Vehicle, method for controlling vehicle, and vehicle control interface box

Abstract

The present disclosure provides a vehicle, a method for controlling the vehicle, and a vehicle control interface box. The ADS performs the following processing: when the autonomous state has been set to the autonomous mode ("yes" in S21), setting an initial value of a wheel steering angle command (S22); obtaining a rate limit (S23); when the initial value is greater than a wheel steering angle limit ("yes" in S24), setting the wheel steering angle limit as the wheel steering angle command (S25); and transmitting the wheel steering angle command (S26).

Description

[0001] This non-provisional application is based on Japanese Patent Application No. 2021-157625 filed with the Japan Patent Office on September 28, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to control of a vehicle during automated driving. Background Art

[0003] Recently, an automatic driving system has been developed for controlling the driving of a vehicle without requiring a user's operation. In order to be installed on an existing vehicle, for example, the automatic driving system can be provided separately from the vehicle with the intervention of an interface.

[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 from each other, it is possible to add autonomous driving functions without making major changes to the existing vehicle platform. Summary of the Invention

[0005] During automatic driving of a vehicle, in control of a steering angle according to a request, when the steering angle is suddenly changed in a case where the requested amount of the steering angle suddenly increases, the stability of the vehicle may be deteriorated.

[0006] The object of the present disclosure is to provide a vehicle capable of being installed with an autonomous driving system, a method for controlling the vehicle, and a vehicle control interface box, which allow for improved steering stability during autonomous driving. A vehicle according to one embodiment of the present disclosure is a vehicle capable of being installed with an autonomous driving system. The vehicle includes a vehicle platform that implements 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. A wheel steering angle command requesting a steering angle of a steering wheel is transmitted from the autonomous driving system to the base vehicle via the vehicle control interface box. A signal indicating the steering angle is transmitted from the base vehicle to the autonomous driving system. The steering angle requested in the wheel steering angle command is set to a limit range that does not exceed the rate of the steering angle set based on the speed of the vehicle.

[0007] Therefore, the wheel steering angle command is set to a range that does not exceed the steering angle rate limit. Therefore, even when the requested amount of the steering wheel steering angle increases suddenly, a sudden change in the steering angle is suppressed. This prevents a decrease in vehicle stability.

[0008] In one embodiment, the restriction range is set so that a magnitude of an upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than a magnitude of an upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

[0009] Therefore, since the magnitude of the upper limit value of the rate of the steering angle decreases as the vehicle speed increases, a sudden change in the steering angle is suppressed. Therefore, it is possible to suppress a decrease in the stability of the vehicle.

[0010] According to another embodiment of the present disclosure, a method for controlling a vehicle is provided for controlling a vehicle capable of being equipped with an autonomous driving system. The vehicle includes a vehicle platform that implements 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. The method includes: transmitting a wheel steering angle command requesting a steering angle of a steering wheel from the autonomous driving system to the base vehicle via the vehicle control interface box; transmitting a signal indicating the steering angle from the base vehicle to the autonomous driving system; and setting the steering angle requested in the wheel steering angle command to a range within which the steering angle is within a rate limit set based on the vehicle speed.

[0011] In one embodiment, the restriction range is set so that the upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than the upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

[0012] According to another embodiment of the present disclosure, a vehicle control interface box (VCIB) interfaces between an autonomous driving system and a vehicle capable of installing the system. The vehicle includes a vehicle platform that controls the vehicle based on commands from the autonomous driving system. The vehicle platform includes a base vehicle. The VCIB transmits a wheel steering angle command from the autonomous driving system to the base vehicle, requesting a steering angle for the steering wheels. The VCIB transmits a signal indicating the steering angle from the base vehicle to the autonomous driving system. The steering angle requested in the wheel steering angle command is set to a limit range that does not exceed a rate of the steering angle set based on the vehicle's speed.

[0013] In one embodiment, the restriction range is set so that a magnitude of an upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than a magnitude of an upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

[0014] The foregoing and other objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description of the present disclosure when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A diagram showing an outline of a vehicle according to an embodiment of the present disclosure.

[0016] Figure 2 This figure shows the configuration of ADS, VCIB, and VP in detail.

[0017] Figure 3 FIG. 1 is a flowchart illustrating an exemplary process for setting a reference value performed in the ADS.

[0018] Figure 4 FIG. 1 is a flow chart illustrating exemplary processing performed in the ADS in autonomous mode.

[0019] Figure 5 is a graph showing the relationship between vehicle speed and wheel steering angle rate limit in a tabular format.

[0020] Figure 6 FIG. 4 is a map showing the relationship between vehicle speed and wheel steering angle rate limit.

[0021] Figure 7 FIG. 1 is a flowchart illustrating exemplary processing performed in the VCIB.

[0022] Figure 8 FIG. 1 is a diagram showing the overall structure of an Autono-MaaS vehicle.

[0023] Figure 9 A diagram showing the system architecture of an Autono-MaaS vehicle.

[0024] Figure 10 A diagram showing a typical workflow in ADS.

[0025] Figure 11 Graph showing the relationship between the front wheel steering angle rate limit and speed.

[0026] Figure 12 The state machine diagram for the power mode.

[0027] Figure 13 A diagram showing details of the shift change sequence.

[0028] Figure 14 A diagram showing a fixed sequence.

[0029] Figure 15 A diagram showing a stationary sequence.

[0030] Figure 16 A state machine diagram for the autonomous state.

[0031] Figure 17 A diagram illustrating the authentication process. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The same or corresponding elements in the drawings have the same reference numerals assigned thereto, and description thereof will not be repeated.

[0033] Figure 1 FIG is a diagram showing an outline of a vehicle 10 according to an embodiment of the present disclosure. Figure 1 , the vehicle 10 includes an autonomous driving kit (hereinafter denoted as “ADK”) 200 and a vehicle platform (hereinafter denoted as “VP”) 120. The ADK 200 and the VP 120 are configured to communicate with each other through a vehicle control interface.

[0034] The vehicle 10 can implement automatic driving according to a control request (command) from the ADK 200 attached to the VP 120. Figure 1 The VP 120 and the ADK 200 are shown separated from each other, but the ADK 200 is actually attached to the roof of the base vehicle 100, which will be described later. The ADK 200 can also be removed from the VP 120. When the ADK 200 is not attached, the VP 120 can be driven by the user. In this case, the VP 120 implements travel control in manual mode (travel control based on user operation).

[0035] The ADK 200 includes an autonomous driving system (hereinafter referred to as "ADS") 202 for autonomous driving of the vehicle 10. For example, the ADS 202 creates a driving plan for the vehicle 10 and outputs various commands (control requests) for the vehicle 10 to travel according to the created driving plan to the VP 120 based on application programming interfaces (APIs) defined for each command. The ADS 202 receives various signals indicating the status of the VP 120 (vehicle status) from the VP 120 based on the APIs defined for each signal and reflects the received vehicle status in the creation of the driving plan. The detailed configuration of the ADS 202 will be described later.

[0036] The VP 120 includes a base vehicle 100 and a vehicle control interface box (hereinafter denoted as “VCIB”) 111 that implements a vehicle control interface provided within the base vehicle 100 .

[0037] The VCIB 111 is capable of communicating with the ADK 200 via a controller area network (CAN). The VCIB 111 receives various commands from the ADK 200 or outputs the status of the VP 120 to the ADK 200 by executing a prescribed API defined for each communication signal. When the VCIB 111 receives a control request from the ADK 200, it outputs a control command corresponding to the control request to the system corresponding to the control command through the integrated control manager 115. The 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 to the ADK 200 as the vehicle status.

[0038] The VP 120 includes various systems and sensors for controlling the base vehicle 100. When the VP 120 implements various types of vehicle control based on control requests from the ADK 200 (more specifically, the ADS 202), automated driving of the vehicle 10 is implemented. For example, the 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.

[0039] The brake system 121 is configured to control a plurality of brake devices provided in wheels of the base vehicle 100. For example, the brake device includes a disc brake system operated by hydraulic pressure regulated by an actuator.

[0040] For example, wheel speed sensors 127A and 127B are connected to the braking system 121. For example, wheel speed sensor 127A is provided 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 the braking system 121. For example, wheel speed sensor 127B is provided 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 the braking system 121. Wheel speed sensors 127A and 127B each provide a pulse signal as an output value (pulse value). The rotational speed can be calculated based on the number of pulses in the pulse signal. The braking system 121 outputs the rotational speed of each wheel to the VCIB 111 as a piece of information included in the vehicle status.

[0041] The brake system 121 generates a brake command for the brake device according to a prescribed control request output from the ADK 200 through the VCIB 111 and the integrated control manager 115 , and controls the brake device based on the generated brake command.

[0042] The steering system 122 is configured to control the steering angle of steering wheels of the vehicle 10 using a steering device. The steering device includes, for example, a rack and pinion electric power steering (EPS) that allows the steering angle to be adjusted by an actuator.

[0043] A pinion angle sensor 128 is connected to the steering system 122. The pinion angle sensor 128 detects the rotation angle (pinion angle) of a pinion gear coupled to a rotating shaft of an actuator included in the steering apparatus. The pinion angle sensor 128 provides the detected pinion angle to the steering system 122. The steering system 122 provides the pinion angle to the VCIB 111 as a piece of information included in the vehicle state.

[0044] The steering system 122 generates a steering command for the steering device according to a prescribed control request output from the ADK 200 through the VCIB 111 and the integrated control manager 115. The steering system 122 controls the steering device based on the generated steering command.

[0045] The powertrain system 123 controls an electric parking brake (EPB) provided in at least one of a plurality of wheels provided in the vehicle 10, a P-lock device provided in a transmission of the vehicle 10, a speed change device configured to select an arbitrary shift gear from a plurality of shift gears, and a driving source of the vehicle 10. A detailed description will be given later.

[0046] The active safety system 125 detects obstacles (obstacles or people) in front or behind 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 moving direction of the vehicle 10, it outputs a braking command to the brake system 121 through the integrated control manager 115 to increase the braking force.

[0047] For example, the body system 126 is configured to control components such as turn indicators, horns, or wipers according to the driving state or surrounding environment of the vehicle 10. The body system 126 controls the above components according to prescribed control requests output from the ADK 200 through the VCIB 111 and the integrated control manager 115.

