Vehicle, methods for controlling the vehicle, and vehicle control interface box

Abstract

This disclosure provides a vehicle, a method for controlling the vehicle, and a vehicle control interface box. The ADS performs the following processes: when the autonomous state has been set to autonomous mode ("Yes" in S11), when the acceleration command has a value indicating deceleration ("Yes" in S12), when the vehicle speed is zero ("Yes" in S13), and when the stationary command is set to "Applied" ("Yes" in S14), the acceleration command is set to V1 (S15); and when the vehicle's travel direction indicates a stationary state ("Yes" in S16), when a wheel lock request exists ("Yes" in S17), and when a predetermined time has elapsed since the vehicle came to a standstill ("Yes" in S18), the stationary command is set to "Applied" (S19).

Description

[0001] This non-provisional application is based on Japanese Patent Application No. 2021-157623, 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 the control of a vehicle during autonomous driving. Background Technology

[0003] Recently, autonomous driving systems have been developed for controlling vehicle operation without user intervention. To enable installation on existing vehicles, these systems can be configured separately from the vehicle, with interface intervention required.

[0004] For example, as such an autonomous driving system, Japanese Patent Publication No. 2018-132015 discloses the following technology: by setting the electronic control unit (ECU) that manages the power of the vehicle and the ECU for autonomous driving independently of each other, it is possible to add autonomous driving functions without making significant changes to the existing vehicle platform. Summary of the Invention

[0005] Since the user does not operate the vehicle during autonomous driving, the rotation of the wheels should be stopped at the appropriate time by using the parking brake or parking lock when the vehicle is parked.

[0006] The purpose of this disclosure is to provide a vehicle capable of being equipped with an autonomous driving system, a method for controlling the vehicle, and a vehicle control interface box that allows the rotation of the wheels to be fixed at appropriate times during autonomous driving.

[0007] According to one aspect of this disclosure, a vehicle is capable of being equipped with an autonomous driving system. The vehicle includes a vehicle platform that performs vehicle control based on commands from the autonomous driving system. The vehicle platform includes a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle. A fixing command is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box, the fixing command including a first value indicating a request for fixing of the vehicle. A signal indicating a stationary state of the vehicle is transmitted from the base vehicle to the autonomous driving system via the vehicle control interface box. When a first condition, including the condition that the vehicle is in the stationary state, is met, the fixing command is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box. The base vehicle fixes the vehicle according to the fixing command.

[0008] Therefore, when the first condition, including the vehicle being stationary, is met, a fixation command is transmitted from the autonomous driving system to the base vehicle. Thus, vehicle fixation (i.e., fixation of wheel rotation) can be implemented at the appropriate time during autonomous driving.

[0009] In one embodiment, the anchoring command further includes a second value indicating a request to release the vehicle from anchoring. When a second condition, including the vehicle being in the stationary state, is met, the anchoring command, including the second value, is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box. The base vehicle releases the vehicle from anchoring according to the anchoring command.

[0010] Therefore, when the second condition, including the vehicle being stationary, is met, a fixation command is transmitted from the autonomous driving system to the base vehicle. Thus, the vehicle can be de-fixed at an appropriate time during autonomous driving.

[0011] In a further embodiment, the first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

[0012] Therefore, since the vehicle is fixed after a predetermined time has elapsed since it came to a standstill, it is possible to fix the vehicle at the appropriate time during autonomous driving.

[0013] In a further embodiment, the base vehicle performs vehicle anchoring when a predetermined time has elapsed since the base vehicle received the anchoring command including the first value.

[0014] Therefore, since the vehicle is fixed after a predetermined time has elapsed since it came to a standstill, it is possible to fix the vehicle at the appropriate time during autonomous driving.

[0015] In a further embodiment, an acceleration command, including a deceleration value, is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box. When the arrest command requests the vehicle to be stopped, the acceleration command, including a constant deceleration value, is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box from the vehicle's standstill until a request to release the vehicle from arrest is issued.

[0016] Therefore, the movement of the vehicle can be restricted for a period of time until the vehicle is released from its restraints upon request.

[0017] According to another aspect of this disclosure, a method for controlling a vehicle is a method for controlling a vehicle capable of being equipped with an autonomous driving system. The vehicle includes a vehicle platform that performs vehicle control according to commands from the autonomous driving system. The vehicle platform includes a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle. The method includes: transmitting a fixing command from the autonomous driving system to the base vehicle via the vehicle control interface box, the fixing command including a first value indicating a request for fixing of the vehicle; transmitting a signal indicating a stationary state of the vehicle from the base vehicle to the autonomous driving system via the vehicle control interface box; transmitting the fixing command from the autonomous driving system to the base vehicle via the vehicle control interface box when a first condition including the condition that the vehicle is in the stationary state is met; and having the base vehicle fix the vehicle according to the fixing command.

[0018] In one embodiment, the fixation command further includes a second value indicating a request to release the vehicle from fixation. The method further includes: transmitting the fixation command, including the second value, from the autonomous driving system to the base vehicle via the vehicle control interface box when a second condition, including the condition that the vehicle is in the stationary state, is met; and the base vehicle releasing the vehicle from fixation according to the fixation command.

[0019] In a further embodiment, the first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

[0020] In a further embodiment, the method further includes: fixing the vehicle by the base vehicle when a predetermined time has elapsed since the base vehicle received the fixing command including the first value.

[0021] In a further embodiment, the method further includes: transmitting an acceleration command including a deceleration value from the autonomous driving system to the base vehicle via the vehicle control interface box; and when the fixation command requests the fixation of the vehicle, transmitting the acceleration command including a constant deceleration value from the autonomous driving system to the base vehicle via the vehicle control interface box from the vehicle's stationary until a request to release the fixation of the vehicle is issued.

[0022] According to another aspect of this disclosure, a vehicle control interface box is a vehicle control interface box that interfaces between an autonomous driving system and a vehicle capable of installing the autonomous driving system. The vehicle includes a vehicle platform that performs vehicle control based on commands from the autonomous driving system. The vehicle platform includes a base vehicle. The vehicle control interface box transmits a fixed command from the autonomous driving system to the base vehicle, the fixed command including a first value indicating a request for the vehicle to be stationary. The vehicle control interface box transmits a signal from the base vehicle to the autonomous driving system indicating a stationary state of the vehicle. When a first condition, including the condition that the vehicle is in the stationary state, is met, the vehicle control interface box transmits the fixed command from the autonomous driving system to the base vehicle.

[0023] In one embodiment, the fixation command further includes a second value indicating a request to release the vehicle from fixation. When a second condition, including the condition that the vehicle is in the stationary state, is met, the vehicle control interface box transmits the fixation command, including the second value, from the autonomous driving system to the base vehicle.

[0024] In a further embodiment, the first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

[0025] In a further embodiment, the vehicle control interface box transmits an acceleration command, including a deceleration value, from the autonomous driving system to the base vehicle. When the arrest command requests the vehicle to be stopped, the vehicle control interface box transmits the acceleration command, including a constant deceleration value, from the vehicle's standstill until a request to release the vehicle from arrest is issued.

[0026] 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

[0027] Figure 1 A diagram illustrating an outline of a vehicle according to an embodiment of the present disclosure.

[0028] Figure 2 A diagram showing the detailed configuration of ADS, VCIB, and VP.

[0029] Figure 3 A flowchart illustrating an exemplary process performed in ADS.

[0030] Figure 4 A flowchart illustrating an exemplary process performed in VCIB.

[0031] Figure 5 A flowchart illustrating an exemplary process performed in ADS when vehicle fixation has been requested.

[0032] Figure 6 A flowchart illustrating an exemplary process performed in the VCIB when vehicle fixation has been requested.

[0033] Figure 7 The timing diagram illustrates the operation of ADS and VP.

[0034] Figure 8 A diagram illustrating the overall structure of an Autono-MaaS vehicle.

[0035] Figure 9 A diagram illustrating the system architecture of an Autono-MaaS vehicle.

[0036] Figure 10 A diagram illustrating a typical workflow in ADS.

[0037] Figure 11 A graph illustrating the relationship between the front wheel steering angle rate limit and speed.

[0038] Figure 12 This is the state machine diagram for power mode.

[0039] Figure 13 A diagram showing the details of the gear shift sequence.

[0040] Figure 14 To illustrate a fixed order.

[0041] Figure 15 A diagram illustrating the static sequence.

[0042] Figure 16 The state machine diagram represents the autonomous state.

[0043] Figure 17 A diagram illustrating the authentication process. Detailed Implementation

[0044] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Identical or corresponding elements in the drawings have been assigned the same reference numerals, and their descriptions will not be repeated.

[0045] Figure 1 This is a diagram illustrating a schematic representation of a vehicle 10 according to an embodiment of the present disclosure. (Refer to...) Figure 1 The vehicle 10 includes an autonomous driving kit (hereinafter referred to as "ADK") 200 and a vehicle platform (hereinafter referred to as "VP") 120. The ADK 200 and VP 120 are configured to communicate with each other via a vehicle control interface.

[0046] Vehicle 10 is capable of autonomous driving based on control requests (commands) from ADK 200 attached to VP 120. Although Figure 1 The VP 120 and ADK 200 are shown in a position far apart from each other, but ADK 200 is actually attached to the roof of the base vehicle 100, which will be described later. ADK 200 can also be removed from VP 120. When ADK 200 is not attached, VP 120 can be driven by the user. In this case, VP 120 implements driving control in manual mode (driving control based on user operation).

[0047] ADK 200 includes an automated driving system (hereinafter referred to as "ADS") 202 for automated driving of vehicle 10. For example, ADS 202 creates a driving plan for vehicle 10 and outputs various commands (control requests) to VP 120 for vehicle 10 to drive according to the created driving plan, based on application programming interfaces (APIs) defined for each command. ADS 202 receives various signals from VP 120 indicating the state (vehicle state) of VP 120 according to the APIs defined for each signal and reflects the received vehicle state in the creation of the driving plan. The detailed configuration of ADS 202 will be described later.

[0048] VP 120 includes a base vehicle 100 and a vehicle control interface box (hereinafter referred to as "VCIB") 111 that implements the vehicle control interface located within the base vehicle 100.

[0049] VCIB 111 can communicate with ADK 200 via Controller Area Network (CAN). VCIB 111 receives various commands from ADK 200 or outputs the status of VP 120 to ADK 200 by executing the defined API for each communication signal. When VCIB 111 receives a control request from ADK 200, it outputs the control command corresponding to the control request to the corresponding system through the integrated control manager 115. VCIB 111 obtains various types of information about the base vehicle 100 from various systems through the integrated control manager 115 and outputs the status of the base vehicle 100 as the vehicle status to ADK 200.

[0050] VP 120 includes various systems and sensors for controlling the base vehicle 100. VP 120 implements autonomous driving of vehicle 10 when it performs various types of vehicle control based on control requests from ADK 200 (more specifically, ADS 202). For example, VP 120 includes a braking system 121, a steering system 122, a powertrain system 123, an active safety system 125, and a body system 126.

[0051] The braking system 121 is configured to control multiple braking devices disposed in the wheels of the base vehicle 100. For example, the braking devices include a disc brake system that is hydraulically operated by an actuator.

[0052] For example, wheel speed sensors 127A and 127B are connected to braking system 121. For example, wheel speed sensor 127A is located in the front wheels of the base vehicle 100 and detects the rotational speed of the front wheels. Wheel speed sensor 127A outputs the rotational speed of the front wheels to braking system 121. For example, wheel speed sensor 127B is located in the rear wheels of the base vehicle 100 and detects the rotational speed of the rear wheels. Wheel speed sensor 127B outputs the rotational speed of the rear wheels to braking system 121. Wheel speed sensors 127A and 127B each provide pulse signals as output values ​​(pulse values). The rotational speed can be calculated based on the number of pulses in the pulse signals. Braking system 121 outputs the rotational speed of each wheel as a piece of information included in the vehicle status to VCIB 111.

[0053] The braking system 121 generates a braking command for the braking device based on the specified control request output from ADK 200 via VCIB 111 and integrated control manager 115, and controls the braking device based on the generated braking command.

