Autonomous driving system, vehicle control interface, and vehicle

Abstract

The present disclosure relates to an autonomous driving system, a vehicle control interface and a vehicle. A VP (20) comprises an EPB system (341) configured to switch between activation and deactivation of brake hold and a VCIB (40) providing an interface between an ADS (11) and the VP (20). The VCIB (40) is configured to provide a stationary state signal to the ADS (11). The stationary state signal comprises an applied value indicating activation of brake hold and a deactivated value indicating deactivation of brake hold. The ADS (11) comprises a computing component (111). When the computing component (111) requests the VP (20) to activate brake hold, it requests the VP (20) to decelerate until the stationary state signal switches from the deactivated value to the applied value.

Description

[0001] This non-provisional application is based on Japanese Patent Application No. 2021-157678, 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 autonomous driving systems, vehicle control interfaces, and vehicles. Background Technology

[0003] Recently, technologies for autonomous driving of vehicles have been developed. For example, Japanese Patent Application Publication No. 2018-132015 discloses an autonomous driving system that centrally controls the autonomous driving of a vehicle. This autonomous driving system includes cameras, laser devices, radar devices, operating devices, slope sensors, autonomous driving devices, and an autonomous driving electronic control unit (ECU). Summary of the Invention

[0004] The autonomous driving system can be externally attached to the vehicle body. In this case, autonomous driving is achieved through vehicle platform (described later) controlling the vehicle based on control requests from the autonomous driving system. During autonomous driving, the vehicle needs to be safely stationary.

[0005] For proper coordination between the autonomous driving system and the vehicle platform, it is desirable to provide an appropriate interface between them. The importance of this interface may be particularly evident when the developers of the autonomous driving system differ from those of the vehicle platform developers.

[0006] This disclosure is made to address the aforementioned problems, and one of the purposes of this disclosure is to enable the vehicle to remain safely stationary during autonomous driving by providing a suitable interface between the autonomous driving system and the vehicle platform.

[0007] (1) An automated driving system (ADS) according to one aspect of this disclosure can be installed in a vehicle. The vehicle includes a vehicle platform (VP) that controls the vehicle based on control requests from the ADS. The VP includes an electronic parking brake system and a vehicle control interface, the electronic parking brake system switching between activation and deactivation of brake holding, and the vehicle control interface providing an interface between the ADS and the VP. The vehicle control interface provides a stationary state signal to the ADS. The stationary state signal includes an applied value indicating activation of brake holding and a deactivated value indicating deactivation of brake holding. The ADS includes a computing component and a communication module that communicates with the vehicle control interface. When the computing component requests the VP to activate brake holding, the computing component requests the VP to decelerate until the stationary state signal switches from the deactivated value to the applied value.

[0008] (2) After the stationary state signal is switched to the applied value, the computing component continues to request the VP deceleration during the period when the brake holding is activated.

[0009] (3) When the quiescent state signal has been set to the applied value, the computing component requests the VP to accelerate, so that the VP switches the quiescent state signal from the applied value to the deactivated value.

[0010] (4) Another embodiment of the vehicle according to this disclosure includes the ADS as described above.

[0011] (5) A vehicle control interface according to another aspect of this disclosure provides an interface between an automated driving system (ADS) and a vehicle platform (VP), the vehicle platform controlling the vehicle according to a control request from the ADS. The VP includes an electronic parking brake system that switches between activation and deactivation of brake holding. The vehicle control interface includes a processor and a memory storing programs executable by the processor. The processor provides a stationary state signal to the ADS, the stationary state signal including an applied value indicating activation of brake holding and a deactivated value indicating deactivation of brake holding. After the vehicle comes to a stop, the processor also receives a deceleration request from the ADS until the stationary state signal switches from the deactivated value to the applied value.

[0012] (6) After the stationary state signal is switched to the applied value, during the period when the brake hold is activated, the processor also continues to receive requests for deceleration from the ADS.

[0013] (7) When the static state signal has been set to the applied value, the processor, in response to the acceleration request from the ADS, switches the static state signal from the applied value to the deactivated value.

[0014] (8) When the standstill command provided from the ADS to the VP is a specified applied value, the VP activates the function of switching the brake hold.

[0015] (9) A vehicle according to yet another embodiment of this disclosure includes the vehicle control interface as described above.

[0016] (10) The vehicle further includes the ADS as described above.

[0017] 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

[0018] Figure 1 This is a diagram illustrating a summary of a vehicle according to an embodiment of the present disclosure.

[0019] Figure 2 This is a diagram showing the configuration of ADS, VCIB, and VP in more detail.

[0020] Figure 3 This is a diagram illustrating the static command.

[0021] Figure 4 This is a diagram illustrating the signal in a static state.

[0022] Figure 5 This is a diagram illustrating the driving direction signal.

[0023] Figure 6 It is a time graph showing the control related to the vehicle's brake holding.

[0024] Figure 7 This is a flowchart illustrating the processing procedures related to the use of the brake-holding function.

[0025] Figure 8 This is a flowchart illustrating the processing procedures in the control related to the activation of brake holding.

[0026] Figure 9 This is a flowchart illustrating the processing procedures in the control related to the release of brake holding.

[0027] Figure 10 This is a diagram showing the overall structure of the Autono-Maas vehicle.

[0028] Figure 11 This is a diagram illustrating the system architecture of an Autono-Maas vehicle.

[0029] Figure 12 This is a diagram illustrating a typical workflow in ADS.

[0030] Figure 13 This is a graph showing the relationship between the front wheel steering angle rate limit and speed.

[0031] Figure 14 This is the state machine diagram for power mode.

[0032] Figure 15 This is a diagram showing the details of the gear shifting sequence.

[0033] Figure 16 It is a diagram showing a fixed order.

[0034] Figure 17 It is a diagram showing the static sequence.

[0035] Figure 18 It is a state machine diagram of autonomous states.

[0036] Figure 19 This is a diagram illustrating the authentication process. Detailed Implementation

[0037] 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.

[0038] [Example]

[0039] <Overall Configuration>

[0040] Figure 1 This is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure. The vehicle 1 includes an Automated Driving Kit (ADK) 10 and a Vehicle Platform (VP) 20. The ADK 10 is configured to attach to the VP 20 (which can be mounted on the vehicle 1). The ADK 10 and the VP 20 are configured to communicate with each other via a Vehicle Control Interface (VCIB 40, described later).

[0041] VP 20 can perform autonomous driving based on control requests from ADK 10. Although Figure 1 The image shows ADK 10 positioned away from VP 20, but ADK 10 is actually attached to the roof of VP 20, etc. ADK 10 can also be removed from VP 20. When ADK 10 is not attached, VP 20 performs driving control in manual mode (driving control based on user operation).

[0042] ADK 10 includes an Automated Driving System (ADS) 11 for automated driving of vehicle 1. For example, ADS 11 creates a driving plan for vehicle 1. ADS 11 outputs various control requests to VP 20 for vehicle 1 to drive according to the driving plan, based on application programming interfaces (APIs) defined for each control request. ADS 11 receives various signals from VP 20 indicating the vehicle state (the state of VP 20) based on APIs defined for each signal. ADS 11 then reflects the vehicle state in the driving plan. (See reference...) Figure 2 This section will describe the detailed configuration of ADS 11.

[0043] VP 20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40.

[0044] The base vehicle 30 performs various types of vehicle control based on control requests from ADK 10 (ADS 11). The base vehicle 30 includes various systems and sensors for controlling itself. More specifically, the base vehicle 30 includes an integrated control manager 31, a braking system 32, a steering system 33, a powertrain system 34, an active safety system 35, a body system 36, wheel speed sensors 51 and 52, a pinion angle sensor 53, a camera 54, and radar sensors 55 and 56.

[0045] The integrated control manager 31 includes a processor and a memory, and integrates the systems involved in the operation of the vehicle 1 (braking system 32, steering system 33, powertrain system 34, active safety system 35, and body system 36).