[0048] Vehicle 10 may be used as one of the components of a Mobility as a Service (MaaS) system. For example, in addition to vehicle 10, a MaaS system may also include a data server, a Mobility Service Platform (hereinafter referred to as "MSPF"), and autonomous driving-related mobility services (none of which are shown).

[0049] Vehicle 10 also includes a data communication module (DCM) (not shown) serving 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, and autonomous driving status, to the data server. The DCM receives various types of data from autonomous driving-related mobility services via the MSPF and the data server, and is used to manage the travel of autonomous vehicles, including vehicle 10, within the mobility services.

[0050] The MSPF is a comprehensive platform connected to various mobility services. In addition to mobility services related to autonomous driving, various other mobility services (not shown) (e.g., those provided by ride-sharing companies, car-sharing companies, insurance companies, car rental companies, and taxi companies) are also connected to the MSPF. These services, including mobility services, can utilize the various functions provided by the MSPF by using APIs published on the MSPF, depending on the service content.

[0051] The mobility service related to autonomous driving provides mobility services using autonomous vehicles including vehicle 10. The mobility service can obtain operation control data of vehicle 10 communicated with a data server or information stored in the data server from the MSPF by using an API published on the MSPF. The mobility service transmits data used to manage autonomous vehicles including vehicle 10 to the MSPF by using the API.

[0052] MSPF publishes APIs for using various types of data on vehicle status and vehicle control required for development of ADS. ADS providers can use the data on vehicle status and vehicle control required for development of ADS stored in the data server as APIs.

[0053] Figure 2 FIG is a diagram for illustrating the configuration of the ADS 202, the VCIB 111, and the VP 120 in detail. Figure 2 As shown, the ADS 202 includes a computing component 210 , a human machine interface (HMI) 230 , a sensor for perception 260 , a sensor for gesture 270 , and a sensor cleaner 290 .

[0054] During the autonomous driving of the vehicle, the computing component 210 obtains information indicating the environment surrounding the vehicle and information indicating the vehicle's posture, behavior, and position from various sensors (to be described later), obtains the vehicle state from the VP 120 (to be described later) via the VCIB 111, and sets the next operation (acceleration, deceleration, or turning) of the vehicle 10. The computing component 210 outputs various commands to the VCIB 111 for implementing the set next operation of the vehicle. The computing component 210 includes communication modules 210A and 210B. The communication modules 210A and 210B are configured to communicate with the VCIB 111.

[0055] The HMI 230 presents information to the user and accepts user operations during autonomous driving, during driving requiring user operations, or when transitioning between autonomous driving and driving requiring user operations. The HMI 230 is configured to be connected to input and output devices such as a touch panel display, a display device, and an operation device provided in the base vehicle 100.

[0056] The sensor 260 for perception includes a sensor that perceives the environment around the vehicle 10 , and includes, for example, at least one of a laser imaging detection and ranging (LIDAR), a millimeter wave radar, and a camera.

[0057] LIDAR refers to a distance measuring device that measures the distance based on the time period 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 measuring device that measures the distance or direction to an object by emitting short-wavelength radio waves to the object and detecting the radio waves returned from the object. The camera is arranged, for example, on the rear side of the interior rearview mirror in the vehicle compartment and is used to capture images in front of the vehicle. The information obtained by the sensor 260 for perception is output to the computing component 210. As a result of image processing of the image or video image captured by the camera by artificial intelligence (AI) or an image processing processor, another vehicle, obstacle or person in front of the vehicle can be identified.

[0058] The sensor 270 for posture includes a sensor that detects the posture, behavior, or position of the vehicle, and includes, for example, an inertial measurement unit (IMU) or a global positioning system (GPS).

[0059] The IMU detects, for example, acceleration in the longitudinal, lateral, and vertical directions of the vehicle, as well as angular velocity in the roll, pitch, and yaw directions of the vehicle. The GPS detects the position of the vehicle 10 based on information received from a plurality of GPS satellites orbiting the Earth. Information obtained by the posture sensor 270 is output to the computing component 210.

[0060] The sensor cleaner 290 is configured to remove dirt attached to various sensors during driving of the vehicle. The sensor cleaner 290 removes dirt attached to the lens of the camera or the portion emitting a laser beam or radio wave using, for example, a cleaning solution or a wiper.

[0061] 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)), not shown. While VCIB 111A is functionally equivalent to VCIB 111B, it differs in some respects in the multiple systems connected to the VCIB that make up VP 120.

[0062] VCIB 111A and VCIB 111B are communicatively connected to communication modules 210A and 210B, respectively, of computing component 210. VCIB 111A and VCIB 111B are communicatively connected to each other.

[0063] VCIB 111A and VCIB 111B each 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 uses various commands provided from ADS 202 based on information such as a program stored in memory (e.g., an API) 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 each 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 may be information equivalent to the vehicle information, or may be information extracted from the vehicle information used for processing performed by ADS 202.

[0064] Since the VCIB 111A and VCIB 111B are provided with equivalent functions related to the operation of at least one system (e.g., a braking or steering system), the control system between the ADS 202 and the VP 120 is redundant. Therefore, when a certain type of failure occurs in a part of the system, the function of the VP 120 (turning or stopping) can be maintained by appropriately switching between the control systems or disconnecting the failed control system.

[0065] The braking system 121 includes braking systems 121A and 121B. The steering system 122 includes steering systems 122A and 122B. The powertrain system 123 includes an EPB system 123A, a P-lock system 123B, and a propulsion system 124.

[0066] The VCIB 111A is communicatively connected to a brake system 121A, a steering system 122A, an EPB system 123A, a P-lock system 123B, a propulsion system 124, and a body system 126 among a plurality of systems of the VP 120 through a communication bus.

[0067] The VCIB 111B is communicatively connected to a brake system 121B, a steering system 122B, and a P-lock system 123B among a plurality of systems of the VP 120 through a communication bus.

[0068] Braking systems 121A and 121B are configured to control a plurality of brake devices provided in the wheels of the 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 at the wheels during vehicle travel.

[0069] Braking systems 121A and 121B generate braking commands for the braking devices 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 devices based on the braking commands generated in one of the braking systems, and when a fault occurs in the braking system, control the braking devices based on the braking commands generated in the other braking system.

[0070] The steering systems 122A and 122B are configured to control the steering angles of the steering wheels of the vehicle 10 using a steering device. The steering system 122A is similar in function to the steering system 122B.

[0071] The steering systems 122A and 122B generate steering commands for the steering devices based on control requests output from the ADS 202 via the VCIB 111A and VCIB 111B, respectively. For example, the steering systems 122A and 122B control the steering devices based on the steering commands generated in one of the steering systems, and when a failure occurs in the steering system, the steering devices are controlled based on the steering commands generated in the other steering system.

[0072] The EPB system 123A is configured to control the EPB. The EPB secures a wheel by operating an actuator. For example, the EPB secures the wheel by activating a drum brake provided for at least one of the plurality of wheels of the vehicle 10 through an actuator, or by activating a brake device to secure the wheel using an actuator capable of adjusting the hydraulic pressure to be supplied to the brake device separately from the brake systems 121A and 121B.

[0073] The EPB system 123A controls the EPB according to a control request output from the ADS 202 through the VCIB 111A.

[0074] The parking lock system 123B is configured to control a parking lock device. The parking lock device fits a protrusion (whose position is adjusted by an actuator) provided at the end of the parking lock pawl into the teeth of a gear (locking gear) that is connected to a rotating element in the transmission of the vehicle 10. The rotation of the output shaft of the transmission is thereby fixed, thereby fixing the rotation of the drive wheels (hereinafter also referred to as "wheel fixing").

[0075] The P-lock system 123B controls the P-lock device according to a control request provided from the ADS 202 through the VCIB 111A. For example, when the control request provided from the ADS 202 through the VCIB 111A includes a control request to set the shift position to the parking position (hereinafter referred to as the P position), the P-lock system 123B activates the P-lock device, and when the control request includes a control request to set the shift position to a shift position other than the P position, it deactivates the P-lock device.

[0076] The propulsion system 124 is configured to switch gear positions using a shifting device and control the driving force of the vehicle 10 generated by the driving source in the direction of movement of the vehicle 10. The switchable gear positions include, for example, a P position, a neutral position (hereinafter referred to as an N position), a forward driving position (hereinafter referred to as a D position), and a reverse driving position (hereinafter referred to as an R position). The driving source includes, for example, a motor generator and an engine.

[0077] The propulsion system 124 controls the shift device and the drive source according to the control request 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 position to the P position, the propulsion system 124 controls the shift device to set the shift gear position to the P position.

[0078] The active safety system 125 is communicatively connected to the brake system 121A. As described above, the active safety system 125 detects obstacles (obstacles or people) ahead using the camera 129A and the 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 brake system 121A to increase the braking force.

[0079] The body system 126 controls components such as the turn indicators, the horn, or the wipers according to a control request provided from the ADS 202 through the VCIB 111A.

[0080] Operation devices that can be manually operated by a user may be separately provided for the above-mentioned braking device, steering device, EPB, P-lock device, speed change device, and driving source.

[0081] Various commands corresponding to control requests provided from the ADS 202 to the VCIB 111 include a propulsion direction command requesting a switch of a shift gear, a fix command requesting activation or deactivation of the EPB and P-lock devices, an acceleration command requesting acceleration or deceleration of the vehicle 10, a wheel steering angle command requesting a wheel steering angle of a steering wheel, an automation command requesting a switch of an autonomous state between an autonomous mode and a manual mode, and a stationary command requesting the vehicle to remain parked or to be released from park.

[0082] For example, when the user selects the autonomous mode as the autonomous state through operation of the HMI 230 in the vehicle 10 configured as described above, autonomous driving is performed. During autonomous driving, the ADS 202 initially creates a driving plan as described above. Examples of driving plans include a plurality of plans related to the operation of the vehicle 10, such as a plan to continue driving straight, a plan to turn left or right at a predetermined intersection on a predetermined driving path, and a plan to change the driving lane to a lane different from the lane in which the vehicle is currently traveling.

