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

Abstract

A vehicle platform, an autonomous driving system, and a vehicle control interface box are disclosed. A VP (120) includes a base vehicle (100) and a VCIB (111). The VCIB (111) provides an interface between the VP (120) and an ADS (202). The VCIB (111) is configured to receive, from the ADS (202), a power mode command requesting control of a power mode of the VP (120). The power mode includes a sleep mode in which a vehicle power supply is in an off state, a wake-up mode in which the VCIB (111) is woken up, an ignition-on mode in which the vehicle is in an ignition-on state, and a drive mode in which the vehicle power supply is in an on state.

Description

[0001] This non-provisional application is based on Japanese patent application No. 2021-157685 filed with the Japan Patent Office on September 28, 2021, the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] Japanese Patent Publication No. 2018-132015 discloses a vehicle incorporating an autonomous driving system. This vehicle includes a powertrain system, a power supply system, and an autonomous driving system. The powertrain system centrally manages the vehicle's power. The power supply system centrally manages the charging and discharging of the battery installed in the vehicle or supplies power to various onboard devices. The autonomous driving system centrally executes autonomous driving control of the vehicle. The engine ECU of the powertrain system, the power supply ECU of the power supply system, and the autonomous driving ECU of the autonomous driving system are interconnected via an onboard network.

[0004] Autonomous driving systems developed by autonomous driving system developers can be externally attached to a vehicle. In this case, autonomous driving is carried out under the control of the vehicle based on commands from the externally attached autonomous driving system.

[0005] In such vehicles, the interface for exchanging various commands and signals between the externally attached autonomous driving system and the vehicle is important. How the power supply on the vehicle side is controlled from the externally attached autonomous driving system when it performs autonomous driving is also important. Japanese Patent Publication No. 2018-132015 does not specifically discuss this aspect. Summary of the Invention

[0006] This disclosure is made to solve this problem, and the purpose of this disclosure is to enable control of the power mode of a vehicle platform equipped with an autonomous driving system from the autonomous driving system.

[0007] Another objective of this disclosure is to enable control of the power mode of the vehicle platform from an autonomous driving system installed on the vehicle platform.

[0008] Another object of this disclosure is to enable the power mode of the vehicle platform to be controlled from the autonomous driving system via a vehicle control interface box that provides an interface between the vehicle platform and the autonomous driving system installed on the vehicle platform.

[0009] The vehicle platform in this disclosure is a vehicle platform (VP) on which an automated driving system (ADS, ADK) can be installed, and it includes a vehicle and a vehicle control interface box (VCIB) that provides an interface between the vehicle and the automated driving system. The VCIB is configured to receive a power mode command from the automated driving system, the power mode command requesting control of the power mode of the vehicle platform. The power modes include a sleep mode where the vehicle power is off, a wake mode where the VCIB is activated, an ignition ON mode where the vehicle ignition is on, and a drive mode where the vehicle power is on.

[0010] The vehicle platform has four power modes: sleep mode, wake-up mode, ignition on mode, and driving mode. The vehicle control interface box receives power mode commands from the autonomous driving system requesting control of the specified power modes. Therefore, based on the vehicle platform, the four power modes of the vehicle platform can be controlled from the autonomous driving system via the vehicle control interface box.

[0011] The vehicle platform includes a main battery and an auxiliary battery. The wake-up mode can be one in which the vehicle control interface box is woken up by power supplied from the auxiliary battery, but not by power supplied from the main battery.

[0012] According to the vehicle platform, a wake-up mode can be set from the autonomous driving system via the vehicle control interface box. In this wake-up mode, the vehicle control interface box is woken up by power supplied from the auxiliary battery instead of power supplied from the main battery.

[0013] The vehicle may further include multiple electronic control units. The ignition activation mode may be a mode in which a greater number of the multiple electronic control units are activated by power supplied from the auxiliary battery rather than by power supplied from the main battery, compared to the wake-up mode.

[0014] According to the vehicle platform, the ignition mode can be set from the autonomous driving system via the vehicle control interface box. In the ignition mode, compared with the wake-up mode, a greater number of electronic control units are woken up by power supplied from the auxiliary battery instead of power supplied from the main battery.

[0015] The power mode can be as follows: able to switch from the sleep mode to the wake-up mode, able to switch from the wake-up mode to any one of the sleep mode, the ignition on mode, and the driving mode, able to switch from the ignition on mode to any one of the sleep mode, the wake-up mode, and the driving mode, and able to switch from the driving mode to any one of the sleep mode and the wake-up mode.

[0016] The vehicle control interface box can be configured to ignore requests to switch from the driving mode to the ignition on mode.

[0017] Based on the above configuration, the system switches to driving mode via a wake-up mode. Therefore, when the vehicle control interface box, which provides the interface between the vehicle and the autonomous driving system, is not woken up, the vehicle power is not turned on. Thus, the vehicle can be prevented from driving when it is not connected to the autonomous driving system.

[0018] The vehicle control interface box can be further configured to send a power mode status indicating the power mode status of the vehicle platform to the autonomous driving system.

[0019] With this configuration, the autonomous driving system can identify the power mode status of the vehicle platform and perform appropriate control according to each mode.

[0020] The autonomous driving system disclosed herein is an automated driving system (ADS, ADK) configured to be installed on a vehicle platform (VP). The vehicle platform includes a vehicle and a vehicle control interface box (VCIB), which provides an interface between the vehicle and the autonomous driving system. The autonomous driving system includes a computing component and a communication module, which communicates with the VCIB. The computing component is programmed to send a power mode command requesting control of the vehicle platform's power mode to the VCIB via the communication module. The power modes include a sleep mode where the vehicle power is off, a wake mode where the VCIB is activated, an ignition ON mode where the vehicle ignition is on, and a drive mode where the vehicle power is on.

[0021] According to this autonomous driving system, four power modes of the vehicle platform can be controlled from the autonomous driving system via the vehicle control interface box.

[0022] The computing component can be further programmed to receive, via the communication module, a power mode state indicating the state of the power mode of the vehicle platform from the vehicle control interface box.

[0023] This autonomous driving system can identify the power mode status of the vehicle platform and perform appropriate control according to each mode.

[0024] The vehicle control interface box (VCIB) of this disclosure provides an interface between the vehicle platform (VP) and the automated driving system (ADS, ADK) installed on the vehicle platform, and includes a processor and a memory storing programs executed by the processor. The processor receives power mode commands from the automated driving system according to the program, requesting control of the power mode of the vehicle platform. The power modes include a sleep mode where the vehicle power is off, a wake-up mode where the VCIB is activated, an ignition-on mode where the vehicle is powered on, and a drive mode where the vehicle power is on.

[0025] According to the vehicle control interface box, four power modes of the vehicle platform can be controlled from the autonomous driving system through the vehicle control interface box.

[0026] The processor can ignore requests to switch from the driving mode to the ignition on mode.

[0027] Therefore, the system switches to driving mode via wake-up mode. Thus, the vehicle power is not turned on when the vehicle control interface box is not woken up. Therefore, the vehicle is prevented from driving when it is not connected to the autonomous driving system.

[0028] The processor can further send a power mode status, indicating the state of the power mode of the vehicle platform, to the autonomous driving system.

[0029] According to the vehicle control interface box, the autonomous driving system can identify the power mode status of the vehicle platform and perform appropriate control according to each mode.

[0030] The foregoing and other objects, features, aspects and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and the following detailed description of this disclosure. Attached Figure Description

[0031] Figure 1 This is a diagram illustrating a summary of a vehicle according to an embodiment of the present disclosure.

[0032] Figure 2 To show in more detail Figure 1 The diagram shows the configuration of ADK (ADS) and VP.

[0033] Figure 3This is a diagram showing the power supply configuration of the VP.

[0034] Figure 4 This is a diagram showing the power supply modes of VP.

[0035] Figure 5 This is a diagram showing the power mode command received by VCIB from ADS.

[0036] Figure 6 This is a diagram showing the power mode status signals output from VCIB to ADS.

[0037] Figure 7 This is a flowchart illustrating an exemplary process of VCIB being activated when VP is turned on according to a power mode command from ADS.

[0038] Figure 8 This is a flowchart illustrating an exemplary process of VCIB being processed when VP is turned off according to a power mode command from ADS.

[0039] Figure 9 This is a diagram showing the overall structure of an Autono-MaaS vehicle.

[0040] Figure 10 This is a diagram illustrating the system architecture of an Autono-MaaS vehicle.

[0041] Figure 11 This is a diagram illustrating a typical workflow in ADS.

[0042] Figure 12 This is a graph showing the relationship between the front wheel steering angle rate limit and speed.

[0043] Figure 13 This is the state machine diagram for power mode.

[0044] Figure 14 This is a diagram showing the details of the gear shifting sequence.

[0045] Figure 15 It is a diagram showing a fixed order.

[0046] Figure 16 This is a diagram showing the static sequence.

[0047] Figure 17 It is a state machine diagram of autonomous states.

[0048] Figure 18 This is a diagram illustrating the authentication process. Detailed Implementation

[0049] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Identical or corresponding elements in the drawings have been assigned the same reference numerals, and their descriptions will not be repeated.

[0050] Figure 1 This is a diagram illustrating a general outline of a vehicle 10 according to an embodiment of the present disclosure. (Refer to...) Figure 1 The vehicle 10 includes an autonomous driving kit (hereinafter referred to as "ADK") 200 and a vehicle platform (hereinafter referred to as "VP") 120. The ADK 200 is configured to be attached to (or mounted on) the VP 120. The ADK 200 and the VP 120 are configured to communicate with each other via a vehicle control interface box 111 (described later) mounted on the VP 120.

[0051] VP 120 can perform autonomous driving based on control requests (commands) from ADK 200. Although Figure 1 The VP120 and ADK 200 are shown in a position far apart from each other, but ADK 200 is actually attached to the roof of the base vehicle 100 (described later) included in the VP120. ADK 200 can also be detached from the VP120. When ADK 200 is not attached, the VP120 can be driven by the user. In this case, the VP120 performs driving control in manual mode (driving control based on user operation).

[0052] ADK 200 includes an automated driving system (hereinafter referred to as "ADS") 202 for automated driving of vehicle 10. For example, ADS 202 creates a driving plan for vehicle 10. Then, ADS 202 outputs various commands (control requests) to VP 120 for vehicle 10 to drive according to the created driving plan, based on application programming interfaces (APIs) defined for each command. ADS 202 receives various signals from VP 120 indicating the state (vehicle state) of VP 120, based on APIs defined for each signal. ADS 202 then reflects the received vehicle state in the creation of the driving plan. The detailed configuration of ADS 202 will be described later.

[0053] VP 120 includes a base vehicle 100 and a vehicle control interface box (hereinafter referred to as "VCIB") 111.

[0054] The base vehicle 100 performs various types of vehicle control based on control requests from ADK 200 (ADS 202). The base vehicle 100 includes various systems and sensors for controlling the vehicle. Specifically, the base vehicle 100 includes an integrated control manager 115, a braking system 121, a steering system 122, a powertrain system 123, an active safety system 125, a body system 126, wheel speed sensors 127A and 127B, a pinion angle sensor 128, a camera 129A, and radar sensors 129B and 129C.