[0046] The braking system 32 is configured to control braking devices disposed in each wheel of the base vehicle 30. The braking devices include, for example, a disc brake system (not shown) that is operated using hydraulic pressure regulated by an actuator.

[0047] Wheel speed sensors 51 and 52 are connected to the braking system 32. Wheel speed sensor 51 detects the rotational speed of the front wheels of the base vehicle 30 and outputs the detected front wheel rotational speed to the braking system 32. Wheel speed sensor 52 detects the rotational speed of the rear wheels of the base vehicle 30 and outputs the detected rear wheel rotational speed to the braking system 32. The braking system 32 outputs the rotational speed of each wheel to the VCIB 40 as one piece of information included in the vehicle status. The braking system 32 generates braking commands to the braking device according to the specified control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The braking system 32 controls the braking device based on the generated braking commands. The integrated control manager 31 can calculate the speed of the vehicle 1 (vehicle speed) based on the rotational speed of each wheel.

[0048] The steering system 33 is configured to control the steering angle of the steering wheel of the vehicle 1 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.

[0049] The pinion angle sensor 53 is connected to the steering system 33. The pinion angle sensor 53 detects the rotation angle (pinion angle) of the pinion gear connected to the rotating shaft of the actuator and outputs the detected pinion angle to the steering system 33. The steering system 33 outputs the pinion angle to the VCIB 40 as part of the information included in the vehicle status. Based on the specified control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31, the steering system 33 generates a steering command to the steering device. The steering system 33 controls the steering device based on the generated steering command.

[0050] The powertrain system 34 controls an electronic parking brake (EPB) system 341 located in at least one of the plurality of wheels, a parking lock (P lock) system 342 located in the transmission of the vehicle 1, and a propulsion system 343 including a shifting device (not shown) configured to allow selection of shift gears. (See reference...) Figure 2 The following will further describe the detailed configuration of the powertrain system 34.

[0051] The active safety system 35 uses camera 54 and radar sensors 55 and 56 to detect obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) to the front or rear. Based on the distance between vehicle 1 and the obstacle and the direction of vehicle 1's movement, the active safety system 35 determines whether vehicle 1 is likely to collide with the obstacle. When the active safety system 35 determines that a collision is possible, it outputs a braking command to the braking system 32 via the integrated control manager 31 to increase braking force.

[0052] The body system 36 is configured to control components such as the turn indicators, horn, and wipers (all not shown), for example, based on the driving state or the surrounding environment of the vehicle 1. The body system 36 controls the individual components according to specified control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

[0053] VCIB 40 is configured to communicate with ADS 11 via a Controller Area Network (CAN). VCIB 40 receives various control requests from ADS 11 or outputs vehicle status to ADS 11 by executing the prescribed APIs defined for each signal. When VCIB 40 receives a control request from ADK 202, it outputs a control command corresponding to the control request to the corresponding system via the integrated control manager 31. VCIB 40 obtains various types of information about the base vehicle 30 from various systems via the integrated control manager 31 and outputs the status of the base vehicle 30 as the vehicle status to ADS 11.

[0054] Vehicle 1 can be used as one of the components of a Mobility as a Service (MaaS) system. In addition to vehicle 1, the MaaS system includes, for example, a data server and a Mobility Service Platform (MSPF) (both not shown).

[0055] 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.

[0056] Vehicle 1 further includes a data communication module (DCM) (not shown) capable of wirelessly communicating with a data server. The DCM outputs vehicle information such as speed, location, or autonomous driving status to the data server. The DCM receives various types of data from autonomous driving-related mobility services via MSPF and the data server for managing the operation of autonomous vehicles, including Vehicle 1, within the mobility services.

[0057] MSPF publishes APIs for using various types of data regarding vehicle status and vehicle control required for the development of ADS 11. By using the APIs published on MSPF, various mobility services can utilize various functions provided by MSPF based on their service content. For example, mobility services related to autonomous driving can obtain operational control data for vehicle 1 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 1.

[0058] <Detailed Configuration>

[0059] Figure 2 This is a diagram that further details the configuration of ADS 11, VCIB 40, and VP 20. (See diagram below.) Figure 2 As shown, ADS 11 includes a computing component 111, a human-machine interface (HMI) 112, a sensor 113 for sensing, a sensor 114 for posture, and a sensor cleaner 115.

[0060] During autonomous driving of vehicle 1, computing component 111 obtains information indicating the environment surrounding vehicle 1, as well as information indicating the posture, behavior, and position of vehicle 1, from various sensors (described later), and obtains the vehicle state from VP 20 via VCIB 40, and sets the next operation of vehicle 1 (acceleration, deceleration, or turning). Computing component 111 outputs various commands to VCIB 40 to implement the next operation. Computing component 111 includes communication modules 111A and 111B. Communication modules 111A and 111B are each configured to communicate with VCIB 40.

[0061] HMI 112 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 112 is configured to connect to input and output devices (not shown), such as a touch panel display provided in the base vehicle 30.

[0062] The sensing sensor 113 is a sensor that senses the environment surrounding the vehicle 1. The sensing sensor 113 includes at least one of, for example, laser imaging detection and ranging (LIDAR), millimeter-wave radar, and a camera (all not shown). For example, the LIDAR measures the distance and direction to an object by emitting a laser beam of infrared pulses and detecting the laser beam reflected by the object. The millimeter-wave radar measures the distance and direction to an object by emitting millimeter waves and detecting the millimeter waves reflected by the object. The camera is, for example, positioned behind the rearview mirror inside the vehicle and captures images of the area in front of the vehicle 1.

[0063] The attitude sensor 114 is a sensor that detects the attitude, behavior, or position of vehicle 1. The attitude sensor 114 includes, for example, an inertial measurement unit (IMU) and a global positioning system (GPS) (both not shown). The IMU detects, for example, accelerations in the forward, lateral, and vertical directions of vehicle 1, and angular velocities in the roll, pitch, and yaw directions of vehicle 1. The GPS detects the position of vehicle 1 based on information received from multiple GPS satellites orbiting the Earth.

[0064] Sensor cleaner 115 is configured to remove dirt adhering to various sensors (camera lenses or parts from which laser beams are emitted) using a cleaning solution or wiper during the operation of vehicle 1.

[0065] VCIB 40 includes VCIB 41 and VCIB 42. Each VCIB 41 and 42 includes a processor such as a central processing unit (CPU) and memory such as read-only memory (ROM) and random access memory (RAM), although these are not shown. Programs executable by the processor are stored in the memory. VCIB 41 and communication module 111A are communicatively connected to each other. VCIB 42 and communication module 111B are communicatively connected to each other. VCIB 41 and VCIB 42 are communicatively connected to each other.

[0066] VCIBs 41 and 42 each relay control requests and vehicle information between ADS 11 and VP 20. More specifically, VCIB 41 uses an API to generate control commands based on control requests from ADS 11. For example, control commands corresponding to control requests supplied from ADS 11 to VCIB 40 include a forward direction command requesting gear shifting, a fixed command requesting activation / deactivation of EPB system 341 and P lock system 342, an acceleration command requesting vehicle 1 to accelerate or decelerate, a wheel steering angle command requesting steering wheel wheel steering angle, and an autonomous command requesting switching between autonomous and manual modes. VCIB 41 then outputs the generated control commands to the corresponding systems in the multiple systems included in VP 20. VCIB 41 uses an API to generate information indicating the vehicle status based on vehicle information from the various systems in VP 20. The information indicating the vehicle status may be the same as the vehicle information, or it may be information extracted from the vehicle information for processing performed by ADS 11. VCIB 41 provides the generated information indicating the vehicle status to ADS 11. This also applies to VCIB 42.

[0067] Braking system 32 includes braking systems 321 and 322. Steering system 33 includes steering systems 331 and 332. Powertrain system 34 includes EPB system 341, P lock system 342, and propulsion system 343.