[0083] Based on the created driving plan, the ADS 202 extracts controllable physical quantities (e.g., acceleration or deceleration, and wheel steering angles) required for the operation of the vehicle 10. The ADS 202 divides the physical quantities into time intervals for each execution cycle of the API. The ADS 202 executes the API using the resulting physical quantities and outputs various commands to the VCIB 111. Furthermore, the ADS 202 obtains the vehicle state (e.g., the actual moving direction of the vehicle 10 and the vehicle's stationary state) from the VP 120 and again creates a driving plan reflecting the obtained vehicle state. The ADS 202 thus enables autonomous driving of the vehicle 10.

[0084] During automatic driving of the vehicle 10 , in control of the wheel steering angle (steering angle) according to a request, when the steering angle is suddenly changed with a sudden increase in the requested amount of the wheel steering angle, the stability of the vehicle 10 may deteriorate.

[0085] In this embodiment, in steering according to a wheel steering angle command set based on the wheel steering angle of the front wheels serving as steering wheels, it is assumed that the wheel steering angle requested in the wheel steering angle command is not set to a limit range exceeding the rate of the wheel steering angle set based on the speed of the vehicle 10 (also expressed as the vehicle speed).

[0086] Therefore, the wheel steering angle command is set to a range that does not exceed the steering angle rate limit. Therefore, even when the requested amount of the steering wheel steering angle increases suddenly, a sudden change in the steering angle is suppressed. This can prevent a decrease in the stability of the vehicle 10.

[0087] In the following we will refer to Figure 3 The processing performed by the ADS 202 (more specifically, the computing component 210 ) in this embodiment is described. Figure 3 2 is a flowchart showing an exemplary process for setting a reference value performed in the ADS 202. For example, the ADS 202 repeatedly performs the following process every time a predetermined period of time elapses.

[0088] In step (hereinafter referred to as S) 11, the ADS 202 determines whether the vehicle 10 is traveling straight. For example, the ADS 202 may determine that the vehicle 10 is traveling straight when the white line indicating the lane in which the vehicle 10 is traveling is a straight line having a prescribed length or longer. Alternatively, the ADS 202 may determine that the vehicle 10 is traveling straight when the GPS-based record of the vehicle 10's movement indicates a straight line having a prescribed length or longer. If the vehicle 10 is determined to be traveling straight ("YES" in S11), the process proceeds to S12.

[0089] In S12, the ADS 202 obtains the steering angles of the front wheels, which are steering wheels. The ADS 202 obtains the steering angles of the front wheels based on the vehicle status provided by the base vehicle 100 via the vehicle control interface box 111. The base vehicle 100 (specifically, the steering system 122) obtains the pinion angle based on the detection results of the pinion angle sensor 128 and calculates the steering angles of the front wheels based on the obtained pinion angle. The base vehicle 100 calculates the steering angles of the front wheels every time a predetermined period of time passes and provides the calculated steering angles of the front wheels to the ADS 202 via the vehicle control interface box 111 as part of the vehicle status information.

[0090] In S13, the ADS 202 sets a reference value. The ADS 202 sets a value expressing the obtained wheel steering angle of the front wheels as a reference value. When the vehicle 10 is determined not to be traveling straight ("No" in S11), the process ends.

[0091] For example, when switching to the autonomous mode after setting the reference value, the ADS 202 sets an initial value of the wheel steering angle command corresponding to the steering angle set according to the driving plan based on the reference value.

[0092] Will refer to Figure 4 The processing performed in the ADS 202 in autonomous mode is described. Figure 4 FIG. 2 is a flow chart illustrating exemplary processing performed in the ADS 202 in autonomous mode.

[0093] In step S21, the ADS 202 determines whether the autonomous state has been set to autonomous mode. For example, the 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 turns on when a user operation is performed on the HMI 230 to implement autonomous driving, and turns off when autonomous mode is canceled and a switch to manual mode is made in response to a user operation or according to driving conditions. If it is determined that the autonomous state has been set to autonomous mode ("YES" in S21), the process proceeds to S22.

[0094] In S22, the ADS 202 sets the initial value of the wheel steering angle command. The ADS 202 sets the initial value of the wheel steering angle command based on the driving plan. For example, when the driving plan is a straight-ahead driving plan, the ADS 202 sets the relative value between the current value of the wheel steering angle and the reference value as the initial value of the wheel steering angle command. For example, when the driving plan is a left turn at a predetermined steering angle, the ADS 202 sets the relative value between the current value of the wheel steering angle and the value calculated by adding the value corresponding to the predetermined steering angle to the reference value as the initial value of the wheel steering angle command. For example, when the driving plan is a right turn at a predetermined steering angle, the ADS 202 sets the relative value between the current value of the wheel steering angle and the value calculated by subtracting the value corresponding to the predetermined steering angle from the reference value as the initial value of the wheel steering angle command.

[0095] In S23, the ADS 202 obtains the wheel steering angle rate limit of the front wheels as steering wheels. Figure 5 and Figure 6 The wheel steering angle rate limit is set based on the relationship between vehicle speed and wheel steering angle rate limit shown. Figure 5 is a graph showing the relationship between vehicle speed and wheel steering angle rate limit in a tabular format. Figure 6 FIG. 4 is a map showing the relationship between vehicle speed and wheel steering angle rate limit.

[0096] Figure 5 The wheel steering angle rate limits are shown when the vehicle speed is set to zero, 36 km / h, 40 km / h, 67 km / h, and 84 km / h. Figure 6 Shown are wheel steering angle rate limits set according to vehicle speed within a range of vehicle speed from zero to 80 km / h.

[0097] For example, Figure 5 and Figure 6 It is shown that, for example, when the vehicle speed is within the range from zero to 36 km / h, 0.751 [rad / sec] is set as the wheel steering angle rate limit. Figure 5 and Figure 6 It is shown that, for example, when the vehicle speed is set to 40 km / h, 0.469 [rad / sec] is set as the wheel steering angle rate limit. Figure 5 and Figure 6 It is shown that when the vehicle speed varies between 36 km / h and 40 km / h, the wheel steering angle rate limit is set to vary linearly between 0.751 [radian / second] and 0.469 [radian / second] as the vehicle speed varies (e.g., as the vehicle speed increases, the limit is reduced by an amount proportional to the increase). Figure 5 and Figure 6 It is shown that, for example, when the vehicle speed is set to 67 km / h, 0.287 [rad / sec] is set as the wheel steering angle rate limit. Figure 5 and Figure 6 It is shown that when the vehicle speed varies between 40 km / h and 67 km / h, the wheel steering angle rate limit is set to vary linearly between 0.469 [rad / s] and 0.287 [rad / s] as the vehicle speed varies. Figure 5 and Figure 6 It is shown that when the vehicle speed is set to 84 km / h, 0.253 [rad / s] is set as the wheel steering angle rate limit. Figure 5 and Figure 6 In FIG, when the vehicle speed varies between 67 km / h and 84 km / h, the wheel steering angle rate limit is set to vary linearly between 0.287 [rad / s] and 0.253 [rad / s] as the vehicle speed varies between 67 km / h and 84 km / h. Figure 5 and Figure 6 The limits of the speeds shown corresponding to the vehicle speeds are predetermined values adjusted and adapted through experiments or the like.

[0098] The ADS 202 obtains information about the vehicle speed of the vehicle 10 as the vehicle state from the VP 120. For example, information about the speed of the vehicle 10 (the speed in the traveling direction of the vehicle 10) calculated based on the wheel speed obtained by the wheel speed sensor 127A or the wheel speed sensor 127B is output as the vehicle state from the base vehicle 100 to the ADS 202 via the VCIB 111. The ADS 202 obtains information about the vehicle speed of the vehicle 10 as the vehicle state. Figure 5 and Figure 6 The above relationship between the vehicle speed and the wheel steering angle rate limit is shown to obtain the wheel steering angle rate limit.

[0099] In S24, the ADS 202 determines whether the magnitude of the initial value of the wheel steering angle command is greater than the wheel steering angle limit. For example, the ADS 202 obtains the absolute value of the initial value of the wheel steering angle command as the magnitude of the initial value of the wheel steering angle command. The ADS 202 calculates the wheel steering angle limit based on the wheel steering angle rate limit. For example, the ADS 202 calculates the wheel steering angle limit by multiplying the wheel steering angle rate limit by a value corresponding to the control cycle (calculation cycle). If the magnitude of the initial value of the wheel steering angle command is determined to be greater than the wheel steering angle limit ("YES" in S24), the process proceeds to S25.

[0100] In S25, the ADS 202 sets the steering angle command based on the steering angle limit. In other words, the ADS 202 changes the magnitude of the initial value to the steering angle limit while maintaining the sign of the steering angle command, and sets the resulting value as the steering angle command. If the magnitude of the initial value of the steering angle command is determined to be equal to or less than the steering angle limit ("No" in S24), the process proceeds to S26.

[0101] In S26 , the ADS 202 transmits the set wheel steering angle command to the VCIB 111 .

[0102] Now refer to Figure 7 The processing performed in the VCIB 111 (more specifically, the VCIB 111A or the VCIB 111B) is described. Figure 7 FIG. 1 is a flowchart illustrating exemplary processing performed in the VCIB 111 .

[0103] In S31, the VCIB 111 determines whether it has received a wheel steering angle command from the ADS 202. When the VCIB determines that it has received a wheel steering angle command ("YES" in S31), the process proceeds to S32.

[0104] In S32, the VCIB 111 controls the steering device. The VCIB 111 controls the steering device according to the received wheel steering angle command. In other words, the VCIB 111 controls the steering device to steer the vehicle according to the relative value of the steering angle indicated in the wheel steering angle command.

[0105] In S33, the VCIB 111 obtains the front wheel steering angle. In S34, the VCIB 111 transmits the obtained wheel steering angle to the ADS 202 as one of the vehicle state information.

[0106] The operation of the ADS 202 based on the above-described structure and flowchart will be described.

[0107] For example, when the vehicle 10 is traveling straight (YES in S11 ), the front wheel steering angle is obtained from the base vehicle 100 ( S12 ), and a value indicating the obtained front wheel steering angle is set as a reference value ( S13 ).

[0108] For example, when the autonomous mode has been set to the autonomous state ("YES" in S21), the initial value of the wheel steering angle command is set according to the driving plan (S22). At this time, the relative value between the current value of the wheel steering angle and the value corresponding to the steering angle according to the driving plan is set as the initial value of the wheel steering angle command.

