Vehicle platform, autonomous driving system, and vehicle control interface box

Abstract

The present invention relates to a vehicle platform, an autonomous driving system, and a vehicle control interface box. The VCIB interacts between an autonomous driving kit (ADK) and a vehicle platform (VP). The VP includes a manual mode and an autonomous mode as vehicle modes, in the manual mode the VP is controlled by a driver, in the autonomous mode the VP is controlled by the ADK. The VCIB transitions the vehicle mode from the manual mode to the autonomous mode when a first condition is satisfied in the manual mode. The first condition includes (1) a condition that the VCIB has authenticated the ADK, (2) a condition that a power mode status signal indicates "driving mode", (3) a condition that an autonomization readiness signal indicates "autonomous mode ready", and (4) a condition that a vehicle mode request indicates "autonomous request".

Description

[0001] This non-provisional application is based on Japanese Patent Application No. 2021-158039, filed with the Japan Patent Office on September 28, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to a vehicle platform configured to allow an autonomous driving system to be mounted thereon, an autonomous driving system configured to be mounted on the vehicle platform, and a vehicle control interface box for interaction between the vehicle platform and the autonomous driving system mounted on the vehicle platform. Background Technology

[0003] Recently, a technology for autonomous driving of vehicles has been developed. For example, Japanese Patent Publication No. 2018-132015 discloses an autonomous driving system that centrally controls the autonomous driving of a vehicle. This autonomous driving system includes a camera, a laser device, a radar device, an operating device, a slope sensor, autonomous driving equipment, and an autonomous driving electronic control unit (ECU). Summary of the Invention

[0004] An autonomous driving system can be externally attached to the vehicle body. In this case, autonomous driving is achieved through control of the vehicle via a vehicle platform (described later) based on commands from the autonomous driving system. For example, the vehicle platform may include a manual mode and an autonomous mode, in which the vehicle platform is controlled by the driver and in which the vehicle platform is controlled by the autonomous driving system. Appropriate switching between manual and autonomous modes is required.

[0005] This disclosure is made to address the aforementioned problems, and the purpose of this disclosure is to enable appropriate switching between manual and autonomous modes in a vehicle platform on which an autonomous driving system can be installed.

[0006] (1) The vehicle platform according to one aspect of this disclosure is a vehicle platform on which an autonomous driving system can be installed. The vehicle platform includes a vehicle and a vehicle control interface box, which interacts between the vehicle and the autonomous driving system. The vehicle platform includes a manual mode and an autonomous mode as vehicle modes, in which the vehicle platform is controlled by the driver and in which the vehicle platform is controlled by the autonomous driving system. The vehicle platform includes a sleep mode, a wake-up mode, and a driving mode as power modes, in which the vehicle power is off, in which the vehicle control interface box is woken up, and in which the vehicle power is on. The vehicle control interface box is configured to receive a vehicle mode request from the autonomous driving system requesting control of the vehicle mode and to provide the autonomous driving system with an autonomy preparation signal indicating whether the vehicle platform is ready for autonomous mode. When the vehicle control interface box receives a vehicle mode request requesting autonomous mode after authenticating the autonomous driving system, the power mode is set to driving mode, and the autonomy preparation signal indicates that autonomous mode is ready, the vehicle control interface box switches the vehicle mode from manual mode to autonomous mode.

[0007] According to this configuration, when the vehicle platform's electric mode is set to driving mode and the autonomy preparation signal indicates that autonomous mode is ready—that is, when the vehicle platform is capable of providing autonomous mode—the vehicle mode switches from manual mode to autonomous mode based on the vehicle mode request requesting autonomous mode. Therefore, the vehicle mode can be appropriately switched from manual mode to autonomous mode.

[0008] (2) In one embodiment, when the power mode changes from sleep mode to wake-up mode or driving mode, the vehicle control interface box sets the vehicle mode to manual mode.

[0009] According to this configuration, the initial state of the vehicle mode can be set to manual mode.

[0010] (3) In one embodiment, when the vehicle mode has been set to autonomous mode, and the vehicle control interface box receives a vehicle mode request from the autonomous driving system to deactivate the autonomous mode, the vehicle control interface box switches the vehicle mode from autonomous mode to manual mode.

[0011] This configuration simplifies the process of switching the vehicle mode from autonomous to manual. Therefore, it reduces the difficulty of installing the autonomous driving system on the vehicle platform.

[0012] (4) According to another aspect of this disclosure, the autonomous driving system is configured to be installed on a vehicle platform. The vehicle platform includes a vehicle and a vehicle control interface box, which interacts between the vehicle and the autonomous driving system. The vehicle platform includes a manual mode and an autonomous mode as vehicle modes, in which the vehicle platform is controlled by the driver and in which the vehicle platform is controlled by the autonomous driving system. The vehicle platform includes a sleep mode, a wake-up mode, and a driving mode as power modes, in which the vehicle power is off, the vehicle control interface box is woken up in the wake-up mode, and the vehicle power is on in the driving mode. The autonomous driving system includes a computing component and a communication module that communicates with the vehicle control interface box. The computing component is configured to transmit a vehicle mode request requesting control of the vehicle mode to the vehicle control interface box via the communication module. When the computing component switches the vehicle mode from manual mode to autonomous mode after the autonomous driving system is authenticated by the vehicle control interface box, the computing component transmits the vehicle mode request requesting autonomous mode to the vehicle control interface box.

[0013] (5) In one embodiment, the computing component is further configured to transmit a power mode request requesting control of the power mode to the vehicle control interface box via the communication module. When the computing component changes the vehicle mode from manual mode to autonomous mode, in addition to the vehicle mode request requesting autonomous mode, the computing component also transmits a power mode request requesting driving mode to the vehicle control interface box.

[0014] (6) In one embodiment, when the computing component starts the vehicle platform, the computing component transmits a power mode request for wake-up mode to the vehicle control interface box.

[0015] (7) In one embodiment, when the computing component changes the vehicle mode from autonomous mode to manual mode, the computing component transmits a vehicle mode request to disable autonomous mode to the vehicle control interface box.

[0016] (8) In one embodiment, the computing component receives an autonomous readiness signal from the vehicle control interface box via a communication module, indicating whether the vehicle platform is ready for autonomous mode.

[0017] (9) According to another aspect of this disclosure, the vehicle control interface box is a vehicle control interface box that interacts between a vehicle platform and an autonomous driving system installed on the vehicle platform. The vehicle platform includes a manual mode and an autonomous mode as vehicle modes. In manual mode, the vehicle platform is controlled by the driver, and in autonomous mode, the vehicle platform is controlled by the autonomous driving system. The vehicle platform includes a sleep mode, a wake-up mode, and a driving mode as power modes. In sleep mode, the vehicle power is off; in wake-up mode, the vehicle control interface box is woken up; and in driving mode, the vehicle power is on. The vehicle control interface box includes a processor and a memory, in which programs executable by the processor are stored. The processor is configured to receive a vehicle mode request from the autonomous driving system requesting control of the vehicle mode, and to provide an autonomous readiness signal to the autonomous driving system, indicating whether the vehicle platform is ready for autonomous mode.

[0018] (10) In one embodiment, the processor is further configured to receive a power mode request from the autonomous driving system requesting control of the power mode. During a transition from manual mode to autonomous mode, the processor authenticates the autonomous driving system, receives from the autonomous driving system a vehicle mode request requesting autonomous mode and a power mode request requesting driving mode, and provides the autonomous driving system with an autonomous readiness signal indicating that autonomous mode is ready.

[0019] (11) In one embodiment, the processor is further configured to provide a power mode status signal to the autonomous driving system, indicating the power mode status of the vehicle platform. During a transition from manual mode to autonomous mode, the processor authenticates the autonomous driving system, receives a vehicle mode request from the autonomous driving system requesting autonomous mode, and provides the autonomous driving system with an autonomous readiness signal indicating that autonomous mode is ready and a power mode status signal indicating the driving mode.

[0020] (12) In one embodiment, when the vehicle mode changes from autonomous mode to manual mode, the processor receives a vehicle mode request from the autonomous driving system to deactivate the autonomous mode.

[0021] The foregoing and other objects, features, aspects and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and the following detailed description of this disclosure. Attached Figure Description

[0022] Figure 1 This is a diagram illustrating an overview of a vehicle according to an embodiment of the present disclosure.

[0023] Figure 2 This is a diagram showing the configuration of ADS, VCIB, and VP in more detail.

[0024] Figure 3A state machine is shown, illustrating vehicle mode transitions.

[0025] Figure 4 It is a diagram showing the transmission direction of various signals or commands related to mode transitions.

[0026] Figure 5 This is a diagram used to illustrate a power mode request.

[0027] Figure 6 It is a diagram used to illustrate the power mode status signal.

[0028] Figure 7 This is a diagram used to illustrate a vehicle mode request.

[0029] Figure 8 This is a diagram used to illustrate vehicle mode status signals.

[0030] Figure 9 This is a diagram used to illustrate the autonomous preparation signal.

[0031] Figure 10 This is a flowchart illustrating the processing procedures related to the change of vehicle mode.

[0032] Figure 11 This is a diagram showing the overall structure of an Autono-MaaS vehicle.

[0033] Figure 12 This is a diagram illustrating the system architecture of an Autono-MaaS vehicle.

[0034] Figure 13 This is a diagram illustrating a typical workflow in ADS.

[0035] Figure 14 This is a graph showing the relationship between the front wheel steering angle rate limit and speed.

[0036] Figure 15 This is the state machine diagram for the power mode.

[0037] Figure 16 This is a diagram showing the details of the shift sequence.

[0038] Figure 17 This is a diagram showing the car locking sequence.

[0039] Figure 18 This is a diagram showing the parking sequence.

[0040] Figure 19 It is a state machine diagram of autonomous states.

[0041] Figure 20 This is a diagram illustrating the authentication process. Detailed Implementation

[0042] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Identical or corresponding elements in the drawings are assigned the same reference numerals and will not be described again thereon.

[0043] [Example]

[0044] Figure 1 This is a diagram illustrating an overview of a vehicle according to an embodiment of the present disclosure. The vehicle 1 includes an Autonomous Driving Kit (ADK) 10 and a Vehicle Platform (VP) 20. The ADK 10 is configured to be attached to the VP 20 (which can be mounted on the vehicle 1). The ADK 10 and the VP 20 are configured to communicate with each other via a vehicle control interface (VCIB 40, which will be described later).

[0045] VP 20 can perform autonomous driving based on control requests from ADK 10. Although Figure 1 The image shows ADK 10 positioned away from VP 20, but ADK 10 is actually attached to the roof of VP 20, etc. ADK 10 can also be removed from VP 20. When ADK 10 is not attached, VP 20 performs driving control in manual mode (driving control based on user input).

[0046] ADK 10 includes an Autonomous Driving System (ADS) 11 for autonomous driving of vehicle 1. For example, ADS 11 creates a driving plan for vehicle 1. ADS 11 outputs various control requests to VP 20 for vehicle 1 to drive according to the driving plan, based on an application programming interface (API) defined for each control request. ADS 11 receives various signals from VP 20 indicating the vehicle status (the status of VP 20) based on the API defined for each signal. ADS 11 then reflects the vehicle status in the driving plan. (See reference...) Figure 2 Describes the detailed configuration of ADS 11.

[0047] VP 20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40.