[0054] The steering system 122 is configured to control the steering angle of the steering wheel of the vehicle 10 using a steering device. The steering device includes, for example, rack and pinion electric power steering (EPS) that allows adjustment of the steering angle via an actuator.

[0055] The pinion angle sensor 128 is connected to the steering system 122. The pinion angle sensor 128 detects the rotation angle (pinion angle) of the pinion gear connected to the rotating shaft of the actuator included in the steering device. The pinion angle sensor 128 provides the detected pinion angle to the steering system 122. The steering system 122 provides the pinion angle as a piece of information included in the vehicle status to the VCIB 111.

[0056] The steering system 122 generates steering commands for the steering equipment based on the specified control requests output from the ADK 200 via VCIB 111 and the integrated control manager 115. The steering system 122 controls the steering equipment based on the generated steering commands.

[0057] The powertrain system 123 controls an electric parking brake (EPB) in at least one of a plurality of wheels located in the vehicle 10, a P-lock device located in the transmission of the vehicle 10, a transmission device configured to select any shift gear from a plurality of shift gears, and the drive source of the vehicle 10. A detailed description will follow later.

[0058] The active safety system 125 detects obstacles (obstacles or people) in front of or behind the vehicle by using a camera 129A and radar sensors 129B and 129C. When the active safety system 125 determines that there is a possibility of collision based on the distance to the obstacle and the direction of movement of the vehicle 10, it outputs a braking command to the braking system 121 through the integrated control manager 115 to increase the braking force.

[0059] For example, the body system 126 is configured to control components such as turn indicators, horns, or wipers based on the driving status of the vehicle 10 or the surrounding environment. The body system 126 controls the aforementioned components according to specified control requests output from the ADK 200 via the VCIB 111 and the integrated control manager 115.

[0060] Vehicle 10 can be used as one of the components of a Mobility as a Service (MaaS) system. For example, in addition to vehicle 10, the MaaS system also includes a data server, a mobility service platform (hereinafter referred to as "MSPF"), and mobility services related to autonomous driving (all not shown).

[0061] Vehicle 10 also includes a data communication module (DCM) (not shown) as a communication interface (I / F) for wireless communication with the aforementioned data server. The DCM outputs various types of 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 the autonomous vehicle, including vehicle 10, within the mobility services.

[0062] MSPF is a comprehensive platform connecting various mobility services. Besides mobility services related to autonomous driving, various mobility services (e.g., those provided by ride-sharing companies, car-sharing companies, insurance companies, car rental companies, and taxi companies) are also connected to MSPF. Depending on the service content, these mobility services can utilize the various functionalities provided by MSPF by using APIs published on MSPF.

[0063] The autonomous driving-related mobility service uses an autonomous vehicle, including vehicle 10, to provide mobility services. The mobility service can obtain operational control data of vehicle 10, which communicates with the data server, or information stored in the data server, from MSPF using APIs published on MSPF. The mobility service also uses APIs to transmit data used for managing the autonomous vehicle, including vehicle 10, to MSPF.

[0064] MSPF publishes APIs for various types of data regarding vehicle status and vehicle control required for ADS development. ADS providers can use this vehicle status and vehicle control data, stored on a data server, as the API.

[0065] Figure 2 This is a diagram used to illustrate the configuration of ADS 202, VCIB 111, and VP 120 in detail. (See diagram below.) Figure 2 As shown, ADS 202 includes a computing component 210, a human-machine interface (HMI) 230, a sensor 260 for sensing, a sensor 270 for posture, and a sensor cleaner 290.

[0066] During autonomous driving, computing component 210 obtains information about the environment surrounding the vehicle, as well as information about the vehicle's posture, behavior, and position, from various sensors (described later). It also obtains the vehicle's state from VP 120 (described later) via VCIB 111 and sets the next action (acceleration, deceleration, or turning) for the vehicle 10. Computing component 210 outputs various commands to VCIB 111 to implement the set next action of the vehicle. Computing component 210 includes communication modules 210A and 210B. Communication modules 210A and 210B are configured to communicate with VCIB 111.

[0067] The HMI 230 presents information to the user and accepts user input during autonomous driving, during driving that requires user intervention, or during the transition between autonomous driving and driving that requires user intervention. The HMI 230 is configured to connect to input and output devices, such as touch panel displays, display devices, and operating devices installed in the base vehicle 100.

[0068] The sensors 260 for sensing include sensors that detect the environment around the vehicle 10, and include, for example, at least one of laser imaging detection and ranging (LIDAR), millimeter-wave radar, and a camera.

[0069] LIDAR refers to a distance measurement device that measures distance based on the time interval from the emission of a pulsed laser beam (infrared) to the return of the laser beam reflected by the object. Millimeter-wave radar is a distance measurement device that measures the distance or direction to an object by emitting short-wavelength radio waves towards it and detecting the radio waves returning from the object. A camera, for example, is positioned behind the rearview mirror inside a vehicle and is used to capture images of the area in front of the vehicle. Information obtained by the sensing sensor 260 is output to the computing component 210. As a result of image processing of the images or video images captured by the camera by an artificial intelligence (AI) or image processing processor, it is possible to identify another vehicle, obstacle, or person in front of the vehicle.

[0070] The attitude sensor 270 includes sensors that detect the attitude, behavior, or position of the vehicle, and includes, for example, an inertial measurement unit (IMU) or a global positioning system (GPS).

[0071] The IMU detects, for example, the vehicle's acceleration in the forward, lateral, and vertical directions, as well as its angular velocities in the roll, pitch, and yaw directions. GPS detects the vehicle 10's position based on information received from multiple GPS satellites orbiting the Earth. Information obtained from the attitude sensors 270 is output to the computing unit 210.

[0072] Sensor cleaner 290 is configured to remove dirt adhering to various sensors during vehicle operation. Sensor cleaner 290, for example, uses a cleaning solution or wipe to remove dirt adhering to camera lenses or parts emitting laser beams or radio waves.

[0073] VCIB 111 includes VCIB 111A and VCIB 111B. Each of VCIB 111A and VCIB 111B includes a central processing unit (CPU) and memory (e.g., read-only memory (ROM) and random access memory (RAM)). Although VCIB 111A is functionally equivalent to VCIB 111B, they differ in parts in the various systems that make up VP 120 and are connected to the VCIB.

[0074] VCIB 111A and VCIB 111B are communicatively connected to the communication modules 210A and 210B of the computing component 210, respectively. VCIB 111A and VCIB 111B are communicatively connected to each other.

[0075] VCIB 111A and VCIB 111B respectively relay various commands corresponding to control requests from ADS 202 and output them as control commands to the corresponding system of VP 120. More specifically, each of VCIB 111A and VCIB 111B, based on information such as a program stored in memory (e.g., an API), uses various commands provided from ADS 202 to generate control commands for controlling the corresponding system of VP 120 and outputs the control commands to the corresponding system. VCIB 111A and VCIB 111B respectively relay vehicle information provided from each system of VP 120 and provide the vehicle information as vehicle status to ADS 202. The information indicating the vehicle status can be information equivalent to the vehicle information, or it can be information extracted from the vehicle information used for processing performed by ADS 202.

[0076] Because VCIB 111A and VCIB 111B provide functional equivalents related to the operation of at least one system (e.g., braking or steering system), the control system between ADS 202 and VP 120 is redundant. Therefore, when a certain type of failure occurs in a part of the system, the function of VP 120 (turning or stopping) can be maintained by appropriately switching or disconnecting the failed control system between control systems.

[0077] Braking system 121 includes braking systems 121A and 121B. Steering system 122 includes steering systems 122A and 122B. Powertrain system 123 includes EPB system 123A, P lock system 123B, and propulsion system 124.

[0078] The VCIB 111A is communicatively connected via a communication bus to multiple systems of the VP 120, including the braking system 121A, steering system 122A, EPB system 123A, P lock system 123B, propulsion system 124, and body system 126.

[0079] The VCIB 111B is communicatively connected via a communication bus to the braking system 121B, the steering system 122B, and the P lock system 123B of the multiple systems in the VP 120.

[0080] Braking systems 121A and 121B are configured to control multiple braking devices disposed in the wheels of a vehicle. Braking system 121A may be functionally equivalent to braking system 121B, or one of braking systems 121A and 121B may be configured to independently control the braking force of each wheel during vehicle travel, while the other of braking systems 121A and 121B may be configured to control the braking force so that the same braking force is generated in the wheels during vehicle travel.

[0081] Braking systems 121A and 121B generate braking commands for the braking device based on control requests output from ADS 202 via VCIB 111A and VCIB 111B, respectively. For example, braking systems 121A and 121B control the braking device based on a braking command generated in one of the braking systems, and control the braking device based on a braking command generated in the other braking system when a fault occurs in that braking system.

[0082] Steering systems 122A and 122B are configured to control the steering angle of the steering wheel of vehicle 10 using steering equipment. Steering system 122A is functionally similar to steering system 122B.

[0083] Steering systems 122A and 122B generate steering commands for the steering device based on control requests output from ADS 202 via VCIB 111A and VCIB 111B, respectively. For example, steering systems 122A and 122B control the steering device based on steering commands generated in one of the steering systems, and control the steering device based on steering commands generated in the other steering system when a fault occurs in that steering system.

[0084] EPB system 123A is configured to control EPB. EPB uses the operation of actuators to secure the wheels. For example, EPB uses an actuator to activate a drum brake for a parking brake located in at least one of a plurality of wheels in vehicle 10 to secure the wheels, or uses an actuator capable of separately adjusting the hydraulic pressure to be supplied to the braking devices from braking systems 121A and 121B to secure the wheels.

[0085] EPB system 123A controls the EPB based on control requests output from ADS 202 via VCIB 111A.

[0086] The P-lock system 123B is configured to control the P-lock device. The P-lock device assembles a protrusion (the position of which is adjusted by an actuator) located at the end of the parking lock pawl into the teeth of a gear (locking gear) configured to connect with a rotating element in the transmission of the vehicle 10. The rotation of the transmission output shaft is thus fixed, thereby fixing the rotation of the wheels that drive the wheels (also referred to below as "wheel fixation").

[0087] The P lock system 123B controls the P lock device according to control requests provided from the ADS 202 via the VCIB 111A. For example, when the control request provided from the ADS 202 via the VCIB 111A includes a control request to set the shift gear to the parking gear (hereinafter referred to as P gear), the P lock system 123B activates the P lock device, and when the control request includes a control request to set the shift gear to a shift gear other than P gear, it deactivates the P lock device.

[0088] The propulsion system 124 is configured to switch gears using a shifting device and control the driving force of the vehicle 10 generated by the drive source in the direction of movement of the vehicle 10. Switchable gears include, for example, P (Park), neutral (N), drive (D), and reverse (R). The drive source includes, for example, an electric generator and an engine.

[0089] The propulsion system 124 controls the shifting device and drive source according to control requests provided from ADS 202 via VCIB 111A. For example, when the control request provided from ADS 202 via VCIB 111A includes a control request to set the shift gear to P, the propulsion system 124 controls the shifting device to set the shift gear to P.

[0090] The active safety system 125 is communicatively connected to the braking system 121A. As described above, the active safety system 125 detects obstacles (obstacles or people) ahead using a camera 129A and a radar sensor 129B, and when it determines that there is a possibility of collision based on the distance to the obstacle, it outputs a braking command to the braking system 121A to increase braking force.

[0091] The body system 126 controls components such as the turn indicators, horn, or wipers based on control requests provided from ADS 202 via VCIB 111A.

[0092] The operating devices that can be manually operated by the user can be set separately for the aforementioned braking devices, steering devices, EPB, P lock devices, transmission devices, and drive sources.

[0093] Various commands corresponding to the control requests provided from ADS 202 to VCIB 111 include commands requesting to switch gears in the direction of propulsion, commands requesting to activate or deactivate the EPB and P lock devices, commands requesting to accelerate or decelerate the vehicle 10, commands requesting to adjust the wheel steering angle, commands requesting to switch between autonomous and manual modes, and commands requesting to keep the vehicle stationary or release it from the parking state.