[0109] Thereafter, the wheel steering angle rate limit is obtained based on the vehicle speed (S23). Specifically, the vehicle speed is obtained from the base vehicle 100, and based on the obtained vehicle speed and Figure 5 and Figure 6 The wheel steering angle rate limit is obtained based on the relationship between the vehicle speed and the limit shown. When the magnitude of the set initial value is greater than the wheel steering angle limit calculated based on the wheel steering angle rate limit ("YES" in S24), the wheel steering angle limit is set as the wheel steering angle command (S25), and the set wheel steering angle command is transmitted to the VCIB 111 (S26). When the magnitude of the set initial value is equal to or less than the wheel steering angle limit ("NO" in S24), the initial value of the wheel steering angle is transmitted to the VCIB 111 as the wheel steering angle command (S26).

[0110] When the VCIB 111 receives the wheel steering angle command (YES in S31 ), it controls the steering device of the base vehicle 100 ( S32 ), obtains the wheel steering angle ( S33 ), and transmits the wheel steering angle to the ADS 202 ( S34 ).

[0111] As described above, according to vehicle 10 of this embodiment, the wheel steering angle command is set within a limited range that does not exceed the steering angle rate. Therefore, even when the requested amount of the wheel steering angle for the front wheels, which are steerable wheels, suddenly increases, a sudden change in the steering angle is suppressed. Consequently, a decrease in the stability of vehicle 10 can be suppressed. Consequently, a vehicle capable of being equipped with an autonomous driving system, a method for controlling the vehicle, and a vehicle control interface box can be provided that achieve improved steering stability during autonomous driving.

[0112] Since the upper limit of the wheel turning angle rate decreases as the vehicle speed increases, a sudden change in the steering angle is suppressed, thereby suppressing a decrease in vehicle stability.

[0113] Modifications will be described below.

[0114] For example, although the VCIB 111A or VCIB 111B is described as performing Figure 5 , but the VCIB 111A and VCIB 111B may perform the above-mentioned processing in collaboration.

[0115] For example, although the vehicle control interface box 111 is described as performing Figure 5 However, part or all of the above processing may be performed by the system controlled by VP120 (specifically, steering system 122A or steering system 122B).

[0116] All or part of the modifications may be combined and implemented as appropriate.

[0117] [Example]

[0118] API specifications for Toyota vehicle platforms

[0119] Version 1.1

[0120] Revision History

[0121]

[0122] Table of contents

[0123] 1. Introduction

[0124] 1.1. Purpose of this Specification

[0125] 1.2. Target vehicle

[0126] 1.3. Definition of terms

[0127] 2. Structure

[0128] 2.1. Overall Structure of the Autono-MaaS Vehicle

[0129] 2.2.Autono-MaaS Vehicle System Architecture

[0130] 3. Application Interface

[0131] 3.1. Typical Uses of the API

[0132] 3.2. API for vehicle motion control

[0133] 3.2.1. API List for Vehicle Motion Control

[0134] 3.2.2. Details of each API for vehicle motion control

[0135] 3.3. API for body control

[0136] 3.3.1. API List for Body Control

[0137] 3.3.2. Details of each API for body control

[0138] 3.4. API for power control

[0139] 3.4.1. API List for Power Control

[0140] 3.4.2. Details of each API for power control

[0141] 3.5. API for fault notification

[0142] 3.5.1. API List for Fault Notification

[0143] 3.5.2. Details of each API used for fault notification

[0144] 3.6. API for security

[0145] 3.6.1. API List for Security

[0146] 3.6.2. Details of each API for security

[0147] 4. API Guide for Controlling Toyota Vehicles

[0148] 4.1. API for vehicle motion control

[0149] 4.1.1. API List for Vehicle Motion Control

[0150] 4.1.2. Detailed API Guide for Vehicle Motion Control

[0151] 4.2. API for body control

[0152] 4.2.1. API List for Body Control

[0153] 4.3. API for power control

[0154] 4.3.1. API List for Power Control

[0155] 4.4. API for fault notification

[0156] 4.4.1. API List for Fault Notification

[0157] 4.5. API for security

[0158] 4.5.1. API List for Security

[0159] 4.5.2. Detailed Guidelines for API Security

[0160] 1. Introduction

[0161] 1.1. Purpose of this Specification

[0162] This document is the API specification for the vehicle control interface of Autono-MaaS vehicles and includes an overview of the API, usage instructions, and precautions.

[0163] 1.2. Target vehicle

[0164] This specification applies to Autono-MaaS vehicles defined by the [Architecture Specification for Toyota Vehicle Platform with Automated Driving Systems].

[0165] 1.3. Definition of terms

[0166] Table 1. Definition of terms

[0167]

[0168] 2. Structure

[0169] 2.1. Overall Structure of the Autono-MaaS Vehicle

[0170] Shows the overall structure of the Autono-MaaS vehicle ( Figure 8 ).

[0171] 2.2.Autono-MaaS Vehicle System Architecture

[0172] exist Figure 9 The system architecture is shown in FIG.

[0173] 3. Application Interface

[0174] 3.1. Typical Uses of the API

[0175] In this section, typical usage of the API is described.

[0176] The typical workflow of the API is as follows ( Figure 10 ). The following examples assume CAN for physical communication.

[0177] 3.2. API for vehicle motion control

[0178] In this section, the API for vehicle motion control is described.

[0179] 3.2.1. API List for Vehicle Motion Control

[0180] 3.2.1.1. Input

[0181] Table 3. Input API for vehicle motion control

[0182]

[0183] *Response time in VP based on requests from ADK

[0184] 3.2.1.2. Output

[0185] Table 4. Output API for vehicle motion control

[0186]

[0187]

[0188]

[0189] 3.2.2. Details of each API for vehicle motion control

[0190] 3.2.2.1. Advance Direction Command

[0191] Requesting a gear change from forward (D) to reverse (R), or vice versa

[0192] value

[0193] value describe Remark 0 No request 2 R Shift to R 4 D Shift to D other reserve

[0194] Remark

[0195] Only available when Vehicle Mode Status = "Autonomous Mode".

[0196] Only available when the vehicle is stationary (driving direction = "stationary").

[0197] Available only when brakes are applied.

[0198] 3.2.2.2. Fixed commands

[0199] Request to open / close wheel locks

[0200] value

[0201] The following table shows the situations where EPB and P positions are used for stationary use.

[0202]

[0203] Remark

[0204] This API is used to park the vehicle.

[0205] Only available when Vehicle Mode Status = "Autonomous Mode".

[0206] Can only be changed when the vehicle is stopped (driving direction = "stationary").

[0207] Can only be changed when the brakes are applied.

[0208] 3.2.2.3.Standstill command

[0209] Request to apply / release the brake hold function

[0210] value

[0211] value describe Remark 0 No request 1 Applied Enables the brake hold function. 2 Released

[0212] Remark

[0213] This API is used to select whether to enable the brake hold function.

[0214] Only available when Vehicle Mode Status = "Autonomous Mode".

[0215] The acceleration command (deceleration request) needs to be continued until the standstill state becomes "Applied".

[0216] 3.2.2.4. Acceleration Command

[0217] Request acceleration

[0218] value

[0219] Estimated maximum deceleration to estimated maximum acceleration [m / s 2 ]

[0220] Remark

[0221] Only available when Vehicle Mode Status = "Autonomous Mode".

[0222] Acceleration (+) and deceleration (-) requests based on the propulsion direction state.

[0223] The upper / lower limits will vary based on the estimated maximum deceleration and estimated maximum acceleration.

[0224] When an acceleration greater than the estimated maximum acceleration is requested, the request is set to the estimated maximum acceleration.

[0225] When a deceleration greater than the estimated maximum deceleration is requested, the request is set to the estimated maximum deceleration.

[0226] • In the event of driver control of the vehicle (override), the requested acceleration may not be achieved.

[0227] When PCS is working at the same time, VP should select minimum acceleration (maximum deceleration).

[0228] 3.2.2.5. Front wheel steering angle command

[0229] value

[0230] value describe Remark — [Unit: radians]

[0231] Remark

[0232] Only available when Vehicle Mode Status = "Autonomous Mode".

[0233] The left side is positive (+). The right side is negative (-).

[0234] When the vehicle is traveling in a straight line, the front wheel steering angle is set to a value (0).

[0235] The request is set to a value relative to the current one to prevent accumulation of misalignment of the "front wheel steering angle".

[0236] The requested value should be set within the front wheel steering angle rate limit.

[0237] In the event of driver control of the vehicle (override), the requested front wheel steering angle may not be achieved.

[0238] 3.2.2.6. Vehicle Mode Commands

[0239] Request to change from manual mode to autonomous mode, or from autonomous mode to manual mode

[0240] value

[0241]

[0242] Remark

[0243] N / A

[0244] 3.2.2.7. Highly dynamic commands

[0245] If ADK is to improve the braking response performance of VP * , the high dynamic command should be set to "High".

[0246] *Response time in VP based on requests from ADK

[0247] value

[0248] value describe Remark 0 No request 1 high 2-3 reserve

[0249] Remark

[0250] N / A

[0251] 3.2.2.8. Advance direction status

[0252] Current gear shift status

[0253] value

[0254]

[0255]

[0256] Remark

[0257] If the VP is not aware of the current shift status, this output is set to "invalid value".

[0258] 3.2.2.9. Fixed state

[0259] Each fixed system state

[0260] value

[0261] The following table shows the situations where EPB and P positions are used for stationary use.

[0262]

[0263] Remark

[0264] N / A

[0265] 3.2.2.10. Static state

[0266] Static state

[0267] value

[0268]

[0269]

[0270] Remark

[0271] N / A

[0272] 3.2.2.11. Estimated glide acceleration

[0273] With the throttle closed, the acceleration calculated in VP takes into account gradient, road load, etc.

[0274] value

[0275] [Unit: m / s 2 ]

[0276] Remark

[0277] When the propulsion direction state is "D", the acceleration in the forward direction shows a positive value.

[0278] When the forward direction state is "R", the acceleration in the reverse direction shows a positive value.

[0279] 3.2.2.12. Estimation of maximum acceleration

[0280] With the throttle fully open, the acceleration calculated in VP takes into account the gradient, road load, etc.

[0281] value

[0282] [Unit: m / s 2 ]

[0283] Remark

[0284] When the propulsion direction state is "D", the acceleration in the forward direction shows a positive value.