[0068] Although VCIB 41 and VCIB 42 are functionally equivalent, they differ in some respects in their connection to the systems included in VP20 that are connected to the VCIB. Specifically, VCIB 41, braking system 321, steering system 331, EPB system 341, P lock system 342, propulsion system 343, and body system 36 are communicatively connected to each other via a communication bus. VCIB 42, braking system 322, steering system 332, and P lock system 342 are also communicatively connected to each other via a communication bus.

[0069] Because VCIB 40 includes VCIBs 41 and 42, which are functionally equivalent to those related to the operation of at least one system (e.g., braking or steering), the control system between ADS 11 and VP 20 is redundant. Therefore, in the event of certain types of failures in the system, the functionality of VP 20 can be maintained by appropriately switching or disconnecting the failed control system between the control systems.

[0070] Braking systems 321 and 322 are each configured to control braking devices. Braking system 321 generates a braking command to the braking devices based on a control request output from ADS 11 via VCIB 41. Braking system 322 generates a braking command to the braking devices based on a control request output from ADS 11 via VCIB 42. Braking systems 321 and 322 may be functionally equivalent to each other. Alternatively, one of braking systems 321 and 322 may be configured to independently control the braking force of each wheel, while the other of braking systems 321 and 322 may be configured to control the braking force such that the same braking force is generated in the wheels. For example, braking systems 321 and 322 may control the braking devices based on a braking command generated in either of them, and in the event of a failure in the braking system, they may control the braking devices based on a braking command generated in the other of them.

[0071] Steering systems 331 and 332 are each configured to control the steering angle of the steering wheel of vehicle 1 using a steering device. Steering system 331 generates a steering command to the steering device based on a control request output from ADS 11 via VCIB 41. Steering system 332 generates a steering command to the steering device based on a control request output from ADS 11 via VCIB 42. Steering systems 331 and 332 may be functionally equivalent to each other. Alternatively, steering systems 331 and 332 may control the steering device based on a steering command generated in either of them, and in the event of a malfunction in that steering system, they may control the steering device based on a steering command generated in the other of them.

[0072] The EPB system 341 controls the EPB according to a control request output from the ADS 11 via the VCIB 41. The EPB is separate from the braking equipment (such as a disc brake system) and the wheels are fixed by the operation of an actuator. For example, the EPB uses an actuator to activate a drum brake for a parking brake located in at least one of a plurality of wheels to fix the wheels, or uses an actuator capable of adjusting the hydraulic pressure to be supplied to the braking equipment separately from the braking systems 321 and 322 to activate the braking equipment to fix the wheels.

[0073] In this embodiment, the EPB system 341 performs a brake holding function and is configured to switch between activating and deactivating brake holding. (Refer to...) Figures 3 to 5 Describe in detail the brake holding function of EPB system 341.

[0074] The P-lock system 342 controls the P-lock device according to control requests output from the ADS 11 via the VCIB 41. For example, when the control request includes a request to set the shift gear to the parking gear (P gear), the P-lock system 342 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 gear, it deactivates the P-lock device. The P-lock device mates 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 vehicle 1. The rotation of the transmission output shaft is thus fixed and the wheels are fixed.

[0075] The propulsion system 343 switches the gear positions of the shifting device and controls the driving force from the drive source (electric generator and engine) according to the control request output from the ADS 11 via the VCIB 41. In addition to the P gear, the shift positions also include, for example, neutral (N gear), drive (D gear), and reverse (R gear).

[0076] The active safety system 35 is communicatively connected to the braking system 321. As previously described, the active safety system 35 detects obstacles ahead using a camera 54 and / or a radar sensor 55, and when it determines that there is a possibility of a collision, it outputs a braking command to the braking system 321 to increase braking force.

[0077] The body system 36 controls components such as the turn indicators, horn, or wipers based on control requests output from the ADS 11 via the VCIB 41.

[0078] For example, autonomous driving is performed when the user selects autonomous mode via HMI 112 in vehicle 1. During autonomous driving, ADS 11 first 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 a predetermined driving path, and plans to change lanes. ADS 11 calculates the controllable physical quantities (acceleration, deceleration, and wheel steering angle) required for the operation of vehicle 1 based on the created driving plan. ADS 11 segments the physical quantities for each execution cycle of the API. ADS 11 outputs control requests representing the segmented physical quantities to VCIB 40 via the API. Furthermore, ADS 11 obtains the vehicle state (actual direction of movement and stationary state of vehicle 1) from VP 20 and recreates a driving plan reflecting the obtained vehicle state. ADS 11 thus enables autonomous driving of vehicle 1.

[0079] <Brake Hold>

[0080] The sequence of vehicle 1 coming to a standstill in relation to the brake holding of the EPB system 341 will be described sequentially. First, the various commands and signals used when applying / releasing brake holding will be described.

[0081] Figure 3 This is a diagram illustrating the Standstill Command. The Standstill Command is provided from ADS11 to VP 20. The Standstill Command can only be used when Autonomous Mode is selected.

[0082] The stationary command takes any one of the values ​​0, 1, and 2. When the stationary command has a value of 0, it indicates that ADS 11 has not requested VP 20 to apply / release brake hold (in other words, hold / cancel stationary). When the stationary command has a value of 1, it indicates that ADS 11 requests VP 20 to apply brake hold (brake hold function is enabled). When the stationary command has a value of 2, it indicates that ADS 11 requests VP 20 to release brake hold.

[0083] Figure 4 This is a diagram illustrating the Standstill Status signal. The Standstill Status signal is provided from VP 20 to ADS 11.

[0084] The stationary state signal uses any value from 0 to 3. When the stationary state signal has a value of 0, it indicates that the stationary state of vehicle 1 has been released (vehicle 1 is not stationary). When the stationary state signal has a value of 1, it indicates that the stationary state of vehicle 1 has been applied (vehicle 1 is stationary). Stationary state signal = 0 indicates a released value. Stationary state signal = 1 indicates an applied value. Stationary state signal = 2 indicates a reserved value. Stationary state signal = 3 indicates an invalid value.

[0085] Figure 5 This is a diagram illustrating the traveling direction signal. The traveling direction signal is provided from VP20 to ADS 11.

[0086] The driving direction signal uses any value from 0 to 3. When the driving direction signal has a value of 0, it indicates that vehicle 1 is moving forward. When the driving direction signal has a value of 1, it indicates that vehicle 1 is moving backward. When the driving direction signal has a value of 2, it indicates that vehicle 1 is stationary. Driving direction signal = 3 is undefined. When the vehicle speed is zero (0) for a certain period of time, the driving direction signal is set to "stationary" (value = 2).

[0087] Figure 6 This is a time graph showing the control related to brake holding in vehicle 1. Figure 6 In the diagram, the horizontal axis represents the elapsed time. The vertical axis, starting from the top, represents the vehicle speed, acceleration command, stop command, driving direction signal, and stationary status signal, in that order.

[0088] First, the control used to activate brake holding will be described. Figure 6 In the example shown, the vehicle speed has a positive value at the initial time t0. The driving direction signal indicates that vehicle 1 is moving forward. The acceleration command has been set to 0. The stop command indicates "applied" (i.e., a request to apply brake hold). The standstill signal indicates "released" (i.e., vehicle 1 is not stationary).

[0089] At time t1, the acceleration command is set to a negative value indicating a request for deceleration, and the vehicle speed begins to decrease. At time t2, vehicle 1 comes to a stop. Thereafter, ADS 11 continues to request vehicle 1 to decelerate by setting the acceleration command to a negative value. At time t3, a certain period elapses after vehicle 1 comes to a stop (time t2), the driving direction signal switches from "forward" to "stationary". At the subsequent time t4, the stationary state signal switches from "released" to "applied". ADS 11 can therefore know that brake holding is activated.

[0090] When vehicle 1 comes to a standstill (decelerates to vehicle speed = 0), the deceleration command can be set to 0 to stop the deceleration request for vehicle 1. However, in this case, vehicle 1 may move during the short period from the cessation of the deceleration request until the actual activation of brake holding. In this embodiment, after vehicle 1 comes to a standstill (i.e., the period from time t2 when the vehicle speed is set to 0 until time t4 when the standstill signal switches to "applied"), the acceleration command is also always set to a negative value and continues to be used for the deceleration request for vehicle 1. Therefore, compared to setting the acceleration command to 0, vehicle 1 can also be held stationary more reliably during the period until brake holding is activated. Therefore, according to this embodiment, vehicle 1 can be safely brought to a standstill in autonomous mode.