[0094] For example, autonomous driving is performed when the user selects autonomous mode as the autonomous state through operation of the HMI 230 in the vehicle 10 configured as described above. During autonomous driving, the ADS 202 initially creates a driving plan as described above. Examples of driving plans include multiple plans related to the operation of the vehicle 10, such as a plan to continue straight, a plan to turn left or right at a designated intersection on a predetermined driving path, and a plan to change lanes to a lane different from the lane the vehicle is currently traveling in.

[0095] ADS 202 extracts controllable physical quantities (e.g., acceleration or deceleration, and wheel steering angle) required for the operation of vehicle 10 based on the created driving plan. ADS 202 divides the physical quantities into time segments for each execution cycle of the API. ADS 202 executes the API using the resulting physical quantities and outputs various commands to VCIB 111. Furthermore, ADS 202 obtains the vehicle state (e.g., the actual direction of movement of vehicle 10 and the vehicle's stationary state) from VP 120 and recreates a driving plan reflecting the obtained vehicle state. ADS 202 thus enables autonomous driving of vehicle 10.

[0096] During the autonomous driving period of vehicle 10, the user does not perform any operations. Therefore, when vehicle 10 is parked, the rotation of the wheels should be fixed at appropriate times by using EPB and P lock devices.

[0097] In this embodiment, it is assumed that the following operations are performed between the base vehicle 100 of ADS 202 and VP 120 when VCIB 111 is involved. Specifically, a fixing command requesting the fixing (wheel fixing) of vehicle 10 is transmitted from ADS 202 to base vehicle 100 via VCIB 111. A travel direction (corresponding signal) indicating the stationary state of vehicle 10 is transmitted from base vehicle 100 to ADS 202 via VCIB 111. Therefore, when a first condition including the condition that vehicle 10 is stationary is met, ADS 202 transmits a fixing command to base vehicle 100 via VCIB 111. Base vehicle 100 fixes vehicle 10 according to the received fixing command.

[0098] Since a fixing command is transmitted from ADS 202 to the base vehicle 10 when the first condition, including the condition that the vehicle 10 is stationary, is met, it is possible to fix the vehicle 10 (i.e., fix the wheels) at the appropriate time during autonomous driving.

[0099] The following will refer to Figure 3 The process performed by ADS 202 (more specifically, computing component 210) in this embodiment is described. Figure 3The flowchart illustrates an exemplary process performed in ADS 202. For example, at each execution cycle of the API, ADS 202 repeats the following process.

[0100] In step (hereinafter referred to as S) 11, ADS 202 determines whether the autonomous state has been set to autonomous mode. For example, ADS 202 determines whether the autonomous state has been set to autonomous mode based on the state of a flag indicating autonomous mode. For example, the flag indicating autonomous mode is turned on when the user performs an autonomous driving operation on HMI 230, and turned off when autonomous mode is canceled and in response to the user's operation or when switching to manual mode according to driving conditions. When it is determined that the autonomous state has been set to autonomous mode ("Yes" in S11), the process proceeds to S12.

[0101] In S12, ADS 202 determines whether the acceleration command has a value indicating deceleration. The acceleration command has either an acceleration value or a deceleration value. For example, an acceleration command with a positive value indicates that ADS 202 requests VP 120 to accelerate vehicle 10. An acceleration command with a negative value indicates that ADS 202 requests VP 120 to decelerate vehicle 10. When the acceleration command has a negative value, ADS 202 determines that the acceleration command has a value indicating deceleration (i.e., the acceleration command includes a deceleration value). When the acceleration command is determined to have a value indicating deceleration ("yes" in S12), the process proceeds to S13.

[0102] In S13, ADS 202 determines whether the vehicle speed is zero. ADS 202 obtains information about the speed of vehicle 10 from VP 120 as the vehicle state. For example, information about the speed of vehicle 10 (speed in the direction of travel of vehicle 10) calculated based on the wheel speeds obtained by wheel speed sensors 127A or 127B of the base vehicle 100 is provided to ADS from the base vehicle 100 as the vehicle state via VCIB 111. When the vehicle speed is determined to be zero (yes in S13), the process proceeds to S14.

[0103] In S14, ADS 202 determines whether the stationary command has a value indicating "applied". For example, the stationary command is used to select whether the brake holding function of the EPB or P lock device can be applied while the vehicle is stationary. When the vehicle 10 is requested to remain stationary, the stationary command is set to a value indicating "applied". When the vehicle 10 is requested to release from the station, the stationary command is set to a value indicating "released". When neither the vehicle 10 is requested to remain stationary nor to release from the station, the stationary command is set to a value indicating "no request". When the stationary command is determined to have a value indicating "applied" ("yes" in S14), the process proceeds to S15.

[0104] In S15, ADS 202 sets V1 as an acceleration command. V1 represents a constant deceleration value. For example, V1 should be a value that limits the movement of vehicle 10 and is a predetermined value adapted through experiments, etc.

[0105] In S16, ADS 202 determines whether the travel direction of vehicle 10 indicates a stationary state. ADS 202 obtains information about the travel direction of vehicle 10 from VP 120 as the vehicle state. For example, when the speed of vehicle 10 (speed in the travel direction of vehicle 10) is zero based on the wheel speed obtained by wheel speed sensor 127A or wheel speed sensor 127B of base vehicle 100 for a specified period of time, information indicating that the travel direction indicates a stationary state is provided from base vehicle 100 to ADS 202 as the vehicle state via VCIB 111. When it is determined that the travel direction of vehicle 10 indicates a stationary state ("yes" in S16), the process proceeds to S17.

[0106] In S17, ADS 202 determines whether a wheel lock request exists. For example, if the created driving plan includes a plan to fix vehicle 10, ADS 202 determines that a wheel lock request exists. When a wheel lock request is determined to exist ("yes" in S17), the process proceeds to S18.

[0107] In S18, ADS 202 determines whether a predetermined time has elapsed since the vehicle 10 came to a standstill. For example, ADS 202 can determine whether a predetermined time has elapsed since the point in time when the vehicle 10's direction of travel indicated a standstill, or it can determine whether a predetermined time has elapsed since the point in time when the vehicle's speed reached zero. For example, the predetermined time can be adapted through experiments. When it is determined that a predetermined time has elapsed since the vehicle 10 came to a standstill ("Yes" in S18), the process proceeds to S19.

[0108] In S19, ADS 202 sets the fixing command to a value indicating "applied". In other words, it requests VP 120 to fix vehicle 10. Therefore, when the fixing command is set to a value indicating "applied", the EPB and P lock devices in VP 120 are controlled to activate, as will be described later.

[0109] The process ends when the autonomous state has not been set to autonomous mode ("No" in S11), when the acceleration command does not have a value indicating a deceleration value ("No" in S12), when the vehicle speed is not zero ("No" in S13), when the stationary command does not have a value indicating "Applied" ("No" in S14), when the vehicle 10's travel direction does not indicate a stationary state ("No" in S16), or when there is no wheel lock request ("No" in S17). If a predetermined time has not elapsed since the vehicle 10 came to a standstill ("No" in S18), the process returns to S18.

[0110] Now refer to Figure 4 Describes the processing performed by VCIB 111 (more specifically, VCIB 111A). Figure 4 The flowchart illustrates an exemplary process performed in VCIB 111. For example, at each execution cycle of the API, VCIB 111 repeats the following process.

[0111] In S21, VCIB 111 determines whether the fixed command has been set to a value indicating "applied". When it is determined that the fixed command has been set to a value indicating "applied" ("yes" in S21), the process proceeds to S22.

[0112] In S22, VCIB 111 determines whether the driving direction of vehicle 10 indicates a stationary state. When the driving direction of vehicle 10 is determined to indicate a stationary state (yes in S22), the process proceeds to S23.

[0113] In S23, VCIB 111 implements wheel lock control. Specifically, VCIB 111 provides a control command requesting EPB system 123A to start EPB, and provides a control command requesting P lock system 123B to start P lock device (a control command requesting the shift gear to be set to P gear).

[0114] In S24, VCIB 111 determines whether wheel lock control has been completed. When both the EPB and P lock devices have been activated, VCIB 111 determines that wheel lock control has been completed.

[0115] For example, VCIB 111 can determine that EPB has been activated when a specified time has elapsed since the control command to start EPB was output, or when the actuation amount of the EPB actuator exceeds a threshold.

[0116] Similarly, for example, VCIB 111 can determine that the P-lock device has been activated when a predetermined time has elapsed since the output command to activate the control command for the P-lock device was issued, or when the actuation amount of the actuator of the P-lock device exceeds a threshold. When it is determined that the wheel lock control has been completed ("Yes" in S24), the process proceeds to S25.

[0117] In S25, VCIB 111 sets "11" to a fixed state. The value indicating that the fixed state is set to "11" indicates that both the EPB and P lock devices are activated. VCIB 111 provides the set fixed state to ADS 202 as one of the information included in the vehicle status. When the driving direction of vehicle 10 is determined to not indicate a stationary state ("No" in S22), the process ends.

[0118] If it is determined that the fixed command has not yet been set to "applied" ("No" in S21), the process ends. If it is determined that the wheel lock control has not yet been completed ("No" in S24), the process returns to S24.

[0119] Now refer to Figure 5 This describes the processing performed in ADS 202 when vehicle 10 has been requested to be secured. Figure 5 A flowchart illustrating an exemplary process performed in ADS 202 when vehicle 10 has been requested to be fixed is provided. For example, ADS 202 repeats the following process at each execution cycle of the API.

[0120] In S31, ADS 202 determines whether the autonomous state has been set to autonomous mode. Since the method for determining whether the autonomous state has been set to autonomous mode has been described above, its detailed description will not be repeated. When the autonomous state is determined to have been set to autonomous mode ("Yes" in S31), the process proceeds to S32.

[0121] In S32, ADS 202 determines whether the fixing command has been set to a value indicating "applied" (i.e., fixing of vehicle 10 has been requested). When the fixing command is determined to have been set to a value indicating "applied" ("yes" in S32), the process proceeds to S33.

[0122] In S33, ADS 202 determines whether a wheel lock release request exists. For example, when the created driving plan includes a plan to drive the vehicle, ADS 202 determines that a wheel lock release request exists. When a wheel lock release request is determined to exist ("Yes" in S33), the process proceeds to S34.

[0123] In S34, ADS 202 determines whether the driving direction of vehicle 10 indicates a stationary state. Since the method for determining whether the driving direction of vehicle 10 indicates a stationary state has been described above, its detailed description will not be repeated. When the driving direction of vehicle 10 is determined to indicate a stationary state ("yes" in S34), the process proceeds to S35.

[0124] In S35, ADS 202 sets the fixing command to a value indicating "released". In other words, it requests VP 120 to release the vehicle 10 from its fixing. When the fixing command is set to a value indicating "released", both the EPB and P-lock devices are controlled to be deactivated, as will be described later.

[0125] In S36, ADS 202 determines whether the stationary state has been set to "00". The stationary state is provided from the base vehicle 100 as one of the vehicle states via VCIB 111.

[0126] A fixed state is set by combining the value indicating the state of the EPB with the value indicating the state of the P-lock device. Setting the value of the EPB state indicator to "1" indicates that the EPB is activated. Setting the value of the EPB state indicator to "0" indicates that the EPB is deactivated. Similarly, setting the value of the P-lock device state indicator to "1" indicates that the P-lock device is activated. Setting the value of the P-lock device state indicator to "0" indicates that the P-lock device is deactivated. Therefore, for example, setting the value of the fixed state indicator to "11" indicates that both the EPB and the P-lock device are activated. Setting the value of the fixed state indicator to "00" indicates that both the EPB and the P-lock device are deactivated. Setting the value of the fixed state indicator to "10" indicates that the EPB is activated and the P-lock device is deactivated. Setting the value of the fixed state indicator to "01" indicates that the EPB is deactivated and the P-lock device is activated. When the fixed state is determined to have been set to "00" ("Yes" in S36), the process proceeds to S37.