[0048] The base vehicle 30 performs various types of vehicle control based on control requests from ADK 10 (ADS 11). The base vehicle 30 includes various systems and sensors for controlling itself. More specifically, the base vehicle 30 includes an integrated control manager 31, a braking system 32, a steering system 33, a powertrain system 34, an active safety system 35, a body system 36, wheel speed sensors 51 and 52, a pinion angle sensor 53, a camera 54, and radar sensors 55 and 56.

[0049] The integrated control manager 31 includes a processor and a memory, and controls the systems involved in the operation of the vehicle 1 in one go (braking system 32, steering system 33, powertrain system 34, active safety system 35, and body system 36).

[0050] The braking system 32 is configured to control braking devices located in each wheel of the base vehicle 30. The braking devices include, for example, disc brake systems (not shown), which operate using hydraulic pressure regulated by an actuator.

[0051] Wheel speed sensors 51 and 52 are connected to the braking system 32. Wheel speed sensor 51 detects the front wheel speed of the base vehicle 30 and outputs the detected front wheel speed to the braking system 32. Wheel speed sensor 52 detects the rear wheel speed of the base vehicle 30 and outputs the detected rear wheel speed to the braking system 32. The braking system 32 outputs the speed of each wheel to the VCIB 40 as one of several pieces of information included in the vehicle status. The braking system 32 generates braking commands to the braking device based on the specified control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The braking system 32 controls the braking device based on the generated braking commands. The integrated control manager 31 can calculate the speed of the vehicle 1 (vehicle speed) based on the speed of each wheel.

[0052] The steering system 33 is configured to control the steering angle of the steering wheel of the vehicle 1 using a steering mechanism. The steering mechanism includes, for example, rack and pinion electric power steering (EPS), which allows adjustment of the steering angle via an actuator.

[0053] The pinion angle sensor 53 is connected to the steering system 33. The pinion angle sensor 53 detects the rotation angle (pinion angle) of the pinion gear coupled to the rotating shaft of the actuator and outputs the detected pinion angle to the steering system 33. The steering system 33 outputs the pinion angle to the VCIB 40 as one of several pieces of information included in the vehicle's condition. Based on a specified control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31, the steering system 33 generates a steering command for the steering mechanism. The steering system 33 controls the steering mechanism based on the generated steering command.

[0054] The powertrain system 34 controls an electric parking brake (EPB) system 341 located in at least one of a plurality of wheels, a parking lock (P-LOCK) system 342 located in the transmission of the vehicle 1, and a propulsion system 343, the propulsion system 343 including a shifting device (not shown) configured to allow selection of a shift range. (Refer to...) Figure 2 Further detailed configuration of powertrain system 34 is described.

[0055] The active safety system 35 uses camera 54 and radar sensors 55 and 56 to detect obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front of or behind the vehicle. The active safety system 35 determines whether a collision is possible between the vehicle 1 and the obstacle based on the distance between the vehicle 1 and the obstacle and the direction of the vehicle 1's movement. When the active safety system 35 determines that a collision is possible, it outputs a braking command to the braking system 32 via the integrated control manager 31 to increase braking force.

[0056] The body system 36 is configured to control components such as the turn indicators, horn, and wipers (not shown) depending on the driving conditions of the vehicle 1's surrounding environment. The body system 36 controls each component according to specified control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

[0057] VCIB 40 is configured to communicate with ADS 11 via a Controller Area Network (CAN). VCIB 40 receives various control requests from ADS 11 or outputs vehicle status to ADS 11 by executing a predefined API defined for each signal. When VCIB 40 receives a control request from ADK 10, it outputs a control command corresponding to the control request to the system corresponding to the control command via the Integrated Control Manager 31. VCIB 40 obtains various types of information about the base vehicle 30 from various systems via the Integrated Control Manager 31 and outputs the status of the base vehicle 30 as vehicle status to ADS 11.

[0058] Vehicle 1 can be used as one of the components of a Mobility as a Service (MaaS) system. In addition to Vehicle 1, the MaaS system also includes, for example, a data server and a Mobility Services Platform (MSPF) (both not shown).

[0059] MSPF is an integrated platform that connects various mobility services. Autonomous driving-related mobility services connect to MSPF. In addition to autonomous driving-related mobility services, mobility services provided by ride-sharing companies, car-sharing companies, car rental companies, taxi companies, and insurance companies can connect to MSPF.

[0060] Vehicle 1 also includes a data communication module (DCM) (not shown) capable of wirelessly communicating with a data server. The DCM outputs vehicle information, such as speed, location, or autonomous driving status, to the data server. The DCM receives various types of data from autonomous driving-related mobility services via MSPF and the data server for managing the operation of autonomous vehicles, including Vehicle 1, within the mobility services.

[0061] MSPF publishes APIs for using various types of data on vehicle status and vehicle control required for the development of ADS 11. By using the APIs published on MSPF, various mobility services can utilize various functions provided by MSPF, depending on the service content. For example, autonomous driving-related mobility services can obtain operational control data for vehicle 1 or information stored in a data server from MSPF by using the APIs published on MSPF. Autonomous driving-related mobility services can also use the APIs to transfer data used to manage autonomous vehicles, including vehicle 1, to MSPF.

[0062] <Detailed Configuration>

[0063] Figure 2 This is a diagram showing the configuration of ADS 11, VCIB 40, and VP 20 in more detail. (See diagram below.) Figure 2 As shown, ADS 11 includes a computing component 111, a human-machine interface (HMI) 112, a sensor 113 for sensing, a sensor 114 for attitude, and a sensor cleaning 115.

[0064] During autonomous driving of vehicle 1, computing component 111 obtains information indicating the environment surrounding vehicle 1 and information indicating the attitude, behavior, and position of vehicle 1 from various sensors (described later), and obtains vehicle status from VP 20 via VCIB 40, and sets the next operation of vehicle 1 (acceleration, deceleration, or turning). Computing component 111 outputs various commands to VCIB 40 to implement the next operation. Computing component 111 includes communication modules 111A and 111B. Communication modules 111A and 111B are each configured to communicate with VCIB 40.

[0065] The HMI 112 presents information to the user and accepts user input during autonomous driving, during driving requiring user operation, or during transitions between autonomous driving and driving requiring user operation. The HMI 112 is configured to connect to input and output devices (not shown), such as a touch panel display provided in the base vehicle 30.

[0066] The sensing sensor 113 is a sensor for sensing the environment surrounding the vehicle 1. The sensing sensor 113 includes at least one of, for example, laser imaging detection and ranging (LIDAR), millimeter-wave radar, and a camera (all not shown). The LIDAR, for example, measures the distance and direction to an object by emitting a laser beam of infrared pulses and detecting the laser beam reflected by the object. The millimeter-wave radar measures the distance and direction to an object by emitting millimeter waves and detecting the millimeter waves reflected by the object. The camera, for example, is positioned behind the rearview mirror inside the vehicle and captures images of the area in front of the vehicle 1.

[0067] The attitude sensor 114 is a sensor that detects the attitude, behavior, or position of vehicle 1. The attitude sensor 114 includes, for example, an inertial measurement unit (IMU) and a global positioning system (GPS) (both not shown). The IMU detects, for example, accelerations in the forward, lateral, and vertical directions of vehicle 1, and angular velocities in the roll, pitch, and yaw directions of vehicle 1. The GPS detects the position of vehicle 1 based on information received from multiple GPS satellites orbiting the Earth.

[0068] Sensor cleaner 115 is configured to remove dirt adhering to various sensors (camera lenses or portions from which laser beams are emitted) with a cleaning solution or wiper during vehicle 1 operation.

[0069] VCIB 40 includes VCIB 41 and VCIB 42. Each of VCIB 41 and 42 includes a processor such as a central processing unit (CPU) and memory such as read-only memory (ROM) and random access memory (RAM), although neither is shown. Programs executable by the processor are stored in the memory. VCIB 41 and communication module 111A are communicatively connected to each other. VCIB 42 and communication module 111B are communicatively connected to each other. VCIB 41 and VCIB 42 are communicatively connected to each other.

[0070] VCIBs 41 and 42 each relay control requests and vehicle information between ADS 11 and VP 20. More specifically, VCIB 41 uses an API to generate control commands based on control requests from ADS 11. For example, control commands include a forward direction command requesting a shift range change, a vehicle lock command requesting activation / deactivation of EPB system 341 and P-LOCK system 342, an acceleration command requesting vehicle 1 to accelerate or decelerate, a wheel steering angle command requesting wheel steering angle adjustment, and an autonomous command requesting switching between autonomous and manual modes. VCIB 41 then outputs the generated control commands to the corresponding systems in the multiple systems included in VP 20. VCIB 41 uses an API to generate information indicating vehicle status based on vehicle information from each system in VP 20. This information indicating vehicle status may be the same as the vehicle information itself, or it may be information extracted from the vehicle information used for processing performed by ADS 11. VCIB 41 provides the generated information indicating vehicle status to ADS 11. This also applies to VCIB 42.

[0071] Braking system 32 includes braking systems 321 and 322. Steering system 33 includes steering systems 331 and 332. Powertrain system 34 includes EPB system 341, P-LOCK system 342, and propulsion system 343.

[0072] Although VCIB 41 and VCIB 42 are functionally equivalent, they differ in some aspects in their connection to the VCIB included in VP20. Specifically, VCIB 41, braking system 321, steering system 331, EPB system 341, P-LOCK system 342, propulsion system 343, and body system 36 are interconnected via a communication bus. VCIB 42, braking system 322, steering system 332, and P-LOCK system 342 are interconnected via a communication bus.

[0073] Since functionally equivalent VCIBs 41 and 42, which are associated with the operation of at least one of the systems (e.g., braking or steering), are included in VCIB 40, the control system between ADS 11 and VP 20 is redundant. Therefore, in the event of a fault in the system, the function of VP 20 can be maintained by appropriately switching between control systems or disconnecting the faulty control system.

[0074] Braking systems 321 and 322 are each configured to control the braking device. Braking system 321 generates a braking command to the braking device based on a control request output from ADS 11 via VCIB 41. Braking system 322 generates a braking command to the braking device based on a control request output from ADS 11 via VCIB 42. Braking systems 321 and 322 are functionally equivalent to each other. Alternatively, one of braking systems 321 and 322 can be configured to independently control the braking force of each wheel, and the other can be configured to control the braking force such that equal braking forces are generated in the wheels. For example, braking systems 321 and 322 can control the braking device based on a braking command generated by either of them, and in the event of a malfunction in the braking system, they can control the braking device based on a braking command generated by the other of them.

[0075] Steering systems 331 and 332 are each configured to control the steering angle of the steering wheel of vehicle 1 using a steering mechanism. Steering system 331 generates a steering command for the steering mechanism based on a control request output from ADS 11 via VCIB 41. Steering system 332 generates a steering command for the steering mechanism based on a control request output from ADS 11 via VCIB 42. Steering systems 331 and 332 are functionally equivalent to each other. Alternatively, steering systems 331 and 332 can control the steering mechanism based on a steering command generated by either of them, and in the event of a malfunction in the steering system, they can control the steering mechanism based on a steering command generated by the other of them.

[0076] The EPB system 341 controls the EPB according to a control request output from the ADS 11 via the VCIB 41. The EPB is separate from the braking system (such as a disc brake system) and secures the wheels by operating an actuator. For example, the EPB uses an actuator to activate a drum brake (used as a parking brake) on at least one of a plurality of wheels to secure the wheel, or activates the braking system to secure the wheel using an actuator capable of adjusting the hydraulic pressure supplied to the braking system, which is separate from braking systems 321 and 322. The EPB system 341 performs a brake holding function and can be configured to switch between activation and release of brake holding.