[0055] The integrated control manager 115 includes a processor and memory, and integrates the control of the systems involved in the operation of the vehicle (braking system 121, steering system 122, powertrain system 123, active safety system 125, and body system 126).

[0056] The braking system 121 is configured to control braking devices disposed in each wheel. The braking devices include, for example, a disc brake system (not shown) that is operated using hydraulic pressure regulated by an actuator.

[0057] Wheel speed sensors 127A and 127B are connected to braking system 121. Wheel speed sensor 127A detects the rotational speed of the front wheels and outputs its detected value to braking system 121. Wheel speed sensor 127B detects the rotational speed of the rear wheels and outputs its detected value to braking system 121.

[0058] The braking system 121 generates braking commands for the braking devices based on the specified control requests output from the ADK 200 via VCIB 111 and the integrated control manager 115. The braking system 121 then controls the braking devices based on the generated braking commands. The integrated control manager 115 can calculate the vehicle speed (vehicle speed) based on the rotational speed of each wheel.

[0059] The steering system 122 is configured to control the steering angle of the vehicle's steering wheel using a steering device. The steering device includes, for example, rack and pinion electric power steering (EPS) that allows adjustment of the steering angle via an actuator.

[0060] The pinion angle sensor 128 is connected to the steering system 122. The pinion angle sensor 128 detects the rotation angle (pinion angle) of the pinion gear connected to the rotating shaft of the actuator included in the steering device and outputs its detected value to the steering system 122.

[0061] The steering system 122 generates steering commands for the steering equipment based on the specified control requests output from the ADK 200 via the VCIB 111 and the integrated control manager 115. The steering system 122 then controls the steering equipment based on the generated steering commands.

[0062] The powertrain system 123 controls an electronic parking brake (EPB) system located in at least one wheel of a plurality of wheels, a parking lock (P lock) system located in the transmission of the base vehicle 100, and a propulsion system including a shifting device for selecting a shift gear. See below for further details. Figure 2 Describe the detailed configuration of powertrain system 123.

[0063] The active safety system 125 uses camera 129A and radar sensors 129B and 129C to detect obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front of or behind the vehicle. Based on the distance between the vehicle 10 and the obstacle and the direction of the vehicle 10's movement, the active safety system 125 determines whether a collision with the obstacle is possible. Then, when the active safety system 125 determines that a collision is possible, it outputs a braking command to the braking system 121 via the integrated control manager 115 to increase the vehicle's braking force.

[0064] The body system 126 is configured to control components such as turn indicators, horn, and wipers (not shown), for example, based on the driving state or environment of the vehicle 10. The body system 126 controls the individual components according to specified control requests output from the ADK 200 via the VCIB 111 and the integrated control manager 115.

[0065] VCIB 111 is configured to communicate with ADS 202 of ADK 200 via Controller Area Network (CAN). VCIB 111 receives various control requests from ADS 202, or outputs the status of VP 120 to ADS 202 by executing the prescribed APIs defined for each communication signal. When VCIB 111 receives a control request from ADS 202, it outputs a control command corresponding to the control request to the corresponding system via Integrated Control Manager 115. VCIB 111 obtains various types of information about the base vehicle 100 from various systems via Integrated Control Manager 115 and outputs the status of the base vehicle 100 as the vehicle status to ADS 202.

[0066] Vehicle 10 can be used as one of the features of a Mobility as a Service (MaaS) system. In addition to vehicle 10, the MaaS system further includes, for example, a data server and a Mobility Service Platform (MSPF) (both not shown).

[0067] MSPF is an integrated platform that connects various mobility services. Mobility services related to autonomous driving connect to MSPF. In addition to mobility services related to autonomous driving, mobility services provided by ride-sharing companies, car-sharing companies, car rental companies, taxi companies, and insurance companies can connect to MSPF. Depending on the service content, various mobility services can utilize the various functionalities provided by MSPF by using APIs published on MSPF.

[0068] VP 120 further includes a data communication module (DCM) (not shown) as a communication interface (I / F) for wireless communication with the data server of the MaaS system. The DCM outputs various types of vehicle information, such as speed, location, or autonomous driving status, to the data server. The DCM receives various types of data from autonomous driving-related mobility services via MSPF and the data server for managing the operation of autonomous vehicles, including vehicle 10, within the mobility services.

[0069] MSPF publishes APIs for using various types of data regarding vehicle status and vehicle control required for ADK development. By using the APIs published on MSPF, various mobility services can utilize various functionalities provided by MSPF based on their service content. For example, mobility services related to autonomous driving can obtain operational control data of autonomous vehicles communicating with a data server or information stored in a data server from MSPF by using the APIs published on MSPF. Mobility services related to autonomous driving can also use the APIs to send data to MSPF for managing autonomous vehicles, including vehicle 10.

[0070] Figure 2 This is to show in further detail Figure 1 The diagram shows the configuration of the ADK 200 (ADS 202) and VP 120. (Refer to...) Figure 2 The ADK 200's ADS 202 includes a computing component 210, a human-machine interface (HMI) 230, a sensor 260 for sensing, a sensor 270 for posture, and a sensor cleaner 290.

[0071] The computing component 210 includes communication modules 210A and 210B. Communication modules 210A and 210B are configured to communicate with VCIB 111. During autonomous driving of vehicle 10, computing component 210 obtains information about the environment surrounding the vehicle, as well as the attitude, behavior, and position of vehicle 10, from various sensors (described later), and obtains the vehicle state from VP 120 via VCIB 111, and sets the next action of vehicle 10 (acceleration, deceleration, or turning). Then, computing component 210 outputs various commands to VP 120's VCIB 111 to implement the set next action.

[0072] HMI system 230 presents information to the user and accepts user input during autonomous driving, during driving requiring user intervention, or during the transition between autonomous driving and driving requiring user intervention. HMI 230 is configured to connect to input and output devices (not shown), such as a touch panel display provided in VP 120.

[0073] The sensor 260 for sensing is a sensor that senses the environment around the vehicle. The sensor 260 for sensing includes at least one of, for example, laser imaging detection and ranging (LIDAR), millimeter-wave radar, and camera.

[0074] LIDAR refers to a distance measurement device that measures distance based on the time interval from the emission of a pulsed laser beam (infrared) to the return of the laser beam reflected by the object. Millimeter-wave radar is a distance measurement device that measures the distance or direction to an object by emitting short-wavelength radio waves towards it and detecting the radio waves returning from the object. A camera, for example, is positioned behind the rearview mirror inside the vehicle compartment and is used to capture images of the front of vehicle 10. As a result of image processing of the images or video images captured by the camera by an artificial intelligence (AI) or image processing processor, another vehicle, obstacle, or person in front of vehicle 10 can be identified. Information obtained by the sensing sensor 260 is output to the computing component 210.

[0075] The attitude sensor 270 is a sensor that detects the attitude, behavior, or position of the vehicle 10. The attitude sensor 270 includes, for example, an inertial measurement unit (IMU) and a global positioning system (GPS).

[0076] The IMU detects, for example, the acceleration of vehicle 10 in the longitudinal, lateral, and vertical directions, as well as the angular velocities of vehicle 10 in the roll, pitch, and yaw directions. GPS detects the position of vehicle 10 based on information received from multiple GPS satellites orbiting the Earth. Information obtained by the attitude sensor 270 is output to the computing component 210.

[0077] Sensor cleaner 290 removes dirt adhering to various sensors. Sensor cleaner 290, for example, uses a cleaning solution or wipe to remove dirt adhering to the lens of a camera or the part from which laser beams or radio waves are emitted.

[0078] VCIB 111 includes VCIB 111A and VCIB 111B. Each VCIB 111A and 111B includes an electronic control unit (ECU). The ECU includes a processor such as a central processing unit (CPU) (not shown) and memory (read-only memory (ROM) and random access memory (RAM)). Programs executable by the processor are stored in the ROM. The processor performs various types of processing according to the programs stored in the ROM.

[0079] VCIB 111A and 111B are communicatively connected to communication modules 210A and 210B of ADS 202, respectively. VCIB 111A and VCIB 111B are also communicatively connected to each other. Although VCIB 111B is functionally equivalent to VCIB 111A, it differs in some respects from the multiple systems that it connects to that make up VP 120.

[0080] VCIBs 111A and 111B relay control requests and vehicle status between ADS 202 and VP 120, respectively. A more specific description of VCIB 111A will be given representatively. VCIB 111A receives various control requests output from ADS 202 according to the APIs defined for each control request. VCIB 111A then generates a command corresponding to the received control request and outputs the command to the system of the base vehicle 100 corresponding to the control request. In this embodiment, the control request (control command) received from ADS 202 includes a power mode command requesting control of the power mode of VP 120 (described later).

[0081] VCIB 111A receives vehicle information from various systems of VP 120 and sends information indicating the vehicle status of VP 120 to ADS 202 according to the API defined for each vehicle status. The information indicating the vehicle status to be sent to ADS 202 may be the same information as the vehicle information provided from the various systems of VP 120, or it may be information extracted from the vehicle information for processing performed by ADS 202. In this embodiment, the vehicle status sent to ADS 202 includes a power mode status indicating the power mode status of VP 120.

[0082] Because VCIB 111A and 111B provide functional equivalents to the operation of at least one system (e.g., braking or steering system), the control system between ADK 200 and VP 120 is redundant. Therefore, in the event of a certain type of failure in a part of the system, the function of VP 120 (turning or stopping) can be maintained by appropriately switching or disconnecting the failed control system between the control systems.

[0083] Braking system 121 includes braking systems 121A and 121B. Steering system 122 includes steering systems 122A and 122B. Powertrain system 123 includes EPB system 123A, P lock system 123B, and propulsion system 124.

[0084] VCIB 111A is communicatively connected to braking system 121A, steering system 122A, EPB system 123A, P lock system 123B, propulsion system 124, and body system 126 via a communication bus. VCIB 111B is communicatively connected to braking system 121B, steering system 122B, and P lock system 123B via a communication bus.

[0085] Braking systems 121A and 121B are configured to control multiple braking devices disposed in the wheels. Braking system 121B may be functionally equivalent to braking system 121A, or one of braking systems 121A and 121B may be configured to independently control the braking force of the wheels during vehicle travel, while the other of braking systems 121A and 121B may be configured to control the braking force so that the same braking force is generated in the wheels during vehicle travel.

[0086] Braking systems 121A and 121B each generate braking commands for the braking device based on control requests received from ADS 202 via VCIB 111. For example, braking systems 121A and 121B control the braking device based on braking commands generated in one of the braking systems, and control the braking device based on braking commands generated in the other braking system when a fault occurs in that braking system.

[0087] Steering systems 122A and 122B are configured to control the steering angle of the steering wheel of vehicle 10 using steering equipment. Steering system 122B is functionally similar to steering system 122A.

[0088] Steering systems 122A and 122B each generate steering commands for the steering device based on a control request received from ADS 202 via VCIB 111. For example, steering systems 122A and 122B control the steering device based on a steering command generated in one of the steering systems, and control the steering device based on a steering command generated in the other steering system in the event of a failure in that steering system.