[0285] When the forward direction state is "R", the acceleration in the reverse direction shows a positive value.

[0286] 3.2.2.13. Estimated maximum deceleration

[0287] When the braking in VP is requested to be maximum, the maximum deceleration in VP is calculated in consideration of the gradient, road load, and the like.

[0288] value

[0289] [Unit: m / s 2 ]

[0290] Remark

[0291] When the propulsion direction state is "D", the deceleration in the forward direction shows a negative value.

[0292] When the forward direction state is "R", the deceleration in the reverse direction shows a negative value.

[0293] 3.2.2.14. Front wheel steering angle

[0294] value

[0295] value describe Remark Minimum Invalid value other [Unit: radians]

[0296] Remark

[0297] The left side is positive (+). The right side is negative (-).

[0298] • Until VP is able to calculate the correct value or when the sensor is invalid / faulty, the signal will show an invalid value.

[0299] 3.2.2.15. Front wheel steering angle rate

[0300] Front wheel steering angle rate

[0301] value

[0302] value describe Remark Minimum Invalid value other [Unit: radians]

[0303] Remark

[0304] The left side is positive (+). The right side is negative (-).

[0305] Until VP is able to calculate the correct value or when the front wheel steering angle shows a minimum value, this signal will show an invalid value.

[0306] 3.2.2.16. Front wheel steering angle rate limit

[0307] Front wheel steering angle rate limit

[0308] value

[0309] [Unit: radians / second]

[0310] Remark

[0311] From the following Table 5 and Figure 11 The vehicle speed-steering angle rate map shown calculates this limit.

[0312] A) At low speed or when stopped, use a fixed value (0.751 [rad / s]).

[0313] B) At higher speeds, use 3.432 m / s 3 The steering angle rate is calculated from the vehicle speed.

[0314] Table 5. Vehicle speed-steering angle rate mapping

[0315] Speed [km / h] 0.0 36.0 40.0 67.0 84.0 Front wheel steering angle rate limit [rad / s] 0.751 0.751 0.469 0.287 0.253

[0316] 3.2.2.17. Estimation of maximum lateral acceleration

[0317] value

[0318] [Unit: m / s 2 ](fixed value: 3.432)

[0319] Remark

[0320] Maximum lateral acceleration limited to VP

[0321] 3.2.2.18. Estimation of maximum lateral acceleration rate

[0322] value

[0323] [Unit: m / s 3 ](fixed value: 3.432)

[0324] Remark

[0325] Maximum lateral acceleration rate limited to VP

[0326] 3.2.2.19. Accelerator pedal intervention

[0327] This signal indicates whether the accelerator pedal is depressed by the driver (intervention).

[0328] value

[0329] value describe Remark 0 Not pressed 1 Pressed 2 Exceeding autonomous acceleration

[0330] Remark

[0331] When the accelerator pedal position is above a defined threshold, the signal is set to "pressed".

[0332] 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 "over autonomous acceleration".

[0333] 3.2.2.20. Brake pedal intervention

[0334] This signal indicates whether the driver has depressed the brake pedal (intervention).

[0335] value

[0336] value describe Remark 0 Not pressed 1 Pressed 2 Exceeding autonomous deceleration

[0337] Remark

[0338] When the brake pedal position is above a defined threshold, the signal is set to "pressed".

[0339] • 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".

[0340] 3.2.2.21. Steering wheel intervention

[0341] This signal indicates whether the steering wheel is being operated by the driver (intervention).

[0342] value

[0343] value describe Remark 0 Not rotating 1 ADS works in collaboration with the driver 2 Only human drivers

[0344] Remark

[0345] In "steering wheel intervention = 1", the EPS system drives the steering in cooperation with the human driver, taking into account the human driver's intention.

[0346] In "Steering intervention = 2," the steering request from the ADS is not implemented, taking into account the intention of the human driver. (Steering will be driven by the human driver.)

[0347] 3.2.2.22. Gearshift lever intervention

[0348] This signal indicates whether the gear lever is controlled by the driver (intervention).

[0349] value

[0350] value describe Remark 0 closure 1 Open Controlled (moved to any gear)

[0351] Remark

[0352] N / A

[0353] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0354] value

[0355]

[0356] Remark

[0357] Integrate the pulse value at the pulse falling moment.

[0358] This wheel speed sensor outputs 96 pulses per single rotation.

[0359] The wheel speed pulses will be updated regardless of wheel speed sensor invalid / faulty.

[0360] When "1" is subtracted from a pulse value showing "0", the value changes to "0xFF". When "1" is added to a pulse value showing "0xFF", the value changes to "0".

[0361] Until the rotation direction is determined after starting the ECU, the pulse value will increase when the rotation direction is "forward".

[0362] When forward rotation is detected, the pulse value will be increased.

[0363] When backward rotation is detected, the pulse value is subtracted.

[0364] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0365] value

[0366] value describe Remark 0 forward 1 backward 2 reserve 3 Invalid value The sensor is invalid.

[0367] Remark

[0368] ·Until the rotation direction is determined after VP is turned on, set to "forward".

[0369] 3.2.2.25. Driving direction

[0370] The direction of movement of the vehicle

[0371] value

[0372] value describe Remark 0 forward 1 backward 2 still 3 Undefined

[0373] Remark

[0374] The signal shows "stationary" when the four wheel speed values are "0" at a constant time.

[0375] Can be "undefined" when changing gear just after vehicle start.

[0376] 3.2.2.26. Vehicle speed

[0377] Estimated longitudinal velocity of the vehicle

[0378] value

[0379] value describe Remark Maximum value in transmitted bits Invalid value The sensor is invalid. other Speed [unit: m / s]

[0380] Remark

[0381] The value of this signal is positive when both the forward direction and the backward direction are in progress.

[0382] 3.2.2.27. Longitudinal acceleration

[0383] Estimated longitudinal acceleration of the vehicle

[0384] value

[0385]

[0386]

[0387] Remark

[0388] Acceleration (+) and deceleration (-) values based on the pulse direction state direction.

[0389] 3.2.2.28. Lateral acceleration

[0390] The vehicle's lateral acceleration

[0391] value

[0392] value describe Remark Minimum value in transmitted bits Invalid value The sensor is invalid. other <![CDATA[Acceleration [Unit: m / s 2 >

[0393] Remark

[0394] Positive values indicate counterclockwise rotation. Negative values indicate clockwise rotation.

[0395] 3.2.2.29. Yaw rate

[0396] Yaw rate sensor value

[0397] value

[0398] value describe Remark Minimum value in transmitted bits Invalid value The sensor is invalid. other Yaw rate [unit: degrees / second]

[0399] Remark

[0400] Positive values indicate counterclockwise rotation. Negative values indicate clockwise rotation.

[0401] 3.2.2.30. Slide detection

[0402] Tire skidding / swerving / slipping detection

[0403] value

[0404] value describe Remark 0 No sliding 1 slide 2 reserve 3 Invalid value

[0405] Remark

[0406] When any of the following systems has been activated, the signal is judged as "slip".

[0407] -ABS (Anti-lock Braking System)

[0408] -TRC (Traction Control)

[0409] -VSC (Vehicle Stability Control)

[0410] -VDIM (Vehicle Dynamic Integrated Management)

[0411] 3.2.2.31. Vehicle mode status

[0412] Autonomous mode or manual mode

[0413] value

[0414] value describe Remark 0 Manual mode The mode starts in manual mode. 1 Autonomous mode

[0415] Remark

[0416] The initial state is set to "Manual Mode".

[0417] 3.2.2.32. Automation Ready

[0418] This signal indicates whether the vehicle is capable of changing to autonomous mode

[0419] value

[0420]

[0421]

[0422] Remark

[0423] N / A

[0424] 3.2.2.33. Fault status of the VP function in autonomous mode

[0425] This signal is used to show whether the VP function has certain failure modes when the vehicle operates in autonomous mode.

[0426] value

[0427] value describe Remark 0 No trouble 1 Fault 3 invalid Status has not yet been determined.

[0428] Remark

[0429] N / A

[0430] 3.2.2.34.PCS Alarm Status

[0431] value

[0432] value describe Remark 0 normal 1 alarm Requesting an alert from the PCS system 3 Unavailable

[0433] Remark

[0434] N / A

[0435] 3.2.2.35. PCS Readiness Status

[0436] Pre-filled state as preparation for PCS braking

[0437] value

[0438] value describe Remark 0 normal 1 start up 3 Unavailable

[0439] Remark

[0440] • “Activate” is a state in which the PCS prepares the brake actuator to shorten the delay from when a deceleration request is issued by the PCS.

[0441] When the value becomes "activated" during vehicle mode status = "autonomous mode", "ADS / PCS mediation status" shows "ADS".

[0442] 3.2.2.36. PCS Brake / PCS Brake Hold Status

[0443] value

[0444] value describe Remark 0 normal 1 PCS brake 2 PCS brake hold 7 Unavailable

[0445] Remark

[0446] N / A

[0447] 3.2.2.37.ADS / PCS Mediation Status

[0448] Mediation Status

[0449] value

[0450]

[0451]

[0452] Remark

[0453] When the acceleration requested by the PCS system in the VP is less than the acceleration requested by the ADS, the status is set to "PCS".

[0454] When the acceleration requested by the PCS system in the VP is greater than the acceleration requested by the ADS, the status is set to "ADS".

[0455] 3.3 API for body control

[0456] 3.3.1. API List for Body Control

[0457] 3.3.1.1. Input

[0458] Table 6. Input API for body control

[0459]

[0460]

[0461] 3.3.1.2. Output

[0462] Table 7. Output API for body control

[0463]

[0464]

[0465] 3.3.2. Details of each API for body control

[0466] 3.3.2.1. Turn signal command

[0467] Request to control the turn signal

[0468] value

[0469] value describe Remark 0 closure 1 right Right flash on 2 Left Left flash on 3 reserve

[0470] Remark

[0471] N / A

[0472] 3.3.2.2.Headlight command

[0473] Request to control headlights

[0474] value

[0475] value describe Remark 0 No request Keep current mode 1 Taillight mode request Side light mode 2 Headlight mode request Low beam mode 3 Autonomous mode request Autonomous mode 4 High beam mode request High beam mode 5 Close Mode Request 6-7 reserve

[0476] Remark

[0477] When the combination switch's headlamp mode = "OFF" or autonomous mode = "ON", this command is invalid.