[0077] The P-LOCK system 342 controls the P-LOCK device according to control requests output from the ADS 11 via the VCIB 41. For example, when the control request includes a control request to set the shift range to the parking range (P range), the P-LOCK system 342 activates the P-LOCK device, and when the control request includes a control request to set the shift range to a shift range other than the P range, it deactivates the P-LOCK device. The P-LOCK device assembles a protrusion located at the top of the parking lock pawl into the teeth of a gear (locking gear), the position of which is adjusted by an actuator. This gear is configured to be coupled to a rotating element in the transmission of the vehicle 1. Therefore, the rotation of the transmission output shaft is fixed, and the wheels are fixed.

[0078] The propulsion system 343 switches the shift range of the shifting device and controls the driving force from the drive source (electric motor, generator, and engine) according to the control request output from the ADS 11 via the VCIB 41. In addition to the P range, the shift range includes, for example, neutral range (N range), forward driving range (D range), and reverse range (R range).

[0079] The active safety system 35 is communicatively connected to the braking system 321. As previously described, the active safety system 35 detects obstacles ahead using a camera 54 and / or a radar sensor 55, and when it determines that there is a possibility of a collision, it outputs a braking command to the braking system 321 to increase braking force.

[0080] The body system 36 controls components such as the turn indicator, horn, or wipers based on control requests output from the ADS 11 via the VCIB 41.

[0081] For example, autonomous driving is performed when the autonomous mode, described later, is selected via a request from ADK 10 in vehicle 1. During autonomous driving, ADS 11 initially creates a driving plan as previously described. Examples of driving plans include plans to continue straight, plans to turn left / right at a predetermined intersection on a predetermined driving path, and plans to change lanes. ADS 11 calculates the controllable physical quantities (acceleration, deceleration, and wheel steering angle) required for the operation of vehicle 1 based on the created driving plan. ADS 11 breaks down the physical quantities for each execution cycle of the API. ADS 11 outputs control requests representing the broken down physical quantities to VCIB 40 via the API. Furthermore, ADS 11 obtains the vehicle status (actual direction of movement of vehicle 1 and the vehicle's stationary state) from VP 20 and recreates a driving plan reflecting the obtained vehicle status. ADS 11 thus enables autonomous driving of vehicle 1.

[0082] <Pattern Shift>

[0083] Figure 3 A state machine is shown, illustrating the transitions between vehicle modes. In this example, vehicle 1 includes both manual and autonomous modes as its vehicle modes.

[0084] Manual mode refers to the mode in vehicles that do not offer autonomous driving, i.e., the mode where VP 20 is controlled by the driver. In manual mode, ADK 10 has virtually no control over VP 20 except for handling certain requests.

[0085] Autonomous mode refers to a mode in which VP 20 is controlled by ADK 10 and vehicle 1 is capable of autonomous driving. In autonomous mode, after VCIB 40 successfully authenticates ADK 10, ADK 10 is able to communicate with VP 20. In autonomous mode, VP 20 is controlled by ADK 10 as a result of the publication of an "autonomy request" from ADK 10 as a vehicle mode request (which will be described later).

[0086] In manual mode, the electric mode is set to either "Wake" or "Drive". The vehicle mode is set to "Manual".

[0087] In autonomous mode, the electric mode status is set to "driving mode". The vehicle mode status is set to "autonomous mode".

[0088] Figure 4This diagram illustrates the transmission direction of various signals or commands (requests) related to mode transitions. During a mode transition, VCIB 40 receives power mode requests (power mode commands) and vehicle mode requests (vehicle mode commands) from ADK 10 (ADS 11). VCIB 40 provides ADK 10 with power mode status signals, vehicle mode status signals, and autonomy preparation signals (autonomy ready).

[0089] The power mode request is a request used to control the power mode of VP 20. The power mode status signal is a signal indicating the current status of the power mode of VP 20.

[0090] Figure 5 This is a diagram used to illustrate a power mode request. (Reference) Figure 5 In vehicle 1, ADS 11 transmits a power mode request to VCIB 40 according to the specified API in order to control the power mode of VP 20.

[0091] According to this embodiment, the VP 20 includes three power modes: Sleep mode, Wake mode, and Drive mode.

[0092] Sleep mode refers to the state where the power supply to VP 20 is turned off (the vehicle power is off). In sleep mode, power is not fed from the on-board main battery (not shown) to each system, and the VCIB 40 (VCIB 41 and 42) and each system (ECU) of the base vehicle 30 are not turned on.

[0093] Wake mode refers to the state in which VCIB 40 is awakened by power supply from the onboard auxiliary battery (not shown). In wake mode, no power is supplied from the main battery, and ECUs other than VCIB 40 are not awakened except for some body electrical ECUs in the body system 36 (e.g., the verification ECU used to verify the smart key or the body ECU that controls the locking / unlocking of the doors).

[0094] Driving mode refers to the state in which the power of VP 20 is on (the vehicle's power is on). In driving mode, power is supplied from the main battery, enabling each system of VCIB 40 and the base vehicle 30 to be activated, and VP 20 to drive.

[0095] The power mode request can take any value from 0 to 6 as an argument. When no power mode request for VP 20 is issued from ADS 11, the value is set to 0. When VCIB40 receives a power mode request with the value already set to 0, VP 20 maintains the current power mode.

[0096] When a request for sleep mode is issued from ADS 11, the value is set to 1. In other words, the power mode request with the value set to 1 requests to shut down VP 20. When VCIB 40 receives the power mode request with the value set to 1, the power mode of VP 20 changes to sleep mode, and VP 20 is set to power-off state.

[0097] When a wake-up mode request is received from ADS 11, the setting value is 2. In other words, a power mode request with a value of 2 already set makes a request to turn on VCIB 40. When VCIB 40 receives a power mode request with a value of 2 already set, the power mode of VP 20 changes to wake-up mode, and VCIB 40 is turned on by receiving power feed from the auxiliary battery.

[0098] Values ​​3 to 5 are reserved for future expansion. Values ​​3 to 5 are not used in this embodiment.

[0099] When a Drive mode is requested from ADS 11, the setting value is 6. In other words, the electric mode request, which has already been set to value 6, requests to activate VP 20. When VCIB 40 receives the electric mode request with the value already set to 6, the electric mode of VP 20 is switched to Drive mode, and VP 20 is set to the powered state.

[0100] Figure 6 This is a schematic diagram used to illustrate power mode status signals. (Reference) Figure 6 In vehicle 1, the status of the power mode of VP 20 is notified to ADS 11 by transmitting a signal indicating the power mode status from VCIB 40 to ADS 11 according to the specified API.

[0101] The power mode status signal transmitted to ADS 11 can take any value from 0 to 7 as a parameter. Values ​​0 and 3 to 5 are not used at the current time and are reserved.

[0102] Setting value 1 when the power mode is set to Sleep. Setting value 2 when the power mode is set to Wake. Setting value 6 when the power mode is set to Drive. Setting value 7 when the VP 20's power supply experiences any unhealthy conditions.

[0103] Figure 7 This is a diagram used to illustrate a vehicle mode request. (Reference) Figure 7 In vehicle 1, ADS 11 transmits a vehicle mode request to VCIB 40 according to the specified API in order to control the vehicle mode of VP 20.

[0104] As described above, the VP 20 according to this embodiment includes two vehicle modes: manual mode and autonomous mode.

[0105] The vehicle mode request can take any value from 0 to 2 as an argument. When no vehicle mode request for VP20 is issued from ADS 11, the value is set to 0. When VCIB 40 receives a vehicle mode request with the value already set to 0, it maintains the current vehicle mode.

[0106] When ADS 11 requests autonomous mode (autonomous request), the value is set to 1. In other words, a vehicle mode request (autonomous request) with the value set to 1 requests to switch the vehicle mode from manual mode to autonomous mode.

[0107] When ADS 11 requests manual mode (disable request), the value is set to 2. In other words, a vehicle mode request (disable request) with the value already set to 2 requests to switch the vehicle mode from autonomous mode to manual mode.

[0108] Figure 8 This is a diagram used to illustrate the vehicle mode status signal. In this vehicle 1, the vehicle mode status of VP 20 is notified to ADS 11 by transmitting a signal indicating the vehicle mode status from VCIB40 to ADS 11 according to the specified API.

[0109] The vehicle mode status signal can take either a value of 0 or 1 as its argument. The value is 0 when the vehicle mode is set to manual mode. The value is 1 when the vehicle mode is set to autonomous mode. When VP 20 is activated (electric mode status set to wake-up or driving), the vehicle mode is initiated from manual mode. In other words, the initial state of the vehicle mode is set to "manual mode".

[0110] Figure 9 This is a diagram used to illustrate the autonomous readiness signal. In this vehicle 1, according to the specified API, the ADS 11 is notified whether VP20 can be switched to autonomous mode by transmitting a signal indicating the autonomous readiness status of VP20 from VCIB40 to ADS 11.

[0111] The autonomous readiness signal can take any value from 0 to 2 as its argument. The value is set to 0 when VP 20 is not ready for autonomous mode (autonomous mode not ready). The value is set to 1 when VP 20 is ready for autonomous mode (autonomous mode ready). The value is set to 2 when the status is uncertain. Value 2 indicates an invalid value (invalid).

[0112] <<Transformation a>>

[0113] Will refer again Figure 3The transition between modes is described in detail. Transition a represents the transition from manual mode to autonomous mode. The vehicle mode transitions from manual mode to autonomous mode when a first condition is met in manual mode. The first condition includes the following conditions (1) to (4). The first condition is met when all of the following conditions (1) to (4) are met. The first condition is not met when at least one of the following conditions (1) to (4) is not met:

[0114] (1) VCIB 40 has been certified to meet the requirements of ADK 10;

[0115] (2) The electric mode status signal indicates the condition of "Drive mode";

[0116] (3) The autonomous mode preparation signal indicates the conditions for "autonomous mode ready"; and

[0117] (4) Conditions for the vehicle mode request indicator "autonomous request"

[0118] <<Transformation b>>

[0119] The transition indicates a shift from autonomous mode to manual mode. The vehicle mode transitions from autonomous mode to manual mode when the second condition of the vehicle mode request instruction "deactivation request" is met in autonomous mode.

[0120] Figure 10 This is a flowchart illustrating the processing steps related to vehicle mode transitions. When the electric mode is switched from sleep mode to wake-up mode or driving mode, Figure 10 The flowchart in the document begins with VCIB 40. In other words, Figure 10 The flowchart in the document begins with the opening of VCIB 40.

[0121] In S1, VCIB 40 sets the vehicle mode to manual mode. In other words, the initial state of the vehicle mode is set to "manual mode".

[0122] In S2, VCIB 40 determines whether a request has been made to switch from power mode to sleep mode. If VCIB 40 determines that no request has been made to switch from power mode to sleep mode (no in S2), the process proceeds to S3. If VCIB 40 determines that a request has been made to switch from power mode to sleep mode (yes in S2), the series of processes ends.

[0123] In S3, VCIB 40 determines whether the first condition has been met. Specifically, VCIB 40 determines whether the conditions (1) to (4) included in the first condition have been met. When VCIB 40 determines that the first condition has not been met (no in S3), the process returns to S1, and the vehicle mode remains in manual mode. When VCIB 40 determines that the first condition has been met (yes in S3), the process proceeds to S4.