[0089] EPB system 123A is configured to control EPB. EPB is separate from the braking device and the wheels are secured by the operation of an actuator. For example, EPB activates a drum brake for a parking brake located in at least one of a plurality of wheels to secure the wheels, or activates the braking device to secure the wheels using an actuator capable of adjusting the hydraulic pressure to be supplied to the braking device separately from braking systems 121A and 121B.

[0090] EPB system 123A controls the EPB based on control requests received from ADS 202 via VCIB 111.

[0091] The P-lock system 123B is configured to control the P-lock device. The P-lock device assembles a protrusion (the position of which is adjusted by an actuator) located at the tip of the parking lock pawl into the teeth of a gear (locking gear) configured to connect with a rotating element in the transmission of the base vehicle 100. The rotation of the transmission output shaft is thus fixed and the wheels are fixed.

[0092] The P lock system 123B controls the P lock device according to control requests received from the ADS 202 via the VCIB 111. When the control request from the ADS 202 includes a request to set the shift gear to Park (P), the P lock system 123B activates the P lock device, and when the control request includes a request to set the shift gear to a shift gear other than P, it deactivates the P lock device.

[0093] The propulsion system 124 is configured to switch gears using a shifting device and control the driving force of the vehicle 10 generated by the drive source in the direction of movement of the vehicle 10. Switchable gears include, for example, P (Park), neutral (N), drive (D), and reverse (R). The drive source includes, for example, an electric generator and an engine.

[0094] The propulsion system 124 controls the shifting device and drive source according to the control request received from ADS 202 via VCIB 111.

[0095] The active safety system 125 is communicatively connected to the braking system 121A. As described above, the active safety system 125 detects obstacles (obstacles or people) in front of the vehicle using a camera 129A and a radar sensor 129B, and when it determines that there is a possibility of collision based on the distance to the obstacle, it outputs a braking command to the braking system 121A to increase braking force.

[0096] The body system 126 can control components such as the turn indicator, horn, or wipers based on control requests received from the ADS 202 via the VCIB 111.

[0097] For example, autonomous driving is performed when the user selects autonomous mode as the autonomous state through operation of the HMI 230 in the vehicle 10 configured as described above. During autonomous driving, ADS 202 initially creates a driving plan as described above. Examples of driving plans include plans to continue straight, plans to turn left / right at designated intersections on the predetermined driving path, and plans to change driving lanes.

[0098] ADS 202 calculates the controllable physical quantities (acceleration, deceleration, and wheel steering angle) required for the operation of vehicle 10 based on the created driving plan. ADS 202 segments the physical quantities for each execution cycle of the API. ADS 202 outputs control requests representing the segmented physical quantities to VCIB 111 via the API. Furthermore, ADS 202 obtains the vehicle state (actual direction of movement and stationary state) from VP 120 and recreates a driving plan reflecting the obtained vehicle state. ADS 202 thus enables autonomous driving of vehicle 10.

[0099] Figure 3 This is a diagram showing the power supply configuration of the VP 120. Figure 3 based on Figure 2 . Reference Figure 3 In addition to reference Figure 2 In addition to the various systems and sensors described, the VP 120 further includes a main battery 150, a DC / DC converter 152, an auxiliary battery 154, a switching DC / DC converter 156, and a secondary battery 158.

[0100] The main battery 150 comprises multiple (e.g., hundreds) individual cells. Each individual cell is, for example, a secondary battery, such as a lithium-ion battery or a nickel-metal hydride battery. The main battery 150 outputs power to the vehicle drive system (not shown) to generate the driving force for VP 120 (base vehicle 100). The voltage of the main battery 150 is, for example, several hundred volts. Instead of the main battery 150, energy storage elements such as double-layer capacitors can be used.

[0101] DC / DC converter 152 is electrically connected between main battery 150 and power line PL1. DC / DC converter 152, according to commands from an ECU (not shown), steps down the power supplied from main battery 150 to an auxiliary mechanical voltage (e.g., exceeding ten or tens of volts) lower than the voltage of main battery 150, and outputs the stepped-down power to power line PL1. DC / DC converter 152 is implemented, for example, by an isolated DC / DC converter including a transformer.

[0102] An auxiliary battery 154 is electrically connected to power line PL1. The auxiliary battery 154 is a rechargeable and dischargeable secondary battery, and is implemented, for example, by a lead-acid battery. The auxiliary battery 154 can store the power output from the DC / DC converter 152 to power line PL1. The auxiliary battery 154 can feed the stored power to various systems electrically connected to power line PL1.

[0103] A switching DC / DC converter 156 is electrically connected between power lines PL1 and PL2. The switching DC / DC converter 156 supplies power from power line PL1 to power line PL2 according to a command from an ECU (not shown). When the switching DC / DC converter 156 receives a shutdown command from the ECU, it disconnects power line PL2 (secondary battery 158) from power line PL1 by shutting down. The switching DC / DC converter 156 is implemented, for example, by a chopper DC / DC converter, which can be switched between on and off by a semiconductor switching element.

[0104] Secondary battery 158 is electrically connected to power line PL2. Secondary battery 158 is a rechargeable and dischargeable secondary battery, and is implemented, for example, by a lithium-ion secondary battery. Secondary battery 158 can store the power output from switching DC / DC converter 156 to power line PL2. Secondary battery 158 can supply the stored power to various systems electrically connected to power line PL2.

[0105] The DC / DC converter 152 and auxiliary battery 154 provide the primary power system for VP 120. The braking system 121A, steering system 122A, EPB system 123A, propulsion system 124, active safety system 125, body system 126, and VCIB 111A are electrically connected to power line PL1, which is the power line for the primary power system, and these systems receive power from the primary power system.

[0106] The switching DC / DC converter 156 and the secondary battery 158 provide the secondary power supply system for VP 120. The braking system 121B, steering system 122B, P-lock system 123B, and VCIB 111B are electrically connected to the power line PL2, which serves as the power supply line for the secondary power supply system, and these systems receive power from the secondary power supply system.

[0107] The secondary power supply system, consisting of the switching DC / DC converter 156 and the secondary battery 158, serves as a redundant power source for the primary power supply system, consisting of the DC / DC converter 152 and the auxiliary battery 154. When the primary power supply system fails to supply power to the systems connected to power line PL1, the secondary power supply system continues to supply power to the systems connected to power line PL2 for at least a certain period of time, ensuring that the function of VP 120 is not immediately and completely lost.

[0108] <Description of Power Modes>

[0109] According to this embodiment, the vehicle 10 includes four power modes: Sleep mode, Wake mode, Ignition ON mode, and Drive mode, which serve as power modes indicating the power status of VP 120.

[0110] Figure 4 This is a diagram showing the power modes of the VP 120. (Compared to...) Figure 4 Refer to together Figure 3 Sleep mode refers to the VP120 being powered off. In sleep mode, power is not supplied from the main battery 150 to the various systems, and the VCIB 111 (VCIB 111A and 111B) and various systems (ECUs) of the base vehicle 100 are not activated.

[0111] Wake mode refers to the state in which VCIB 111 is awakened by power supplied from auxiliary battery 154. In wake mode, no power is supplied from main battery 150, and all ECUs except VCIB 111 are not awakened except for some body electronic ECUs in body system 126 (e.g., verification ECU for verifying smart key or body ECU for controlling door locking / unlocking).

[0112] In wake-up mode, VCIB 111 performs processes such as establishing communication with ADK 200, authenticating whether ADK 200 is a registered device, activating some of the aforementioned vehicle electronic ECUs, or executing APIs associated with these ECUs.

[0113] In sleep mode, when VCIB 111 receives a power mode command from ADS 202 indicating a switch to wake mode according to the specified API, the power mode switches from sleep mode to wake mode.

[0114] Ignition ON mode corresponds to the so-called "ignition on" state of the vehicle. In ignition ON mode, more systems (ECUs) are activated compared to wake-up mode, and essentially, the low-voltage systems (including VCIB 111) powered by the auxiliary battery 154 are activated. On the other hand, in this ignition ON mode, power is not supplied from the main battery 150, and VP 120 cannot be driven.

[0115] In wake-up mode, when VCIB 111 receives a power mode command from ADS 202 indicating a switch to ignition on mode according to the specified API, the power mode switches from wake-up mode to ignition on mode.

[0116] Driving mode refers to the state in which the vehicle's power is on. In driving mode, power is supplied from the main battery 150, enabling the VCIB 111 and the various systems of the base vehicle 100 to be activated, and allowing the VP 120 to drive.

[0117] In wake-up mode or ignition-on mode, when VCIB 111 receives a power mode command from ADS 202 indicating a switch to driving mode according to the specified API, the power mode switches to driving mode.

[0118] In driving mode, when VCIB 111 receives a power mode command from ADS 202 indicating to switch to sleep mode or wake-up mode according to the specified API, the power mode switches from driving mode to sleep mode or wake-up mode.

[0119] In driving mode, even if VCIB 111 receives a power mode command from ADS 202 indicating a switch to ignition mode, the power mode will not switch to ignition mode. For example, if VP 120's power mode is already set to driving mode when VCIB 111 receives the power mode command from ADS 202 indicating a switch to ignition mode, VCIB 111 can ignore the request to switch to ignition mode in the power mode command.

[0120] Therefore, once the power mode is set to a mode other than driving mode, the power mode switches to driving mode via wake-up mode. Thus, when VCIB 111, which provides the interface between VP 120 and ADS 202, is not woken up, the power mode is not set to driving mode. Therefore, VP 120 can be prevented from being in a drivable state when VP 120 and ADS 202 are not connected to each other.

[0121] In ignition-on mode, when VCIB 111 receives a power mode command from ADS 202 indicating a switch to sleep mode or wake-up mode according to the specified API, the power mode switches from ignition-on mode to sleep mode or wake-up mode. In wake-up mode, when VCIB 111 receives a power mode command from ADS 202 indicating a switch to sleep mode, the power mode switches to sleep mode.

[0122] Figure 5 This is a diagram illustrating the power mode command received by VCIB 111 from ADS 202. (Refer to...) Figure 5 In vehicle 10, since ADS 202 sends a power mode command to VCIB 111 according to the specified API, the power mode of VP120 can be controlled from ADS 202.

[0123] The power mode command can take any value from 0 to 6 as its argument. The value 0 is set when no power mode request for VP 120 is issued from ADS 202. When VCIB 111 receives a power mode command with the value set to 0, VP 120 maintains the current power mode.

[0124] When a request for sleep mode is issued from ADS 202, value 1 is set. In other words, a power mode command with value 1 set requests to shut down VP 120. When VCIB 111 receives a power mode command with value 1 set, the power mode of VP 120 switches to sleep mode, and VP 120 is set to a power-off state.

[0125] When a request for wake mode is issued from ADS 202, value 2 is set. In other words, a power mode command with value 2 set requests VCIB 111 to be turned on. When VCIB 111 receives a power mode command with value 2 set, the power mode of VP 120 switches to wake mode, and VCIB 111 is turned on by receiving power from the auxiliary battery.