[0091] Next, the control for releasing the brake hold will be described. At time t5, the acceleration command switches from a negative value to a positive value, and vehicle 1 is requested to accelerate. At time t6, the stationary state signal switches from "applied" to "released". ADS 11 can therefore know that the brake hold has been released. At the subsequent time t7, the vehicle speed begins to increase, and the driving direction signal switches from "stationary" to "forward".

[0092] <Processing Flow>

[0093] Figure 7This is a flowchart illustrating the processing procedures related to the use of the brake-holding function. This flowchart is executed by calling the main routine (not shown) when predetermined conditions are met or in each specified calculation cycle. Although Figure 7 And will be described later Figure 8 and Figure 9 The steps included in the flowchart shown are executed by the ADS 11 or VP 20 (Integrated Control Manager 31 or VCIB 40) through software processing, but can also be executed by hardware (circuit) arranged in the ADS 11 or VP 20. Hereinafter, the steps are abbreviated as S.

[0094] In S11, VP 20 determines whether vehicle 1 has been set to autonomous mode. For example, the vehicle mode state is selected by the user's operation on HMI 112. If vehicle 1 has been set to manual mode ("No" in S11), no further processing is performed. If vehicle 1 has been set to autonomous mode ("Yes" in S11), VP 20 proceeds to S12.

[0095] In S12, VP 20 determines the content of the stationary command received from ADS 11. When the stationary command indicates "applied", VP 20 enables the brake holding function (S13). When the stationary command indicates "discontinued", VP 20 disables the brake holding function (S14).

[0096] Figure 8 This is a flowchart illustrating the processing in the control associated with the activation of brake hold. This flowchart is executed when a stop command indicates "applied" and allows the brake hold function. In this figure, the left side shows the processing performed by ADS 11, and the right side shows a series of processes performed by VP 20. This also applies to what will be described later. Figure 9 .

[0097] In S21, ADS 11 continues to output a deceleration request to VP 20. When VP 20 receives the deceleration request from ADS 11 ("Yes" in S31), it performs subsequent processing.

[0098] In S32, VP 20 determines whether vehicle 1 has been stationary for a certain period of time (during which the vehicle speed = 0). VP 20 waits until the certain period of time has elapsed since the vehicle speed reached 0 ("No" in S32), and after the certain period of time has elapsed ("Yes" in S32), VP 20 proceeds to S33.

[0099] In S33, VP 20 switches the driving direction signal to "stationary" and outputs a driving direction signal indicating "stationary" to ADS 11. Additionally, VP 20 activates the brake holding function of the EPB system 341 (S34). The processes in S33 and S34 can be executed in an interchangeable order.

[0100] In S35, VP 20 switches the stationary state signal to "applied" and outputs a stationary state signal indicating "applied" to ADS 11.

[0101] Figure 9 This is a flowchart illustrating the processing in the control related to the release of brake hold. In S41, ADS 11 provides an acceleration request to VP 20. When VP 20 receives the acceleration request from ADS 11 while brake hold is activated ("Yes" in S51), it performs subsequent processing.

[0102] In S52, VP 20 releases the brake holding of EPB system 341. Furthermore, VP 20 switches the stationary state signal to "released" and provides a stationary state signal indicating "released" to ADS 11 (S53). The processes in S52 and S53 can be executed in an interchangeable order.

[0103] In S54, VP 20 switches the driving direction signal to "forward" and provides the ADS 11 with a driving direction signal indicating "forward".

[0104] As described above, in this embodiment, after the vehicle speed reaches 0 at time t2, until the brake hold is activated and the stationary state signal switches to "applied", the acceleration command remains in a negative value and continues to be used for the deceleration request of vehicle 1. Therefore, it is ensured that vehicle 1 reliably remains stationary. Thus, according to this embodiment, vehicle 1 can be safely brought to a standstill in autonomous mode. Since the acceleration command also remains in a negative value while the brake hold is activated (after time t4), it is possible to ensure that vehicle 1 remains stationary more reliably.

[0105] [Example]

[0106] Toyota vehicle platform API specifications

[0107] Version 1.1

[0108] Revision history

[0109]

[0110]

[0111] Table of contents

[0112] 1. Introduction

[0113] 1.1. Purpose of this specification

[0114] 1.2. Target Vehicle

[0115] 1.3. Definition of Terms

[0116] 2. Structure

[0117] 2.1. Overall Structure of Autono-MaaS Vehicles

[0118] 2.2. System Architecture of Autono-MaaS Vehicles

[0119] 3. Application Interface

[0120] 3.1. Typical Use of API

[0121] 3.2. APIs for Vehicle Motion Control

[0122] 3.2.1. List of APIs used for vehicle motion control

[0123] 3.2.2. Details of each API used for vehicle motion control

[0124] 3.3. APIs for Body Control

[0125] 3.3.1. List of APIs used for vehicle body control

[0126] 3.3.2. Details of each API used for body control

[0127] 3.4. API for Power Control

[0128] 3.4.1. List of APIs for Power Control

[0129] 3.4.2. Details of each API used for power control

[0130] 3.5. API for Fault Notification

[0131] 3.5.1. List of APIs used for fault notification

[0132] 3.5.2. Details of each API used for fault notification

[0133] 3.6. APIs for Security

[0134] 3.6.1. List of APIs for Security

[0135] 3.6.2. Details of each API used for security

[0136] 4. API Guidelines for Controlling Toyota Vehicles

[0137] 4.1. APIs for Vehicle Motion Control

[0138] 4.1.1. List of APIs used for vehicle motion control

[0139] 4.1.2. Detailed API Guide for Vehicle Motion Control

[0140] 4.2. APIs for Body Control

[0141] 4.2.1. List of APIs used for vehicle body control

[0142] 4.3. API for Power Control

[0143] 4.3.1. List of APIs for Power Control

[0144] 4.4. API for Fault Notification

[0145] 4.4.1. List of APIs used for fault notification

[0146] 4.5. APIs for Security

[0147] 4.5.1. List of APIs for Security

[0148] 4.5.2. Detailed Guidelines for Secure APIs

[0149] 1. Introduction

[0150] 1.1. Purpose of this specification

[0151] 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.

[0152] 1.2. Target Vehicle

[0153] This specification applies to Autono-MaaS vehicles as defined by the [Architecture Specification for Toyota Vehicle Platform with Autonomous Driving System].

[0154] 1.3. Definition of Terms

[0155] Table 1. Definitions of Terms

[0156]

[0157]

[0158] 2. Structure

[0159] 2.1. Overall Structure of Autono-MaaS Vehicles

[0160] This shows the overall structure of an Autono-MaaS vehicle. Figure 10 ).

[0161] 2.2. System Architecture of Autono-MaaS Vehicles

[0162] exist Figure 11 The system architecture is shown in the diagram.

[0163] 3. Application Interface

[0164] 3.1. Typical Use of API

[0165] This section describes typical uses of the API.

[0166] The typical workflow of an API is as follows ( Figure 12 The following examples assume CAN for physical communication. 3.2. API for Vehicle Motion Control

[0167] This section describes the API used for vehicle motion control.

[0168] 3.2.1. List of APIs used for vehicle motion control

[0169] 3.2.1.1. Input

[0170] Table 3. Input APIs for Vehicle Motion Control

[0171]

[0172]

[0173] *Response time in VP based on the request from ADK

[0174] 3.2.1.2. Output

[0175] Table 4. Output APIs for Vehicle Motion Control

[0176]

[0177]

[0178]

[0179] 3.2.2. Details of each API used for vehicle motion control

[0180] 3.2.2.1. Direction of Advance Command

[0181] Request to change gear from forward (D) to reverse (R), or from reverse to forward.