[0124] In S4, VCIB 40 enables the vehicle mode to switch from manual mode to autonomous mode.

[0125] In S5, VCIB 40 determines whether a request has been made to switch from power mode to sleep mode. If VCIB 40 determines that no request has been made to switch from power mode to sleep mode ("No" in S5), the process proceeds to S6. If VCIB 40 determines that a request has been made to switch from power mode to sleep mode ("Yes" in S5), the series of processes ends.

[0126] In S6, VCIB 40 determines whether the second condition has been met. If VCIB 40 determines that the second condition has not been met (no in S6), the process returns to S4, and the vehicle mode remains in autonomous mode. If VCIB 40 determines that the second condition has been met (yes in S6), the process returns to S1, and the vehicle mode changes from autonomous mode to manual mode.

[0127] As described above, in this embodiment, when the VCIB 40 authenticates ADK 10, the electric mode status signal indicates "Drive," the autonomy preparation signal indicates "Autonomous Mode Ready," and the vehicle mode request indicates "Autonomous Request," the VCIB 40 switches the vehicle mode from manual mode to autonomous mode. The satisfaction of the above condition (the first condition) ensures that VP 20 can provide autonomous mode. Therefore, the vehicle mode switches from manual mode to autonomous mode simultaneously with the VP 20's ability to provide autonomous mode. Thus, the switching from manual mode to autonomous mode can be appropriately performed.

[0128] Furthermore, when the vehicle mode request indicates a "deactivation request," VCIB 40 switches the vehicle mode from autonomous mode to manual mode. Simplifying the conditions for switching the vehicle mode from autonomous to manual mode reduces the difficulty of installing ADS 11.

[0129] [Example]

[0130] Toyota Vehicle Platform API Specification

[0131] Version 1.1

[0132] Revision history

[0133]

[0134] Table of Contents

[0135] 1. Introduction

[0136] 1.1. Purpose of this specification

[0137] 1.2. Target Vehicle

[0138] 1.3. Terminology Definition

[0139] 2. Structure

[0140] 2.1. Autono-MaaS Vehicle Overall Structure

[0141] 2.2. System Architecture of Autono-MaaS Vehicles

[0142] 3. Application Programming Interface

[0143] 3.1. Typical usage of API

[0144] 3.2. APIs for Vehicle Motion Control

[0145] 3.2.1 List of APIs for Vehicle Motion Control

[0146] 3.2.2. Details of each API used for vehicle motion control

[0147] 3.3. APIs for Body Control

[0148] 3.3.1. List of APIs used for vehicle body control

[0149] 3.3.2. Details of each API used for body control

[0150] 3.4. APIs for power control

[0151] 3.4.1. List of APIs for Power Control

[0152] 3.4.2. Details of each API used for power control

[0153] 3.5. API for Fault Notification

[0154] 3.5.1. List of APIs used for fault notification

[0155] 3.5.2. Details of each API used for fault notification

[0156] 3.6. APIs for Security

[0157] 3.6.1. List of APIs for Security

[0158] 3.6.2. Details of each API used for security

[0159] 4. API Guidelines for Controlling Toyota Vehicles

[0160] 4.1. APIs for Vehicle Motion Control

[0161] 4.1.1. List of APIs for Vehicle Motion Control

[0162] 4.1.2. Detailed API Guidelines for Vehicle Motion Control

[0163] 4.2. APIs for Body Control

[0164] 4.2.1. List of APIs used for vehicle body control

[0165] 4.3. APIs for Power Control

[0166] 4.3.1. List of APIs for Power Control

[0167] 4.4. API for Fault Notification

[0168] 4.4.1. List of APIs used for fault notification

[0169] 4.5. APIs for Security

[0170] 4.5.1. List of APIs for Security

[0171] 4.5.2. Detailed information on API guidelines for security

[0172] 1. Introduction

[0173] 1.1. Purpose of this specification

[0174] This document is the API specification for the Autono-MaaS vehicle control interface, including an overview of the API, usage methods, and precautions.

[0175] 1.2. Target Vehicle

[0176] This specification applies to Autono-MaaS vehicles as defined in the [Toyota Vehicle Platform Architecture Specification with Autonomous Driving System].

[0177] 1.3. Terminology Definition

[0178] Table 1. Definitions of Terms

[0179]

[0180] 2. Structure

[0181] 2.1. Autono-MaaS Vehicle Overall Structure

[0182] This shows the overall structure of Autono-MaaS ( Figure 11 ).

[0183] 2.2. System Architecture of Autono-MaaS Vehicles

[0184] exist Figure 12 The system architecture is shown in the diagram.

[0185] 3. Application Programming Interface

[0186] 3.1. Typical usage of API

[0187] This section describes typical usage of the API.

[0188] The typical workflow of an API is as follows ( Figure 13 The following example assumes that CAN is used for physical communication.

[0189] 3.2. APIs for Vehicle Motion Control

[0190] This section describes the API used for vehicle motion control.

[0191] 3.2.1. List of APIs for Vehicle Motion Control

[0192] 3.2.1.1. Input

[0193] Table 3. APIs for Vehicle Motion Control

[0194]

[0195] *Response time in VP based on requests from ADK

[0196] 3.2.1.2. Output

[0197] Table 4. Output APIs for Vehicle Motion Control

[0198]

[0199]

[0200] 3.2.2. Details of each API used for vehicle motion control

[0201] 3.2.2.1. Direction of Advance Command

[0202] Shift request from forward (D range) to reverse (R range) / from reverse (R range) to forward (D range)

[0203] value

[0204] 0 No request 2 R Shift to R range 4 D Shift to D range other reserve

[0205] Remark

[0206] • This feature is only available when the vehicle mode status is set to "Autonomous Mode".

[0207] • This feature is only available when the vehicle is stationary (direction of travel = "parking").

[0208] • Only available when applying braking.

[0209] 3.2.2.2. Vehicle Locking Command

[0210] Request to open / close wheel lock

[0211] value

[0212] The following diagram shows the situations where the car is locked using EPB and P gear.

[0213] 0 No request 1 application EPB is activated, and the shift position changes to "P". 2 release EPB is off, and the shift position is changed to the value of the propulsion direction command.

[0214] Remark

[0215] This API is used for parking vehicles.

[0216] • This feature is only available when the vehicle mode status is set to "Autonomous Mode".

[0217] • The direction of travel can only be changed when the vehicle is stationary (driving direction = "stop").

[0218] • It can only be changed when braking is applied.

[0219] 3.2.2.3. Parking Command

[0220] Request to apply / release brake holding function

[0221] value

[0222] 0 No request 1 application Allows brake holding function. 2 release

[0223] Remark

[0224] This API is used to select whether the brake-holding function is allowed.

[0225] • This feature is only available when the vehicle mode status is set to "Autonomous Mode".

[0226] • The acceleration command (deceleration request) must continue until the stop status changes to "applied".

[0227] 3.2.2.4. Acceleration Command

[0228] Accelerate request

[0229] value

[0230] From estimated maximum deceleration to estimated maximum acceleration [m / s²] 2 ]

[0231] Remark

[0232] • This feature is only available when the vehicle mode status is set to "Autonomous Mode".

[0233] • Requests for acceleration (+) and deceleration (-) based on the direction of propulsion.

[0234] • The upper / lower limits will vary based on the estimated maximum deceleration and the estimated maximum acceleration. • When a request exceeds the estimated maximum acceleration, the request is set to the estimated maximum acceleration.

[0235] • When a request exceeds the estimated maximum deceleration, the request is set to the estimated maximum deceleration.

[0236] • The requested acceleration may not be achieved when the driver operates the vehicle (override control).

[0237] • When PCS are working simultaneously, VP should be selected with minimum acceleration (maximum deceleration).

[0238] 3.2.2.5. Front wheel steering angle command

[0239] value

[0240] - [Unit: rad]

[0241] Remark

[0242] Available only when vehicle mode status = "Autonomous Mode"

[0243] Left represents a positive value (+). Right represents a negative value (-).

[0244] • When the vehicle is traveling straight, the front wheel steering angle is set to the value (0).

[0245] • This request is set to a value related to the current value to prevent the accumulation of misalignment in the "front wheel steering angle".

[0246] • The requested value should be set within the front wheel steering angle rate limit.

[0247] • If the driver operates the vehicle (speeding), the requested front wheel steering angle may not be achieved.

[0248] 3.2.2.6. Vehicle Mode Command

[0249] Request to switch from manual to autonomous mode / request to switch from autonomous mode to manual mode

[0250] value

[0251] 0 No request 1 Autonomous Request 2 Discontinue request This indicates that the request will be switched to manual mode.

[0252] Remark

[0253] N / A

[0254] 3.2.2.7. High Dynamic Commands

[0255] If ADK wants to improve the braking response performance of VP*, the High Dynamics command should be set to "High".

[0256] *Response time in VP based on requests from ADK

[0257] value

[0258] 0 No request 1 high 2-3 reserve

[0259] Remark

[0260] N / A

[0261] 3.2.2.8. Propulsion Direction Status

[0262] Current gear status

[0263] value

[0264]

[0265]

[0266] Remark

[0267] If VP does not know the current gear status, the output is set to "invalid value".

[0268] 3.2.2.9. Vehicle Locking Status

[0269] Status of each vehicle locking system

[0270] value

[0271] The following diagram shows the situations where the car is locked using EPB and P gear.

[0272]

[0273] Remark

[0274] ·N / A

[0275] 3.2.2.10. Parking Status

[0276] Parking conditions

[0277] value

[0278] 0 release 1 application 2 reserve 3 Invalid value

[0279] Remark

[0280] ·N / A

[0281] 3.2.2.11. Estimate the gliding acceleration

[0282] Taking into account factors such as slope and road load, calculate the acceleration when the throttle is closed in VP.

[0283] value

[0284] [Unit: m / s] 2 ]

[0285] Remark

[0286] • When the propulsion direction is “D”, the forward acceleration is shown as a positive value.

[0287] • When the forward direction is “R”, the reverse acceleration is shown as a positive value.

[0288] 3.2.2.12. Estimating the maximum acceleration

[0289] Taking into account factors such as slope and road load, the acceleration is calculated in VP when the throttle is fully open.

[0290] value

[0291] [Unit: m / s] 2 ]

[0292] Remark

[0293] • When the propulsion direction is “D”, the forward acceleration is shown as a positive value.

[0294] • When the forward direction is “R”, the reverse acceleration is shown as a positive value.

[0295] 3.2.2.13. Estimate the maximum deceleration

[0296] Taking into account factors such as slope and road load, calculate the maximum deceleration in VP when the maximum braking is requested.

[0297] value

[0298] [Unit: m / s] 2 ]

[0299] Remark

[0300] • When the propulsion direction is “D”, the deceleration in the forward direction is shown as a negative value.

[0301] • When the forward direction is “R”, the deceleration in the reverse direction is shown as a negative value.

[0302] 3.2.2.14. Front wheel steering angle

[0303] value

[0304] Minimum value Invalid value other [Unit: rad]

[0305] Remark

[0306] Left represents a positive value (+). Right represents a negative value (-).

[0307] • This signal should indicate an invalid value before the VP is able to calculate the correct value or when the sensor is invalid / failed.

[0308] 3.2.2.15. Front wheel steering angular rate

[0309] Front wheel steering angle rate

[0310] value

[0311] Minimum value Invalid value other [Unit: rad / s]

[0312] Remark

[0313] Left represents a positive value (+). Right represents a negative value (-).