[0126] When a request for ignition ON is issued from ADS 202, value 5 is set. In other words, a power mode command with value 5 set requests VP 120 (base vehicle 100) to be in the "ignition ON" state. When VCIB 111 receives a power mode command with value 5 set, the power mode of VP 120 switches to ignition ON mode, and the low-voltage system (including VCIB 111) that supplies power from auxiliary battery 154 is activated.

[0127] When a request for Drive mode is issued from ADS 202, value 6 is set. In other words, a power mode command with value 6 set requests to activate VP 120. When VCIB 111 receives a power mode command with value 6 set, the power mode of VP 120 switches to Drive mode, and VP 120 is set to power-on. Values ​​3 and 4 are not used at the current time and are reserved for future expansion.

[0128] Figure 6 This is a diagram showing the power mode status signals output from VCIB 111 to ADS 202. (Refer to...) Figure 6 In vehicle 10, the power mode status of VP 120 is notified to ADS 202 by sending a signal indicating the power mode status from VCIB 111 to ADS 202 in accordance with the specified API.

[0129] The power mode status signal sent to ADS 202 can use any value from 0 to 7 as an argument. Values ​​1, 2, 5, and 6 are set when the power mode is set to Sleep, Wake, Ignition ON, and Drive, respectively. Value 7 is set when some unhealthy condition occurs in the VP 120's power supply. Values ​​0, 3, and 4 are not used at the current time and are reserved.

[0130] When a request to switch to sleep mode is received (in a power mode command from ADS 202), within a specified time period (3000ms) after the sleep process that shuts down the power of VP 120, VCIB 111 outputs a power mode status signal to ADS 202, where the value 1 (sleep mode) is set, and then shuts down. Since VCIB 111 is also shut down during sleep mode, it cannot notify ADS 202 of the power mode status. However, according to the above configuration, VCIB 111 can notify ADS 202 that the power mode has switched to sleep mode. While VCIB 111 outputs the power mode status signal with the value set to 1 (sleep mode) to ADS 202 within the specified time period, ADS 202 stops sending various commands to VCIB 111.

[0131] Figure 7 This is a flowchart illustrating an exemplary process of VCIB 111 when VP 120 is turned on according to a power mode command from ADS 202. The flowchart begins when VCIB 111 receives a power mode command from ADS 202 that has been set to value 2 (wake-up mode).

[0132] Reference Figure 7 When VCIB 111 receives a power mode command from ADS 202 that has been set to value 2 (wake-up mode), VCIB 111 is turned on (step S10). Then, VCIB 111 outputs a power-on command to some body electronic ECUs (verification ECU or body ECU) and turns on the APIs associated with these ECUs (step S15).

[0133] Then, VCIB 111 establishes communication with ADS 202, and after establishing communication, it performs device authentication processing on ADS 202 (step S20). When the device authentication processing of ADS 202 is completed ("Yes" in step S25), VCIB 111 outputs a power mode status signal with the value 2 (wake-up mode) set to ADS 202 (step S30).

[0134] Then, VCIB 111 determines whether it has received a power mode command with value 5 (ignition on mode) set from ADS 202 (step S35). If VCIB 111 does not receive a power mode command with value 5 set from ADS 202 ("No" in step S35), the process proceeds to step S50, which will be described later.

[0135] When VCIB 111 receives the power mode command that has been set to value 5 in step S35 ("Yes" in step S35), VCIB 111 instructs the base vehicle 100 to switch to the ignition-on state (step S40). Therefore, compared to the wake-up mode, a greater number of systems (ECUs) are activated, and essentially, the low-voltage system feeding power from the auxiliary battery 154 is activated. Then, VCIB 111 outputs a power mode status signal that has been set to value 5 (ignition-on mode) to ADS 202 (step S45).

[0136] Then, VCIB 111 determines whether it has received a power mode command with value 6 (driving mode) set from ADS 202 (step S50). If VCIB 111 does not receive a power mode command with value 6 set from ADS 202 ("No" in step S50), the process returns to step S35.

[0137] In step S50, when VCIB 111 receives a power mode command that has been set to value 6 ("Yes" in step S50), VCIB 111 instructs the base vehicle 100 to turn on the vehicle power (step S55). In the base vehicle 100, DC / DC converter 152 ( Figure 3 Therefore, it is turned on and begins to feed power from the main battery 150, and the various systems are turned on. Then, VCIB111 sets value 6 (driving mode) in the power mode status signal and outputs the power mode status signal to ADS 202 (step S60).

[0138] Figure 8 This is a flowchart illustrating an exemplary process of VCIB 111 when VP 120 is turned off according to a power mode command from ADS 202. The flowchart begins when VCIB 111 receives a power mode command from ADS 202 that has been set to value 1 (sleep mode).

[0139] Reference Figure 8 When VCIB 111 receives a power mode command from ADS 202 that has been set to value 1 (sleep mode), it performs sleep processing (step S110). Specifically, VCIB 111 instructs the base vehicle 100 to turn off the vehicle power.

[0140] When the power supply of the base vehicle 100 is turned off and the sleep process is completed ("Yes" in step S120), VCIB 111 sets the value to 1 (sleep mode) in the power mode status signal and outputs the power mode status signal to ADS 202 (step S130).

[0141] Then, VCIB 111 determines whether a predetermined time period (3000ms) has elapsed since it outputs a power mode status signal with a set value of 1 to ADS 202 (step S140). During this time period, VCIB 111 prepares to shut down VCIB itself.

[0142] When the specified time period has elapsed ("Yes" in step S140), VCIB 111 stops communicating with ADS 202 and shuts down (step S150).

[0143] As described above, in this embodiment, there are four power modes: Sleep mode, Wake mode, Ignition ON mode, and Drive mode, and VCIB 111 receives a power mode command from ADS 202 requesting control of the power mode. Therefore, according to this embodiment, ADS 202 can control the four power modes of VP120 through VCIB 111.

[0144] Furthermore, in this embodiment, VCIB 111 sends a power mode status signal indicating the power mode status of VP 120 to ADS 202. ADS 202 can thus identify the power mode status of VP 120 and perform appropriate control according to each mode.

[0145] Furthermore, in this embodiment, within a specified time period (3000ms) after performing sleep processing according to the request for sleep mode, VCIB 111 sends a power mode status signal with a set value of 1 (sleep mode) to ADS 202, and then shuts down. VCIB 111 can thus notify ADS 202 to switch the power mode to sleep mode.

[0146] [Example]

[0147] Toyota vehicle platform API specifications

[0148] Version 1.1

[0149] Revision history

[0150]

[0151] Table of contents

[0152] 1. Introduction

[0153] 1.1. Purpose of this specification

[0154] 1.2. Target Vehicle

[0155] 1.3. Definition of Terms

[0156] 2. Structure

[0157] 2.1. Overall Structure of Autono-MaaS Vehicles

[0158] 2.2. System Architecture of Autono-MaaS Vehicles

[0159] 3. Application Interface

[0160] 3.1. Typical Use of API

[0161] 3.2. APIs for Vehicle Motion Control

[0162] 3.2.1. List of APIs used for vehicle motion control

[0163] 3.2.2. Details of each API used for vehicle motion control

[0164] 3.3. APIs for Body Control

[0165] 3.3.1. List of APIs used for vehicle body control

[0166] 3.3.2. Details of each API used for body control

[0167] 3.4. API for Power Control

[0168] 3.4.1. List of APIs for Power Control

[0169] 3.4.2. Details of each API used for power control

[0170] 3.5. API for Fault Notification

[0171] 3.5.1. List of APIs used for fault notification

[0172] 3.5.2. Details of each API used for fault notification

[0173] 3.6. APIs for Security

[0174] 3.6.1. List of APIs for Security

[0175] 3.6.2. Details of each API used for security

[0176] 4. API Guidelines for Controlling Toyota Vehicles

[0177] 4.1. API for Vehicle Motion Control

[0178] 4.1.1. List of APIs used for vehicle motion control

[0179] 4.1.2. Detailed API Guide for Vehicle Motion Control

[0180] 4.2. APIs for Body Control

[0181] 4.2.1. List of APIs used for vehicle body control

[0182] 4.3. API for Power Control

[0183] 4.3.1. List of APIs for Power Control

[0184] 4.4. API for Fault Notification

[0185] 4.4.1. List of APIs used for fault notification

[0186] 4.5. APIs for Security

[0187] 4.5.1. List of APIs for Security

[0188] 4.5.2. Detailed Guidelines for Secure APIs

[0189] 1. Introduction

[0190] 1.1. Purpose of this specification

[0191] This document is the API specification for the vehicle control interface used in Autono-MaaS vehicles, and includes an overview of the API, usage instructions, and precautions.

[0192] 1.2. Target Vehicle

[0193] This specification applies to Autono-MaaS vehicles as defined by the [Architecture Specification for Toyota Vehicle Platform with Autonomous Driving System].

[0194] 1.3. Definition of Terms

[0195] Table 1. Definitions of Terms

[0196]

[0197]

[0198] 2. Structure

[0199] 2.1. Overall Structure of Autono-MaaS Vehicles

[0200] This shows the overall structure of an Autono-MaaS vehicle. Figure 9 ).

[0201] 2.2. System Architecture of Autono-MaaS Vehicles

[0202] exist Figure 10 The system architecture is shown in the diagram.

[0203] 3. Application Interface

[0204] 3.1. Typical Use of API

[0205] This section describes typical uses of the API.

[0206] The typical workflow of an API is as follows ( Figure 11 The following example assumes CAN for physical communication.

[0207] 3.2. APIs for Vehicle Motion Control

[0208] This section describes the API used for vehicle motion control.

[0209] 3.2.1. List of APIs used for vehicle motion control

[0210] 3.2.1.1. Input

[0211] Table 3. Input APIs for Vehicle Motion Control

[0212]

[0213]

[0214] *Response time in VP based on the request from ADK

[0215] 3.2.1.2. Output

[0216] Table 4. Output APIs for Vehicle Motion Control

[0217]

[0218]

[0219]

[0220] 3.2.2. Details of each API used for vehicle motion control

[0221] 3.2.2.1. Direction of Advance Command

[0222] Request to change gear from forward (D) to reverse (R), or from reverse to forward.

[0223] value

[0224] value describe Remark 0 No request 2 R Shift to reverse (R) 4 D Shift to D gear other reserve

[0225] Remark

[0226] • Available only when vehicle mode status = "Autonomous Mode".

[0227] • Available only when the vehicle is stationary (direction of travel = "stationary").

[0228] • Available only when braking is applied.

[0229] 3.2.2.2. Fixed Commands

[0230] Request to open / close wheel lock

[0231] value

[0232] The following table shows the cases where EPB and P files are used for fixing.

[0233]

[0234] Remark

[0235] This API is used to park the vehicle.

[0236] • Available only when vehicle mode status = "Autonomous Mode".

[0237] • It can only be changed when the vehicle is stationary (direction of travel = "stationary").

[0238] • It can only be changed when braking is applied.