[0182] value

[0183] value describe Remark 0 No request 2 R Shift to reverse (R) 4 D Shift to D gear other reserve

[0184] Remark

[0185] • Available only when vehicle mode status = "Autonomous Mode".

[0186] • Available only when the vehicle is stationary (direction of travel = "stationary").

[0187] • Available only when braking is applied.

[0188] 3.2.2.2. Fixed Commands

[0189] Request to open / close wheel lock

[0190] value

[0191] The following table shows the cases where EPB and P files are used for fixing.

[0192]

[0193] Remark

[0194] This API is used to park the vehicle.

[0195] • Available only when vehicle mode status = "Autonomous Mode".

[0196] • It can only be changed when the vehicle is stationary (direction of travel = "stationary").

[0197] • It can only be changed when braking is applied.

[0198] 3.2.2.3. Static Command

[0199] Request to apply / disappear brake holding function

[0200] value

[0201] value describe Remark 0 No request 1 Already applied Allows brake holding function. 2 Released

[0202] Remark

[0203] This API is used to select whether the brake hold function is enabled.

[0204] • Available only when vehicle mode status = "Autonomous Mode".

[0205] • Continue to use the acceleration command (deceleration request) until the stationary state changes to "applied".

[0206] 3.2.2.4. Acceleration Command

[0207] Request acceleration

[0208] value

[0209] Estimated maximum deceleration to estimated maximum acceleration [m / s] 2 ]

[0210] Remark

[0211] • Available only when vehicle mode status = "Autonomous Mode".

[0212] • Acceleration (+) and deceleration (-) requests based on the propulsion direction and state direction.

[0213] • The upper / lower limits will be based on the estimated maximum deceleration and the estimated maximum acceleration change.

[0214] • When the requested acceleration is greater than the estimated maximum acceleration, the request is set to the estimated maximum acceleration.

[0215] • When the requested deceleration is greater than the estimated maximum deceleration, the request is set to the estimated maximum deceleration.

[0216] • When the driver is operating the vehicle (over-control), the requested acceleration may not be achieved.

[0217] • When PCS is working simultaneously, VP should be selected with minimum acceleration (maximum deceleration).

[0218] 3.2.2.5. Front wheel steering angle command

[0219] value

[0220] value describe Remark — [Unit: radians]

[0221] Remark

[0222] • Available only when vehicle mode status = "Autonomous Mode".

[0223] Left represents a positive value (+). Right represents a negative value (-).

[0224] • When the vehicle is traveling in a straight line, the front wheel steering angle is set to a value (0).

[0225] • This request is set to a value relative to the current one to prevent the accumulation of misalignment in the "front wheel steering angle".

[0226] The requested value should be set within the front wheel steering angle rate limit.

[0227] • When the driver is operating the vehicle (over-control), the requested front wheel steering angle may not be achieved.

[0228] 3.2.2.6. Vehicle Mode Command

[0229] Request a change from manual mode to autonomous mode, or vice versa.

[0230] value

[0231]

[0232] Remark

[0233] N / A

[0234] 3.2.2.7. High Dynamic Commands

[0235] If ADK is to improve VP's braking response performance * The high dynamics command should be set to "high".

[0236] *Response time in VP based on the request from ADK

[0237] value

[0238] value describe Remark 0 No request 1 high 2-3 reserve

[0239] Remark

[0240] N / A

[0241] 3.2.2.8. Propulsion Direction Status

[0242] Current shift status

[0243] value

[0244] value describe Remark 0 reserve 1 P 2 R 3 N 4 D 5 reserve 6 Invalid value

[0245] Remark

[0246] • If VP is unaware of the current shift state, this output is set to "invalid value".

[0247] 3.2.2.9. Fixed State

[0248] Each fixed system state

[0249] value

[0250] The following table shows the cases where EPB and P files are used for fixing.

[0251]

[0252] Remark

[0253] ·N / A

[0254] 3.2.2.10. Stationary state

[0255] static state

[0256] value

[0257] value describe Remark 0 Released 1 Already applied 2 reserve 3 Invalid value

[0258] Remark

[0259] ·N / A

[0260] 3.2.2.11. Estimate the gliding acceleration

[0261] With the throttle valve closed, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0262] value

[0263] [Unit: meters per second] 2 ]

[0264] Remark

[0265] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0266] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0267] 3.2.2.12. Estimating the maximum acceleration

[0268] With the throttle valve fully open, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0269] value

[0270] [Unit: meters per second] 2 ]

[0271] Remark

[0272] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0273] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0274] 3.2.2.13. Estimate the maximum deceleration

[0275] 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.

[0276] value

[0277] [Unit: meters per second] 2 ]

[0278] Remark

[0279] • When the propulsion direction is “D”, the deceleration in the forward direction is shown as a negative value.

[0280] • When the forward direction is “R”, the deceleration in the backward direction is shown as a negative value.

[0281] 3.2.2.14. Front wheel steering angle

[0282] value

[0283] value describe Remark Minimum value Invalid value other [Unit: radians]

[0284] Remark

[0285] Left represents a positive value (+). Right represents a negative value (-).

[0286] The signal will show an invalid value until the VP is able to calculate the correct value or when the sensor is invalid / malfunctioning.

[0287] 3.2.2.15. Front wheel steering angular rate

[0288] Front wheel steering angle rate

[0289] value

[0290] value describe Remark Minimum value Invalid value other [Unit: radians]

[0291] Remark

[0292] Left represents a positive value (+). Right represents a negative value (-).

[0293] The signal will display an invalid value until VP can calculate the correct value or the current wheel steering angle shows a minimum value.

[0294] 3.2.2.16. Front wheel steering rate limit

[0295] Front wheel steering rate limit

[0296] value

[0297] [Unit: radians / second]

[0298] Remark

[0299] From Table 5 below and Figure 13 The speed-steering angle rate mapping shown calculates this limit.

[0300] A) When at low speed or at a stop, use a fixed value (0.751 [radians / second]).

[0301] B) At higher speeds, use 3.432 m / s 3 The steering angle rate is calculated from the vehicle speed.

[0302] Table 5. Vehicle Speed-Steering Angle Rate Mapping Chart

[0303] 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

[0304] 3.2.2.17. Estimate the maximum lateral acceleration

[0305] value

[0306] [Unit: meters per second] 2 (Fixed value: 3.432)

[0307] Remark

[0308] • Maximum lateral acceleration limited by VP

[0309] 3.2.2.18. Estimating the maximum lateral acceleration rate

[0310] value

[0311] [Unit: meters per second] 3 (Fixed value: 3.432)

[0312] Remark

[0313] • Maximum lateral acceleration rate limited by VP

[0314] 3.2.2.19. Accelerator pedal intervention

[0315] This signal indicates whether the accelerator pedal has been pressed by the driver (intervention).

[0316] value

[0317] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous acceleration

[0318] Remark

[0319] • When the accelerator pedal is positioned above a predetermined threshold, the signal is set to "pressed".

[0320] • 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”.

[0321] 3.2.2.20. Brake pedal intervention

[0322] This signal indicates whether the driver has pressed the brake pedal (intervention).

[0323] value

[0324] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous deceleration

[0325] Remark

[0326] • When the brake pedal position is above a predetermined threshold, the signal is set to "pressed".

[0327] • 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”.

[0328] 3.2.2.21. Steering wheel intervention

[0329] This signal indicates whether the driver has intervened by operating the steering wheel.

[0330] value

[0331]

[0332]

[0333] Remark

[0334] • 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.

[0335] • 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.)

[0336] 3.2.2.22. Gear shift lever intervention

[0337] This signal indicates whether the driver is controlling the gear shift lever (intervention).

[0338] value

[0339] value describe Remark 0 closure 1 Open Controlled (moved to any gear)

[0340] Remark

[0341] ·N / A

[0342] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0343] value

[0344]

[0345] Remark

[0346] • Integrate the pulse value at the moment of pulse descent.

[0347] The wheel speed sensor outputs 96 pulses per rotation.

[0348] • The wheel speed pulse will be updated regardless of whether the wheel speed sensor is invalid or malfunctioning.