[0478] The driver's operation takes precedence over this command.

[0479] 3.3.2.3. Hazard warning light command

[0480] Request to control hazard warning lights

[0481] value

[0482] value describe Remark 0 No request 1 Open

[0483] Remark

[0484] The driver's operation takes precedence over this command.

[0485] The hazard warning lights turn on when the "on" command is received.

[0486] 3.3.2.4. Speaker Mode Command

[0487] Request for mode selection of on-time and off-time per cycle

[0488] value

[0489] value describe Remark 0 No request 1 Mode 1 Open time: 250 ms Close time: 750 ms 2 Mode 2 Open time: 500 ms Close time: 500 ms 3 Mode 3 reserve 4 Mode 4 reserve 5 Mode 5 reserve 6 Mode 6 reserve 7 Mode 7 reserve

[0490] Remark

[0491] N / A

[0492] 3.3.2.5. Horn Cycle Command

[0493] Select the number of open and close cycles requested

[0494] value

[0495] 0-7[-]

[0496] Remark

[0497] N / A

[0498] 3.3.2.6. Continuous Horn Command

[0499] Request to turn the speaker on / off

[0500] value

[0501] value describe Remark 0 No request 1 Open

[0502] Remark

[0503] This command has a higher priority than the 3.3.2.4 Speaker Mode and 3.3.2.5 Speaker Cycle commands.

[0504] The speaker turns on when the "on" command is received.

[0505] 3.3.2.7. Front Windshield Wiper Command

[0506] Request to control the front windshield wipers

[0507] value

[0508]

[0509]

[0510] Remark

[0511] This command is valid when the front windshield wiper mode of the combination switch is "Off" or "Auto".

[0512] • Driver input takes precedence over this command.

[0513] Maintaining the front windshield wiper mode while receiving a command.

[0514] Fixed the erasing speed of the intermittent mode.

[0515] 3.3.2.8. Rear Windshield Wiper Command

[0516] Request to control the rear windshield wipers

[0517] value

[0518] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 reserve 3 Burst Mode Request 4-7 reserve

[0519] Remark

[0520] • Driver input takes precedence over this command.

[0521] Maintain windshield wiper mode while receiving commands.

[0522] Fixed the erasing speed of the intermittent mode.

[0523] 3.3.2.9.HVAC (first line) operation commands

[0524] Request to start / stop first row climate control

[0525] value

[0526]

[0527]

[0528] Remark

[0529] N / A

[0530] 3.3.2.10.HVAC (second line) operation commands

[0531] Request to start / stop second row climate control

[0532] value

[0533] value describe Remark 0 No request 1 Open 2 closure

[0534] Remark

[0535] N / A

[0536] 3.3.2.11. Target temperature (first on the left) command

[0537] Request to set target temperature in the front left zone

[0538] value

[0539] value describe Remark 0 No request 60 to 85 [unit: Fahrenheit] (in 1.0 degree Fahrenheit increments) Target temperature

[0540] Remark

[0541] In case Celsius is used in VP, the value should be set in Celsius.

[0542] 3.3.2.12. Target temperature (first one on the right) command

[0543] Request to set target temperature in the right front zone

[0544] value

[0545] value describe Remark 0 No request 60 to 85 [unit: Fahrenheit] (in 1.0 degree Fahrenheit increments) Target temperature

[0546] Remark

[0547] In case Celsius is used in VP, the value should be set in Celsius.

[0548] 3.3.2.13. Target temperature (second from the left) command

[0549] Request to set target temperature in the rear left zone

[0550] value

[0551] value describe Remark 0 No request 60 to 85 [unit: Fahrenheit] (in 1.0 degree Fahrenheit increments) Target temperature

[0552] Remark

[0553] In case Celsius is used in VP, the value should be set in Celsius.

[0554] 3.3.2.14. Target temperature (second from the right) command

[0555] Request to set target temperature in the right rear zone

[0556] value

[0557] value describe Remark 0 No request 60 to 85 [unit: Fahrenheit] (in 1.0 degree Fahrenheit increments) Target temperature

[0558] Remark

[0559] In case Celsius is used in VP, the value should be set in Celsius.

[0560] 3.3.2.15.HVAC Fan (First Line) Commands

[0561] Request to set the fan level of the front AC

[0562] value

[0563] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0564] Remark

[0565] If you want to turn the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0566] If you want to turn the fan level to automatic, you should transmit "HVAC (first line) operation command = On".

[0567] 3.3.2.16.HVAC Fan (Second Line) Commands

[0568] Set the fan level of the AC after request

[0569] value

[0570] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0571] Remark

[0572] If you want to turn the fan level to 0 (off), you should transmit "HVAC (second line) operation command = off".

[0573] If you want to turn the fan level to automatic, you should transmit "HVAC (second line) operation command = ON".

[0574] 3.3.2.17. Air outlet (first line) command

[0575] Request to set first row air outlet mode

[0576] value

[0577] value describe Remark 0 No operation 1 Upper body Air flows to the upper body 2 Upper body / feet Air flows to the upper body and feet 3 feet Air flow to the feet 4 Foot / defogger Air flow to footwell and windshield defogger

[0578] Remark

[0579] N / A

[0580] 3.3.2.18. Air outlet (second line) command

[0581] Request to set second row air outlet mode

[0582] value

[0583] value describe Remark 0 No operation 1 Upper body Air flows to the upper body 2 Upper body / feet Air flows to the upper body and feet 3 feet Air flows to the feet.

[0584] Remark

[0585] N / A

[0586] 3.3.2.19. Air circulation command

[0587] Request to set air recirculation mode

[0588] value

[0589]

[0590]

[0591] Remark

[0592] N / A

[0593] 3.3.2.20.AC Mode Commands

[0594] Request to set AC mode

[0595] value

[0596] value describe Remark 0 No request 1 Open 2 closure

[0597] Remark

[0598] N / A

[0599] 3.3.2.21. Turn signal status

[0600] value

[0601] value describe Remark 0 closure 1 Left 2 right 3 invalid

[0602] Remark

[0603] N / A

[0604] 3.3.2.22. Headlamp status

[0605] value

[0606] value describe Remark 0 closure 1 taillight 2 low beam 3 reserve 4 High beam 5-6 reserve 7 invalid

[0607] Remark

[0608] N / A

[0609] 3.3.2.23. Hazard warning light status

[0610] value

[0611] value describe Remark 0 closure 1 Hazard Warning 2 reserve 3 invalid

[0612] Remark

[0613] N / A

[0614] 3.3.2.24. Speaker status

[0615] value

[0616]

[0617]

[0618] Remark

[0619] When the 3.3.2.4 Horn Mode command is activated, the Horn Status is "1" even if there is a shutdown period in some modes.

[0620] 3.3.2.25. Front windshield wiper status

[0621] value

[0622] value describe Remark 0 closure 1 low frequency 2 High frequency 3 Intermission 4-5 reserve 6 Fault 7 invalid

[0623] Remark

[0624] N / A

[0625] 3.3.2.26. Rear windshield wiper status

[0626] value

[0627]

[0628]

[0629] Remark

[0630] N / A

[0631] 3.3.2.27.HVAC (first row) status

[0632] value

[0633] value describe Remark 0 closure 1 Open

[0634] Remark

[0635] N / A

[0636] 3.3.2.28.HVAC (second row) status

[0637] value

[0638] value describe Remark 0 closure 1 Open

[0639] Remark

[0640] N / A

[0641] 3.3.2.29. Target temperature (first one on the left) status

[0642] value

[0643]

[0644]

[0645] Remark

[0646] In case Celsius is used in VP, the value should be set in Celsius.

[0647] 3.3.2.30. Target temperature (first one on the right) status

[0648] value

[0649] value describe Remark 0 Low temperature coldest 60 to 85 degrees Fahrenheit Target temperature 100 high temperature Hottest FFh unknown

[0650] Remark

[0651] In case Celsius is used in VP, the value should be set in Celsius.

[0652] 3.3.2.31. Target temperature (second from the left) status

[0653] value

[0654] value describe Remark 0 Low temperature coldest 60 to 85 degrees Fahrenheit Target temperature 100 high temperature Hottest FFh unknown

[0655] Remark

[0656] In case Celsius is used in VP, the value should be set in Celsius.

[0657] 3.3.2.32. Target temperature (second from the right) status

[0658] value

[0659] value describe Remark 0 Low temperature coldest 60 to 85 degrees Fahrenheit Target temperature 100 high temperature Hottest FFh unknown

[0660] Remark

[0661] In case Celsius is used in VP, the value should be set in Celsius.

[0662] 3.3.2.33.HVAC Fan (First Row) Status

[0663] value

[0664] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0665] Remark

[0666] N / A

[0667] 3.3.2.34.HVAC Fan (Second Row) Status

[0668] value

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

[0670] Remark

[0671] N / A

[0672] 3.3.2.35. Air outlet (first row) status

[0673] value

[0674] value describe Remark 0 Close All 1 Upper body Air flows to the upper body 2 Upper body / feet Air flows to the upper body and feet 3 feet Air flows to the feet. 4 Foot / defogger Air flows to the feet and the windshield defogger operates 5 demister Windshield defogger 7 Undefined

[0675] Remark

[0676] N / A

[0677] 3.3.2.36. Air outlet (second row) status

[0678] value

[0679] value describe Remark 0 Close All 1 Upper body Air flows to the upper body 2 Upper body / feet Air flows to the upper body and feet 3 feet Air flows to the feet. 7 Undefined

[0680] Remark

[0681] N / A

[0682] 3.3.2.37. Air circulation status

[0683] value

[0684] value describe Remark 0 closure 1 Open

[0685] Remark

[0686] N / A

[0687] 3.3.2.38.AC Mode Status

[0688] value

[0689] value describe Remark 0 closure 1 Open

[0690] Remark

[0691] N / A

[0692] 3.3.2.39. Seat Occupancy (First on the Right) Status

[0693] value

[0694] value describe Remark 0 Unoccupied 1 Occupied 2 Undecided With the ignition off or communication with the seat sensors is lost 3 Fault

[0695] Remark

[0696] When there is luggage on the seat, the signal can be set to "occupied".