[0127] In S37, ADS 202 determines whether a predetermined time has elapsed since the fixed state was set to "00". If it is determined that a predetermined time has elapsed since the fixed state was set to "00" ("Yes" in S37), the process proceeds to S38. If it is determined that a predetermined time has not elapsed since the fixed state was set to "00" ("No" in S37), the process returns to S37.

[0128] In S38, ADS 202 sets the fixing command to a value indicating "no request". The value of the fixing command indicating "no request" indicates a state in which neither fixing vehicle 10 nor unfixing vehicle 10 is requested.

[0129] The process ends when the autonomous state has not been set to autonomous mode ("No" in S31), when the fixed command has not been set to a value indicating "Applied" ("No" in S32), when there is no wheel lock release request ("No" in S33), or when the driving direction of vehicle 10 is determined to not indicate a stationary state ("No" in S34). When the fixed state has not been set to "00" ("No" in S36), the process returns to S36.

[0130] Now refer to Figure 6 Describes the processing performed by VCIB 111 (more specifically, VCIB111A) when vehicle 10 has been requested to be secured. Figure 6 A flowchart illustrating an exemplary process performed in VCIB 111 when vehicle 10 has been requested to be secured is provided. For example, at each execution cycle of the API, VCIB 111 repeats the following process.

[0131] In S41, VCIB 111 determines whether the fixing command has been set to "deactivated". When it is determined that the fixing command has been set to "deactivated" ("yes" in S41), the process proceeds to S42.

[0132] In S42, VCIB 111 implements wheel lock release control. Specifically, VCIB 111 outputs a control command requesting EPB system 123A to disable EPB, and outputs a control command requesting P lock system 123B to disable P lock device (e.g., a control command requesting the shift gear to be set to a non-P gear (e.g., N, D, or R gear)).

[0133] In S43, VCIB 111 sets the fixed state to "00". Setting the value indicating the fixed state to "00" indicates that both the EPB and P lock devices are disabled. VCIB 111 provides the set fixed state to ADS 202 as one of the information included in the vehicle status.

[0134] Reference Figure 7 Describe the operation of ADS 202 and VCIB 111 based on the above structure and flowchart. Figure 7 This is a timing diagram used to illustrate the operation of ADS 202 and VP 120. Figure 7 The horizontal axis in the graph represents time. Figure 7 LN1 in the equation represents the change in speed of vehicle 10. Figure 7 LN2 in the text represents the change in the acceleration command. Figure 7 LN3 in the text represents a change in the static command. Figure 7 In this context, LN4 represents a variation of a fixed command. Figure 7 LN5 in the text represents the change in the driving direction of vehicle 10. Figure 7 LN6 in the text represents a change in a fixed state.

[0135] For example, suppose vehicle 10 in autonomous driving is... Figure 7 It travels at a constant speed as shown by LN1. At this time, as in... Figure 7 As shown in LN2, assume the value of the acceleration command is zero. For example, in... Figure 7 As shown in LN3, assume the static command is set to a value indicating "applied". For example, in... Figure 7 As shown in LN4, assume the fixed command is set to indicate a value of "no request". For example, in Figure 7 As shown in LN5, assume that the vehicle 10 is traveling in the forward direction. For example, in... Figure 7 As shown in LN6, it is assumed that the fixed state is set to "00" and that both the EPB and P lock devices are disabled.

[0136] As in Figure 7 As shown by LN2, at time t1, when the driving plan created in ADS 202 includes a deceleration plan, the acceleration command reaches the value indicating deceleration according to the driving plan. Therefore, as in Figure 7 As shown by LN1, the speed of vehicle 10 decreases after time t1.

[0137] When the autonomous state has been set to autonomous mode ("Yes" in S11) and the acceleration command has a value indicating deceleration ("Yes" in S12), it is determined whether the driving direction of vehicle 10 indicates a stationary state (S13).

[0138] As in Figure 7 As shown in LN1, when the speed of vehicle 10 reaches zero at time t2 ("Yes" in S13), as in Figure 7 As shown in LN3, the static command has a value indicating "applied" ("yes" in S14) and therefore, as in Figure 7 As shown in LN2, the constant deceleration value V1 is set as an acceleration command (S15).

[0139] When vehicle 10 remains at zero speed for a specified period of time, at time t3, as in Figure 7 As shown in LN5, the driving direction of vehicle 10 indicates a stationary state ("Yes" in S16), and therefore it is determined whether a wheel lock request exists. When a wheel lock request exists ("Yes" in S17), it is determined whether a predetermined time has elapsed since vehicle 10 came to a standstill (S18).

[0140] At time t4, when it is determined that a predetermined time has elapsed since vehicle 10 came to a stop (marked as "yes" in S18), as in Figure 7 As shown in LN4, the fixed command is set to a value indicating "applied" (S19).

[0141] When the fixing command has been set to "applied" ("Yes" in S21) and when the driving direction of vehicle 10 indicates a stationary state ("Yes" in S22), wheel lock control is implemented and vehicle 10 is fixed (S23). Therefore, both the EPB and P lock devices of the base vehicle 100 are controlled to start. When wheel lock control is completed by starting both the EPB and P lock devices ("Yes" in S24), at time t5, as in... Figure 7 The fixed state is set to the value "11" (S25) as shown by LN6.

[0142] As in Figure 7 As shown in LN4, when the autonomous state has been set to autonomous mode ("Yes" in S31) and the fixed command has been set to "Applied" ("Yes" in S32), it is determined whether there is a wheel lock release request (S33).

[0143] When the driving plan created in ADS 202 includes a plan to release the vehicle 10 from its fixed position, a request to release the wheel locks is made at time t6 according to the driving plan ("Yes" in S33). Therefore, as in Figure 7 As shown in LN5, the driving direction indicator of vehicle 10 is stationary ("Yes" in S34), therefore, as in Figure 7 As shown in LN4, the fixed command is set to "deactivated" (S35).

[0144] When the locking command is set to "released" ("yes" in S41), wheel lock release control is implemented and the vehicle 10 is released from locking (S42). Therefore, the EPB and P lock devices of the base vehicle 100 are controlled to be deactivated, and as in Figure 7 As shown in LN6, the fixed state is set to "00" at time t7 (S43).

[0145] When the fixed state is set to "00" at time t7 ("Yes" in S36), it is determined whether a predetermined time has elapsed since the fixed state was set to "00" (S37).

[0146] When it is determined at time t8 that a predetermined time has elapsed since the fixed state was set to "00" (in S37, this is "Yes"), as in Figure 7 As shown in LN4, the fixed command is set to a value indicating "no request" (S38).

[0147] As stated above, according to the vehicle 10 in this embodiment, when a first condition including the vehicle being stationary is met, a fixing command including a value indicating "applied" is transmitted from the ADS 202 to the base vehicle 100 via the VCIB 111. Therefore, fixing of the vehicle 10 (i.e., fixing of the wheels) can be implemented at an appropriate time during autonomous driving. Thus, it is possible to provide a vehicle capable of installing an autonomous driving system, a method for controlling the vehicle, and a vehicle control interface box that allows fixing of wheel rotation at an appropriate time during autonomous driving.

[0148] When a fixation command requests the release of vehicle 10 from fixation, and when a second condition, including the condition that vehicle 10 is stationary, is met, a fixation command, including a value indicating "released," is transmitted from ADS 202 to base vehicle 100 via VCIB 111. In base vehicle 100, vehicle 10 is released from fixation in response to the fixation command, and thus can be released at the appropriate time during autonomous driving.

[0149] Since the first condition mentioned above also includes the condition that a predetermined time has elapsed since the vehicle 10 came to a standstill, it is possible to fix the vehicle at the appropriate time during autonomous driving.

[0150] When a fixing command requests the fixing of vehicle 10, an acceleration command, including a constant deceleration value, is transmitted from ADS 202 to base vehicle 100 via VCIB 111 during the period from when vehicle 10 is stationary until a request to release the fixing of vehicle 10 is issued. Therefore, it is possible to limit the movement of vehicle 10 during the period from when vehicle 10 is stationary until the fixing of vehicle 10 is released.

[0151] By issuing and receiving various commands (such as acceleration commands or fixing commands) and vehicle status (such as the direction of travel of vehicle 10) between ADS 202 and base vehicle 100 via VCIB 111, the wheels can be fixed at the appropriate time by using EPB and P lock devices when vehicle 10 is stationary.

[0152] The variant example will be described below.

[0153] Although VCIB 111 is described in the above embodiments as performing Figure 4 The process shown in the flowchart and Figure 6 The process is as shown in the flowchart, but for example, VCIB 111A and VCIB 111B can perform the above process together.

[0154] Although VCIB 111 is described in the above embodiments as performing Figure 4 The process shown in the flowchart and Figure 6The process is shown in the flowchart, but for example, some or all of the above processes may be performed by each system to be controlled in the base vehicle 100 (specifically, EPB system 123A and P lock system 123B).

[0155] Although the above embodiments describe VCIB 111 as implementing wheel lock control (S23) when the fixing command has a value indicating "applied" ("Yes" in S21) and when the driving direction of vehicle 10 indicates a stationary state ("Yes" in S22), for example, when the driving direction of vehicle 10 does not indicate a stationary state ("No" in S22), the fixing command can be discarded even if the fixing command has a value indicating "applied" ("Yes" in S21). Specifically, even if the fixing command has been set to "applied", VCIB 111 can discard the fixing command by not implementing wheel lock control. In this case, VCIB 111 can provide information to ADS 202 indicating that wheel lock control has not been implemented.

[0156] Therefore, when a vehicle 10 is requested to be locked using a locking command during vehicle 10's operation, the request is discarded. Thus, vehicle 10 locking (i.e., wheel lock control) during vehicle 10's operation can be suppressed.

[0157] According to the description in the above embodiments, when ADS 202 determines that a predetermined time has elapsed since vehicle 10 came to a standstill ("Yes" in S16), ADS 202 sets a fixed command to a value indicating "Applied," so that wheel lock control is implemented after a predetermined time has elapsed since vehicle 10 came to a standstill. However, the entity that delays wheel lock control is not limited to ADS 202. For example, when the driving direction of vehicle 10 indicates a standstill, ADS 202 can set a fixed command to a value indicating "Applied," and VCIB 111 can implement wheel lock control after a predetermined time has elapsed since the fixed command was set to the value indicating "Applied." Therefore, wheel lock control can be implemented after a predetermined time has elapsed since vehicle 10 came to a standstill.

[0158] All or part of the variant can be implemented with appropriate combinations.

[0159] [Example]

[0160] Toyota vehicle platform API specifications

[0161] Version 1.1

[0162] Revision history

[0163]

[0164] Table of contents

[0165] 1. Introduction

[0166] 1.1. Purpose of this specification

[0167] 1.2. Target Vehicle

[0168] 1.3. Definition of Terms

[0169] 2. Structure

[0170] 2.1. Overall Structure of Autono-MaaS Vehicles

[0171] 2.2. System Architecture of Autono-MaaS Vehicles

[0172] 3. Application Interface

[0173] 3.1. Typical Use of API

[0174] 3.2. APIs for Vehicle Motion Control

[0175] 3.2.1. List of APIs used for vehicle motion control

[0176] 3.2.2. Details of each API used for vehicle motion control

[0177] 3.3. APIs for Body Control

[0178] 3.3.1. List of APIs used for vehicle body control

[0179] 3.3.2. Details of each API used for body control

[0180] 3.4. API for Power Control

[0181] 3.4.1. List of APIs for Power Control

[0182] 3.4.2. Details of each API used for power control

[0183] 3.5. API for Fault Notification

[0184] 3.5.1. List of APIs used for fault notification

[0185] 3.5.2. Details of each API used for fault notification

[0186] 3.6. APIs for Security

[0187] 3.6.1. List of APIs for Security

[0188] 3.6.2. Details of each API used for security

[0189] 4. API Guidelines for Controlling Toyota Vehicles

[0190] 4.1. API for Vehicle Motion Control

[0191] 4.1.1. List of APIs used for vehicle motion control

[0192] 4.1.2. Detailed API Guide for Vehicle Motion Control

[0193] 4.2. APIs for Body Control

[0194] 4.2.1. List of APIs used for vehicle body control

[0195] 4.3. API for Power Control

[0196] 4.3.1. List of APIs for Power Control

[0197] 4.4. API for Fault Notification

[0198] 4.4.1. List of APIs used for fault notification

[0199] 4.5. APIs for Security

[0200] 4.5.1. List of APIs for Security

[0201] 4.5.2. Detailed Guidelines for Secure APIs

[0202] 1. Introduction

[0203] 1.1. Purpose of this specification

[0204] This document is the API specification for the vehicle control interface used in Autono-MaaS vehicles, and includes an overview of the API, usage instructions, and precautions.