[0349] • 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”.

[0350] • The rotation direction is determined after the ECU is started, and the pulse value will be increased when the rotation direction is "forward".

[0351] • When forward rotation is detected, the pulse value will be increased.

[0352] • When backward rotation is detected, the pulse value will be subtracted.

[0353] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0354] value

[0355] value describe Remark 0 forward 1 backward 2 reserve 3 Invalid value The sensor is malfunctioning.

[0356] Remark

[0357] • Determine the rotation direction after VP is turned on and set it to "forward".

[0358] 3.2.2.25. Direction of travel

[0359] Direction of movement of the vehicle

[0360] value

[0361] value describe Remark 0 forward 1 backward 2 still 3 Undefined

[0362] Remark

[0363] • When the speed of all four wheels is “0” at a constant time, the signal indicates “stationary”.

[0364] • When shifting gears immediately after the vehicle has started, it can be "undefined".

[0365] 3.2.2.26. Vehicle speed

[0366] Estimated longitudinal speed of the vehicle

[0367] value

[0368] value describe Remark Maximum value in transmitted bits Invalid value The sensor is malfunctioning. other Speed ​​[unit: meters per second]

[0369] Remark

[0370] • The signal value is positive when both the forward and backward directions are in motion.

[0371] 3.2.2.27. Longitudinal acceleration

[0372] Estimated longitudinal acceleration of the vehicle

[0373] value

[0374] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0375] Remark

[0376] • Acceleration (+) and deceleration (-) values ​​based on the pulse direction and state direction.

[0377] 3.2.2.28. Lateral acceleration

[0378] lateral acceleration of the vehicle

[0379] value

[0380]

[0381]

[0382] Remark

[0383] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0384] 3.2.2.29. Yaw rate

[0385] yaw rate sensor value

[0386] value

[0387] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other Yaw rate [unit: degrees / second]

[0388] Remark

[0389] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0390] 3.2.2.30. Sliding Detection

[0391] Tire slippage / sharp turn / skid detection

[0392] value

[0393] value describe Remark 0 No sliding 1 slide 2 reserve 3 Invalid value

[0394] Remark

[0395] • This signal is considered "slippery" when any of the following systems are already running.

[0396] -ABS (Anti-lock Braking System)

[0397] -TRC (Traction Control)

[0398] -VSC (Vehicle Stability Control)

[0399] -VDIM (Vehicle Dynamics Integrated Management)

[0400] 3.2.2.31. Vehicle Mode Status

[0401] Autonomous mode or manual mode

[0402] value

[0403] value describe Remark 0 Manual mode The mode starts from manual mode. 1 Autonomous mode

[0404] Remark

[0405] • The initial state is set to "manual mode".

[0406] 3.2.2.32. Automation Ready

[0407] This signal indicates whether the vehicle can switch to autonomous mode.

[0408] value

[0409] 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.

[0410] Remark

[0411] ·N / A

[0412] 3.2.2.33. Fault Status of VP Function in Autonomous Mode

[0413] This signal is used to indicate whether the VP function has certain fault modes when the vehicle is operating in autonomous mode.

[0414] value

[0415] value describe Remark 0 No fault 1 Fault 3 invalid The status has not yet been determined.

[0416] Remark

[0417] ·N / A

[0418] 3.2.2.34. PCS Alarm Status

[0419] value

[0420] value describe Remark 0 normal 1 alarm Request an alert from the PCS system. 3 Unavailable

[0421] Remark

[0422] N / A

[0423] 3.2.2.35. PCS Preparation Status

[0424] Pre-filling state as preparation for PCS braking

[0425] value

[0426] value describe Remark 0 normal 1 start up 3 Unavailable

[0427] Remark

[0428] • “Start” is a state that prepares the braking actuator for the PCS to shorten the delay from when the PCS issues a deceleration request.

[0429] • When the value changes to “Start” during the vehicle mode state = “Autonomous Mode”, “ADS / PCS Disruption Status” displays “ADS”.

[0430] 3.2.2.36. PCS Braking / PCS Braking Holding Status

[0431] value

[0432] value describe Remark 0 normal 1 PCS braking 2 PCS Braking Hold 7 Unavailable

[0433] Remark

[0434] N / A

[0435] 3.2.2.37. ADS / PCS Mediation Status

[0436] Mediation status

[0437] value

[0438] value describe Remark 0 No request 1 ADS ADS 2 PCS PCS braking or PCS braking hold 3 Invalid value

[0439] Remark

[0440] • When the acceleration requested by the PCS system in VP is less than the acceleration requested by ADS, the state is set to "PCS".

[0441] • When the acceleration requested by the PCS system in VP is greater than the acceleration requested by ADS, the state is set to "ADS".

[0442] 3.3 APIs for Body Control

[0443] 3.3.1. List of APIs used for vehicle body control

[0444] 3.3.1.1. Input

[0445] Table 6. Input APIs for Body Control

[0446]

[0447]

[0448] 3.3.1.2. Output

[0449] Table 7. Output APIs for Body Control

[0450]

[0451]

[0452] 3.3.2. Details of each API used for body control

[0453] 3.3.2.1. Turning signal command

[0454] Request to control steering signal

[0455] value

[0456]

[0457]

[0458] Remark

[0459] ·N / A

[0460] 3.3.2.2.Headlight command

[0461] Request to control headlights

[0462] value

[0463] 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

[0464] Remark

[0465] • This command is invalid when the headlight mode of the combination switch is "off" or the autonomous mode is "on".

[0466] • Driver's actions take precedence over this command.

[0467] 3.3.2.3. Hazard Warning Light Command

[0468] Request to control hazard warning lights

[0469] value

[0470] value describe Remark 0 No request 1 Open

[0471] Remark

[0472] • Driver's actions take precedence over this command.

[0473] • The hazard warning lights will turn on upon receiving the "on" command.

[0474] 3.3.2.4. Horn Mode Command

[0475] Requests for selecting the on and off times per cycle

[0476] value

[0477] 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

[0478] Remark

[0479] N / A

[0480] 3.3.2.5. Horn Cycle Command

[0481] Request to select the number of cycles to turn on and off

[0482] value

[0483] 0-7[-]

[0484] Remark

[0485] N / A

[0486] 3.3.2.6. Continuous Horn Command

[0487] Request to turn the speaker on / off

[0488] value

[0489] value describe Remark 0 No request 1 Open

[0490] Remark

[0491] • This command has higher priority than the 3.3.2.4 Horn Mode and 3.3.2.5 Horn Cycle commands.

[0492] • The speaker will "turn on" simultaneously upon receiving the "turn on" command.

[0493] 3.3.2.7. Windshield wiper command

[0494] Request to control the windshield wipers

[0495] value

[0496] 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

[0497] Remark

[0498] This command is valid when the windshield wiper mode of the combination switch is set to "Off" or "Auto".

[0499] • Driver input takes precedence over this command.

[0500] • Maintain windshield wiper mode while receiving the command.

[0501] • Erasing speed in fixed intermittent mode.

[0502] 3.3.2.8. Rear windshield wiper command

[0503] Request to control rear windshield wipers

[0504] value

[0505] value describe Remark 0 Close Mode Request 1 Low frequency mode request 2 reserve 3 Intermittent mode request 4-7 reserve

[0506] Remark

[0507] • Driver input takes precedence over this command.

[0508] • Maintain windshield wiper mode while receiving the command.

[0509] • Erasing speed in fixed intermittent mode.

[0510] 3.3.2.9. HVAC (First Line) Operation Commands

[0511] Start / stop the first line of air conditioning control request

[0512] value

[0513] value describe Remark 0 No request 1 Open 2 closure

[0514] Remark

[0515] ·N / A

[0516] 3.3.2.10. HVAC (Second Line) Operation Commands

[0517] Start / stop the second line of air conditioning control request

[0518] value

[0519] value describe Remark 0 No request 1 Open 2 closure

[0520] Remark

[0521] ·N / A

[0522] 3.3.2.11. Target Temperature (first command on the left)

[0523] Request to set the target temperature in the left front region

[0524] value

[0525] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0526] Remark

[0527] • When Celsius is used in VP, the value should be set to Celsius.

