passenger, and an airbag body in communication with the pair of front-rear chambers, that is disposed at a front side of the passenger between the pair of front-rear chambers, and that is compression deformed in a state supported by the pair of front-rear chambers during restraint of the passenger. The airbag is configured such that entry of at least the head of the passenger into gaps between the front-rear chambers and the airbag body is suppressed during a latter half of restraining the passenger.

Abstract: A vehicle includes: a vehicle body having a bottom portion; a power storage device including a main body having a front wall portion, a rear wall portion, and a lower surface; and a flow regulation plate having a distal end portion at a position spaced downward from the bottom portion, a protruding portion is provided on the lower surface side of the main body; in a fixed state in which the power storage device is fixed to the vehicle body, the lower surface is located downward of the bottom portion; the flow regulation plate is provided to be pivotable; and in the fixed state, the protruding portion abuts against the flow regulation plate to maintain a state in which the flow regulation plate covers at least one of the front wall portion and the rear wall portion.

Abstract: A vehicle drive apparatus includes: a case accommodating a rotating electric machine; a mount supporting the case to a vehicle body; and a power control unit controlling the rotary electric machine. Further, the mount includes a bracket which is fixed to the vehicle body, a mount member which is fixed to the case, and an elastic member provided between the bracket and the mount member, the power control unit is fixed to the mount member, the mount member has a horizontal surface on a top thereof as a mounting surface on which the power control unit is attached, and the power control unit and the case are integrated via the mount member.

Abstract: A monitoring system has a notifying unit capable of notifying a driver of information in a tactually recognizable manner, and a processor configured to determine whether a seat position of a driver's seat in which a driver is sitting is within a recommended range that represents an extent of the seat position where the driver sitting in the driver's seat can drive a vehicle, and notify the driver of a move request requiring to adjust the seat position within the recommended range through the notifying control unit based on the determination that the seat position is not within the recommended range.

Abstract: A vehicle front structure includes a front pillar, a charging inlet, and a guide member. The front pillar extends in the vehicle up-down direction in a vehicle front. The charging inlet is disposed in front of the front pillar in the vehicle front-rear direction. An outlet cable is connectable to the charging inlet from the lateral side of a vehicle. The guide member is mounted to the front pillar and disposed between the front pillar and the charging inlet. The guide member includes an inclined surface that is inclined outward in the vehicle width direction from the vehicle front side toward the vehicle rear side, in a plan view.

Abstract: A vehicle display device includes: an obstacle information acquisition section configured to acquire information relating to a plurality of obstacles in surroundings of a vehicle; and a mark display section configured to display a predetermined individual mark prompting caution toward an individual obstacle among the plurality of obstacles by superimposed display in a display region inside a vehicle cabin, and to display a predetermined cluster mark prompting caution toward a plurality of the obstacles by superimposed display in the display region in a case in which a predetermined condition has been satisfied.

Abstract: The vehicle includes a charger used for charging the power storage device, a first control device, and a second control device. The first control device communicates with the charging station. The second control device communicates with the charger and communicates with the first control device.

Abstract: A moving body control system executes a localization process that estimates a position of a moving body based on sensor-detected information and feature object map information indicating a position of a feature object. The moving body control system executes driving assist control based on the estimated position of the moving body. A first range includes the estimated position of the moving body and becomes larger as reliability of the localization process becomes lower. A first future range is at least a part of an expected passing range of the first range. When an obstacle is present in the first range or the first future range, the moving body control system makes the moving body decelerate or stop. When no obstacle is present in the first range or the first future range, the moving body control system continues the driving assist control.

Abstract: A vehicle includes a power storage device, a charging circuit capable of external charging by converting AC power from a power system to DC power and charging the DC power to the power storage device when the vehicle is connected to the power system external to the vehicle, and a controller programming to control the charging circuit. The vehicle includes a detection circuit configured to detect the impedance of the charging path from the power system to the power storage device during external charging. The controller is programmed to switch control of the charging circuit when the impedance of the charging path is higher than the threshold value during external charging, compared to when the impedance of the charging path is lower than the threshold value during the external charging.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. Gas is supplied to the airbag main body via a communication hole positioned at a seat rear side of the connecting portion of the front-rear chamber that has inflated and deployed. Owing to inflation and deployment of the front-rear chamber, the airbag main body passes through a gap between a ceiling of the vehicle and the head from the seat rear side toward the seat front side, and thereafter, inflates and deploys toward the seat rear side.