[0205] 1.2. Target Vehicle

[0206] This specification applies to Autono-MaaS vehicles as defined by the [Architecture Specification for Toyota Vehicle Platform with Autonomous Driving System].

[0207] 1.3. Definition of Terms

[0208] Table 1. Definitions of Terms

[0209]

[0210] 2. Structure

[0211] 2.1. Overall Structure of Autono-MaaS Vehicles

[0212] This shows the overall structure of an Autono-MaaS vehicle. Figure 8 ).

[0213] 2.2. System Architecture of Autono-MaaS Vehicles

[0214] exist Figure 9 The system architecture is shown in the diagram.

[0215] 3. Application Interface

[0216] 3.1. Typical Use of API

[0217] This section describes typical uses of the API.

[0218] The typical workflow of an API is as follows ( Figure 10 The following example assumes CAN for physical communication.

[0219] 3.2. APIs for Vehicle Motion Control

[0220] This section describes the API used for vehicle motion control.

[0221] 3.2.1. List of APIs used for vehicle motion control

[0222] 3.2.1.1. Input

[0223] Table 3. Input APIs for Vehicle Motion Control

[0224]

[0225] *Response time in VP based on the request from ADK

[0226] 3.2.1.2. Output

[0227] Table 4. Output APIs for Vehicle Motion Control

[0228]

[0229]

[0230]

[0231] 3.2.2. Details of each API used for vehicle motion control

[0232] 3.2.2.1. Direction of Advance Command

[0233] Request to change gear from forward (D) to reverse (R), or from reverse to forward.

[0234] value

[0235] value describe Remark 0 No request 2 R Shift to reverse (R) 4 D Shift to D gear other reserve

[0236] Remark

[0237] • Available only when vehicle mode status = "Autonomous Mode".

[0238] • Available only when the vehicle is stationary (direction of travel = "stationary").

[0239] • Available only when braking is applied.

[0240] 3.2.2.2. Fixed Commands

[0241] Request to open / close wheel lock

[0242] value

[0243] The following table shows the cases where EPB and P files are used for fixing.

[0244]

[0245] Remark

[0246] This API is used to park the vehicle.

[0247] • Available only when vehicle mode status = "Autonomous Mode".

[0248] • It can only be changed when the vehicle is stationary (direction of travel = "stationary").

[0249] • It can only be changed when braking is applied.

[0250] 3.2.2.3. Static Command

[0251] Request to apply / disappear brake holding function

[0252] value

[0253]

[0254]

[0255] Remark

[0256] This API is used to select whether the brake hold function is enabled.

[0257] • Available only when vehicle mode status = "Autonomous Mode".

[0258] • Continue to use the acceleration command (deceleration request) until the stationary state changes to "applied".

[0259] 3.2.2.4. Acceleration Command

[0260] Request acceleration

[0261] value

[0262] Estimated maximum deceleration to estimated maximum acceleration [m / s] 2 ]

[0263] Remark

[0264] • Available only when vehicle mode status = "Autonomous Mode".

[0265] • Acceleration (+) and deceleration (-) requests based on the propulsion direction and state direction.

[0266] • The upper / lower limits will be based on the estimated maximum deceleration and the estimated maximum acceleration change.

[0267] • When the requested acceleration is greater than the estimated maximum acceleration, the request is set to the estimated maximum acceleration.

[0268] • When the requested deceleration is greater than the estimated maximum deceleration, the request is set to the estimated maximum deceleration.

[0269] • When the driver is operating the vehicle (over-control), the requested acceleration may not be achieved.

[0270] • When PCS is working simultaneously, VP should be selected with minimum acceleration (maximum deceleration).

[0271] 3.2.2.5. Front wheel steering angle command

[0272] value

[0273] value describe Remark — [Unit: radians]

[0274] Remark

[0275] • Available only when vehicle mode status = "Autonomous Mode".

[0276] Left represents a positive value (+). Right represents a negative value (-).

[0277] • When the vehicle is traveling in a straight line, the front wheel steering angle is set to a value (0).

[0278] • This request is set to a value relative to the current one to prevent the accumulation of misalignment in the "front wheel steering angle".

[0279] The requested value should be set within the front wheel steering angle rate limit.

[0280] • When the driver is operating the vehicle (over-control), the requested front wheel steering angle may not be achieved.

[0281] 3.2.2.6. Vehicle Mode Command

[0282] Request a change from manual mode to autonomous mode, or vice versa.

[0283] value

[0284]

[0285] Remark

[0286] N / A

[0287] 3.2.2.7. High Dynamic Commands

[0288] If ADK is to improve VP's braking response performance * The high dynamics command should be set to "high".

[0289] *Response time in VP based on the request from ADK

[0290] value

[0291] value describe Remark 0 No request 1 high 2-3 reserve

[0292] Remark

[0293] N / A

[0294] 3.2.2.8. Propulsion Direction Status

[0295] Current shift status

[0296] value

[0297] value describe Remark 0 reserve 1 P 2 R 3 N 4 D 5 reserve 6 Invalid value

[0298] Remark

[0299] • If VP is unaware of the current shift state, this output is set to "invalid value".

[0300] 3.2.2.9. Fixed State

[0301] Each fixed system state

[0302] value

[0303] The following table shows the cases where EPB and P files are used for fixing.

[0304]

[0305] Remark

[0306] ·N / A

[0307] 3.2.2.10. Stationary state

[0308] static state

[0309] value

[0310] value describe Remark 0 Released 1 Already applied 2 reserve 3 Invalid value

[0311] Remark

[0312] ·N / A

[0313] 3.2.2.11. Estimate the gliding acceleration

[0314] With the throttle valve closed, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0315] value

[0316] [Unit: meters per second] 2 ]

[0317] Remark

[0318] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0319] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0320] 3.2.2.12. Estimating the maximum acceleration

[0321] With the throttle valve fully open, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0322] value

[0323] [Unit: meters per second] 2 ]

[0324] Remark

[0325] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0326] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0327] 3.2.2.13. Estimate the maximum deceleration

[0328] When braking in VP is requested to be at its maximum, the maximum deceleration calculated in VP is taken into account factors such as gradient and road load.

[0329] value

[0330] [Unit: meters per second] 2 ]

[0331] Remark

[0332] • When the propulsion direction is “D”, the deceleration in the forward direction is shown as a negative value.

[0333] • When the forward direction is “R”, the deceleration in the backward direction is shown as a negative value.

[0334] 3.2.2.14. Front wheel steering angle

[0335] value

[0336] value describe Remark Minimum value Invalid value other [Unit: radians]

[0337] Remark

[0338] Left represents a positive value (+). Right represents a negative value (-).

[0339] The signal will show an invalid value until the VP is able to calculate the correct value or when the sensor is invalid / malfunctioning.

[0340] 3.2.2.15. Front wheel steering angular rate

[0341] Front wheel steering angle rate

[0342] value

[0343] value describe Remark Minimum value Invalid value other [Unit: radians]

[0344] Remark

[0345] Left represents a positive value (+). Right represents a negative value (-).

[0346] The signal will display an invalid value until VP can calculate the correct value or the current wheel steering angle shows a minimum value.

[0347] 3.2.2.16. Front wheel steering rate limit

[0348] Front wheel steering rate limit

[0349] value

[0350] [Unit: radians / second]

[0351] Remark

[0352] From Table 5 below and Figure 11 The speed-steering angle rate mapping shown calculates this limit.

[0353] A) When at low speed or at a stop, use a fixed value (0.751 [radians / second]).

[0354] B) At higher speeds, use 3.432 m / s 3 The steering angle rate is calculated from the vehicle speed.

[0355] Table 5. Vehicle Speed-Steering Angle Rate Mapping Chart

[0356] Speed ​​[km / h] 0.0 36.0 40.0 67.0 84.0 Front wheel steering angle rate limit [radians / second] 0.751 0.751 0.469 0.287 0.253

[0357] 3.2.2.17. Estimating the maximum lateral acceleration

[0358] value

[0359] [Unit: meters per second] 2 (Fixed value: 3.432)

[0360] Remark

[0361] • Maximum lateral acceleration limited by VP

[0362] 3.2.2.18. Estimating the maximum lateral acceleration rate

[0363] value

[0364] [Unit: meters per second] 3 (Fixed value: 3.432)

[0365] Remark

[0366] • Maximum lateral acceleration rate limited by VP

[0367] 3.2.2.19. Accelerator pedal intervention

[0368] This signal indicates whether the accelerator pedal has been pressed by the driver (intervention).

[0369] value

[0370] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous acceleration

[0371] Remark

[0372] • When the accelerator pedal is positioned above a predetermined threshold, the signal is set to "pressed".

[0373] • When the requested acceleration calculated from the position of the accelerator pedal is higher than the requested acceleration from the ADS, the signal is set to “exceed autonomous acceleration”.

[0374] 3.2.2.20. Brake pedal intervention

[0375] This signal indicates whether the driver has pressed the brake pedal (intervention).

[0376] value

[0377] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous deceleration

[0378] Remark

[0379] • When the brake pedal position is above a predetermined threshold, the signal is set to "pressed".

[0380] • When the requested deceleration calculated from the position of the brake pedal is higher than the requested deceleration from the ADS, the signal is set to “exceed autonomous deceleration”.

[0381] 3.2.2.21. Steering wheel intervention

[0382] This signal indicates whether the driver has intervened by operating the steering wheel.

[0383] value

[0384] value describe Remark 0 Not rotated 1 ADS works in collaboration with drivers 2 Only through human drivers

[0385] Remark

[0386] • In “Steering wheel intervention = 1”, the EPS system works in cooperation with the human driver to drive the steering, taking into account the intentions of the human driver.

[0387] • In "Steering intervention = 2", the steering request from ADS was not implemented, taking into account the intentions of the human driver. (Steering will be driven by the human driver.)

[0388] 3.2.2.22. Gear shift lever intervention

[0389] This signal indicates whether the driver is controlling the gear shift lever (intervention).

[0390] value

[0391]

[0392]

[0393] Remark

[0394] ·N / A

[0395] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0396] value

[0397]

[0398] Remark

[0399] • Integrate the pulse value at the moment of pulse descent.

[0400] The wheel speed sensor outputs 96 pulses per rotation.

[0401] • The wheel speed pulse will be updated regardless of whether the wheel speed sensor is invalid or malfunctioning.

[0402] • When “1” is subtracted from the pulse value showing “0”, the value changes to “0×FF”. When “1” is added to the pulse value showing “0×FF”, the value changes to “0”.

[0403] • The rotation direction is determined after the ECU is started, and the pulse value will be increased when the rotation direction is "forward".

[0404] • When forward rotation is detected, the pulse value will be increased.

[0405] • When backward rotation is detected, the pulse value will be subtracted.

[0406] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0407] value

[0408]

[0409]

[0410] Remark

[0411] • Determine the rotation direction after VP is turned on and set it to "forward".

[0412] 3.2.2.25. Direction of travel

[0413] Direction of movement of the vehicle

[0414] value

[0415] value describe Remark 0 forward 1 backward 2 still 3 Undefined

[0416] Remark

[0417] • When the speed of all four wheels is “0” at a constant time, the signal indicates “stationary”.

[0418] • When shifting gears immediately after the vehicle has started, it can be "undefined".