[0239] 3.2.2.3. Static Command

[0240] Request to apply / disappear brake holding function

[0241] value

[0242] value describe Remark 0 No request 1 Already applied Allows brake holding function. 2 Released

[0243] Remark

[0244] This API is used to select whether the brake hold function is enabled.

[0245] • Available only when vehicle mode status = "Autonomous Mode".

[0246] • Continue to use the acceleration command (deceleration request) until the stationary state changes to "applied".

[0247] 3.2.2.4. Acceleration Command

[0248] Request acceleration

[0249] value

[0250] Estimated maximum deceleration to estimated maximum acceleration [m / s] 2 ]

[0251] Remark

[0252] • Available only when vehicle mode status = "Autonomous Mode".

[0253] • Acceleration (+) and deceleration (-) requests based on the propulsion direction and state direction.

[0254] • The upper / lower limits will be based on the estimated maximum deceleration and the estimated maximum acceleration change.

[0255] • When the requested acceleration is greater than the estimated maximum acceleration, the request is set to the estimated maximum acceleration.

[0256] • When the requested deceleration is greater than the estimated maximum deceleration, the request is set to the estimated maximum deceleration.

[0257] • When the driver is operating the vehicle (over-control), the requested acceleration may not be achieved.

[0258] • When PCS is working simultaneously, VP should be selected with minimum acceleration (maximum deceleration).

[0259] 3.2.2.5. Front wheel steering angle command

[0260] value

[0261] value describe Remark - [Unit: radians]

[0262] Remark

[0263] • Available only when vehicle mode status = "Autonomous Mode".

[0264] Left represents a positive value (+). Right represents a negative value (-).

[0265] • When the vehicle is traveling in a straight line, the front wheel steering angle is set to a value (0).

[0266] • This request is set to a value relative to the current one to prevent the accumulation of misalignment in the "front wheel steering angle".

[0267] • The requested value should be set within the front wheel steering angle rate limit.

[0268] • When the driver is operating the vehicle (over-control), the requested front wheel steering angle may not be achieved.

[0269] 3.2.2.6. Vehicle Mode Command

[0270] Request a change from manual mode to autonomous mode, or vice versa.

[0271] value

[0272]

[0273] Remark

[0274] N / A

[0275] 3.2.2.7. High Dynamic Commands

[0276] If ADK is to improve VP's braking response performance * The high dynamics command should be set to "high".

[0277] *Response time in VP based on the request from ADK

[0278] value

[0279] value describe Remark 0 No request 1 high 2-3 reserve

[0280] Remark

[0281] N / A

[0282] 3.2.2.8. Propulsion Direction Status

[0283] Current shift status

[0284] value

[0285] value describe Remark 0 reserve 1 P 2 R 3 N 4 D 5 reserve 6 Invalid value

[0286] Remark

[0287] • If VP is unaware of the current shift state, this output is set to "invalid value".

[0288] 3.2.2.9. Fixed State

[0289] Each fixed system state

[0290] value

[0291] The following table shows the cases where EPB and P files are used for fixing.

[0292]

[0293] Remark

[0294] ·N / A

[0295] 3.2.2.10. Stationary state

[0296] static state

[0297] value

[0298] value describe Remark 0 Released 1 Already applied 2 reserve 3 Invalid value

[0299] Remark

[0300] ·N / A

[0301] 3.2.2.11. Estimate the gliding acceleration

[0302] With the throttle valve closed, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0303] value

[0304] [Unit: meters per second] 2 ]

[0305] Remark

[0306] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0307] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0308] 3.2.2.12. Estimating the maximum acceleration

[0309] With the throttle valve fully open, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0310] value

[0311] [Unit: meters per second] 2 ]

[0312] Remark

[0313] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0314] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0315] 3.2.2.13. Estimate the maximum deceleration

[0316] When braking in VP is requested to be at its maximum, the maximum deceleration calculated in VP is taken into account factors such as gradient and road load.

[0317] value

[0318] [Unit: meters per second] 2 ]

[0319] Remark

[0320] • When the propulsion direction is “D”, the deceleration in the forward direction is shown as a negative value.

[0321] • When the forward direction is “R”, the deceleration in the backward direction is shown as a negative value.

[0322] 3.2.2.14. Front wheel steering angle

[0323] value

[0324] value describe Remark Minimum value Invalid value other [Unit: radians]

[0325] Remark

[0326] Left represents a positive value (+). Right represents a negative value (-).

[0327] The signal will show an invalid value until the VP is able to calculate the correct value or when the sensor is invalid / malfunctioning.

[0328] 3.2.2.15. Front wheel steering angular rate

[0329] Front wheel steering angle rate

[0330] value

[0331] value describe Remark Minimum value Invalid value other [Unit: radians]

[0332] Remark

[0333] Left represents a positive value (+). Right represents a negative value (-).

[0334] The signal will display an invalid value until VP can calculate the correct value or the current wheel steering angle shows a minimum value.

[0335] 3.2.2.16. Front wheel steering rate limit

[0336] Front wheel steering rate limit

[0337] value

[0338] [Unit: radians / second]

[0339] Remark

[0340] From Table 5 below and Figure 12 The speed-steering angle rate mapping shown calculates this limit.

[0341] A) When at low speed or at a stop, use a fixed value (0.751 [radians / second]).

[0342] B) At higher speeds, use 3.432 m / s 3 The steering angle rate is calculated from the vehicle speed.

[0343] Table 5. Vehicle Speed-Steering Angle Rate Mapping Chart

[0344] Speed ​​[km / h] 0.0 36.0 40.0 67.0 84.0 Front wheel steering angle rate limit [radians / second] 0.751 0.751 0.469 0.287 0.253

[0345] 3.2.2.17. Estimate the maximum lateral acceleration

[0346] value

[0347] [Unit: meters per second] 2 (Fixed value: 3.432)

[0348] Remark

[0349] • Maximum lateral acceleration limited by VP

[0350] 3.2.2.18. Estimating the maximum lateral acceleration rate

[0351] value

[0352] [Unit: meters per second] 3 (Fixed value: 3.432)

[0353] Remark

[0354] • Maximum lateral acceleration rate limited by VP

[0355] 3.2.2.19. Accelerator pedal intervention

[0356] This signal indicates whether the accelerator pedal has been pressed by the driver (intervention).

[0357] value

[0358] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous acceleration

[0359] Remark

[0360] • When the accelerator pedal is positioned above a predetermined threshold, the signal is set to "pressed".

[0361] • When the requested acceleration calculated from the position of the accelerator pedal is higher than the requested acceleration from the ADS, the signal is set to “exceed autonomous acceleration”.

[0362] 3.2.2.20. Brake pedal intervention

[0363] This signal indicates whether the driver has pressed the brake pedal (intervention).

[0364] value

[0365] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous deceleration

[0366] Remark

[0367] • When the brake pedal position is above a predetermined threshold, the signal is set to "pressed".

[0368] • 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”.

[0369] 3.2.2.21. Steering wheel intervention

[0370] This signal indicates whether the driver has intervened by operating the steering wheel.

[0371] value

[0372]

[0373]

[0374] Remark

[0375] • In “Steering wheel intervention = 1”, the EPS system works in cooperation with the human driver to drive the steering, taking into account the intentions of the human driver.

[0376] • In "Steering intervention = 2", the steering request from ADS was not implemented, taking into account the intentions of the human driver. (Steering will be driven by the human driver.)

[0377] 3.2.2.22. Gear shift lever intervention

[0378] This signal indicates whether the driver is controlling the gear shift lever (intervention).

[0379] value

[0380] value describe Remark 0 closure 1 Open Controlled (moved to any gear)

[0381] Remark

[0382] ·N / A

[0383] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0384] value

[0385]

[0386] Remark

[0387] • Integrate the pulse value at the moment of pulse descent.

[0388] The wheel speed sensor outputs 96 pulses per rotation.

[0389] • The wheel speed pulse will be updated regardless of whether the wheel speed sensor is invalid or malfunctioning.

[0390] • When “1” is subtracted from the pulse value showing “0”, the value changes to “0×FF”. When “1” is added to the pulse value showing “0×FF”, the value changes to “0”.

[0391] • The rotation direction is determined after the ECU is started, and the pulse value will be increased when the rotation direction is "forward".

[0392] • When forward rotation is detected, the pulse value will be increased.

[0393] • When backward rotation is detected, the pulse value will be subtracted.

[0394] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0395] value

[0396] value describe Remark 0 forward 1 backward 2 reserve 3 Invalid value The sensor is malfunctioning.

[0397] Remark

[0398] • Determine the rotation direction after VP is turned on and set it to "forward".

[0399] 3.2.2.25. Direction of travel

[0400] Direction of movement of the vehicle

[0401] value

[0402] value describe Remark 0 forward 1 backward 2 still 3 Undefined

[0403] Remark

[0404] • When the speed of all four wheels is “0” at a constant time, the signal indicates “stationary”.

[0405] • When shifting gears immediately after the vehicle has started, it can be "undefined".

[0406] 3.2.2.26. Vehicle speed

[0407] Estimated longitudinal speed of the vehicle

[0408] value

[0409] value describe Remark Maximum value in transmitted bits Invalid value The sensor is malfunctioning. other Speed ​​[unit: meters per second]

[0410] Remark

[0411] • The signal value is positive when both the forward and backward directions are in motion.

[0412] 3.2.2.27. Longitudinal acceleration

[0413] Estimated longitudinal acceleration of the vehicle

[0414] value

[0415] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0416] Remark

[0417] • Acceleration (+) and deceleration (-) values ​​based on the pulse direction and state direction.

[0418] 3.2.2.28. Lateral acceleration

[0419] lateral acceleration of the vehicle

[0420] value

[0421] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0422] Remark

[0423] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0424] 3.2.2.29. Yaw rate

[0425] yaw rate sensor value

[0426] value

[0427] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other Yaw rate [unit: degrees / second]

[0428] Remark

[0429] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0430] 3.2.2.30. Sliding Detection

[0431] Tire slippage / sharp turn / skid detection

[0432] value

[0433] value describe Remark 0 No sliding 1 slide 2 reserve 3 Invalid value

[0434] Remark

[0435] • This signal is considered "slippery" when any of the following systems are already running.

[0436] -ABS (Anti-lock Braking System)

[0437] -TRC (Traction Control)

[0438] -VSC (Vehicle Stability Control)

[0439] -VDIM (Vehicle Dynamics Integrated Management)

[0440] 3.2.2.31. Vehicle Mode Status

[0441] Autonomous mode or manual mode

[0442] value

[0443] value describe Remark 0 Manual mode The mode starts from manual mode. 1 Autonomous mode

[0444] Remark

[0445] • The initial state is set to "manual mode".

[0446] 3.2.2.32. Automation Ready

[0447] This signal indicates whether the vehicle can switch to autonomous mode.

[0448] value

[0449] value describe Remark 0 Not prepared for an independent model 1 Preparing for an autonomous mode 3 invalid The status has not yet been determined.

[0450] Remark

[0451] ·N / A

[0452] 3.2.2.33. Fault Status of VP Function in Autonomous Mode

[0453] This signal is used to indicate whether the VP function has certain fault modes when the vehicle is operating in autonomous mode.