Abstract: A vehicle image display system includes: a display device for displaying a digital image which is an image based on image data, a dark condition determination unit for determining whether a dark condition is satisfied with respect to the brightness of a surrounding environment of the vehicle, a luminance determination unit for determining whether the image data includes a high luminance pixel, a pixel value determination unit for determining whether a pixel having a pixel value equal to or lower than a second threshold value is not included in a peripheral pixel, and an image adjustment unit for performing a first brightness adjustment process for reducing the brightness of the image data when the dark condition is satisfied and the image data includes a high luminance pixel and the peripheral pixel does not include a pixel having a pixel value equal to or lower than the second threshold value.

Abstract: A control system according to the present disclosure comprises one or more memories and one or more processors. The one or more memories are configured to store observation data detected by one or more sensors installed in a moving body and an estimated position of the moving body. The one or more processors are configured to execute the following first to third processes. The first process is calculating the estimated position at a current time based on at least the estimated position calculated in a previous process and the observation data up to the current time. The second process is recalculating the estimated position at a past predetermined time. The third process is evaluating accuracy of the estimated position at the current time based on a difference between the estimated position at the past predetermined time stored in the memory and the recalculated estimated position.

Abstract: Methods, systems, and apparatus for a monitoring system to monitor and detect a vehicle load. The monitoring system includes a first camera configured to capture first image data including a load in the vehicle, a memory configured to store image data, and an electronic control unit coupled to the first camera and the memory. The electronic control unit is configured to obtain, from the first camera, the first image data including the load, determine a movement of the load based on the first image data, and provide a notification when the movement of the load exceeds a first threshold.

Abstract: A steering control device configured to control a steering device, the steering device including a steering shaft to which a handle is detachably coupled and a motor configured to generate torque that is given to the steering shaft. The steering control device includes a processing circuit configured to execute a process for controlling driving of the motor. The process for controlling the driving of the motor includes a lock process of driving the motor such that a rotation position of the steering shaft is fixed at a specific position, in a state where the handle has been detached from the steering shaft.

Abstract: The disclosure generally relates to a system comprising a memory and a processor configured to access the memory and execute the machine-executable instructions stored on the memory to determine that a target vehicle is engaging in an abnormal driving, determine that the abnormal driving exceeds a notification threshold parameter of an abnormal driving notification system, generate a notification, and monitor the ego vehicle and/or driver to alter notification threshold values based on the reactions of the ego vehicle and/or driver inputs.

Abstract: An airbag device includes an airbag that is supplied with gas generated by an inflator during a vehicle collision, and that inflates and deploys from a rear side of a vehicle seat toward a front side via an upper side. In an inflated and deployed state, the airbag includes a pair of front-rear chambers extending in a seat front-rear direction via left and right sides of a head of a passenger, an airbag body that is communicated with the pair of front-rear chambers and that is disposed at a front side of the passenger between the pair of front-rear chambers, and an auxiliary chamber into which gas inside the airbag body flows indirectly at least during restraint of the passenger by the airbag body.

Abstract: A method may include receiving training data comprising a time series of gaps between an ego vehicle and one or more lead vehicles at a plurality of time steps, embedding the training data into a fixed-length sequence, inputting the fixed-length sequence into a Transformer-RNN model comprising a Transformer component and an RNN component, wherein the transformer component applies attention to each data point of the fixed-length sequence based on a fixed number of previous inputs, and training the Transformer-RNN model, using the training data, to output a predicted gap at a future time step based on an input sequence of gaps.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. The airbag main body inflates and deploys toward a side of the passenger at a seat rear side of the connecting portion, later than the front-rear chamber. The airbag main body has a downward-force applying portion that applies force directed toward a seat lower side to the airbag at a time when the passenger is restrained by the airbag.

Abstract: An airbag device including an airbag that inflates and deploys from a seat rear side of a vehicle seat toward a seat front side via a seat upper side. In an inflated and deployed state, the airbag includes a pair of front-rear chambers extending in a front-rear direction via left and right sides of a head of a passenger, an airbag body that is in communication with the pair of front-rear chambers and that is disposed at a seat front side of the passenger between the pair of front-rear chambers, and a pair of rear tethers including one-end portions attached to the airbag body and other-end portions attached to a seatback. At a time of restraint of the passenger, the airbag body is pulled by the rear tethers obliquely rearward and downward such that the front-rear chambers press shoulders of the passenger from a seat upper side.

Abstract: The vehicle control system, in response to transmission of a command from a remote assistance apparatus to a vehicle, sets a cancellable period during which the command can be cancelled by the remote assistance apparatus. Also, the vehicle control system acquires a communication delay time between the vehicle and the remote assistance apparatus. The vehicle control system adjusts a control amount of the vehicle related to a speed in accordance with the communication delay time on condition that current time is within the cancellable period and the communication delay time is equal to or greater than a predetermined time.