[0314] • This signal should indicate an invalid value before VP can calculate the correct value or when the current wheel steering angle shows a minimum value.

[0315] 3.2.2.16. Front wheel steering rate limit

[0316] Front wheel steering angular velocity limit

[0317] value

[0318] [Unit: rad / s]

[0319] Remark

[0320] The restrictions are based on Table 5 below and Figure 14 The “vehicle speed-steering angle rate” mapping shown is calculated.

[0321] A) Use a fixed value (0.751 [rad / s]) at low speeds or when stationary.

[0322] B) At higher speeds, the steering angle rate is 3.432 m / s. 3 Calculated based on vehicle speed.

[0323] Table 5. Vehicle Speed-Steering Angle Rate Mapping

[0324] Front wheel steering angle rate limit [RAD / s] 0.751 0.751 0.469 0.287 0.253

[0325] 3.2.2.17. Estimate the maximum lateral acceleration

[0326] value

[0327] [Unit: m / s] 2 (Fixed value: 3.432)

[0328] Remark

[0329] • The maximum lateral acceleration defined for VP.

[0330] 3.2.2.18. Estimating the maximum lateral acceleration rate

[0331] value

[0332] [Unit: m / s] 3 (Fixed value: 3.432)

[0333] Remark

[0334] • Maximum lateral acceleration rate limited for VP.

[0335] 3.2.2.19. Accelerator pedal intervention

[0336] This signal indicates whether the accelerator pedal has been pressed (intervened) by the driver.

[0337] value

[0338] 0 Unpressed 1 Press down 2 Exceeding autonomous acceleration

[0339] Remark

[0340] • This signal is set to "press" when the accelerator pedal is positioned above a predetermined threshold.

[0341] • When the requested acceleration calculated based on the accelerator pedal position is higher than the requested acceleration from ADS, the signal is set to “exceed autonomous acceleration”.

[0342] 3.2.2.20. Brake pedal intervention

[0343] This signal indicates whether the brake pedal has been pressed (intervened) by the driver.

[0344] value

[0345] 0 Unpressed 1 Press down 2 Exceeding autonomous deceleration

[0346] Remark

[0347] • When the brake pedal position is higher than a defined threshold, the signal is set to "press".

[0348] • When the requested deceleration calculated based on the brake pedal position is higher than the requested deceleration from ADS, the signal is set to “exceed autonomous deceleration”.

[0349] 3.2.2.21. Steering wheel intervention

[0350] This signal indicates whether the steering wheel is being operated (intervened) by the driver.

[0351] value

[0352] 0 No turn 1 ADS works with drivers 2 Operated only by human drivers

[0353] Remark

[0354] • When “steering wheel intervention = 1”, the EPS system works with the human driver to drive the steering, taking into account the human driver’s intentions.

[0355] • In "Steering Intervention = 2", the ADS steering request is not implemented, taking into account the human driver's intentions. (Steering will be driven by the human driver.)

[0356] 3.2.2.22. Gear shift lever intervention

[0357] This signal indicates whether the gear shift lever is under driver control (intervention).

[0358] value

[0359] 0 close 1 open Controlled (moves to any shift position)

[0360] Remark

[0361] ·N / A

[0362] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0363] value

[0364] Maximum value of transmitted bits Invalid value The sensor is malfunctioning. other Tick ​​(unit: -) The number of pulses per revolution depends on VP.

[0365] Remark

[0366] • Integrate the pulse value during the pulse descent timing.

[0367] This wheel speed sensor outputs 96 pulses per rotation.

[0368] • The wheel speed pulse will be updated regardless of whether the wheel speed sensor is invalid or malfunctioning.

[0369] • When “1” is subtracted from the pulse value shown as “0”, the value becomes “0×FF”.

[0370] When "1" is added to the pulse value that displays "0×FF", the value becomes "0".

[0371] • The rotation direction is determined after the ECU is activated, and when the rotation direction is "forward".

[0372] At that time, the pulse value will increase.

[0373] • When forward rotation is detected, a pulse value will be added.

[0374] • When reverse rotation is detected, the pulse value will be subtracted.

[0375] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0376] value

[0377] 0 go ahead 1 Reversing 2 reserve 3 Invalid value The sensor is malfunctioning.

[0378] Remark

[0379] • Before determining the rotation direction after VP is turned on, set it to "Forward".

[0380] 3.2.2.25. Direction of travel

[0381] Vehicle movement direction

[0382] value

[0383]

[0384]

[0385] Remark

[0386] • This signal indicates "stop" when the four wheel speed values ​​are "0" for a constant period of time.

[0387] • When shifting gears immediately after starting the vehicle, an "undefined" error may occur.

[0388] 3.2.2.26. Vehicle speed

[0389] Estimate vehicle longitudinal speed

[0390] value

[0391] Maximum value of transmitted bits Invalid value The sensor is malfunctioning. other Speed ​​[unit: m / s]

[0392] Remark

[0393] • This signal has a positive value when the vehicle is moving forward or backward.

[0394] 3.2.2.27. Longitudinal acceleration

[0395] Estimate vehicle longitudinal acceleration

[0396] value

[0397] Minimum value of transmitted bits Invalid value The sensor is malfunctioning. other acceleration [unit: m / s 2 ]]]>

[0398] Remark

[0399] • The acceleration (+) and deceleration (-) values ​​are based on the propulsion direction and condition direction.

[0400] 3.2.2.28. Lateral acceleration

[0401] Vehicle lateral acceleration

[0402] value

[0403] Minimum value of transmitted bits Invalid value The sensor is malfunctioning. other acceleration [unit: m / s 2 ]]]>

[0404] Remark

[0405] Positive values ​​indicate counter-clockwise direction. Negative values ​​indicate clockwise direction.

[0406] 3.2.2.29. Yaw rate

[0407] Yaw rate sensor value

[0408] value

[0409] Minimum value of transmitted bits Invalid value The sensor is malfunctioning. other Yaw rate [unit: degrees / second]

[0410] Remark

[0411] Positive values ​​indicate counter-clockwise direction. Negative values ​​indicate clockwise direction.

[0412] 3.2.2.30. Slippage Detection

[0413] Tire slip / spin / skid detection

[0414] value

[0415] 0 Non-slip 1 Slip 2 reserve 3 Invalid value

[0416] Remark

[0417] • This signal is identified as “slippage” when any of the following systems is activated.

[0418] -ABS (Anti-lock Braking System)

[0419] -TRC (Traction Control)

[0420] -VSC (Vehicle Stability Control)

[0421] -VDIM (Vehicle Dynamics Integrated Management)

[0422] 3.2.2.31. Vehicle Mode Status

[0423] Autonomous or manual mode

[0424] value

[0425] 0 Manual mode The mode starts from manual mode. 1 Autonomous mode

[0426] Remark

[0427] • The initial setting is "manual mode".

[0428] 3.2.2.32. Preparation for Autonomy

[0429] This signal indicates whether the vehicle can switch to autonomous driving mode.

[0430] value

[0431] 0 Not ready for autonomous mode 1 Preparing for an autonomous mode 3 invalid The situation is still uncertain.

[0432] Remark

[0433] ·N / A

[0434] 3.2.2.33. Fault conditions of VP function in autonomous mode

[0435] This signal is used to indicate whether the VP function has certain fault modes when the vehicle is operating in autonomous mode.

[0436] value

[0437]

[0438]

[0439] Remark

[0440] ·N / A

[0441] 3.2.2.34. PCS Alarm Status

[0442] value

[0443] 0 normal 1 alarm Request alerts from the PCS system 3 Unavailable

[0444] Remark

[0445] N / A

[0446] 3.2.2.35. PCS Preparation Status

[0447] Pre-fill condition as preparation for PCS braking

[0448] value

[0449] 0 normal 1 activation 3 Unavailable

[0450] Remark

[0451] • "Activation" is the state in which the PCS prepares the braking actuator to shorten the waiting time from the start of the deceleration request issued by the PCS.

[0452] • When the value becomes “Active” during the vehicle mode state = “Autonomous Mode”, the “ADS / PCS Arbitration Status” will display “ADS”.

[0453] 3.2.2.36. PCS Braking / PCS Braking Holding Status

[0454] value

[0455] 0 normal 1 PCS brake 2 PCS Braking Hold 7 Unavailable

[0456] Remark

[0457] N / A

[0458] 3.2.2.37. ADS / PCS Arbitration Status

[0459] Arbitration Status

[0460] value

[0461] 0 No request 1 ADS ADS 2 PCS PCS braking or PCS braking hold 3 Invalid value

[0462] Remark

[0463] • When the acceleration requested by the PCS system in VP is less than the acceleration requested by ADS, the status is set to "PCS".

[0464] • When the acceleration requested by the PCS system in VP is greater than the acceleration requested by ADS, the status is set to "ADS".

[0465] 3.3. APIs for Body Control

[0466] 3.3.1. List of APIs used for vehicle body control

[0467] 3.3.1.1. Input

[0468] Table 6. Input APIs for Body Control

[0469]

[0470] 3.3.1.2. Output

[0471] Table 7. Output APIs for Body Control

[0472]

[0473]

[0474] 3.3.2. Details of each API used for body control

[0475] 3.3.2.1. Turn signal command

[0476] Request to control turn signals

[0477] value

[0478] 0 close 1 right Right flash on 2 Left Left flash on 3 reserve

[0479] Remark

[0480] ·N / A

[0481] 3.3.2.2. Headlight Command

[0482] Request to control the headlights

[0483] value

[0484]

[0485]

[0486] Remark

[0487] • This command is valid when the headlight mode on the combination switch is set to "Off" or "AUTO mode is set to "On".

[0488] • The driver uses the overdrive control command.

[0489] 3.3.2.3. Hazard Warning Light Command

[0490] Request to control hazard warning lights

[0491] value

[0492] 0 No request 1 Open

[0493] Remark

[0494] • The driver operates the overslack control command.

[0495] • Hazard warning lights turn on when an "on" command is received.

[0496] 3.3.2.4. Horn Mode Command

[0497] Request to select the start and stop time modes for each loop.

[0498] value

[0499]

[0500]

[0501] Remark

[0502] N / A

[0503] 3.3.2.5. Horn Cyclic Command

[0504] Request to select the number of loops to start and stop.

[0505] value

[0506] 0 to 7 [-]

[0507] Remark

[0508] N / A

[0509] 3.3.2.6. Continuous Horn Command

[0510] Request to turn the speaker on / off

[0511] value

[0512] 0 No request 1 Open

[0513] Remark

[0514] • This command has higher priority than 3.3.2.4 Horn Mode and 3.3.2.5 Horn Cycle Command.

[0515] The speaker will turn on when it receives the "turn on" command.

[0516] 3.3.2.7. Windshield wiper command

[0517] Request to control the windshield wipers

[0518] value

[0519] 0 Close Mode Request 1 Lo mode request 2 Hi mode request 3 Intermittent mode request 4 Auto mode request 5 Fog mode request Disposable wipe 6,7 reserve

[0520] Remark

[0521] • This command is valid when the windshield wiper mode on the combination switch is set to "Off" or "Auto".

[0522] • The driver inputs this command to control the overdrive.

[0523] • Keep the windshield wipers in mode while receiving commands.

[0524] • The wiping speed in intermittent mode is fixed.

[0525] 3.3.2.8. Rear windshield wiper command

[0526] Request to control rear windshield wipers

[0527] value

[0528] 0 Close Mode Request 1 Lo mode request 2 reserve 3 Intermittent mode request 4-7 reserve

[0529] Remark

[0530] • The driver inputs this command to control overslack.