[0528] 3.3.2.12. Target Temperature (first command on the right)

[0529] Request to set the target temperature in the right front region

[0530] value

[0531] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0532] Remark

[0533] • When Celsius is used in VP, the value should be set to Celsius.

[0534] 3.3.2.13. Target Temperature (second from the left) command

[0535] Request to set the target temperature in the left rear region

[0536] value

[0537] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0538] Remark

[0539] • When Celsius is used in VP, the value should be set to Celsius.

[0540] 3.3.2.14. Target Temperature (second from the right) command

[0541] Request to set the target temperature in the right rear region.

[0542] value

[0543] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0544] Remark

[0545] • When Celsius is used in VP, the value should be set to Celsius.

[0546] 3.3.2.15. HVAC Fan (First Line) Command

[0547] Request to set the fan level of the front AC

[0548] value

[0549] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0550] Remark

[0551] • To switch the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0552] • To switch the fan level to automatic, you should send the command "HVAC (first line) operation = turn on".

[0553] 3.3.2.16. HVAC Fan (Second Line) Command

[0554] Request for AC fan level after configuration

[0555] value

[0556] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0557] Remark

[0558] • To switch the fan level to 0 (off), you should transmit "HVAC (second line) operation command = off".

[0559] • To switch the fan level to automatic, you should send the command "HVAC (second line) operation = turn on".

[0560] 3.3.2.17. Air Exit (First Line) Command

[0561] Request to set the first line of air outlet mode

[0562] value

[0563] 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

[0564] Remark

[0565] ·N / A

[0566] 3.3.2.18. Air Exit (Second Line) Command

[0567] Request to set the air outlet mode in the second row

[0568] value

[0569] 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.

[0570] Remark

[0571] ·N / A

[0572] 3.3.2.19. Air Circulation Command

[0573] Request to set air circulation mode

[0574] value

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

[0576] Remark

[0577] ·N / A

[0578] 3.3.2.20. AC Mode Commands

[0579] Request to configure AC mode

[0580] value

[0581] value describe Remark 0 No request 1 Open 2 closure

[0582] Remark

[0583] ·N / A

[0584] 3.3.2.21. Turning signal status

[0585] value

[0586] value describe Remark 0 closure 1 Left 2 right 3 invalid

[0587] Remark

[0588] N / A

[0589] 3.3.2.22. Headlight Status

[0590] value

[0591] value describe Remark 0 closure 1 taillight 2 Low beam 3 reserve 4 High beams 5-6 reserve 7 invalid

[0592] Remark

[0593] N / A

[0594] 3.3.2.23. Hazard warning light status

[0595] value

[0596] value describe Remark 0 closure 1 Danger warning 2 reserve 3 invalid

[0597] Remark

[0598] N / A

[0599] 3.3.2.24. Horn Status

[0600] value

[0601] value describe Remark 0 closure 1 Open 2 reserve 3 invalid

[0602] Remark

[0603] 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.

[0604] 3.3.2.25. Windshield wiper status

[0605] value

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

[0607] Remark

[0608] N / A

[0609] 3.3.2.26. Rear windshield wiper status

[0610] value

[0611] value describe Remark 0 closure 1 low frequency 2 reserve 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0612] Remark

[0613] N / A

[0614] 3.3.2.27. HVAC (first line) status

[0615] value

[0616] value describe Remark 0 closure 1 Open

[0617] Remark

[0618] ·N / A

[0619] 3.3.2.28. HVAC (Second line) Status

[0620] value

[0621] value describe Remark 0 closure 1 Open

[0622] Remark

[0623] ·N / A

[0624] 3.3.2.29. Target Temperature (first one on the left) Status

[0625] value

[0626] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0627] Remark

[0628] • When Celsius is used in VP, the value should be set to Celsius.

[0629] 3.3.2.30. Target Temperature (first one on the right) Status

[0630] value

[0631] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0632] Remark

[0633] • When Celsius is used in VP, the value should be set to Celsius.

[0634] 3.3.2.31. Target Temperature (Second from the left) Status

[0635] value

[0636] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0637] Remark

[0638] • When Celsius is used in VP, the value should be set to Celsius.

[0639] 3.3.2.32. Target Temperature (Second from the Right) Status

[0640] value

[0641] value describe Remark 0 low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0642] Remark

[0643] • When Celsius is used in VP, the value should be set to Celsius.

[0644] 3.3.2.33. HVAC Fan (First Line) Status

[0645] value

[0646] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0647] Remark

[0648] ·N / A

[0649] 3.3.2.34. HVAC Fan (Second Row) Status

[0650] value

[0651] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0652] Remark

[0653] ·N / A

[0654] 3.3.2.35. Air outlet (first line) status

[0655] value

[0656]

[0657]

[0658] Remark

[0659] ·N / A

[0660] 3.3.2.36. Air outlet (second line) status

[0661] value

[0662] 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

[0663] Remark

[0664] ·N / A

[0665] 3.3.2.37. Air circulation status

[0666] value

[0667] value describe Remark 0 closure 1 Open

[0668] Remark

[0669] ·N / A

[0670] 3.3.2.38. AC Mode Status

[0671] value

[0672] value describe Remark 0 closure 1 Open

[0673] Remark

[0674] ·N / A

[0675] 3.3.2.39. Seat Occupancy (First Seat on the Right) Status

[0676] value

[0677] 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

[0678] Remark

[0679] • When there is luggage on the seat, the signal can be set to "occupied".

[0680] 3.3.2.40. Seatbelt (first one on the left) status

[0681] value

[0682] 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

[0683] Remark

[0684] N / A

[0685] 3.3.2.41. Seatbelt (first one on the right) status

[0686] value

[0687] 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

[0688] Remark

[0689] N / A

[0690] 3.3.2.42. Seatbelt (second one from the left) status

[0691] value

[0692] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0693] Remark

[0694] • Cannot detect sensor malfunction

[0695] 3.3.2.43. Seatbelt (second one from the right) status

[0696] value

[0697]

[0698]

[0699] Remark

[0700] • Cannot detect sensor malfunction

[0701] 3.3.2.44. Seatbelt (third one from the left) status

[0702] value

[0703] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0704] Remark

[0705] • Cannot detect sensor malfunction

[0706] 3.3.2.45. Seatbelt (third center seatbelt) status

[0707] value

[0708] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0709] Remark

[0710] • Cannot detect sensor malfunction

[0711] 3.3.2.46. Seatbelt (third one from the right) status

[0712] value

[0713] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0714] Remark

[0715] • Cannot detect sensor malfunction

[0716] 3.4. API for Power Control

[0717] 3.4.1. List of APIs for Power Control

[0718] 3.4.1.1. Input

[0719] Table 8. Input APIs for Power Control

[0720] Signal name describe redundancy Power mode command Commands to control the power mode of VP N / A

[0721] 3.4.1.2. Output

[0722] Table 9. Output APIs for Power Control

[0723] Signal name describe redundancy Power mode status The current power mode status of VP N / A

[0724] 3.4.2. Details of each API used for power control

[0725] 3.4.2.1. Power Mode Command

[0726] Request to control power mode

[0727] value

[0728] 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

[0729] Remark

[0730] ·exist Figure 14 The state machine diagram for the power mode is shown below.

[0731] [Sleep]

[0732] 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.

[0733] [wake]

[0734] 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.

[0735] [Driving Mode]

[0736] Vehicle powered on. In this mode, the main battery supplies power to the entire VP, and all VP ECUs, including the VCIB, are activated.

[0737] 3.4.2.2. Power Mode Status

[0738] value

[0739]

[0740]

[0741] Remark

[0742] After executing the sleep sequence, VCIB will continuously transmit [sleep] as the power mode state for 3000 [milliseconds]. Then, VCIB will shut down.

[0743] • While the VCIB is transmitting [sleep], the ADS will stop transmitting signals to the VCIB.