[0697] 3.3.2.40. Seat belt (first one on the left) status

[0698] value

[0699] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 Switch failure

[0700] Remark

[0701] N / A

[0702] 3.3.2.41. Seat belt (first one on the right) status

[0703] value

[0704] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 Switch failure

[0705] Remark

[0706] N / A

[0707] 3.3.2.42. Seat belt (second one on the left) status

[0708] value

[0709]

[0710]

[0711] Remark

[0712] Unable to detect sensor failure

[0713] 3.3.2.43. Seat belt (second one on the right) status

[0714] value

[0715] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 reserve

[0716] Remark

[0717] Unable to detect sensor failure

[0718] 3.3.2.44. Seat belt (third seat on the left) status

[0719] value

[0720] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 reserve

[0721] Remark

[0722] Unable to detect sensor failure

[0723] 3.3.2.45. Seat belt (third from center) status

[0724] value

[0725] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 reserve

[0726] Remark

[0727] Unable to detect sensor failure

[0728] 3.3.2.46. Seat belt (third seat on the right) status

[0729] value

[0730] value describe Remark 0 Fastened 1 Untie 2 Undecided In the event that the sensor does not work after the ignition is turned on 3 reserve

[0731] Remark

[0732] Unable to detect sensor failure

[0733] 3.4. API for power control

[0734] 3.4.1. API List for Power Control

[0735] 3.4.1.1. Input

[0736] Table 8. Input API for power control

[0737] Signal name describe redundancy Power Mode Commands Commands to control the VP power mode N / A

[0738] 3.4.1.2. Output

[0739] Table 9. Output API for power control

[0740] Signal name describe redundancy Power mode status The current power mode status of the VP N / A

[0741] 3.4.2. Details of each API for power control

[0742] 3.4.2.1. Power Mode Command

[0743] Request to control power mode

[0744] value

[0745] 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

[0746] Remark

[0747] ·exist Figure 12 The state machine diagram for the power mode is shown in FIG.

[0748] [Sleep]

[0749] Vehicle power-off state. In this mode, the main battery does not supply power to each system, and the VCIB and other VP ECUs are not started.

[0750] [wake]

[0751] The VCIB is awakened by the auxiliary battery. In this mode, except for some body electronics ECUs, ECUs other than the VCIB are not awakened.

[0752] [Driving Mode]

[0753] Vehicle powered on state. In this mode, the main battery supplies power to the entire VP, and all VP ECUs including VCIB are awakened.

[0754] 3.4.2.2. Power Mode Status

[0755] value

[0756] value describe Remark 0 reserve 1 sleep 2 wake 3 reserve 4 reserve 5 reserve 6 drive 7 unknown This means unhealthy conditions may occur

[0757] Remark

[0758] After executing the sleep sequence, VCIB will continue to transmit [Sleep] as the power mode state for 3000 [ms]. And then, VCIB will shut down.

[0759] When the VCIB is transmitting [sleep], the ADS will stop transmitting signals to the VCIB.

[0760] 3.5. API for fault notification

[0761] 3.5.1. API List for Fault Notification

[0762] 3.5.1.1. Input

[0763] Table 10. Input API for fault notification

[0764] Signal name describe redundancy N / A N / A N / A

[0765] 3.5.1.2. Output

[0766] Table 11. Output API for fault notification

[0767] Signal name describe redundancy Request for ADS operation Applied Shock detection signal N / A Deterioration of the braking system's performance Applied Deterioration of propulsion system performance N / A Deterioration of the performance of the gear shift control system N / A Deterioration of the performance of the fixed system Applied Deterioration of steering system performance Applied Deterioration of power system performance Applied Performance degradation of communication systems Applied

[0768] 3.5.2. Details of each API used for fault notification

[0769] 3.5.2.1. Requests for ADS Operations

[0770] value

[0771] value describe Remark 0 No request 1 Maintenance required 2 Need to return to the garage 3 Need to stop immediately other reserve

[0772] Remark

[0773] • This signal shows the behavior that the ADS is expected to take based on a fault occurring in the VP.

[0774] 3.5.2.2. Impact detection signal

[0775] value

[0776]

[0777]

[0778] Remark

[0779] When a collision detection event is generated, a signal is transmitted 50 times continuously every 100 [ms]. If the collision detection status changes before the signal transmission is completed, a signal with a higher priority is transmitted.

[0780] Priority: Collision Detection > Normal

[0781] • Transmit for 5 seconds regardless of the normal response at the time of collision, because a voltage disconnection request should be sent to the vehicle damage judgment system for 5 seconds or less after a collision in an HV vehicle.

[0782] The transmission interval is 100 milliseconds within the fuel cut action delay allowable time (1 second), enabling data to be transmitted five or more times.

[0783] In this case, momentary power outages should be considered.

[0784] 3.5.2.3. Deterioration of brake system performance

[0785] value

[0786] value describe Remark 0 normal — 1 Degradation detected —

[0787] Remark

[0788] N / A

[0789] 3.5.2.4. Propulsion system performance degradation

[0790] value

[0791] value describe Remark 0 normal — 1 Degradation detected —

[0792] Remark

[0793] N / A

[0794] 3.5.2.5. Performance Deterioration of the Gear Shift Control System

[0795] value

[0796] value describe Remark 0 normal — 1 Degradation detected —

[0797] Remark

[0798] N / A

[0799] 3.5.2.6. Performance degradation of fixed systems

[0800] value

[0801] value describe Remark 0 normal — 1 Degradation detected —

[0802] Remark

[0803] N / A

[0804] 3.5.2.7. Steering system performance degradation

[0805] value

[0806] value describe Remark 0 normal — 1 Degradation detected —

[0807] Remark

[0808] N / A

[0809] 3.5.2.8. Power system performance degradation

[0810] value

[0811] value describe Remark 0 normal — 1 Degradation detected —

[0812] Remark

[0813] N / A

[0814] 3.5.2.9. Communication system performance degradation

[0815] value

[0816] value describe Remark 0 normal — 1 Degradation detected —

[0817] Remark

[0818] N / A

[0819] 3.6. API for security

[0820] 3.6.1. API List for Security

[0821] 3.6.1.1. Input

[0822] Table 12. Input APIs for security

[0823]

[0824]

[0825] 3.6.1.2. Output

[0826] Table 13. Output API for security

[0827]

[0828]

[0829] 3.6.2. Details of each API for security

[0830] 3.6.2.1. Door lock (front) command, door lock (back) command

[0831] value

[0832] value describe Remark 0 No request 1 locking Not supported in Toyota VP 2 Unlock 3 reserve

[0833] Remark

[0834] If ADK requests to unlock the front side, both front doors are unlocked.

[0835] Unlock the second row doors and tailgate if ADK requests rear unlocking.

[0836] If ADK requests to lock any door, the "Central Lock Command" should be used.

[0837] (The Toyota VP does not support single lock functionality.)

[0838] 3.6.2.2. Central door locking command

[0839] Controls requests for all door locks

[0840] value

[0841] value describe Remark 0 No request 1 Lock (all) 2 Unlock (All) 3 reserve

[0842] Remark

[0843] N / A

[0844] 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

[0845] The first word of the device authentication signature exists from the first byte to the eighth byte of the signature.

[0846] The second word of the device authentication signature exists from the ninth to the sixteenth bytes of the signature.

[0847] The third word of the device authentication signature exists from the 17th to the 24th bytes of the signature.

[0848] The fourth word of the device authentication signature exists between bytes 25 and 32 of the signature.

[0849] The first word of the device authentication seed exists from the first byte to the eighth byte of the seed.

[0850] The second word of the device authentication seed exists from the ninth to the sixteenth bytes of the seed.

[0851] 3.6.2.4. Door lock (first one on the left) status

[0852] value

[0853] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0854] Remark

[0855] N / A

[0856] 3.6.2.5. Door lock (first one on the right) status

[0857] value

[0858] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0859] Remark

[0860] N / A

[0861] 3.6.2.6. Door lock (second one on the left) status

[0862] value

[0863] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0864] Remark

[0865] N / A

[0866] 3.6.2.7. Door lock (second one on the right) status

[0867] value

[0868]

[0869]

[0870] Remark

[0871] N / A

[0872] 3.6.2.8. Door lock status of all doors

[0873] value

[0874] value describe Remark 0 reserve 1 Lock All 2 Any door unlocked 3 invalid

[0875] Remark

[0876] · In the case of any door unlocked, "Any door unlocked".

[0877] In the case of a department-wide lockdown, click “Lock All.”

[0878] 3.6.2.9. Alarm system status

[0879] value

[0880] value describe Remark 0 Clear the alarm The alarm system was not activated. 1 alert The alarm system was activated but no alarm was sounded. 2 start up The alarm system is activated and the alarm beeps. 3 invalid

[0881] Remark

[0882] N / A

[0883] 3.6.2.9.1. Trip meter

[0884] This counter is incremented by the freshness value management main ECU in short-range units.

[0885] value

[0886] 0-FFFFh

[0887] Remark

[0888] This value is used to create the freshness value.

[0889] For details, please refer to other materials [Toyota's MAC module specifications].

[0890] 3.6.2.9.2. Reset Counter

[0891] This counter is periodically incremented by the freshness value management main ECU.

[0892] value

[0893] 0-FFFFFh

[0894] Remark

[0895] This value is used to create the freshness value.

[0896] For details, please refer to other materials [Toyota's MAC module specifications].

[0897] 3.6.2.10. The first door on the left is open

[0898] The current open / closed status of the first door on the left side of the vehicle platform

[0899] value

[0900] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0901] Remark

[0902] N / A

[0903] 3.6.2.11. The first door on the right is open

[0904] The current open / closed status of the first door on the right

[0905] value

[0906] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0907] Remark

[0908] N / A

[0909] 3.6.2.12. The second door on the left is open

[0910] The current open / closed status of the second door on the left

[0911] value

[0912] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0913] Remark

[0914] N / A

[0915] 3.6.2.13. The second door on the right is open

[0916] The current open / closed status of the second door on the right

[0917] value

[0918] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0919] Remark

[0920] N / A

[0921] 3.6.2.14. Trunk Status

[0922] Current trunk door open / close status

[0923] value

[0924] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0925] Remark

[0926] N / A

[0927] 3.6.2.15. Engine hood open

[0928] Current hood open / close status

[0929] value

[0930]

[0931]

[0932] Remark

[0933] N / A

[0934] 4. API Guide for Controlling Toyota Vehicles

[0935] This section details how to use the API for Toyota vehicles.