[0419] 3.2.2.26. Vehicle speed

[0420] Estimated longitudinal speed of the vehicle

[0421] value

[0422] value describe Remark Maximum value in transmitted bits Invalid value The sensor is malfunctioning. other Speed ​​[unit: meters per second]

[0423] Remark

[0424] • The signal value is positive when both the forward and backward directions are in motion.

[0425] 3.2.2.27. Longitudinal acceleration

[0426] Estimated longitudinal acceleration of the vehicle

[0427] value

[0428] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0429] Remark

[0430] • Acceleration (+) and deceleration (-) values ​​based on the pulse direction and state direction.

[0431] 3.2.2.28. Lateral acceleration

[0432] lateral acceleration of the vehicle

[0433] value

[0434] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0435] Remark

[0436] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0437] 3.2.2.29. Yaw rate

[0438] yaw rate sensor value

[0439] value

[0440] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other Yaw rate [unit: degrees / second]

[0441] Remark

[0442] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0443] 3.2.2.30. Sliding Detection

[0444] Tire slippage / sharp turn / skid detection

[0445] value

[0446] value describe Remark 0 No sliding 1 slide 2 reserve 3 Invalid value

[0447] Remark

[0448] • This signal is considered "slippery" when any of the following systems are already running.

[0449] -ABS (Anti-lock Braking System)

[0450] -TRC (Traction Control)

[0451] -VSC (Vehicle Stability Control)

[0452] -VDIM (Vehicle Dynamics Integrated Management)

[0453] 3.2.2.31. Vehicle Mode Status

[0454] Autonomous mode or manual mode

[0455] value

[0456] value describe Remark 0 Manual mode The mode starts from manual mode. 1 Autonomous mode

[0457] Remark

[0458] • The initial state is set to "manual mode".

[0459] 3.2.2.32. Automation Ready

[0460] This signal indicates whether the vehicle can switch to autonomous mode.

[0461] value

[0462] value describe Remark 0 Not prepared for an independent model 1 Preparing for an autonomous mode 3 invalid The status has not yet been determined.

[0463] Remark

[0464] ·N / A

[0465] 3.2.2.33. Fault Status of VP Function in Autonomous Mode

[0466] This signal is used to indicate whether the VP function has certain fault modes when the vehicle is operating in autonomous mode.

[0467] value

[0468] value describe Remark 0 No fault 1 Fault 3 invalid The status has not yet been determined.

[0469] Remark

[0470] ·N / A

[0471] 3.2.2.34. PCS Alarm Status

[0472] value

[0473]

[0474]

[0475] Remark

[0476] N / A

[0477] 3.2.2.35. PCS Preparation Status

[0478] Pre-filling state as preparation for PCS braking

[0479] value

[0480] value describe Remark 0 normal 1 start up 3 Unavailable

[0481] Remark

[0482] • "Start" prepares the braking actuator for the PCS to shorten the delay from when the PCS issues a deceleration request.

[0483] • When the value changes to “Start” during the vehicle mode state = “Autonomous Mode”, “ADS / PCS Disruption Status” displays “ADS”.

[0484] 3.2.2.36. PCS Braking / PCS Braking Holding Status

[0485] value

[0486] value describe Remark 0 normal 1 PCS braking 2 PCS Braking Hold 7 Unavailable

[0487] Remark

[0488] N / A

[0489] 3.2.2.37. ADS / PCS Mediation Status

[0490] Mediation status

[0491] value

[0492] value describe Remark 0 No request 1 ADS ADS 2 PCS PCS braking or PCS braking hold 3 Invalid value

[0493] Remark

[0494] • When the acceleration requested by the PCS system in VP is less than the acceleration requested by ADS, the state is set to "PCS".

[0495] • When the acceleration requested by the PCS system in VP is greater than the acceleration requested by ADS, the state is set to "ADS".

[0496] 3.3 APIs for Body Control

[0497] 3.3.1. List of APIs used for vehicle body control

[0498] 3.3.1.1. Input

[0499] Table 6. Input APIs for Body Control

[0500]

[0501]

[0502] 3.3.1.2. Output

[0503] Table 7. Output APIs for Body Control

[0504]

[0505]

[0506]

[0507] 3.3.2. Details of each API used for body control

[0508] 3.3.2.1. Turning signal command

[0509] Request to control steering signal

[0510] value

[0511] value describe Remark 0 closure 1 right Right flash on 2 Left Left flash on 3 reserve

[0512] Remark

[0513] ·N / A

[0514] 3.3.2.2.Headlight command

[0515] Request to control headlights

[0516] value

[0517]

[0518]

[0519] Remark

[0520] • This command is invalid when the headlight mode of the combination switch is "off" or the autonomous mode is "on".

[0521] • Driver's actions take precedence over this command.

[0522] 3.3.2.3. Hazard Warning Light Command

[0523] Request to control hazard warning lights

[0524] value

[0525] value describe Remark 0 No request 1 Open

[0526] Remark

[0527] • Driver's actions take precedence over this command.

[0528] • The hazard warning lights will turn on upon receiving the "on" command.

[0529] 3.3.2.4. Horn Mode Command

[0530] Requests for selecting the on and off times per cycle

[0531] value

[0532]

[0533]

[0534] Remark

[0535] N / A

[0536] 3.3.2.5. Horn Cycle Command

[0537] Request to select the number of cycles to turn on and off

[0538] value

[0539] 0-7[-]

[0540] Remark

[0541] N / A

[0542] 3.3.2.6. Continuous Horn Command

[0543] Request to turn the speaker on / off

[0544] value

[0545] value describe Remark 0 No request 1 Open

[0546] Remark

[0547] • This command has higher priority than the 3.3.2.4 Horn Mode and 3.3.2.5 Horn Cycle commands.

[0548] • The speaker will "turn on" simultaneously upon receiving the "turn on" command.

[0549] 3.3.2.7. Windshield wiper command

[0550] Request to control the windshield wipers

[0551] value

[0552] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 High-frequency mode request 3 Intermittent mode request 4 Autonomous mode request 5 Spray mode request One-time wipe 6-7 reserve

[0553] Remark

[0554] This command is valid when the windshield wiper mode of the combination switch is set to "Off" or "Auto".

[0555] • Driver input takes precedence over this command.

[0556] • Maintain windshield wiper mode while receiving the command.

[0557] • Erasing speed in fixed intermittent mode.

[0558] 3.3.2.8. Rear windshield wiper command

[0559] Request to control rear windshield wipers

[0560] value

[0561] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 reserve 3 Intermittent mode request 4-7 reserve

[0562] Remark

[0563] • Driver input takes precedence over this command.

[0564] • Maintain windshield wiper mode while receiving the command.

[0565] • Erasing speed in fixed intermittent mode.

[0566] 3.3.2.9. HVAC (First Line) Operation Commands

[0567] Start / stop the first line of air conditioning control request

[0568] value

[0569] value describe Remark 0 No request 1 Open 2 closure

[0570] Remark

[0571] ·N / A

[0572] 3.3.2.10. HVAC (Second Line) Operation Commands

[0573] Start / stop the second line of air conditioning control request

[0574] value

[0575] value describe Remark 0 No request 1 Open 2 closure

[0576] Remark

[0577] ·N / A

[0578] 3.3.2.11. Target Temperature (first command on the left)

[0579] Request to set the target temperature in the left front region

[0580] value

[0581]

[0582]

[0583] Remark

[0584] • When Celsius is used in VP, the value should be set to Celsius.

[0585] 3.3.2.12. Target Temperature (first command on the right)

[0586] Request to set the target temperature in the right front region.

[0587] value

[0588] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0589] Remark

[0590] • When Celsius is used in VP, the value should be set to Celsius.

[0591] 3.3.2.13. Target Temperature (second from the left) command

[0592] Request to set the target temperature in the left rear region

[0593] value

[0594] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0595] Remark

[0596] • When Celsius is used in VP, the value should be set to Celsius.

[0597] 3.3.2.14. Target Temperature (second from the right) command

[0598] Request to set the target temperature in the right rear region.

[0599] value

[0600] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0601] Remark

[0602] • When Celsius is used in VP, the value should be set to Celsius.

[0603] 3.3.2.15. HVAC Fan (First Line) Command

[0604] Request to set the fan level of the front AC

[0605] value

[0606] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0607] Remark

[0608] • To switch the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0609] • To switch the fan level to automatic, you should send the command "HVAC (first line) operation = turn on".

[0610] 3.3.2.16. HVAC Fan (Second Line) Command

[0611] Request for AC fan level after configuration

[0612] value

[0613] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0614] Remark

[0615] • To switch the fan level to 0 (off), you should transmit "HVAC (second line) operation command = off".

[0616] • To switch the fan level to automatic, you should send the command "HVAC (second line) operation = turn on".

[0617] 3.3.2.17. Air Exit (First Line) Command

[0618] Request to set the first line of air outlet mode

[0619] value

[0620] value describe Remark 0 No operation 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Airflow to the feet 4 Foot / Defogger Airflow to the feet and windshield defroster

[0621] Remark

[0622] ·N / A

[0623] 3.3.2.18. Air Exit (Second Line) Command

[0624] Request to set the air outlet mode in the second row

[0625] value

[0626] value describe Remark 0 No operation 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Air flows towards the feet.

[0627] Remark

[0628] ·N / A

[0629] 3.3.2.19. Air Circulation Command

[0630] Request to set air circulation mode

[0631] value

[0632] value describe Remark 0 No request 1 Open 2 closure

[0633] Remark

[0634] ·N / A

[0635] 3.3.2.20. AC Mode Commands

[0636] Request to configure AC mode

[0637] value

[0638] value describe Remark 0 No request 1 Open 2 closure

[0639] Remark

[0640] ·N / A

[0641] 3.3.2.21. Turning signal status

[0642] value

[0643]

[0644]

[0645] Remark

[0646] N / A

[0647] 3.3.2.22. Headlight Status

[0648] value

[0649] value describe Remark 0 closure 1 taillight 2 Low beam 3 reserve 4 High beams 5-6 reserve 7 invalid

[0650] Remark

[0651] N / A

[0652] 3.3.2.23. Hazard warning light status

[0653] value

[0654] value describe Remark 0 closure 1 Danger warning 2 reserve 3 invalid

[0655] Remark

[0656] N / A

[0657] 3.3.2.24. Horn Status

[0658] value

[0659] value describe Remark 0 closure 1 Open 2 reserve 3 invalid

[0660] Remark

[0661] When the 3.3.2.4 horn mode command is activated, the horn status is "1" even during periods when the mode is off in some modes.

[0662] 3.3.2.25. Windshield wiper status

[0663] value

[0664] value describe Remark 0 closure 1 low frequency 2 High frequency 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0665] Remark

[0666] N / A

[0667] 3.3.2.26. Rear windshield wiper status

[0668] value

[0669] value describe Remark 0 closure 1 low frequency 2 reserve 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0670] Remark

[0671] N / A

[0672] 3.3.2.27. HVAC (first line) status

[0673] value

[0674] value describe Remark 0 closure 1 Open

[0675] Remark

[0676] ·N / A

[0677] 3.3.2.28. HVAC (Second line) Status

[0678] value

[0679] value describe Remark 0 closure 1 Open

[0680] Remark

[0681] ·N / A

[0682] 3.3.2.29. Target Temperature (first one on the left) Status

[0683] value

[0684] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0685] Remark

[0686] • When Celsius is used in VP, the value should be set to Celsius.

[0687] 3.3.2.30. Target Temperature (first one on the right) Status

[0688] value

[0689] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0690] Remark

[0691] • When Celsius is used in VP, the value should be set to Celsius.

[0692] 3.3.2.31. Target Temperature (Second from the left) Status

[0693] value

[0694]

[0695]

[0696] Remark

[0697] • When Celsius is used in VP, the value should be set to Celsius.

[0698] 3.3.2.32. Target Temperature (Second from the Right) Status

[0699] value

[0700] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0701] Remark

[0702] • When Celsius is used in VP, the value should be set to Celsius.