[0531] • Keep the windshield wipers in mode while receiving commands.

[0532] • The wiping speed in intermittent mode is fixed.

[0533] 3.3.2.9. HVAC (Row 1) Operation Commands

[0534] Request to start / stop the first row air conditioning control

[0535] value

[0536] 0 No request 1 Open 2 closure

[0537] Remark

[0538] ·N / A

[0539] 3.3.2.10. HVAC (Row 2) Operation Commands

[0540] Request to start / stop the second row air conditioning control

[0541] value

[0542] 0 No request 1 Open 2 closure

[0543] Remark

[0544] ·N / A

[0545] 3.3.2.11. Target Temperature (Leftmost) Command

[0546] Request to set the target temperature in the left front region

[0547] value

[0548] 0 No request 60 to 85 [unit: °F] (intervals of 1.0 °F) Target temperature

[0549] Remark

[0550] • When using ℃ in VP, the value should be set to ℃.

[0551] 3.3.2.12. Target Temperature (Rightmost) Command

[0552] Request to set the target temperature in the right front area.

[0553] value

[0554] 0 No request 60 to 85 [unit: °F] (intervals of 1.0 °F) Target temperature

[0555] Remark

[0556] • When using ℃ in VP, the value should be set to ℃.

[0557] 3.3.2.13. Target Temperature (Second from Left) Command

[0558] Request to set the target temperature in the left rear region

[0559] value

[0560] 0 No request 60 to 85 [unit: °F] (intervals of 1.0 °F) Target temperature

[0561] Remark

[0562] • When using ℃ in VP, the value should be set to ℃.

[0563] 3.3.2.14. Target Temperature (Second from Right) Command

[0564] Request to set the target temperature in the right rear region

[0565] value

[0566] 0 No request 60 to 85 [unit: °F] (intervals of 1.0 °F) Target temperature

[0567] Remark

[0568] • When using ℃ in VP, the value should be set to ℃.

[0569] 3.3.2.15. HVAC Fan (Row 1) Command

[0570] Request to set the front air conditioning fan level

[0571] value

[0572] 0 No request 1 to 7 (maximum) Fan level

[0573] Remark

[0574] • If you want to set the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0575] • If you want to set the fan level to AUTO, you should transmit "HVAC (first line) operation command = On".

[0576] 3.3.2.16. HVAC Fan (Row 2) Command Setting Request for Air Conditioner Fan Level

[0577] value

[0578] 0 No request 1 to 7 (maximum) Fan level

[0579] Remark

[0580] • If you want to set the fan level to 0 (off), you should send "HVAC (row 2) operation command = off".

[0581] • If you want to set the fan level to AUTO, you should transmit "HVAC (row 2) Operation Command = On".

[0582] 3.3.2.17. Air outlet (row 1) command

[0583] Request to set the mode of the first exhaust vent

[0584] value

[0585] 0 No operation 1 upper part Airflow to the upper body 2 U / F Airflow to the upper body and feet 3 feet Airflow to the feet 4 F / D Airflow to the feet and windshield defroster

[0586] Remark

[0587] ·N / A

[0588] 3.3.2.18. Air outlet (second row) command

[0589] Request to set the mode of the second exhaust vent

[0590] value

[0591] 0 No operation 1 upper part Airflow to the upper body 2 U / F Airflow to the upper body and feet 3 feet Air flows towards the feet.

[0592] Remark

[0593] ·N / A

[0594] 3.3.2.19. Air Recirculation Command

[0595] Request to set air recirculation mode

[0596] value

[0597] 0 No request 1 Open 2 closure

[0598] Remark

[0599] ·N / A

[0600] 3.3.2.20. Air Conditioning Mode Command

[0601] Request to set air conditioning mode

[0602] value

[0603] 0 No request 1 Open 2 closure

[0604] Remark

[0605] ·N / A

[0606] 3.3.2.21. Turn signal light status

[0607] value

[0608] 0 closure 1 Left 2 right 3 invalid

[0609] Remark

[0610] N / A

[0611] 3.3.2.22. Headlight condition

[0612] value

[0613]

[0614]

[0615] Remark

[0616] N / A

[0617] 3.3.2.23. Hazard warning light status

[0618] value

[0619] 0 closure 1 Danger 2 reserve 3 invalid

[0620] Remark

[0621] N / A

[0622] 3.3.2.24. Horn condition

[0623] value

[0624] 0 closure 1 Open 2 reserve 3 invalid

[0625] Remark

[0626] When the horn mode command in 3.3.2.4 is activated, the horn status will be "1" even if there is a shutdown period in some modes.

[0627] 3.3.2.25. Condition of front windshield wipers

[0628] value

[0629] 0 closure 1 Lo 2 Hi 3 INT 4-5 reserve 6 Fault 7 invalid

[0630] Remark

[0631] N / A

[0632] 3.3.2.26. Rear windshield wiper condition

[0633] value

[0634] 0 closure 1 Lo 2 reserve 3 INT 4-5 reserve 6 Fault 7 invalid

[0635] Remark

[0636] N / A

[0637] 3.3.2.27. HVAC (Row 1) Status

[0638] value

[0639] 0 closure 1 Open

[0640] Remark

[0641] ·N / A

[0642] 3.3.2.28. HVAC (Row 2) Status

[0643] value

[0644] 0 closure 1 Open

[0645] Remark

[0646] ·N / A

[0647] 3.3.2.29. Target temperature (first from left) status

[0648] value

[0649] 0 Lo Maximum cooling 60 to 85 [unit: °F] Target temperature 100 Hi Maximum popularity FFH unknown

[0650] Remark

[0651] • When using ℃ in VP, the value should be set to ℃.

[0652] 3.3.2.30. Target Temperature (Rightmost) Status

[0653] value

[0654] 0 Lo Maximum cooling 60 to 85 [unit: °F] Target temperature 100 Hi Maximum popularity FFH unknown

[0655] Remark

[0656] • When using ℃ in VP, the value should be set to ℃.

[0657] 3.3.2.31. Target temperature (second from left) status

[0658] value

[0659] 0 Lo Maximum cooling 60 to 85 [unit: °F] Target temperature 100 Hi Maximum popularity FFH unknown

[0660] Remark

[0661] • When using ℃ in VP, the value should be set to ℃.

[0662] 3.3.2.32. Target Temperature (Second from Right) Status

[0663] value

[0664] 0 Lo Maximum cooling 60 to 85 [unit: °F] Target temperature 100 Hi Maximum popularity FFH unknown

[0665] Remark

[0666] • When using ℃ in VP, the value should be set to ℃.

[0667] 3.3.2.33. HVAC Fan (Row 1) Status

[0668] value

[0669] 0 closure 1 to 7 Fan level 8 Undefined

[0670] Remark

[0671] ·N / A

[0672] 3.3.2.34. HVAC Fan (Row 2) Status

[0673] value

[0674] 0 closure 1 to 7 Fan level 8 Undefined

[0675] Remark

[0676] ·N / A

[0677] 3.3.2.35. Condition of air outlet (row 1)

[0678] value

[0679] 0 Close all 1 upper part Airflow to the upper body 2 U / F Airflow to the upper body and feet 3 feet Air flows towards the feet. 4 F / D Airflow towards the feet, windshield defroster operation 5 DEF Windshield defroster 7 Undefined

[0680] Remark

[0681] ·N / A

[0682] 3.3.2.36. Air outlet (second row) condition

[0683] value

[0684] 0 Close all 1 upper part Airflow to the upper body 2 U / F Airflow to the upper body and feet 3 feet Air flows towards the feet. 7 Undefined

[0685] Remark

[0686] ·N / A

[0687] 3.3.2.37. Air recirculation status

[0688] value

[0689] 0 closure 1 Open

[0690] Remark

[0691] ·N / A

[0692] 3.3.2.38. Air Conditioning Mode Status

[0693] value

[0694] 0 closure 1 Open

[0695] Remark

[0696] ·N / A

[0697] 3.3.2.39. Seat occupancy status (first from right)

[0698] value

[0699] 0 Unoccupied 1 occupied 2 Undecided In the event of IG being turned off or communication with the seat sensors being interrupted 3 Fault

[0700] Remark

[0701] • This signal can be set to "occupied" when there is luggage on the seat.

[0702] 3.3.2.40. Seat belt (first from left) condition

[0703] value

[0704] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 Switch malfunction

[0705] Remark

[0706] N / A

[0707] 3.3.2.41. Seat belt (rightmost) condition

[0708] value

[0709] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 Switch malfunction

[0710] Remark

[0711] N / A

[0712] 3.3.2.42. Seat belt (second from left) condition

[0713] value

[0714] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 reserve

[0715] Remark

[0716] • Unable to detect sensor malfunction

[0717] 3.3.2.43. Seat belt (second from right) condition

[0718] value

[0719] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 reserve

[0720] Remark

[0721] • Unable to detect sensor malfunction

[0722] 3.3.2.44. Seat belt (third from left) condition

[0723] value

[0724] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 reserve

[0725] Remark

[0726] • Unable to detect sensor malfunction

[0727] 3.3.2.45. Seat belt (third center seat belt) condition

[0728] value

[0729] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 reserve

[0730] Remark

[0731] • Unable to detect sensor malfunction

[0732] 3.3.2.46. Seat belt (third from right) condition

[0733] value

[0734] 0 Deducted 1 Undeducted 2 Undetermined When the sensor stops working immediately after the IG is turned on. 3 reserve

[0735] Remark

[0736] • Unable to detect sensor malfunction

[0737] 3.4. APIs for power control

[0738] 3.4.1. List of APIs for Power Control

[0739] 3.4.1.1. Input

[0740] Table 8. APIs for Power Control Inputs

[0741] Power mode command Commands to control VP power mode N / A

[0742] 3.4.1.2. Output

[0743] Table 9. Output APIs for Power Control

[0744] Power mode status VP current power mode status N / A

[0745] 3.4.2. Details of each API used for power control

[0746] 3.4.2.1. Power Mode Command

[0747] Request to control power mode

[0748] value

[0749] 0 No request 1 hibernation Turn off the vehicle 2 wake Enable VCIB 3 reserve Reserved for data expansion 4 reserve Reserved for data expansion 5 reserve Reserved for data expansion 6 drive Start the vehicle

[0750] Remark

[0751] The state machine diagram of the power mode is in Figure 15 As shown in the image.

[0752] [Hibernation]

[0753] Vehicle power failure conditions. In this mode, the main battery does not supply power to the various systems, and the VCIB and other VP ECUs are not activated.

[0754] [wake]

[0755] The VCIB is activated by the auxiliary battery. In this mode, ECUs other than the VCIB are not activated, except for some in the vehicle electrical ECUs.

[0756] [Driving Mode]

[0757] Vehicle power-on conditions. In this mode, the main battery powers the entire VP, and all VP ECUs, including the VCIB, are in an awake state.

[0758] 3.4.2.2. Power Mode Status

[0759] value

[0760]

[0761]

[0762] Remark

[0763] After executing the hibernation sequence, VCIB will continuously transmit [hibernation] as Power_Mode_Status for up to 3000 [ms]. Then, VCIB will shut down.

[0764] • When the VCIB is transmitting [sleep], the ADS should stop transmitting signals to the VCIB.