[0454] value

[0455] value describe Remark 0 No fault 1 Fault 3 invalid The status has not yet been determined.

[0456] Remark

[0457] ·N / A

[0458] 3.2.2.34. PCS Alarm Status

[0459] value

[0460] value describe Remark 0 normal 1 alarm Request an alert from the PCS system. 3 Unavailable

[0461] Remark

[0462] N / A

[0463] 3.2.2.35. PCS Preparation Status

[0464] Pre-filling state as preparation for PCS braking

[0465] value

[0466] value describe Remark 0 normal 1 start up 3 Unavailable

[0467] Remark

[0468] • “Start” is a state that prepares the braking actuator for the PCS to shorten the delay from when the PCS issues a deceleration request.

[0469] • When the value changes to “Start” during the vehicle mode state = “Autonomous Mode”, “ADS / PCS Disruption Status” displays “ADS”.

[0470] 3.2.2.36. PCS Braking / PCS Braking Holding Status

[0471] value

[0472] value describe Remark 0 normal 1 PCS braking 2 PCS Braking Hold 7 Unavailable

[0473] Remark

[0474] N / A

[0475] 3.2.2.37. ADS / PCS Mediation Status

[0476] Mediation status

[0477] value

[0478] value describe Remark 0 No request 1 ADS ADS 2 PCS PCS braking or PCS braking hold 3 Invalid value

[0479] Remark

[0480] • When the acceleration requested by the PCS system in VP is less than the acceleration requested by ADS, the state is set to "PCS".

[0481] • When the acceleration requested by the PCS system in VP is greater than the acceleration requested by ADS, the state is set to "ADS".

[0482] 3.3 APIs for Body Control

[0483] 3.3.1. List of APIs used for vehicle body control

[0484] 3.3.1.1. Input

[0485] Table 6. Input APIs for Body Control

[0486]

[0487]

[0488] 3.3.1.2. Output

[0489] Table 7. Output APIs for Body Control

[0490]

[0491]

[0492] 3.3.2. Details of each API used for body control

[0493] 3.3.2.1. Turning signal command

[0494] Request to control steering signal

[0495] value

[0496]

[0497]

[0498] Remark

[0499] ·N / A

[0500] 3.3.2.2.Headlight command

[0501] Request to control headlights

[0502] value

[0503] value describe Remark 0 No request Keep the current mode 1 Taillight mode request Side light mode 2 Headlamp 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

[0504] Remark

[0505] • This command is invalid when the headlight mode of the combination switch is "off" or the autonomous mode is "on".

[0506] • Driver's actions take precedence over this command.

[0507] 3.3.2.3. Hazard Warning Light Command

[0508] Request to control hazard warning lights

[0509] value

[0510]

[0511]

[0512] Remark

[0513] • Driver's actions take precedence over this command.

[0514] • The hazard warning lights will turn on upon receiving the "on" command.

[0515] 3.3.2.4. Horn Mode Command

[0516] Requests for selecting the on and off times per cycle

[0517] value

[0518] value describe Remark 0 No request 1 Mode 1 Open time: 250 milliseconds; Close time: 750 milliseconds 2 Mode 2 Open time: 500 milliseconds; Close time: 500 milliseconds 3 Mode 3 reserve 4 Mode 4 reserve 5 Mode 5 reserve 6 Mode 6 reserve 7 Mode 7 reserve

[0519] Remark

[0520] N / A

[0521] 3.3.2.5. Horn Cycle Command

[0522] Request to select the number of cycles to turn on and off

[0523] value

[0524] 0-7[-]

[0525] Remark

[0526] N / A

[0527] 3.3.2.6. Continuous Horn Command

[0528] Request to turn the speaker on / off

[0529] value

[0530] value describe Remark 0 No request 1 Open

[0531] Remark

[0532] • This command has higher priority than the 3.3.2.4 Horn Mode and 3.3.2.5 Horn Cycle commands.

[0533] • The speaker will "turn on" simultaneously upon receiving the "turn on" command.

[0534] 3.3.2.7. Windshield wiper command

[0535] Request to control the windshield wipers

[0536] value

[0537] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 High-frequency mode request 3 Intermittent mode request 4 Autonomous mode request 5 Spray mode request One-time wipe 6-7 reserve

[0538] Remark

[0539] This command is valid when the windshield wiper mode of the combination switch is set to "Off" or "Auto".

[0540] • Driver input takes precedence over this command.

[0541] • Maintain windshield wiper mode while receiving the command.

[0542] • Erasing speed in fixed intermittent mode.

[0543] 3.3.2.8. Rear windshield wiper command

[0544] Request to control rear windshield wipers

[0545] value

[0546] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 reserve 3 Intermittent mode request 4-7 reserve

[0547] Remark

[0548] • Driver input takes precedence over this command.

[0549] • Maintain windshield wiper mode while receiving the command.

[0550] • Erasing speed in fixed intermittent mode.

[0551] 3.3.2.9. HVAC (First Line) Operation Commands

[0552] Start / stop the first line of air conditioning control request

[0553] value

[0554] value describe Remark 0 No request 1 Open 2 closure

[0555] Remark

[0556] ·N / A

[0557] 3.3.2.10. HVAC (Second Line) Operation Commands

[0558] Start / stop the second line of air conditioning control request

[0559] value

[0560] value describe Remark 0 No request 1 Open 2 closure

[0561] Remark

[0562] ·N / A

[0563] 3.3.2.11. Target Temperature (first command on the left)

[0564] Request to set the target temperature in the left front region

[0565] value

[0566] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0567] Remark

[0568] • When Celsius is used in VP, the value should be set to Celsius.

[0569] 3.3.2.12. Target Temperature (first command on the right)

[0570] Request to set the target temperature in the right front region

[0571] value

[0572] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0573] Remark

[0574] • When Celsius is used in VP, the value should be set to Celsius.

[0575] 3.3.2.13. Target Temperature (second from the left) command

[0576] Request to set the target temperature in the left rear region

[0577] value

[0578] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0579] Remark

[0580] • When Celsius is used in VP, the value should be set to Celsius.

[0581] 3.3.2.14. Target Temperature (second from the right) command

[0582] Request to set the target temperature in the right rear region.

[0583] value

[0584] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0585] Remark

[0586] • When Celsius is used in VP, the value should be set to Celsius.

[0587] 3.3.2.15. HVAC Fan (First Line) Command

[0588] Request to set the fan level of the front AC

[0589] value

[0590] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0591] Remark

[0592] • To switch the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0593] • To switch the fan level to automatic, you should send the command "HVAC (first line) operation = turn on".

[0594] 3.3.2.16. HVAC Fan (Second Line) Command

[0595] Request for AC fan level after configuration

[0596] value

[0597] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0598] Remark

[0599] • To switch the fan level to 0 (off), you should transmit "HVAC (second line) operation command = off".

[0600] • To switch the fan level to automatic, you should send the command "HVAC (second line) operation = turn on".

[0601] 3.3.2.17. Air Exit (First Line) Command

[0602] Request to set the first line of air outlet mode

[0603] value

[0604] value describe Remark 0 No operation 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Airflow to the feet 4 Foot / Defogger Airflow to the feet and windshield defroster

[0605] Remark

[0606] ·N / A

[0607] 3.3.2.18. Air Exit (Second Line) Command

[0608] Request to set the air outlet mode in the second row

[0609] value

[0610] value describe Remark 0 No operation 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Air flows towards the feet.

[0611] Remark

[0612] ·N / A

[0613] 3.3.2.19. Air Circulation Command

[0614] Request to set air circulation mode

[0615] value

[0616] value describe Remark 0 No request 1 Open 2 closure

[0617] Remark

[0618] ·N / A

[0619] 3.3.2.20. AC Mode Commands

[0620] Request to configure AC mode

[0621] value

[0622] value describe Remark 0 No request 1 Open 2 closure

[0623] Remark

[0624] ·N / A

[0625] 3.3.2.21. Turning signal status

[0626] value

[0627] value describe Remark 0 closure 1 Left 2 right 3 invalid

[0628] Remark

[0629] N / A

[0630] 3.3.2.22. Headlight Status

[0631] value

[0632]

[0633]

[0634] Remark

[0635] N / A

[0636] 3.3.2.23. Hazard warning light status

[0637] value

[0638] value describe Remark 0 closure 1 Danger warning 2 reserve 3 invalid

[0639] Remark

[0640] N / A

[0641] 3.3.2.24. Horn Status

[0642] value

[0643] value describe Remark 0 closure 1 Open 2 reserve 3 invalid

[0644] Remark

[0645] When the 3.3.2.4 horn mode command is activated, the horn status is "1" even during periods when the mode is off in some modes.

[0646] 3.3.2.25. Windshield wiper status

[0647] value

[0648] value describe Remark 0 closure 1 low frequency 2 High frequency 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0649] Remark

[0650] N / A

[0651] 3.3.2.26. Rear windshield wiper status

[0652] value

[0653] value describe Remark 0 closure 1 low frequency 2 reserve 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0654] Remark

[0655] N / A

[0656] 3.3.2.27. HVAC (first line) status

[0657] value

[0658] value describe Remark 0 closure 1 Open

[0659] Remark

[0660] ·N / A

[0661] 3.3.2.28. HVAC (Second line) Status

[0662] value

[0663] value describe Remark 0 closure 1 Open

[0664] Remark

[0665] ·N / A

[0666] 3.3.2.29. Target Temperature (first one on the left) Status

[0667] value

[0668] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0669] Remark

[0670] • When Celsius is used in VP, the value should be set to Celsius.

[0671] 3.3.2.30. Target Temperature (first one on the right) Status

[0672] value

[0673] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0674] Remark

[0675] • When Celsius is used in VP, the value should be set to Celsius.

[0676] 3.3.2.31. Target Temperature (Second from the left) Status

[0677] value

[0678] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0679] Remark

[0680] • When Celsius is used in VP, the value should be set to Celsius.

[0681] 3.3.2.32. Target Temperature (Second from the Right) Status

[0682] value

[0683]

[0684]

[0685] Remark

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

[0687] 3.3.2.33. HVAC Fan (First Line) Status

[0688] value

[0689] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0690] Remark

[0691] ·N / A

[0692] 3.3.2.34. HVAC Fan (Second Row) Status

[0693] value

[0694] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0695] Remark

[0696] ·N / A

[0697] 3.3.2.35. Air outlet (first line) status

[0698] value

[0699]

[0700]

[0701] Remark

[0702] ·N / A

[0703] 3.3.2.36. Air outlet (second line) status

[0704] value

[0705] value describe Remark 0 Close all 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Air flows towards the feet. 7 Undefined

[0706] Remark

[0707] ·N / A

[0708] 3.3.2.37. Air circulation status

[0709] value

[0710] value describe Remark 0 closure 1 Open

[0711] Remark

[0712] ·N / A

[0713] 3.3.2.38. AC Mode Status

[0714] value

[0715] value describe Remark 0 closure 1 Open

[0716] Remark

[0717] ·N / A

[0718] 3.3.2.39. Seat Occupancy (First Seat on the Right) Status

[0719] value

[0720] value describe Remark 0 Unoccupied 1 Already occupied 2 Undecided In the event that the ignition device is off or communication with the seat sensors is interrupted. 3 Fault

[0721] Remark

[0722] • When there is luggage on the seat, the signal can be set to "occupied".