[0703] 3.3.2.33. HVAC Fan (First Line) Status

[0704] value

[0705] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0706] Remark

[0707] ·N / A

[0708] 3.3.2.34. HVAC Fan (Second Row) Status

[0709] value

[0710] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0711] Remark

[0712] ·N / A

[0713] 3.3.2.35. Air outlet (first line) status

[0714] value

[0715] value describe Remark 0 Close all 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Air flows towards the feet. 4 Foot / Defogger Airflow towards the feet and windshield defroster operation 5 Demister Windshield defroster 7 Undefined

[0716] Remark

[0717] ·N / A

[0718] 3.3.2.36. Air outlet (second line) status

[0719] value

[0720]

[0721]

[0722] Remark

[0723] ·N / A

[0724] 3.3.2.37. Air circulation status

[0725] value

[0726] value describe Remark 0 closure 1 Open

[0727] Remark

[0728] ·N / A

[0729] 3.3.2.38. AC Mode Status

[0730] value

[0731] value describe Remark 0 closure 1 Open

[0732] Remark

[0733] ·N / A

[0734] 3.3.2.39. Seat Occupancy (First Seat on the Right) Status

[0735] value

[0736] value describe Remark 0 Unoccupied 1 Already occupied 2 Undecided In the event that the ignition device is off or communication with the seat sensors is interrupted. 3 Fault

[0737] Remark

[0738] • When there is luggage on the seat, the signal can be set to "occupied".

[0739] 3.3.2.40. Seatbelt (first one on the left) status

[0740] value

[0741] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 Switch malfunction

[0742] Remark

[0743] N / A

[0744] 3.3.2.41. Seatbelt (first one on the right) status

[0745] value

[0746] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 Switch malfunction

[0747] Remark

[0748] N / A

[0749] 3.3.2.42. Seatbelt (second one from the left) status

[0750] value

[0751] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0752] Remark

[0753] • Cannot detect sensor malfunction

[0754] 3.3.2.43. Seatbelt (second one from the right) status

[0755] value

[0756] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0757] Remark

[0758] • Cannot detect sensor malfunction

[0759] 3.3.2.44. Seatbelt (third one from the left) status

[0760] value

[0761]

[0762]

[0763] Remark

[0764] • Cannot detect sensor malfunction

[0765] 3.3.2.45. Seatbelt (third center seatbelt) status

[0766] value

[0767] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0768] Remark

[0769] • Cannot detect sensor malfunction

[0770] 3.3.2.46. Seatbelt (third one from the right) status

[0771] value

[0772] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0773] Remark

[0774] • Cannot detect sensor malfunction

[0775] 3.4. API for Power Control

[0776] 3.4.1. List of APIs for Power Control

[0777] 3.4.1.1. Input

[0778] Table 8. Input APIs for Power Control

[0779] Signal name describe redundancy Power mode command Commands to control the power mode of VP N / A

[0780] 3.4.1.2. Output

[0781] Table 9. Output APIs for Power Control

[0782] Signal name describe redundancy Power mode status The current power mode status of VP N / A

[0783] 3.4.2. Details of each API used for power control

[0784] 3.4.2.1. Power Mode Command

[0785] Request to control power mode

[0786] value

[0787] value describe Remark 0 No request 1 sleep Turn off the vehicle 2 wake Open VCIB 3 reserve Reserved for data expansion 4 reserve Reserved for data expansion 5 reserve Reserved for data expansion 6 drive Start the vehicle

[0788] Remark

[0789] ·exist Figure 12 The state machine diagram for the power mode is shown below.

[0790] [Sleep]

[0791] Vehicle power off. In this mode, the main battery does not supply power to any system, and the VCIB and other VP ECUs do not start.

[0792] [wake]

[0793] The VCIB is activated by the auxiliary battery. In this mode, ECUs other than the VCIB are not activated, except for some vehicle electronic ECUs.

[0794] [Driving Mode]

[0795] Vehicle powered on. In this mode, the main battery supplies power to the entire VP, and all VP ECUs, including the VCIB, are activated.

[0796] 3.4.2.2. Power Mode Status

[0797] value

[0798] value describe Remark 0 reserve 1 sleep 2 wake 3 reserve 4 reserve 5 reserve 6 drive 7 unknown This means that an unhealthy condition may occur.

[0799] Remark

[0800] After executing the sleep sequence, VCIB will continuously transmit [sleep] as the power mode state for 3000 [milliseconds]. Then, VCIB will shut down.

[0801] • While the VCIB is transmitting [sleep], the ADS will stop transmitting signals to the VCIB.

[0802] 3.5. API for Fault Notification

[0803] 3.5.1. List of APIs used for fault notification

[0804] 3.5.1.1. Input

[0805] Table 10. Input APIs for Fault Notification

[0806] Signal name describe redundancy N / A N / A N / A

[0807] 3.5.1.2. Output

[0808] Table 11. Output APIs for Fault Notification

[0809] Signal name describe redundancy Request for ADS operation Already applied Impact detection signal N / A Performance degradation of the braking system Already applied Performance degradation of propulsion system N / A Performance degradation of the shift control system N / A Performance degradation of fixed systems Already applied Steering system performance degradation Already applied Power system performance degradation Already applied Performance degradation of communication systems Already applied

[0810] 3.5.2. Details of each API used for fault notification

[0811] 3.5.2.1. Requests for ADS Operations

[0812] value

[0813] value describe Remark 0 No request 1 Maintenance required 2 Need to return to the garage 3 Need to stop immediately other reserve

[0814] Remark

[0815] This signal indicates the expected behavior of ADS in response to a fault occurring in VP.

[0816] 3.5.2.2. Impact detection signal

[0817] value

[0818] value describe Remark 0 normal 5 Collision detection with airbags deployed 6 Collision detection with high-voltage circuit off 7 Invalid value other reserve

[0819] Remark

[0820] • When a collision detection event is generated, 50 signals are transmitted consecutively every 100 milliseconds. If the collision detection state changes before the signal transmission is complete, a higher priority signal is transmitted.

[0821] Priority: Collision detection > Normal

[0822] Regardless of the normal response during a collision, a 5-second transmission is required because a disconnect voltage request should be sent to the vehicle damage assessment system within 5 seconds after a collision in an HV vehicle.

[0823] The transmission interval is 100 milliseconds within the allowed delay time (1 second) for fuel cut-off action, enabling data to be transmitted more than 5 times.

[0824] In this situation, a momentary power outage should be considered.

[0825] 3.5.2.3. Performance degradation of the braking system

[0826] value

[0827] value describe Remark 0 normal — 1 Degradation detected —

[0828] Remark

[0829] ·N / A

[0830] 3.5.2.4. Performance degradation of the propulsion system

[0831] value

[0832] value describe Remark 0 normal — 1 Degradation detected —

[0833] Remark

[0834] ·N / A

[0835] 3.5.2.5. Performance degradation of the shift control system

[0836] value

[0837] value describe Remark 0 normal — 1 Degradation detected —

[0838] Remark

[0839] ·N / A

[0840] 3.5.2.6. Performance degradation of fixed systems

[0841] value

[0842] value describe Remark 0 normal — 1 Degradation detected —

[0843] Remark

[0844] ·N / A

[0845] 3.5.2.7. Performance degradation of the steering system

[0846] value

[0847] value describe Remark 0 normal — 1 Degradation detected —

[0848] Remark

[0849] ·N / A

[0850] 3.5.2.8. Performance degradation of the power supply system

[0851] value

[0852] value describe Remark 0 normal — 1 Degradation detected —

[0853] Remark

[0854] ·N / A

[0855] 3.5.2.9. Performance degradation of communication systems

[0856] value

[0857] value describe Remark 0 normal — 1 Degradation detected —

[0858] Remark

[0859] ·N / A

[0860] 3.6. APIs for Security

[0861] 3.6.1. List of APIs for Security

[0862] 3.6.1.1. Input

[0863] Table 12. Input APIs for Security

[0864]

[0865] 3.6.1.2. Output

[0866] Table 13. Output APIs for Security

[0867]

[0868]

[0869] 3.6.2. Details of each API used for security

[0870] 3.6.2.1. Door lock (front) command, door lock (rear) command

[0871] value

[0872] value describe Remark 0 No request 1 locking Not supported in Toyota VP 2 Unlock 3 reserve

[0873] Remark

[0874] • If ADK requests to unlock the front, then both front doors will be unlocked.

[0875] • If ADK requests to unlock the rear, then unlock the second row of doors and the trunk door.

[0876] • If ADK requests to lock any door, the “Central Door Lock Command” should be used.

[0877] (The functionality for individual locks is not supported in Toyota VP.)

[0878] 3.6.2.2. Central door lock command

[0879] Request to control all door locks

[0880] value

[0881] value describe Remark 0 No request 1 Lock (all) 2 Unlock (all) 3 reserve

[0882] Remark

[0883] ·N / A

[0884] 3.6.2.3. Device authentication signature first word, device authentication signature second word, device authentication signature third word, device authentication signature fourth word, device authentication seed first word, device authentication seed second word

[0885] The first word of the device authentication signature exists in the first to eighth bytes of the signature.

[0886] The second word of the device authentication signature is present in bytes nine through sixteen of the signature.

[0887] The third word of the device authentication signature is located in bytes seventeen through twenty-four of the signature.

[0888] The fourth word of the device authentication signature is located in bytes 25 through 32 of the signature.

[0889] The first word of the device authentication seed exists in the first to eighth bytes of the seed.

[0890] The second word of the device authentication seed exists in bytes nine through sixteen of the seed.

[0891] 3.6.2.4. Door lock (first one on the left) status

[0892] value

[0893] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0894] Remark

[0895] ·N / A

[0896] 3.6.2.5. Door lock (first one on the right) status

[0897] value

[0898] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0899] Remark

[0900] ·N / A

[0901] 3.6.2.6. Door lock (second from the left) status

[0902] value

[0903] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0904] Remark

[0905] ·N / A

[0906] 3.6.2.7. Door lock (second from the right) status

[0907] value

[0908] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0909] Remark

[0910] ·N / A

[0911] 3.6.2.8. Door lock status of all departments

[0912] value

[0913] value describe Remark 0 reserve 1 Lock all 2 Unlock any door 3 invalid

[0914] Remark

[0915] • "Any door unlocked" if any door is unlocked.

[0916] • When all departments are locked down, “all departments are locked down”.

[0917] 3.6.2.9. Alarm System Status

[0918] value

[0919] value describe Remark 0 All Alert The alarm system is not activated. 1 alert The alarm system was activated but no alarm was issued. 2 start up The alarm system is activated, and the alarm beeps. 3 invalid

[0920] Remark

[0921] ·N / A

[0922] 3.6.2.9.1. Short-range odometer

[0923] The counter is incremented in short increments by the freshness value management main ECU.

[0924] value

[0925] 0-FFFFh

[0926] Remark

[0927] This value is used to create the freshness value.

[0928] For more details, please refer to other materials [Toyota's MAC module specifications].

[0929] 3.6.2.9.2. Reset the counter

[0930] This counter is periodically incremented by the main ECU, which manages the freshness value.

[0931] value

[0932] 0-FFFFFh

[0933] Remark

[0934] This value is used to create the freshness value.

[0935] For more details, please refer to other materials [Toyota's MAC module specifications].

[0936] 3.6.2.10. The first door on the left is open.

[0937] The current open / closed status of the first door on the left side of the vehicle platform.

[0938] value

[0939] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0940] Remark

[0941] N / A

[0942] 3.6.2.11. The first door on the right is open.

[0943] The current open / closed status of the first door on the right.

[0944] value

[0945] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0946] Remark

[0947] N / A

[0948] 3.6.2.12. The second door on the left is open.

[0949] The current open / closed status of the second door on the left.

[0950] value

[0951]

[0952]

[0953] Remark

[0954] N / A

[0955] 3.6.2.13. The second door on the right is open.

[0956] The current open / closed status of the second door on the right.

[0957] value

[0958] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0959] Remark

[0960] N / A

[0961] 3.6.2.14. Trunk Status

[0962] Current trunk door open / closed status

[0963] value

[0964] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0965] Remark

[0966] N / A

[0967] 3.6.2.15. Engine hood open

[0968] Current engine hood open / closed status

[0969] value

[0970] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0971] Remark

[0972] N / A

[0973] 4. API Guidelines for Controlling Toyota Vehicles

[0974] This section details how to use the API for Toyota vehicles.