[0765] 3.5. API for Fault Notification

[0766] 3.5.1. List of APIs used for fault notification

[0767] 3.5.1.1. Input

[0768] Table 10. Input APIs for Fault Notification

[0769] N / A N / A N / A

[0770] 3.5.1.2. Output

[0771] Table 11. Output APIs for Fault Notification

[0772] Request for ADS operation application Impact detection signal N / A Braking system performance deterioration application Propulsion system performance degradation N / A Performance degradation of the shift control system N / A Deterioration of car locking system performance application Steering system performance degradation application Power supply system performance degradation application Communication system performance degradation application

[0773] 3.5.2. Details of each API used for fault notification

[0774] 3.5.2.1. Requests for ADS Operations

[0775] value

[0776] 0 No request 1 Maintenance required 2 Need to go back to the garage 3 It needs to be stopped immediately. other reserve

[0777] Remark

[0778] This signal indicates the expected behavior of ADS based on a fault occurring in VP. 3.5.2.2. Impact Detection Signal

[0779] value

[0780] 0 normal 5 Collision detection using activated airbags 6 Collision detection for shutting down high-voltage circuits 7 Invalid value other reserve

[0781] Remark

[0782] • When a collision detection event is generated, a signal is transmitted 50 times consecutively every 100 ms. If the collision detection state changes before the signal transmission is completed, the higher priority signal is transmitted.

[0783] Priority: Collision detection > Normal

[0784] • Because HV vehicles should send a voltage shutdown request to the vehicle damage assessment system within 5 seconds or less after a collision, the transmission lasts for 5 seconds regardless of the normal response at the time of the collision.

[0785] The transmission interval is 100ms within the fuel cutoff motion delay allowance time (1s) so that data can be transmitted more than 5 times.

[0786] In this case, consider a momentary power outage.

[0787] 3.5.2.3. Deterioration of braking system performance

[0788] value

[0789] 0 normal - 1 Degradation detected -

[0790] Remark

[0791] ·N / A

[0792] 3.5.2.4. Promoting system performance degradation

[0793] value

[0794] 0 normal - 1 Degradation detected -

[0795] Remark

[0796] ·N / A

[0797] 3.5.2.5. Performance degradation of the shift control system

[0798] value

[0799]

[0800]

[0801] Remark

[0802] ·N / A

[0803] 3.5.2.6. Performance degradation value of the vehicle locking system

[0804] 0 normal - 1 Degradation detected -

[0805] Remark

[0806] ·N / A

[0807] 3.5.2.7. Steering system performance degradation

[0808] value

[0809] 0 normal - 1 Degradation detected -

[0810] Remark

[0811] ·N / A

[0812] 3.5.2.8. Power supply system performance degradation

[0813] value

[0814] 0 normal - 1 Degradation detected -

[0815] Remark

[0816] ·N / A

[0817] 3.5.2.9. Communication system performance degradation

[0818] value

[0819] 0 normal - 1 Degradation detected -

[0820] Remark

[0821] ·N / A

[0822] 3.6. APIs for Security

[0823] 3.6.1. List of APIs for Security

[0824] 3.6.1.1. Input

[0825] Table 12. Input APIs for Security

[0826] Door lock (front) command Commands to control the two primary door locks N / A Door lock (back) command Commands to control the two secondary doors and the trunk lock N / A Central door lock command Commands to control all door locks N / A Device certification signature, first character This is the 8th byte from the 1st byte of the signature value. N / A Device certification signature, second character This is the 16th byte from the 9th byte of the signature value. N / A Device certification signature, 3rd character This is the 24th byte of the 17th byte of the signature value. N / A Device certification signature, 4th character This is the 32nd byte from the 25th byte of the signature value. N / A

[0827] 3.6.1.2. Output

[0828] Table 13. Output APIs for Security

[0829]

[0830]

[0831] 3.6.2. Details of each API used for security

[0832] 3.6.2.1. Door lock (front) command, door lock (rear) command

[0833] value

[0834] 0 No request 1 locking Toyota VP does not support 2 Unlock 3 reserve

[0835] Remark

[0836] • If ADK requests to unlock the front, both front doors will unlock.

[0837] • If ADK requests to unlock the rear, both second-row doors and the trunk door will be unlocked.

[0838] • If ADK requests to lock any door, the “Central Door Lock Command” should be used.

[0839] (Toyota VP does not support individual locking functionality.)

[0840] 3.6.2.2. Central door lock command

[0841] Request to control all door locks

[0842] value

[0843] 0 No request 1 Lock (All) 2 Unlock (all) 3 reserve

[0844] Remark

[0845] ·N / A

[0846] 3.6.2.3. Device authentication signature first character, Device authentication signature second character, Device authentication signature third character, Device authentication signature fourth character, Device authentication seed first character, Device authentication seed second character

[0847] The first character of the device authentication signature is presented in the first to eighth bytes of the signature.

[0848] The second character of the device authentication signature is presented in bytes 9 through 16 of the signature.

[0849] The third character of the device authentication signature is presented in bytes 17 to 24 of the signature.

[0850] The fourth character of the device authentication signature is presented in bytes 25 to 32 of the signature.

[0851] The first word of the device authentication seed is presented in the first to eighth bytes of the seed.

[0852] The second word of the device authentication seed is presented in bytes 9 to 16 of the seed.

[0853] 3.6.2.4. Door lock (leftmost) status

[0854] value

[0855]

[0856]

[0857] Remark

[0858] ·N / A

[0859] 3.6.2.5. Door lock (rightmost) status

[0860] value

[0861] 0 reserve 1 locking 2 Unlock 3 invalid

[0862] Remark

[0863] ·N / A

[0864] 3.6.2.6. Door lock (second from left) status

[0865] value

[0866] 0 reserve 1 locking 2 Unlock 3 invalid

[0867] Remark

[0868] ·N / A

[0869] 3.6.2.7. Door lock (second from right) status

[0870] value

[0871]

[0872]

[0873] Remark

[0874] ·N / A

[0875] 3.6.2.8. Lock status of all doors

[0876] value

[0877] 0 reserve 1 Lock all 2 Any unlocked 3 invalid

[0878] Remark

[0879] • "Any unlocked" means any door is not locked.

[0880] • Lock all doors when all doors are locked.

[0881] 3.6.2.9. Alarm System Status

[0882] value

[0883] 0 Deactivate startup The alarm system is not activated. 1 start up The alarm system is activated without triggering an alarm. 2 activation The alarm system was activated, and the siren beeped. 3 invalid

[0884] Remark

[0885] N / A

[0886] 3.6.2.9.1. Trip Counter

[0887] The counter is incremented by the freshness value management main ECU in units of tripping.

[0888] value

[0889] 0-FFFFh

[0890] Remark

[0891] This value is used to create the freshness value.

[0892] • For more details, please refer to other materials [Toyota MAC Module Specifications].

[0893] 3.6.2.9.2. Reset the counter

[0894] This counter is periodically incremented by the freshness value management master ECU.

[0895] value

[0896] 0-FFFFFh

[0897] Remark

[0898] This value is used to create the freshness value.

[0899] • For more details, please refer to other materials [Toyota MAC Module Specifications].

[0900] 3.6.2.10. Opening status of the left door

[0901] Current status of the left-hand door on the vehicle platform (open / closed).

[0902] value

[0903] 0 reserve 1 Open 2 closure 3 invalid

[0904] Remark

[0905] N / A

[0906] 3.6.2.11. Right door opening status

[0907] Current status of the right door (open / closed)

[0908] value

[0909] 0 reserve 1 Open 2 closure 3 invalid

[0910] Remark

[0911] N / A

[0912] 3.6.2.12. Opening status of the second door on the left

[0913] Current status of the second door on the left open / closed

[0914] value

[0915] 0 reserve 1 Open 2 closure 3 invalid

[0916] Remark

[0917] N / A

[0918] 3.6.2.13. Right Second Door Opening Status

[0919] Current status of the second right door (open / closed)

[0920] value

[0921] 0 reserve 1 Open 2 closure 3 invalid

[0922] Remark

[0923] N / A

[0924] 3.6.2.14. Luggage condition

[0925] Current status of the trunk door being open / closed

[0926] value

[0927] 0 reserve 1 Open 2 closure 3 invalid

[0928] Remark

[0929] N / A

[0930] 3.6.2.15. Engine hood opening status

[0931] Current hood open / closed status

[0932] value

[0933] 0 reserve 1 Open 2 closure 3 invalid

[0934] Remark

[0935] N / A

[0936] 4. API Guidelines for Controlling Toyota Vehicles

[0937] This section details how to use the APIs for Toyota vehicles. 4.1. APIs for Vehicle Motion Control

[0938] 4.1.1. List of APIs for Vehicle Motion Control

[0939] The input and output APIs for vehicle motion control are shown in Tables 14 and 15, respectively. Usage guidelines for some of these APIs are provided in the following sections, as shown in each table.

[0940] 4.1.1.1. Input

[0941] Table 14. Vehicle Motion Control Input API

[0942]

[0943] *Response time in VP based on requests from ADK

[0944] 4.1.1.2. Output

[0945] Table 15. Vehicle Motion Control Output API

[0946]

[0947]

[0948] 4.1.2. Detailed API Guidelines for Vehicle Motion Control

[0949] 4.1.2.1. Direction of Advance Command

[0950] For values ​​and notes, please refer to 3.2.2.1.

[0951] Figure 16 The shift sequence is shown in detail.

[0952] First, the acceleration command requests deceleration and stops the vehicle. When the driving direction is set to "stop," the propulsion direction command can request any shift position. (In Figure 16 In Chinese, "D" → "R".

[0953] Deceleration must be requested by an acceleration command until the gear shift is complete.

[0954] After the shift position is changed, you can select acceleration / deceleration based on the acceleration command.

[0955] When the vehicle mode is set to autonomous mode, the driver's gear shift lever operation is not accepted.

[0956] 4.1.2.2. Vehicle Locking Command

[0957] For values ​​and notes, please refer to 3.2.2.2.

[0958] Figure 17 This shows how to activate / deactivate the car locking function.

[0959] Use the acceleration command to request deceleration to bring the vehicle to a stop. When the vehicle speed is zero, the locking function is activated by the locking command = "Apply". The acceleration command is set to decelerate until the locking status is set to "Apply".

[0960] When the vehicle locking function is disabled, the vehicle locking command must be requested to be "released", and the acceleration command must be set to deceleration until the vehicle locking status is confirmed to be "released".

[0961] After disabling the vehicle locking function, the vehicle can be accelerated / decelerated based on acceleration commands.

[0962] 4.1.2.3. Parking Command

[0963] For values ​​and notes, please refer to 3.2.2.3.

[0964] When the stop command is set to "Apply", the brake holding function can be prepared for use, and it is activated when the vehicle stops and the acceleration command is set to decelerate (<0). The stop status is then changed to "Apply". On the other hand, if the stop command is set to "Release", the brake holding function will be deactivated.

[0965] Figure 18 The parking sequence is shown.

[0966] To bring the vehicle to a stop, use the acceleration command to request deceleration.

[0967] When the vehicle has been stationary for a period of time, the driving direction changes to "Stop". Even during the "Apply" parking status, the acceleration command should be used to request deceleration.

[0968] If you want the vehicle to move forward, the acceleration command is set to acceleration (>0). Then the brake holding function is released, and the vehicle is accelerated.

[0969] 4.1.2.4. Speed-up command

[0970] For values ​​and notes, please refer to 3.2.2.4.

[0971] The following shows the vehicle's behavior when the accelerator pedal is pressed.