[0723] 3.3.2.40. Seatbelt (first one on the left) status

[0724] value

[0725]

[0726]

[0727] Remark

[0728] N / A

[0729] 3.3.2.41. Seatbelt (first one on the right) status

[0730] value

[0731] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 Switch malfunction

[0732] Remark

[0733] N / A

[0734] 3.3.2.42. Seatbelt (second one from the left) status

[0735] value

[0736] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0737] Remark

[0738] • Cannot detect sensor malfunction

[0739] 3.3.2.43. Seatbelt (second one from the right) status

[0740] value

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

[0742] Remark

[0743] • Cannot detect sensor malfunction

[0744] 3.3.2.44. Seatbelt (third one from the left) status

[0745] value

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

[0747] Remark

[0748] • Cannot detect sensor malfunction

[0749] 3.3.2.45. Seatbelt (third center seatbelt) status

[0750] value

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

[0752] Remark

[0753] • Cannot detect sensor malfunction

[0754] 3.3.2.46. Seatbelt (third one from the right) status

[0755] value

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

[0757] Remark

[0758] • Cannot detect sensor malfunction

[0759] 3.4. API for Power Control

[0760] 3.4.1. List of APIs for Power Control

[0761] 3.4.1.1. Input

[0762] Table 8. Input APIs for Power Control

[0763] Signal name describe redundancy Power mode command Commands to control the power mode of VP N / A

[0764] 3.4.1.2. Output

[0765] Table 9. Output APIs for Power Control

[0766] Signal name describe redundancy Power mode status The current power mode status of VP N / A

[0767] 3.4.2. Details of each API used for power control

[0768] 3.4.2.1. Power Mode Command

[0769] Request to control power mode

[0770] value

[0771] 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

[0772] Remark

[0773] ·exist Figure 13 The state machine diagram for the power mode is shown below.

[0774] [Sleep]

[0775] Vehicle power off. In this mode, the main battery does not supply power to any system, and the VCIB and other VP ECUs do not start.

[0776] [wake]

[0777] The VCIB is activated by the auxiliary battery. In this mode, ECUs other than the VCIB are not activated, except for some vehicle electronic ECUs.

[0778] [Driving Mode]

[0779] Vehicle powered on. In this mode, the main battery supplies power to the entire VP, and all VP ECUs, including the VCIB, are activated.

[0780] 3.4.2.2. Power Mode Status

[0781] value

[0782]

[0783]

[0784] Remark

[0785] After executing the sleep sequence, VCIB will continuously transmit [sleep] as the power mode state for 3000 [milliseconds]. Then, VCIB will shut down.

[0786] • While the VCIB is transmitting [sleep], the ADS will stop transmitting signals to the VCIB.

[0787] 3.5. API for Fault Notification

[0788] 3.5.1. List of APIs used for fault notification

[0789] 3.5.1.1. Input

[0790] Table 10. Input APIs for Fault Notification

[0791] Signal name describe redundancy N / A N / A N / A

[0792] 3.5.1.2. Output

[0793] Table 11. Output APIs for Fault Notification

[0794]

[0795]

[0796] 3.5.2. Details of each API used for fault notification

[0797] 3.5.2.1. Requests for ADS Operations

[0798] value

[0799] value describe Remark 0 No request 1 Maintenance required 2 Need to return to the garage 3 Need to stop immediately other reserve

[0800] Remark

[0801] This signal indicates the expected behavior of ADS in response to a fault occurring in VP.

[0802] 3.5.2.2. Impact detection signal

[0803] value

[0804] value describe Remark 0 normal 5 Collision detection with airbags deployed 6 Collision detection with high-voltage circuit off 7 Invalid value other reserve

[0805] Remark

[0806] • When a collision detection event is generated, 50 signals are transmitted consecutively every 100 milliseconds. If the collision detection state changes before the signal transmission is complete, a higher priority signal is transmitted.

[0807] Priority: Collision detection > Normal

[0808] Regardless of the normal response during a collision, a 5-second transmission is required because a disconnect voltage request should be sent to the vehicle damage assessment system within 5 seconds after a collision in an HV vehicle.

[0809] The transmission interval is 100 milliseconds within the allowed delay time (1 second) for fuel cut-off action, enabling data to be transmitted more than 5 times.

[0810] In this situation, a momentary power outage should be considered.

[0811] 3.5.2.3. Performance degradation of the braking system

[0812] value

[0813] value describe Remark 0 normal — 1 Degradation detected —

[0814] Remark

[0815] ·N / A

[0816] 3.5.2.4. Performance degradation of the propulsion system

[0817] value

[0818] value describe Remark 0 normal — 1 Degradation detected —

[0819] Remark

[0820] ·N / A

[0821] 3.5.2.5. Performance degradation of the shift control system

[0822] value

[0823]

[0824]

[0825] Remark

[0826] ·N / A

[0827] 3.5.2.6. Performance degradation of fixed systems

[0828] value

[0829] value describe Remark 0 normal — 1 Degradation detected —

[0830] Remark

[0831] ·N / A

[0832] 3.5.2.7. Performance degradation of the steering system

[0833] value

[0834] value describe Remark 0 normal — 1 Degradation detected —

[0835] Remark

[0836] ·N / A

[0837] 3.5.2.8. Performance degradation of the power supply system

[0838] value

[0839]

[0840]

[0841] Remark

[0842] ·N / A

[0843] 3.5.2.9. Performance degradation of communication systems

[0844] value

[0845] value describe Remark 0 normal — 1 Degradation detected —

[0846] Remark

[0847] ·N / A

[0848] 3.6. APIs for Security

[0849] 3.6.1. List of APIs for Security

[0850] 3.6.1.1. Input

[0851] Table 12. Input APIs for Security

[0852]

[0853]

[0854] 3.6.1.2. Output

[0855] Table 13. Output APIs for Security

[0856]

[0857]

[0858] 3.6.2. Details of each API used for security

[0859] 3.6.2.1. Door lock (front) command, door lock (rear) command

[0860] value

[0861] value describe Remark 0 No request 1 locking Not supported in Toyota VP 2 Unlock 3 reserve

[0862] Remark

[0863] • If ADK requests to unlock the front, then both front doors will be unlocked.

[0864] • If ADK requests to unlock the rear, then unlock the second row of doors and the trunk door.

[0865] • If ADK requests to lock any door, the “Central Door Lock Command” should be used.

[0866] (The functionality for individual locks is not supported in Toyota VP.)

[0867] 3.6.2.2. Central door lock command

[0868] Request to control all door locks

[0869] value

[0870] value describe Remark 0 No request 1 Lock (All) 2 Unlock (all) 3 reserve

[0871] Remark

[0872] ·N / A

[0873] 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

[0874] The first word of the device authentication signature exists in the first to eighth bytes of the signature.

[0875] The second word of the device authentication signature is present in bytes nine through sixteen of the signature.

[0876] The third word of the device authentication signature is located in bytes seventeen through twenty-four of the signature.

[0877] The fourth word of the device authentication signature is located in bytes 25 through 32 of the signature.

[0878] The first word of the device authentication seed exists in the first to eighth bytes of the seed.

[0879] The second word of the device authentication seed exists in bytes nine through sixteen of the seed.

[0880] 3.6.2.4. Door lock (first one on the left) status

[0881] value

[0882] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0883] Remark

[0884] ·N / A

[0885] 3.6.2.5. Door lock (first one on the right) status

[0886] value

[0887]

[0888]

[0889] Remark

[0890] ·N / A

[0891] 3.6.2.6. Door lock (second from the left) status

[0892] value

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

[0894] Remark

[0895] ·N / A

[0896] 3.6.2.7. Door lock (second from the right) status

[0897] value

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

[0899] Remark

[0900] ·N / A

[0901] 3.6.2.8. Door lock status of all departments

[0902] value

[0903] value describe Remark 0 reserve 1 Lock all 2 Unlock any door 3 invalid

[0904] Remark

[0905] • "Any door unlocked" if any door is unlocked.

[0906] • When all departments are locked down, “all departments are locked down”.

[0907] 3.6.2.9. Alarm System Status

[0908] value

[0909] value describe Remark 0 All Alert The alarm system is not activated. 1 alert The alarm system was activated but no alarm was issued. 2 start up The alarm system is activated, and the alarm beeps. 3 invalid

[0910] Remark

[0911] ·N / A

[0912] 3.6.2.9.1. Short-range odometer

[0913] The counter is incremented in short increments by the freshness value management main ECU.

[0914] value

[0915] 0-FFFFh

[0916] Remark

[0917] This value is used to create the freshness value.

[0918] For more details, please refer to other materials [Toyota's MAC module specifications].

[0919] 3.6.2.9.2. Reset the counter

[0920] This counter is periodically incremented by the main ECU, which manages the freshness value.

[0921] value

[0922] 0-FFFFFh

[0923] Remark

[0924] This value is used to create the freshness value.

[0925] For more details, please refer to other materials [Toyota's MAC module specifications].

[0926] 3.6.2.10. The first door on the left is open.

[0927] The current open / closed status of the first door on the left side of the vehicle platform.

[0928] value

[0929] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0930] Remark

[0931] N / A

[0932] 3.6.2.11. The first door on the right is open.

[0933] The current open / closed status of the first door on the right.

[0934] value

[0935] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0936] Remark

[0937] N / A

[0938] 3.6.2.12. The second door on the left is open.

[0939] The current open / closed status of the second door on the left.

[0940] value

[0941] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0942] Remark

[0943] N / A

[0944] 3.6.2.13. The second door on the right is open.

[0945] The current open / closed status of the second door on the right.

[0946] value

[0947] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0948] Remark

[0949] N / A

[0950] 3.6.2.14. Trunk Status

[0951] Current trunk door open / closed status

[0952] value

[0953] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0954] Remark

[0955] N / A

[0956] 3.6.2.15. Engine hood open

[0957] Current engine hood open / closed status

[0958] value

[0959] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0960] Remark

[0961] N / A

[0962] 4. API Guidelines for Controlling Toyota Vehicles

[0963] This section details how to use the API for Toyota vehicles.

[0964] 4.1. API for Vehicle Motion Control

[0965] 4.1.1. List of APIs used for vehicle motion control

[0966] The input and output APIs for vehicle motion control are shown in Tables 14 and 15, respectively. Usage guidelines for some APIs appear in the following sections as indicated in each table.

[0967] 4.1.1.1. Input

[0968] Table 14. Input APIs for Vehicle Motion Control

[0969]

[0970] *Response time in VP based on the request from ADK

[0971] 4.1.1.2. Output

[0972] Table 15. Input APIs for Vehicle Motion Control

[0973]

[0974]

[0975]

[0976] 4.1.2. API Details for Vehicle Motion Control

[0977] 4.1.2.1. Pulse Direction Command

[0978] For values ​​and notes, please refer to section 3.2.2.1.