[0975] 4.1. API for Vehicle Motion Control

[0976] 4.1.1. List of APIs used for vehicle motion control

[0977] The input and output APIs for vehicle motion control are shown in Tables 14 and 15, respectively. Usage guidelines for some APIs appear in the following sections as indicated in each table.

[0978] 4.1.1.1. Input

[0979] Table 14. Input APIs for Vehicle Motion Control

[0980]

[0981]

[0982] *Response time in VP based on the request from ADK

[0983] 4.1.1.2. Output

[0984] Table 15. Input APIs for Vehicle Motion Control

[0985]

[0986]

[0987]

[0988] 4.1.2. API Details for Vehicle Motion Control

[0989] 4.1.2.1. Pulse Direction Command

[0990] For values ​​and notes, please refer to section 3.2.2.1.

[0991] Figure 13 The detailed shift sequence is shown.

[0992] The acceleration command requests initial deceleration and a vehicle stop. When the driving direction is set to "Stand," any gear can be requested via the propulsion direction command. Figure 13 In Chinese, “D” → “R”.

[0993] The acceleration command needs to be used to request deceleration until the gear shift is complete.

[0994] After changing gears, you can select to accelerate or decelerate based on the acceleration command.

[0995] When the vehicle is in autonomous mode, it does not accept driver gear shifting.

[0996] 4.1.2.2. Fixed Commands

[0997] For values ​​and notes, please refer to 3.2.2.2.

[0998] Figure 14 This shows how to enable / disable pinned features.

[0999] An acceleration command is used to request deceleration to bring the vehicle to a stop. When the vehicle speed reaches zero, the stationary function is activated by the stationary command = "Applied". The acceleration command is set to decelerate until the stationary state is set to "Applied".

[1000] When deactivating the fixed function, it is necessary to request the fixed command = "deactivated" and at the same time set the acceleration command to decelerate until the fixed status is confirmed = "deactivated".

[1001] After the fixed function is disabled, the vehicle can be accelerated / decelerated based on the acceleration command.

[1002] 4.1.2.3. Static Command

[1003] For values ​​and notes, please refer to 3.2.2.3.

[1004] When the stationary command is set to "applied", the brake holding function can be prepared for use, and the brake holding function is activated while the vehicle is stationary, with the acceleration command set to deceleration (<0). The stationary state then changes back to "applied". Conversely, when the stationary command is set to "deactivated", the brake holding function is deactivated.

[1005] Figure 15 The static sequence is shown.

[1006] To bring the vehicle to a stop, an acceleration command is used to request deceleration.

[1007] When the vehicle comes to a temporary stop, the driving direction changes to "stationary". Even during the "stationary state = applied" period, deceleration will be requested via an acceleration command.

[1008] If you want the vehicle to move forward, the acceleration command is set to accelerate (>0). Then the brake holding function is released and the vehicle is accelerated.

[1009] 4.1.2.4. Speed-up command

[1010] For values ​​and notes, please refer to 3.2.2.4.

[1011] The following shows what the vehicle does when the accelerator pedal is pressed.

[1012] When the accelerator pedal is engaged, select either 1) the maximum acceleration value calculated based on the accelerator pedal travel, or 2) the maximum acceleration value input from the ADK acceleration command. The ADK can determine which value to select by checking the engagement of the accelerator pedal.

[1013] The following shows what the vehicle does when the brake pedal is operated.

[1014] The vehicle's deceleration value is the sum of 1) the value calculated based on the brake pedal travel and 2) the value requested by ADK.

[1015] 4.1.2.5. Front wheel steering angle command

[1016] For values ​​and notes, please refer to 3.2.2.5.

[1017] The following shows how to use the front wheel steering angle command.

[1018] The front wheel steering angle command is set to a value relative to the front wheel steering angle.

[1019] For example, when the front wheel steering angle is 0.1 radians and the vehicle is traveling straight;

[1020] If ADK wants to go straight, the front wheel steering angle command will be set to 0 + 0.1 = 0.1 [radians].

[1021] If ADK requests a steering angle of -0.3 radians, the front wheel steering angle command will be set to -0.3 + 0.1 = -0.2 radians.

[1022] The following illustrates how the vehicle behaves when the driver operates the steering mechanism.

[1023] Choose the maximum value from 1) the value calculated based on the driver's steering wheel operation, or 2) the value requested by ADK.

[1024] Note that if the driver applies strong pressure to the steering wheel, the driver will not accept the front wheel steering angle command. This situation can be detected by intervening through the steering wheel indicator.

[1025] 4.1.2.6. Vehicle Mode Command

[1026] exist Figure 16 The diagram shows the state machine for mode transitions in Autono-MaaS vehicles.

[1027] The description of each state is shown below.

[1028]

[1029]

[1030] The descriptions for each conversion are shown below.

[1031]

[1032] 4.2. APIs for Body Control

[1033] 4.2.1. List of APIs used for vehicle body control

[1034] 4.2.1.1. Input

[1035] Table 16. Input APIs for Body Control

[1036]

[1037]

[1038] 4.2.1.2. Output

[1039] Table 17. Output APIs for Body Control

[1040]

[1041]

[1042] 4.3. API for Power Control

[1043] 4.3.1. List of APIs for Power Control

[1044] 4.3.1.1. Input

[1045] Table 18. Input APIs for Power Control

[1046] Signal name describe redundancy User Guide Power mode command Commands to control the power mode of VP N / A —

[1047] 4.3.1.2. Output

[1048] Table 19. Output APIs for Power Control

[1049] Signal name describe redundancy User Guide Power mode status The current power mode status of VP N / A —

[1050] 4.4. API for Fault Notification

[1051] 4.4.1. List of APIs used for fault notification

[1052] 4.4.1.1. Input

[1053] Table 20. Input APIs for Fault Notification

[1054] Signal name describe redundancy User Guide N / A — — —

[1055] 4.4.1.2. Output

[1056] Table 21. Output APIs for Fault Notification

[1057] Signal name describe redundancy User Guide Request for ADS operation — Already applied — Impact detection signal — N / A — Performance degradation of the braking system — Already applied — Performance degradation of propulsion system — N / A — Performance degradation of the shift control system — N / A — Performance degradation of fixed systems — Already applied — Deterioration of steering system performance Already applied — Power system performance degradation Already applied — Performance degradation of communication systems Already applied —

[1058] 4.5. APIs for Security

[1059] 4.5.1. List of APIs for Security

[1060] The input and output APIs for security are shown in Tables 22 and 23, respectively. Usage guidelines for some APIs appear in the following sections as indicated in each table.

[1061] 4.5.1.1. Input

[1062] Table 22. Input APIs for Security

[1063]

[1064]

[1065] 4.5.1.2. Output

[1066] Table 23. Output APIs for Security

[1067]

[1068]

[1069] 4.5.2. Detailed Guidelines for Secure APIs

[1070] 4.5.2.1. Device Authentication Protocol

[1071] When VCIB is started from "sleep" mode, the application device is authenticated.

[1072] After successful authentication, VCIB is able to begin communicating with ADK.

[1073] exist Figure 17 The authentication process is shown in the authentication process diagram.

[1074] Certification Standards

[1075]

[1076]

[1077] Although embodiments of this disclosure have been described, it should be understood that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the terminology of the claims and is intended to include any modifications within the equivalent scope and meaning of the terminology of the claims.

Claims

1. A vehicle on which an autonomous driving system can be installed, the vehicle comprising: The vehicle platform implements vehicle control based on commands from the autonomous driving system, wherein The vehicle platform includes a base vehicle and a vehicle control interface box that provides an interface connection between the autonomous driving system and the base vehicle. The autonomous driving system transmits a fixed command to the base vehicle via the vehicle control interface box. The fixed command includes a first value indicating a request for the vehicle to be fixed. The base vehicle transmits signals indicating the stationary state of the vehicle to the autonomous driving system via the vehicle control interface box. When a first condition, including the vehicle being in the stationary state, is met, the fixed command is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box, and The base vehicle is fixed according to the fixing command; in The autonomous driving system transmits an acceleration command, including a deceleration value, to the base vehicle via the vehicle control interface box, and When the fixation command requests the vehicle to be fixed, during the period from when the vehicle is stationary until the request to release the vehicle from fixation is issued, the acceleration command, including a constant deceleration value, is transmitted from the autonomous driving system to the base vehicle through the vehicle control interface box.

2. The vehicle according to claim 1, wherein The fixing command also includes a second value indicating a request to release the vehicle from fixing. When a second condition, including the condition that the vehicle is in the stationary state, is met, the fixed command including the second value is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box, and The base vehicle is released from its fixed position according to the fixed command.

3. The vehicle according to claim 1 or 2, wherein The first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

4. The vehicle according to claim 1, wherein When a predetermined time has elapsed since the base vehicle received the fixing command including the first value, the base vehicle performs the fixing of the vehicle.

5. A method for controlling a vehicle, wherein an autonomous driving system can be installed on the vehicle, the vehicle including a vehicle platform, the vehicle platform performing vehicle control according to commands from the autonomous driving system, the vehicle platform including a base vehicle and a vehicle control interface box for interfacing between the autonomous driving system and the base vehicle, the method comprising: The vehicle control interface box transmits a fixing command from the autonomous driving system to the base vehicle, the fixing command including a first value indicating a request for fixing of the vehicle; The vehicle control interface box transmits a signal indicating the stationary state of the vehicle from the base vehicle to the autonomous driving system. When a first condition, including the condition that the vehicle is in the stationary state, is met, the fixed command is transmitted from the autonomous driving system to the base vehicle through the vehicle control interface box; as well as The base vehicle is fixed according to the fixing command; in The vehicle control interface box transmits acceleration commands, including deceleration values, from the autonomous driving system to the base vehicle. as well as When the fixation command requests the vehicle to be fixed, during the period from when the vehicle is stationary until the request to release the vehicle from fixation is issued, the acceleration command, including a constant deceleration value, is transmitted from the autonomous driving system to the base vehicle through the vehicle control interface box.

6. The method for controlling a vehicle according to claim 5, wherein... The fixing command also includes a second value indicating a request to release the vehicle from its fixing, and The method further includes: When a second condition, including the condition that the vehicle is in the stationary state, is met, the fixed command including the second value is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box. The base vehicle releases the vehicle from its fixed position according to the fixed command.

7. The method for controlling a vehicle according to claim 5 or 6, wherein The first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

8. The method for controlling a vehicle according to claim 5, further comprising: When a predetermined time has elapsed since the base vehicle received the fixing command including the first value, the fixing of the vehicle is performed by the base vehicle.

9. A vehicle control interface box for interfacing between an autonomous driving system and a vehicle capable of installing the autonomous driving system, the vehicle including a vehicle platform that performs vehicle control according to commands from the autonomous driving system, the vehicle platform including a base vehicle, wherein... The vehicle control interface box The autonomous driving system transmits a fixation command to the base vehicle, the fixation command including a first value indicating a request for the vehicle to be fixed. The system transmits signals from the base vehicle to the autonomous driving system indicating the stationary state of the vehicle, and When a first condition, including the condition that the vehicle is in the stationary state, is met, the fixed command is transmitted from the autonomous driving system to the base vehicle; wherein The autonomous driving system transmits an acceleration command, including a deceleration value, to the base vehicle. When the fixation command requests the vehicle to be fixed, during the period from when the vehicle is stationary until the request to release the vehicle from fixation is issued, the acceleration command, including a constant deceleration value, is transmitted from the autonomous driving system to the base vehicle.

10. The vehicle control interface box according to claim 9, wherein... The fixing command also includes a second value indicating a request to release the vehicle from its fixing, and When a second condition, including the condition that the vehicle is in the stationary state, is met, the vehicle control interface box transmits the fixed command, including the second value, from the autonomous driving system to the base vehicle.

11. The vehicle control interface box according to claim 9 or 10, wherein The first condition also includes the condition that a predetermined time has elapsed since the vehicle came to a stop.

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