Abstract: An airbag device includes an airbag that is supplied with gas generated by an inflator during a vehicle collision and that inflates and deploys from a rear side of a vehicle seat toward a front side via an upper side. In an inflated and deployed state, the airbag includes a pair of front-rear chambers extending in a seat front-rear direction via left and right sides of a head of a passenger, an airbag body that is in communication with the pair of front-rear chambers and that is disposed at a front side of the passenger between the pair of front-rear chambers, and a pair of rear tethers including one-end portions attached to the airbag body and other-end portions attached to a seatback of the vehicle seat. At least a rear tether on a side door side is configured so as to be releasable after a collision of the vehicle.

Abstract: The control device of an exhaust sensor includes a processor. The processor is configured to control supply of power to the heater. The processor is configured to start the supply of power to the heater at a predetermined timing before a starter for cranking the internal combustion engine is turned on and increase power supplied to the heater when the starter is turned on.

Abstract: A travel controller executes travel control of a vehicle including collision avoidance control, based on environmental information including control information received from a control device and environmental data outputted from an environmental sensor mounted on the vehicle, each indicating conditions around the vehicle. The travel controller regulates the speed of the vehicle when a delay time in receiving the control information exceeds a delay threshold. The travel controller sets the delay threshold to a first threshold when an estimated avoidance difficulty from the environmental information is less than a difficulty threshold; and sets the delay threshold to a second threshold less than the first threshold when the estimated avoidance difficulty is greater than the difficulty threshold.

Abstract: A vehicle controller includes a processor configured to detect a candidate object on a road surface ahead of a vehicle from an image representing surroundings of the vehicle generated by a camera provided on the vehicle, determine whether the orientation of the vehicle has deflected more than a predetermined angle, when the vehicle reaches the position of the detected candidate object, and control the vehicle to decelerate when the orientation of the vehicle has deflected more than the predetermined angle.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger seated in a vehicle seat and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. The airbag main body inflates and deploys toward a side of the passenger at a seat rear side of the connecting portion, later than the front-rear chamber. At a time when the passenger is restrained, the airbag main body is compressed in a seat front-rear direction while stretching the front-rear chamber in the seat front-rear direction.

Abstract: To effectively determining whether the driver is in the specific state according to the use of the driving assistance device, provided is a driver monitoring device which is applied to a vehicle having a driving assistance device configured to execute a predetermined driving assistance control for assisting the driving of a driver. The driver monitoring device comprising a driver state acquisition unit configured to acquire a state of the driver; and a driver state determination unit configured to determine that the driver is in a specific state when the state of the driver acquired by the driver state acquisition unit satisfies a predetermined condition. The driver state determination unit is configured to relaxes the predetermined condition when the driving assistance device is executing the driving assistance control, as compared with a case where the driving assistance device is not executing the driving assistance control.

Abstract: A vehicle moving apparatus executes a moving control to autonomously move a vehicle by controlling a power output from an internal combustion engine and an electric motor. When the vehicle is requested to be accelerated while the moving control is not executed, the apparatus keeps the engine deactivated and activates the motor while a requested power is smaller than a first start determination value, and starts to activate the engine when the requested power reaches the first start determination value. When the vehicle is requested to be accelerated while the moving control is executed, the apparatus keeps the engine deactivated and activates the motor while the requested power is smaller than a second start determination value, and starts to activate the engine when the requested power reaches the second start determination value. The second start determination value is smaller than the first start determination value.

Abstract: A terminal apparatus includes a controller configured to generate, based on a positional relationship between a virtual light source, a display object corresponding to a first display, and a user object corresponding to a first user who operates a first image displayed on the first display, which are disposed in a virtual three-dimensional space, an image of a shadow of the user object, as a second image, display the first image on a second display toward a second user and superimpose the second image on the first image on the second display, upon detecting a change in a relative position of the first user, adjust a relative position of the user object according to the detected change, update the second image based on a change in the positional relationship resulting from adjustment, and reflect an update of the second image on the second display.

Abstract: A system for contribution-aware federated learning is provided. The system includes a server and a plurality of vehicles. Each of the plurality of vehicles includes a controller programmed to: train a local machine learning model using first local data; obtain metadata for hardware elements of corresponding vehicle; transmit the trained local machine learning model and the metadata to a server; receive an aggregated machine learning model from the server; and train the aggregated machine learning model using second local data. The server generates the aggregated machine learning model based on the trained local machine learning models and the metadata received from the plurality of vehicles.