[0979] Figure 14 The detailed shift sequence is shown.

[0980] The acceleration command requests initial deceleration and a vehicle stop. When the driving direction is set to "Stand," any gear can be requested via the propulsion direction command. Figure 14 In Chinese, “D” → “R”.

[0981] The acceleration command needs to be used to request deceleration until the gear shift is complete.

[0982] After changing gears, you can select to accelerate or decelerate based on the acceleration command.

[0983] When the vehicle is in autonomous mode, it does not accept driver gear shifting.

[0984] 4.1.2.2. Fixed Commands

[0985] For values ​​and notes, please refer to 3.2.2.2.

[0986] Figure 15 This shows how to enable / disable pinned features.

[0987] An acceleration command is used to request deceleration to bring the vehicle to a stop. When the vehicle speed reaches zero, the stationary function is activated by the stationary command = "Applied". The acceleration command is set to decelerate until the stationary state is set to "Applied".

[0988] When deactivating the fixed function, it is necessary to request the fixed command = "deactivated" and at the same time set the acceleration command to decelerate until the fixed status is confirmed = "deactivated".

[0989] After the fixed function is disabled, the vehicle can be accelerated / decelerated based on the acceleration command.

[0990] 4.1.2.3. Static Command

[0991] For values ​​and notes, please refer to 3.2.2.3.

[0992] When the stationary command is set to "applied", the brake holding function can be prepared for use, and the brake holding function is activated while the vehicle is stationary, with the acceleration command set to deceleration (<0). The stationary state then changes back to "applied". Conversely, when the stationary command is set to "deactivated", the brake holding function is deactivated.

[0993] Figure 16 The static sequence is shown.

[0994] To bring the vehicle to a stop, an acceleration command is used to request deceleration.

[0995] When the vehicle comes to a temporary stop, the driving direction changes to "stationary". Even during the "stationary state = applied" period, deceleration will be requested via an acceleration command.

[0996] If you want the vehicle to move forward, the acceleration command is set to accelerate (>0). Then the brake holding function is released and the vehicle is accelerated.

[0997] 4.1.2.4. Speed-up command

[0998] For values ​​and notes, please refer to 3.2.2.4.

[0999] The following shows what the vehicle does when the accelerator pedal is pressed.

[1000] When the accelerator pedal is engaged, select either 1) the maximum acceleration value calculated based on the accelerator pedal travel, or 2) the maximum acceleration value input from the ADK acceleration command. The ADK can determine which value to select by checking the engagement of the accelerator pedal.

[1001] The following shows what the vehicle does when the brake pedal is operated.

[1002] The vehicle's deceleration value is the sum of 1) the value calculated based on the brake pedal travel and 2) the value requested by ADK.

[1003] 4.1.2.5. Front wheel steering angle command

[1004] For values ​​and notes, please refer to 3.2.2.5.

[1005] The following shows how to use the front wheel steering angle command.

[1006] The front wheel steering angle command is set to a value relative to the front wheel steering angle.

[1007] For example, when the front wheel steering angle is 0.1 radians and the vehicle is traveling straight;

[1008] If ADK wants to go straight, the front wheel steering angle command will be set to 0 + 0.1 = 0.1 [radians].

[1009] If ADK requests a steering angle of -0.3 radians, the front wheel steering angle command will be set to -0.3 + 0.1 = -0.2 radians.

[1010] The following illustrates how the vehicle behaves when the driver operates the steering mechanism.

[1011] Choose the maximum value from 1) the value calculated based on the driver's steering wheel operation, or 2) the value requested by ADK.

[1012] Note that if the driver applies strong pressure to the steering wheel, the driver will not accept the front wheel steering angle command. This situation can be detected by intervening through the steering wheel indicator.

[1013] 4.1.2.6. Vehicle Mode Command

[1014] exist Figure 17 The diagram shows the state machine for mode transitions in Autono-MaaS vehicles.

[1015] The description of each state is shown below.

[1016]

[1017] The descriptions for each conversion are shown below.

[1018]

[1019] 4.2. APIs for Body Control

[1020] 4.2.1. List of APIs used for vehicle body control

[1021] 4.2.1.1. Input

[1022] Table 16. Input APIs for Body Control

[1023]

[1024]

[1025] 4.2.1.2. Output

[1026] Table 17. Output APIs for Body Control

[1027]

[1028]

[1029] 4.3. API for Power Control

[1030] 4.3.1. List of APIs for Power Control

[1031] 4.3.1.1. Input

[1032] Table 18. Input APIs for Power Control

[1033] Signal name describe redundancy User Guide Power mode command Commands to control the power mode of VP N / A —

[1034] 4.3.1.2. Output

[1035] Table 19. Output APIs for Power Control

[1036] Signal name describe redundancy User Guide Power mode status The current power mode status of VP N / A —

[1037] 4.4. API for Fault Notification

[1038] 4.4.1. List of APIs used for fault notification

[1039] 4.4.1.1. Input

[1040] Table 20. Input APIs for Fault Notification

[1041] Signal name describe redundancy User Guide N / A — — —

[1042] 4.4.1.2. Output

[1043] Table 21. Output APIs for Fault Notification

[1044]

[1045]

[1046] 4.5. APIs for Security

[1047] 4.5.1. List of APIs for Security

[1048] The input and output APIs for security are shown in Tables 22 and 23, respectively. Usage guidelines for some APIs appear in the following sections as indicated in each table.

[1049] 4.5.1.1. Input

[1050] Table 22. Input APIs for Security

[1051]

[1052]

[1053] 4.5.1.2. Output

[1054] Table 23. Output APIs for Security

[1055]

[1056]

[1057] 4.5.2. Detailed Guidelines for Secure APIs

[1058] 4.5.2.1. Device Authentication Protocol

[1059] When VCIB is started from "sleep" mode, the application device is authenticated.

[1060] After successful authentication, VCIB is able to begin communicating with ADK.

[1061] exist Figure 18 The authentication process is shown in the authentication process diagram.

[1062] Certification Standards

[1063] 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-bit —

[1064] Although embodiments of this disclosure have been described, it should be understood that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the terminology of the claims and is intended to include any modifications within the equivalent scope and meaning of the terminology of the claims.

Claims

1. A vehicle platform on which an autonomous driving system can be installed, the vehicle platform comprising: vehicle; and A vehicle control interface box that provides an interface between the vehicle and the autonomous driving system, wherein... The vehicle control interface box includes a processor and a memory, in which programs executed by the processor are stored. The processor The system receives a power mode command, which includes a request for control of the vehicle platform's power mode. The vehicle includes Main battery; Auxiliary battery; as well as Multiple electronic control units, and The power mode includes In the first mode, the vehicle control interface box and the plurality of electronic control units are not activated. In the second mode, the vehicle control interface box and a portion of the plurality of electronic control units are activated by power supplied from the auxiliary battery instead of power supplied from the main battery, and the vehicle is inoperable. In the third mode, more of the vehicle control interface box and the plurality of electronic control units than in the second mode are awakened by power supplied from the auxiliary battery instead of power supplied from the main battery, and in which the vehicle is inoperable. The fourth mode, wherein the vehicle control interface box and the plurality of electronic control units are activated, and wherein the vehicle is capable of driving.

2. The vehicle platform according to claim 1, wherein The power mode is Able to switch from the first mode to the second mode, It can switch from the second mode to any one of the first mode, the third mode, and the fourth mode. Capable of switching from the third mode to any one of the first mode, the second mode, and the fourth mode, and It can switch from the fourth mode to either the first mode or the second mode.

3. The vehicle platform according to claim 2, wherein The vehicle control interface box is configured to ignore requests to switch from the fourth mode to the third mode.

4. The vehicle platform according to claim 1, wherein The vehicle control interface box is further configured to send a power mode status to the autonomous driving system, indicating the state of the power mode of the vehicle platform.

5. An autonomous driving system configured to be installed on a vehicle platform, the vehicle platform including a vehicle and a vehicle control interface box providing an interface between the vehicle and the autonomous driving system, the autonomous driving system comprising: Computing components; and The communication module communicates with the vehicle control interface box, wherein... The computing component is programmed to send a power mode command requesting control of the vehicle platform's power mode to the vehicle control interface box via the communication module. The vehicle control interface box receives the power mode command and... The vehicle includes Main battery; Auxiliary battery; as well as Multiple electronic control units, and The power mode includes In the first mode, the vehicle control interface box and the plurality of electronic control units are not activated. In the second mode, the vehicle control interface box and a portion of the plurality of electronic control units are activated by power supplied from the auxiliary battery instead of power supplied from the main battery, and the vehicle is inoperable. In the third mode, more of the vehicle control interface box and the plurality of electronic control units than in the second mode are awakened by power supplied from the auxiliary battery instead of power supplied from the main battery, and in which the vehicle is inoperable. The fourth mode, wherein the vehicle control interface box and the plurality of electronic control units are activated, and wherein the vehicle is capable of driving.

6. The autonomous driving system according to claim 5, wherein The power mode is Able to switch from the first mode to the second mode, It can switch from the second mode to any one of the first mode, the third mode, and the fourth mode. Capable of switching from the third mode to any one of the first mode, the second mode, and the fourth mode, and It can switch from the fourth mode to either the first mode or the second mode.

7. The autonomous driving system according to claim 5, wherein The computing component is further programmed to receive, via the communication module, a power mode state indicating the power mode state of the vehicle platform from the vehicle control interface box.

8. A vehicle control interface box providing an interface between a vehicle platform and an autonomous driving system installed on the vehicle platform, the vehicle control interface box comprising: processor; and A memory, wherein a program executed by the processor is stored, wherein The processor According to the procedure, the system receives a power mode command, which includes a request for control of the vehicle platform's power mode. The vehicle platform includes vehicles. The vehicle includes Main battery; Auxiliary battery; as well as Multiple electronic control units, and The power mode includes In the first mode, the vehicle control interface box and the plurality of electronic control units are not activated. In the second mode, the vehicle control interface box and a portion of the plurality of electronic control units are activated by power supplied from the auxiliary battery instead of power supplied from the main battery, and the vehicle is inoperable. In the third mode, more of the vehicle control interface box and the plurality of electronic control units than in the second mode are awakened by power supplied from the auxiliary battery instead of power supplied from the main battery, and in which the vehicle is inoperable. The fourth mode, wherein the vehicle control interface box and the plurality of electronic control units are activated, and wherein the vehicle is capable of driving.

9. The vehicle control interface box according to claim 8, wherein... The power mode is Able to switch from the first mode to the second mode, It can switch from the second mode to any one of the first mode, the third mode, and the fourth mode. Capable of switching from the third mode to any one of the first mode, the second mode, and the fourth mode, and It can switch from the fourth mode to either the first mode or the second mode.

10. The vehicle control interface box according to claim 9, wherein... The processor ignores requests to switch from the fourth mode to the third mode.

11. The vehicle control interface box according to claim 8, wherein... The processor further sends a power mode status, indicating the state of the power mode of the vehicle platform, to the autonomous driving system.

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