[0936] 4.1. API for vehicle motion control

[0937] 4.1.1. API List for Vehicle Motion Control

[0938] The input API and output API for vehicle motion control are shown respectively in Table 14 and Table 15. Usage guidelines for certain APIs appear in the following sections as indicated in each table.

[0939] 4.1.1.1. Input

[0940] Table 14. Input API for vehicle motion control

[0941]

[0942]

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

[0944] 4.1.1.2. Output

[0945] Table 15. Input API for vehicle motion control

[0946]

[0947]

[0948]

[0949] 4.1.2. API Details for Vehicle Motion Control

[0950] 4.1.2.1. Pulse direction command

[0951] For values and notes, see 3.2.2.1

[0952] Figure 13 The detailed shift sequence is shown.

[0953] The acceleration command requests a first deceleration and a vehicle stop. When the driving direction is set to "stationary", any gear can be requested by the propulsion direction command. Figure 13 , “D” → “R”).

[0954] A deceleration request by an acceleration command is required until the gear shift is completed.

[0955] After the gear change, acceleration / deceleration can be selected based on the acceleration command.

[0956] While the vehicle mode state = autonomous mode, the driver's shift lever operation is not accepted.

[0957] 4.1.2.2. Fixed commands

[0958] For values and remarks, see 3.2.2.2.

[0959] Figure 14 Shows how to activate / deactivate the pinning function.

[0960] The acceleration command is used to request a deceleration to stop the vehicle. When the vehicle speed reaches zero, the hold function is activated by the hold command = "Applied". The acceleration command is set to deceleration until the hold state is set to "Applied".

[0961] When the hold function is disabled, it is necessary to request the hold command = "released", and at the same time it is necessary to set the acceleration command to deceleration until the hold status = "released" is confirmed.

[0962] After deactivating the fixed function, the vehicle can be accelerated / decelerated based on the acceleration command.

[0963] 4.1.2.3.Standstill command

[0964] For values and remarks, see 3.2.2.3.

[0965] When the standstill command is set to "Applied," the brake hold function can be activated while the vehicle is parked and the acceleration command is set to deceleration (<0). The standstill state is then changed to "Applied." On the other hand, when the standstill command is set to "Released," the brake hold function is deactivated.

[0966] Figure 15 Shows a stationary sequence.

[0967] To stop the vehicle, deceleration is requested via an acceleration command.

[0968] When the vehicle comes to a temporary stop, the driving direction is changed to "Standstill." Even during the standstill state = "Applied," deceleration will be requested by the acceleration command.

[0969] If the vehicle is to be moved forward, the acceleration command is set to Accelerate (>0). The brake hold function is then released and the vehicle is accelerated.

[0970] 4.1.2.4. Acceleration Command

[0971] For values and comments, see 3.2.2.4.

[0972] The following shows how the vehicle behaves when the accelerator pedal is operated.

[0973] When the accelerator pedal is operated, the maximum acceleration value is selected from 1) the value calculated based on the accelerator pedal stroke or 2) the acceleration command input from the ADK. The ADK can see which value is selected by checking the accelerator pedal intervention.

[0974] The following shows how the vehicle behaves when the brake pedal is operated.

[0975] 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 the ADK.

[0976] 4.1.2.5. Front wheel steering angle command

[0977] For values and comments, see 3.2.2.5.

[0978] The following shows how to use the front wheel steering angle command.

[0979] The front wheel steering angle command is set as a relative value to the front wheel steering angle.

[0980] For example, when the front wheel steering angle = 0.1 [radian] and the vehicle is moving straight;

[0981] If the ADK wants to go straight, the front wheel steering angle command will be set to 0+0.1=0.1 [radians].

[0982] If the ADK requests a steering of -0.3 [radians], the front wheel steering angle command will be set to -0.3 + 0.1 = -0.2 [radians].

[0983] The following shows how the vehicle behaves when the driver operates the steering device.

[0984] The maximum value is selected from 1) a value calculated based on the steering wheel operation performed by the driver, or 2) a value requested by the ADK.

[0985] Note that if the driver applies force to the steering wheel, the front wheel steering angle command will not be accepted. This can be detected by the steering wheel sign intervention.

[0986] 4.1.2.6. Vehicle Mode Commands

[0987] exist Figure 16 FIG. 4 shows a state machine for mode transitions of an Autono-MaaS vehicle.

[0988] A description of each status is shown below.

[0989]

[0990] A description of each conversion is shown below.

[0991]

[0992]

[0993] 4.2. API for body control

[0994] 4.2.1. API List for Body Control

[0995] 4.2.1.1. Input

[0996] Table 16. Input API for body control

[0997]

[0998]

[0999] 4.2.1.2. Output

[1000] Table 17. Output API for body control

[1001]

[1002]

[1003]

[1004] 4.3. API for power control

[1005] 4.3.1. API List for Power Control

[1006] 4.3.1.1. Input

[1007] Table 18. Input API for power control

[1008] Signal name describe redundancy Usage Guidelines Power Mode Commands Commands to control the VP power mode N / A —

[1009] 4.3.1.2. Output

[1010] Table 19. Output API for power control

[1011] Signal name describe redundancy Usage Guidelines Power mode status The current power mode status of the VP N / A —

[1012] 4.4. API for fault notification

[1013] 4.4.1. API List for Fault Notification

[1014] 4.4.1.1. Input

[1015] Table 20. Input API for fault notification

[1016] Signal name describe redundancy Usage Guidelines N / A — — —

[1017] 4.4.1.2. Output

[1018] Table 21. Output API for fault notification

[1019] Signal name describe redundancy Usage Guidelines Request for ADS operation — Applied — Shock detection signal — N / A — Deterioration of the braking system's performance — Applied — Deterioration of propulsion system performance — N / A — Deterioration of the performance of the gear shift control system — N / A — Deterioration of the performance of the fixed system — Applied — Deterioration of steering system performance Applied — Deterioration of power system performance Applied — Performance degradation of communication systems Applied —

[1020] 4.5. API for security

[1021] 4.5.1. API List for Security

[1022] The input API and output API for security are respectively shown in Table 22 and Table 23. Usage guidelines for some APIs appear in the following sections as indicated in each table.

[1023] 4.5.1.1. Input

[1024] Table 22. Input API for security

[1025]

[1026]

[1027] 4.5.1.2. Output

[1028] Table 23. Output API for security

[1029]

[1030]

[1031] 4.5.2. Detailed Guidelines for API Security

[1032] 4.5.2.1. Device Authentication Protocol

[1033] Device authentication is applied when the VCIB is powered up from "sleep" mode.

[1034] After successful authentication, VCIB can start communicating with ADK.

[1035] exist Figure 17 The authentication process is shown in Authentication Process.

[1036] Certification specifications

[1037] project specification Notes encryption algorithm AES FIPS 197 Key length 128-bit — Block cipher mode of operation CBC SP 800-38A Hash algorithm SHA-256 FIPS 180-4 Seed length 128-bit — Signature length 256 bits —

[1038] Although the embodiments of the present disclosure have been described, it should be understood that the embodiments disclosed herein are illustrative and not restrictive in all aspects. The scope of the present disclosure is defined by the terms of the claims and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

Claims

1. A vehicle capable of being equipped with an autonomous driving system, the vehicle comprising: A vehicle platform that implements vehicle control according to commands from the autonomous driving system, wherein The vehicle platform includes a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle. transmitting a wheel steering angle command requesting a steering angle of a steering wheel from the autonomous driving system to the base vehicle via the vehicle control interface box, transmitting a signal indicative of the steering angle from the base vehicle to the automated driving system, and The autonomous driving system The value expressing the steering angle when the vehicle is traveling straight is set as a reference value, calculating a relative value between (i) a current value of the steering angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value, the predetermined steering angle being predetermined by a driving plan; and setting the steering angle requested in the wheel steering angle command so as not to exceed a limit range of the rate of the steering angle set based on the speed of the vehicle by using the relative value.

2. The vehicle according to claim 1, wherein The restriction range is set such that an upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than an upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

3. A method for controlling a vehicle, wherein an autonomous driving system is mountable on the vehicle, the vehicle comprising a vehicle platform configured to control the vehicle in accordance with commands from the autonomous driving system, the vehicle platform comprising a base vehicle and a vehicle control interface box configured to interface between the autonomous driving system and the base vehicle, the method comprising: transmitting, from the autonomous driving system to the base vehicle via the vehicle control interface box, a wheel steering angle command requesting a steering angle of a steering wheel; transmitting a signal indicative of the steering angle from the base vehicle to the automated driving system; setting a value expressing the steering angle when the vehicle is traveling straight as a reference value; calculating a relative value between (i) a current value of the steering angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value, the predetermined steering angle being predetermined by a driving plan; as well as By using the relative value, the steering angle requested in the wheel steering angle command is set so as not to exceed a limit range of the rate of the steering angle set based on the speed of the vehicle.

4. The method for controlling a vehicle according to claim 3, wherein The limit range is set so that the upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than the upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

5. A vehicle control interface box that interfaces between an autonomous driving system and a vehicle capable of installing the autonomous driving system, the vehicle comprising a vehicle platform that implements vehicle control according to commands from the autonomous driving system, the vehicle platform comprising a base vehicle, wherein The vehicle control interface box transmitting a wheel steering angle command requesting a steering angle of a steering wheel from the autonomous driving system to the base vehicle, and a signal indicating the steering angle is transmitted from the base vehicle to the automatic driving system, a value indicating the steering angle when the vehicle is traveling straight being set as a reference value, A relative value between (i) a current value of the steering angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value is calculated, the predetermined steering angle being predetermined by a driving plan, and By using the relative value, the steering angle requested in the wheel steering angle command is set so as not to exceed a limit range of the rate of the steering angle set based on the speed of the vehicle.

6. The vehicle control interface box according to claim 5, wherein The restriction range is set such that an upper limit value of the speed when the speed of the vehicle is set to a first speed is smaller than an upper limit value of the speed when the speed of the vehicle is set to a second speed lower than the first speed.

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