Abstract: A control device that is communicably connected to a vehicle includes a control unit. The control unit executes acquisition of sensor information from a sensor provided in the vehicle, determination of whether the vehicle is parked based on the sensor information, determination of whether a user is staying in the vehicle based on the sensor information, and estimation that the user is staying in the vehicle when a parking time of the vehicle exceeds a first reference value and a staying time of the user exceeds a second reference value.

Abstract: A conveyance system, a conveyance method, and a program that are capable of preventing an article stored in a shelf from falling are provided. A conveyance system according to one aspect of the present disclosure includes: a shelf provided with a guide rail extending in a vertical direction; a mounting table that is engageable with the guide rail; a lifting part configured to lift the mounting table up and down; an engagement detection sensor configured to detect engagement between the guide rail and the mounting table; and a safety control unit configured to stop an operation of the lifting part when a first condition including that the guide rail is not engaged with the mounting table is satisfied.

Abstract: A method of leasing a power storage includes obtaining, for a vehicle including a power storage, a value of the power storage based on a capacity retention rate of the power storage, determining an insurance fee for a user of the vehicle to receive an insurance service relating to replacement of the power storage based on an accident risk of the vehicle, and determining a lease fee of the power storage based on the value of the power storage and the insurance fee.

Abstract: A tow hook assembly is detachably mounted to a frame member of a vehicle. The tow hook assembly includes a housing and a tow hook. The housing has a front wall with a front surface and an aperture formed in the front wall. The tow hook at least partially extends through the aperture and is movable between an extended position and a retracted position, in the extend position the tow hook extends farther outward from the housing than in the retracted position. The tow hook is configured to move from the extended position to the retracted position upon application of a force exceeding a first threshold. The housing is configured to disengage from the frame member upon an application of a force exceeding a second threshold greater than the first threshold.

Abstract: A driving support apparatus comprises a sensor configured to acquire sensor information that is used to acquire a distance between a vehicle and an object, and a controller configured to execute a driving support control using a first distance, which is acquired by applying a first recognition method to the sensor information, representing a distance between the vehicle and a target object as a control distance. The first recognition method has a characteristic that a recognition reliability of the target object increases as an acquisition time of the first distance increases. The controller is configured to use an extrapolation distance representing the vehicle and the target object as the control distance, when the first distance can no longer be acquired and the acquisition time is equal to or longer than a predetermined threshold time.

Abstract: A flow rate control valve is configured to adjust a flow rate of blow-by gas drawn into an intake passage from a crankcase of an internal combustion engine that uses hydrogen as fuel. The flow rate control valve includes a flow rate adjuster having a valve member. The flow rate adjuster has a cross-sectional flow area in a section through which the blow-by gas passes. The cross-sectional flow area is changed in accordance with movement of the valve member. The flow rate control valve is configured such that the cross-sectional flow area is maximized when a load on the internal combustion engine is less than or equal to that in an idling operation state.

Abstract: A moving environment system capable of opening a door in a state in which a robot is away from the door by an appropriate distance while also reducing unnecessary opening of the door is provided. A moving environment system includes: an autonomous mobile robot; and an automatic door including a sensor configured to detect an object that has entered a predetermined detection area, in which the detection area includes a detection area for a passerby and a detection area for an autonomous mobile robot, the detection area for the autonomous mobile robot is set so as to include an area through which a frequency of people passing is equal to or smaller than a predetermined frequency, and the autonomous mobile robot passes through the automatic door via the detection area for the autonomous mobile robot.

Abstract: An automatic driving system includes a control device that controls automatic driving of a vehicle, and a storage device that contains external environment information indicating an external environment of the vehicle. A driving transition zone is a zone in which a driver of the vehicle takes over at least a part of driving of the vehicle, from the control device. A termination target velocity is a target velocity of the vehicle at an end point of the driving transition zone. The control device variably sets the termination target velocity, depending on the external environment at the end point or the external environment surrounding the end point. Then, the control device controls the velocity of the vehicle in the driving transition zone, such that the velocity of the vehicle at the end point is the termination target velocity.

Abstract: The vehicle control device includes an arbitration unit configured to arbitrate between a plurality of control commands acquired from a plurality of driving support applications that respectively implements driving support functions, configured to output instructions based on a control command after arbitration to a first control unit that is able to control a steering actuator and a second control unit that is able to control at least one of a brake actuator or a drive actuator, and configured to acquire a steering angle and a yaw rate as the control commands from the driving support applications.