[0972] When the accelerator pedal is operated, select either 1) the maximum acceleration value calculated from the accelerator pedal stroke or 2) the acceleration command input from ADK. ADK can see which value has been selected by checking the accelerator pedal intervention.

[0973] The following shows how the vehicle behaves when the brake pedal is operated.

[0974] The deceleration value in the vehicle is the sum of 1) the deceleration value calculated from the brake pedal stroke and 2) the deceleration value requested by ADK.

[0975] 4.1.2.5. Front wheel steering angle command

[0976] For values ​​and notes, please refer to 3.2.2.5.

[0977] The following shows how to use the front wheel steering angle command.

[0978] The front wheel steering angle command is set to a value relative to the front wheel steering angle.

[0979] For example, when the front wheel steering angle is 0.1 rad and the vehicle is traveling straight;

[0980] If ADK wants to go straight, the front wheel steering angle command should be set to 0 + 0.1 = 0.1 [rad].

[0981] If ADK requests a steering angle of -0.3 [rad], then the front wheel steering angle command should be set to -0.3 + 0.1 = -0.2 [rad].

[0982] The following shows how the vehicle behaves when the driver applies the steering wheel.

[0983] The maximum value can be selected from either 1) a value calculated from the driver's steering wheel operation or 2) a value requested by ADK.

[0984] Note that if the driver applies excessive force to the steering wheel, the driver will not accept the front wheel steering angle command. This can be detected by the intervention of the steering wheel indicators.

[0985] 4.1.2.6. Vehicle Mode Command

[0986] The state machine for Autono-MaaS vehicle mode transitions Figure 19 As shown in the image.

[0987] The explanation for each state is as follows.

[0988]

[0989] The explanation for each transformation is as follows.

[0990]

[0991] 4.2. APIs for Body Control

[0992] 4.2.1. List of APIs used for vehicle body control

[0993] 4.2.1.1. Input

[0994] Table 16. Input APIs for Body Control

[0995]

[0996]

[0997] 4.2.1.2. Output

[0998] Table 17. Output APIs for Body Control

[0999]

[1000] 4.3. APIs for Power Control

[1001] 4.3.1. List of APIs for Power Control

[1002] 4.3.1.1. Input

[1003] Table 18. Power Control Input API

[1004] Power mode command Commands to control VP power mode N / A -

[1005] 4.3.1.2. Output

[1006] Table 19. Output APIs for Power Control

[1007] Power mode status VP current power mode status N / A -

[1008] 4.4. API for Fault Notification

[1009] 4.4.1. List of APIs used for fault notification

[1010] 4.4.1.1. Input

[1011] Table 20. Input APIs for Fault Notification

[1012] N / A - - -

[1013] 4.4.1.2. Output

[1014] Table 21. Output APIs for Fault Notification

[1015] ADS Operation Request - application - Impact detection signal - N / A - Braking system performance deterioration - application - Propulsion system performance degradation - N / A - Performance degradation of the shift control system - N / A - Deterioration of car locking system performance - application - Steering system performance degradation application - Power supply system performance degradation application - Communication system performance degradation application -

[1016] 4.5. APIs for Security

[1017] 4.5.1. List of APIs for Security

[1018] The input and output APIs used for security are shown in Tables 22 and 23, respectively. Usage guidelines for some of these APIs are presented in the following sections, as shown in each table.

[1019] 4.5.1.1. Input

[1020] Table 22. Input APIs for Security

[1021] Door lock (front) command Command to control the first double door lock N / A - Door lock (back) command Commands to control the second pair of doors and the trunk lock N / A - Central door lock command Commands to control all door locks N / A - Device certification signature, first character This is the 8th byte from the 1st byte of the signature value. N / A 4.5.2.1 Device certification signature, second character This is the 16th byte from the 9th byte of the signature value. N / A 4.5.2.1 Device certification signature, 3rd character This is the 24th byte from the 17th byte of the signature value. N / A 4.5.2.1 Device certification signature, 4th character This is the 32nd byte from the 25th byte of the signature value. N / A 4.5.2.1

[1022] 4.5.1.2. Output

[1023] Table 23. Output APIs for Security

[1024]

[1025]

[1026] 4.5.2. Detailed information on API guidelines for security

[1027] 4.5.2.1. Equipment Authentication Agreement

[1028] When VCIB is activated from "hibernation" mode, the application performs device authentication.

[1029] Once authentication is successful, VCIB can begin communicating with ADK.

[1030] The certification process is as follows Figure 20 The authentication process is shown below.

[1031] Certification Standards

[1032] Encryption Algorithm AES FIPS 197 key length 128-bit - Block cipher operation mode CBC SP 800-38A Hash Algorithm SHA-256 FIPS 180-4 Seed length 128-bit - Signature length 256-bit -

[1033] Although embodiments of this disclosure have been described, it should be understood that the embodiments disclosed herein are illustrative and non-limiting in every respect. The scope of this disclosure is defined by the terminology of the claims and is intended to include any modifications within the scope and meaning of equivalents to the terminology of the claims.

Claims

1. A vehicle platform on which an autonomous driving system can be installed, the vehicle platform comprising: vehicle; as well as A vehicle control interface box, which facilitates interaction between the vehicle and the autonomous driving system, wherein... The vehicle platform includes the following modes as vehicle modes: Manual mode, in which the vehicle platform is controlled by the driver, and In autonomous mode, the vehicle platform is controlled by the autonomous driving system. The vehicle platform includes the following modes as electric mode: Sleep mode, in which the vehicle power is off. Wake-up mode, in which the vehicle control interface box is woken up, and Driving mode, in which the vehicle's power is on. The vehicle control interface box is configured to receive a vehicle mode request from the autonomous driving system, requesting control of the vehicle mode, and to provide the autonomous driving system with an autonomous readiness signal indicating whether the vehicle platform is ready for the autonomous mode. When the power mode changes from the sleep mode to the wake-up mode or the driving mode, the vehicle control interface box sets the vehicle mode to the manual mode, and The vehicle control interface box switches the vehicle mode from manual mode to autonomous mode when all four of the following conditions are met in manual mode: (1) The autonomous driving system was authenticated at the vehicle control interface box. (2) The vehicle control interface box receives the vehicle mode request requesting the autonomous mode. (3) The autonomous driving system receives a power mode status signal, which indicates that the power mode is set to the driving mode, and (4) The autonomous preparation signal indicates that the autonomous mode is ready.

2. The vehicle platform according to claim 1, wherein When the vehicle mode has been set to the autonomous mode, and the vehicle control interface box receives a vehicle mode request from the autonomous driving system to deactivate the autonomous mode, the vehicle control interface box switches the vehicle mode from the autonomous mode to the manual mode.

3. An autonomous driving system configured to be installed on a vehicle platform, the vehicle platform including a vehicle and a vehicle control interface box, the vehicle control interface box interacting between the vehicle and the autonomous driving system, the vehicle platform including a manual mode and an autonomous mode as vehicle modes, in which the vehicle platform is controlled by a driver, and in which the vehicle platform is controlled by the autonomous driving system, the vehicle platform including a sleep mode, a wake-up mode, and a driving mode as power modes, in which the vehicle power is off in the sleep mode, the vehicle control interface box is woken up in the wake-up mode, and the vehicle power is on in the driving mode, the autonomous driving system comprising: Computing components; as well as The communication module communicates with the vehicle control interface box, wherein... The computing component is configured to transmit a vehicle mode request, which requests control of the vehicle mode, to the vehicle control interface box via the communication module, and When the computing component switches the vehicle mode from manual mode to autonomous mode after the autonomous driving system is authenticated by the vehicle control interface box, the computing component transmits the vehicle mode request requesting the autonomous mode to the vehicle control interface box. in, The computing component receives an autonomous readiness signal from the vehicle control interface box via the communication module, indicating whether the vehicle platform is ready for the autonomous mode. When the power mode changes from the sleep mode to the wake-up mode or the driving mode, the vehicle control interface box sets the vehicle mode to the manual mode, and The vehicle control interface box switches the vehicle mode from manual mode to autonomous mode when all four of the following conditions are met in manual mode: (1) The autonomous driving system was authenticated at the vehicle control interface box. (2) The vehicle control interface box receives the vehicle mode request requesting the autonomous mode. (3) The autonomous driving system receives a power mode status signal, which indicates that the power mode is set to the driving mode, and (4) The autonomous preparation signal indicates that the autonomous mode is ready.

4. The autonomous driving system according to claim 3, wherein The computing component is also configured to transmit a power mode request, requesting control of the power mode, to the vehicle control interface box via the communication module, and When the computing component changes the vehicle mode from the manual mode to the autonomous mode, in addition to requesting the vehicle mode for the autonomous mode, the computing component also transmits a request for the electric mode for the driving mode to the vehicle control interface box.

5. The autonomous driving system according to claim 4, wherein When the computing component starts the vehicle platform, the computing component transmits the power mode request for the wake-up mode to the vehicle control interface box.

6. The autonomous driving system according to claim 3, wherein When the computing component changes the vehicle mode from autonomous mode to manual mode, the computing component transmits a vehicle mode request to disable autonomous mode to the vehicle control interface box.

7. A vehicle control interface box for interacting between a vehicle platform and an autonomous driving system installed on the vehicle platform, the vehicle platform including a manual mode and an autonomous mode as vehicle modes, wherein in the manual mode the vehicle platform is controlled by a driver, and in the autonomous mode the vehicle platform is controlled by the autonomous driving system, the vehicle platform including a sleep mode, a wake-up mode, and a driving mode as power modes, wherein in the sleep mode the vehicle power is off, in the wake-up mode the vehicle control interface box is woken up, and in the driving mode the vehicle power is on, the vehicle control interface box comprising: processor; and A memory that stores programs executable by the processor, wherein The processor is configured to The autonomous driving system receives a vehicle mode request to control the vehicle mode. An autonomy preparation signal is provided to the autonomous driving system, indicating whether the vehicle platform is ready for the autonomous mode. The processor is further configured to receive a power mode request from the autonomous driving system, requesting control of the power mode. During the vehicle mode transition from manual mode to autonomous mode, the processor: Authenticate the autonomous driving system. The autonomous driving system receives the vehicle mode request requesting the autonomous mode and the electric mode request requesting the driving mode, and Provide the autonomous driving system with an autonomous readiness signal indicating that the autonomous mode is ready. The processor is further configured to provide a power mode status signal to the autonomous driving system, the power mode status signal indicating the power mode status of the vehicle platform, and During the vehicle mode transition from manual mode to autonomous mode, the processor: Authenticate the autonomous driving system. The autonomous driving system receives the vehicle mode request requesting the autonomous mode, and The autonomous driving system is provided with an autonomous readiness signal indicating that the autonomous mode is ready and an electric mode status signal indicating the driving mode. When the power mode changes from the sleep mode to the wake-up mode or the driving mode, the vehicle control interface box sets the vehicle mode to the manual mode, and The vehicle control interface box switches the vehicle mode from manual mode to autonomous mode when all four of the following conditions are met in manual mode: (1) The autonomous driving system was authenticated at the vehicle control interface box. (2) The vehicle control interface box receives the vehicle mode request requesting the autonomous mode. (3) The autonomous driving system receives the electric mode status signal, which indicates that the electric mode is set to the driving mode, and (4) The autonomous preparation signal indicates that the autonomous mode is ready.

8. The vehicle control interface box according to claim 7, wherein When the vehicle mode changes from the autonomous mode to the manual mode, the processor receives a vehicle mode request from the autonomous driving system to deactivate the autonomous mode.

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