[0744] 3.5. API for Fault Notification

[0745] 3.5.1. List of APIs used for fault notification

[0746] 3.5.1.1. Input

[0747] Table 10. Input APIs for Fault Notification

[0748] Signal name describe redundancy N / A N / A N / A

[0749] 3.5.1.2. Output

[0750] Table 11. Output APIs for Fault Notification

[0751]

[0752]

[0753] 3.5.2. Details of each API used for fault notification

[0754] 3.5.2.1. Requests for ADS Operations

[0755] value

[0756] value describe Remark 0 No request 1 Maintenance required 2 Need to return to the garage 3 Need to stop immediately other reserve

[0757] Remark

[0758] This signal indicates the expected behavior of ADS in response to a fault occurring in VP.

[0759] 3.5.2.2. Impact detection signal

[0760] value

[0761] value describe Remark 0 normal 5 Collision detection with airbags deployed 6 Collision detection with high-voltage circuit off 7 Invalid value other reserve

[0762] Remark

[0763] • 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.

[0764] Priority: Collision detection > Normal

[0765] 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.

[0766] 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.

[0767] In this situation, a momentary power outage should be considered.

[0768] 3.5.2.3. Performance deterioration of the braking system

[0769] value

[0770] value describe Remark 0 normal — 1 Degradation detected —

[0771] Remark

[0772] ·N / A

[0773] 3.5.2.4. Performance degradation of the propulsion system

[0774] value

[0775] value describe Remark 0 normal — 1 Degradation detected —

[0776] Remark

[0777] ·N / A

[0778] 3.5.2.5. Performance degradation of the shift control system

[0779] value

[0780]

[0781]

[0782] Remark

[0783] ·N / A

[0784] 3.5.2.6. Performance degradation of fixed systems

[0785] value

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

[0787] Remark

[0788] ·N / A

[0789] 3.5.2.7. Performance degradation of the steering system

[0790] value

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

[0792] Remark

[0793] ·N / A

[0794] 3.5.2.8. Performance degradation of the power supply system

[0795] value

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

[0797] Remark

[0798] ·N / A

[0799] 3.5.2.9. Performance degradation of communication systems

[0800] value

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

[0802] Remark

[0803] ·N / A

[0804] 3.6. APIs for Security

[0805] 3.6.1. List of APIs for Security

[0806] 3.6.1.1. Input

[0807] Table 12. Input APIs for Security

[0808]

[0809]

[0810] 3.6.1.2. Output

[0811] Table 13. Output APIs for Security

[0812]

[0813]

[0814] 3.6.2. Details of each API used for security

[0815] 3.6.2.1. Door lock (front) command, door lock (rear) command

[0816] value

[0817] value describe Remark 0 No request 1 locking Not supported in Toyota VP 2 Unlock 3 reserve

[0818] Remark

[0819] • If ADK requests to unlock the front, then both front doors will be unlocked.

[0820] • If ADK requests to unlock the rear, then unlock the second row of doors and the trunk door.

[0821] • If ADK requests to lock any door, the “Central Door Lock Command” should be used.

[0822] (The functionality for individual locks is not supported in Toyota VP.)

[0823] 3.6.2.2. Central door lock command

[0824] Request to control all door locks

[0825] value

[0826] value describe Remark 0 No request 1 Lock (All) 2 Unlock (all) 3 reserve

[0827] Remark

[0828] ·N / A

[0829] 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

[0830] The first word of the device authentication signature exists in the first to eighth bytes of the signature.

[0831] The second word of the device authentication signature is present in bytes nine through sixteen of the signature.

[0832] The third word of the device authentication signature is located in bytes seventeen through twenty-four of the signature.

[0833] The fourth word of the device authentication signature is located in bytes 25 through 32 of the signature.

[0834] The first word of the device authentication seed exists in the first to eighth bytes of the seed.

[0835] The second word of the device authentication seed exists in bytes nine through sixteen of the seed.

[0836] 3.6.2.4. Door lock (first one on the left) status

[0837] value

[0838] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0839] Remark

[0840] ·N / A

[0841] 3.6.2.5. Door lock (first one on the right) status

[0842] value

[0843]

[0844]

[0845] Remark

[0846] ·N / A

[0847] 3.6.2.6. Door lock (second from the left) status

[0848] value

[0849] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0850] Remark

[0851] ·N / A

[0852] 3.6.2.7. Door lock (second from the right) status

[0853] value

[0854] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0855] Remark

[0856] ·N / A

[0857] 3.6.2.8. Door lock status of all departments

[0858] value

[0859] value describe Remark 0 reserve 1 Lock all 2 Unlock any door 3 invalid

[0860] Remark

[0861] • "Any door unlocked" if any door is unlocked.

[0862] • When all departments are locked down, “all departments are locked down”.

[0863] 3.6.2.9. Alarm System Status

[0864] value

[0865] 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

[0866] Remark

[0867] ·N / A

[0868] 3.6.2.9.1. Short-range odometer

[0869] The counter is incremented in short increments by the freshness value management main ECU.

[0870] value

[0871] 0-FFFFh

[0872] Remark

[0873] This value is used to create the freshness value.

[0874] For more details, please refer to other materials [Toyota's MAC module specifications].

[0875] 3.6.2.9.2. Reset the counter

[0876] This counter is periodically incremented by the main ECU, which manages the freshness value.

[0877] value

[0878] 0-FFFFFh

[0879] Remark

[0880] This value is used to create the freshness value.

[0881] For more details, please refer to other materials [Toyota's MAC module specifications].

[0882] 3.6.2.10. The first door on the left is open.

[0883] The current open / closed status of the first door on the left side of the vehicle platform.

[0884] value

[0885] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0886] Remark

[0887] N / A

[0888] 3.6.2.11. The first door on the right is open.

[0889] The current open / closed status of the first door on the right.

[0890] value

[0891] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0892] Remark

[0893] N / A

[0894] 3.6.2.12. The second door on the left is open.

[0895] The current open / closed status of the second door on the left.

[0896] value

[0897] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0898] Remark

[0899] N / A

[0900] 3.6.2.13. The second door on the right is open.

[0901] The current open / closed status of the second door on the right.

[0902] value

[0903] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0904] Remark

[0905] N / A

[0906] 3.6.2.14. Trunk Status

[0907] Current trunk door open / closed status

[0908] value

[0909] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0910] Remark

[0911] N / A

[0912] 3.6.2.15. Engine hood open

[0913] Current engine hood open / closed status

[0914] value

[0915] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0916] Remark

[0917] N / A

[0918] 4. API Guidelines for Controlling Toyota Vehicles

[0919] This section details how to use the API for Toyota vehicles.

[0920] 4.1. APIs for Vehicle Motion Control

[0921] 4.1.1. List of APIs used for vehicle motion control

[0922] 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.

[0923] 4.1.1.1. Input

[0924] Table 14. Input APIs for Vehicle Motion Control

[0925]

[0926] *Response time in VP based on the request from ADK

[0927] 4.1.1.2. Output

[0928] Table 15. Input APIs for Vehicle Motion Control

[0929]

[0930]

[0931]

[0932] 4.1.2. API Details for Vehicle Motion Control

[0933] 4.1.2.1. Pulse Direction Command

[0934] For values ​​and notes, please refer to section 3.2.2.1.

[0935] Figure 15 The detailed shift sequence is shown.

[0936] 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 15 In Chinese, “D” → “R”.

[0937] The acceleration command needs to be used to request deceleration until the gear shift is complete.

[0938] After changing gears, you can select to accelerate or decelerate based on the acceleration command.

[0939] When the vehicle is in autonomous mode, it does not accept driver gear shifting.

[0940] 4.1.2.2. Fixed Commands

[0941] For values ​​and notes, please refer to 3.2.2.2.

[0942] Figure 16 This shows how to enable / disable pinned features.

[0943] 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".

[0944] 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".

[0945] After the fixed function is disabled, the vehicle can be accelerated / decelerated based on the acceleration command.

[0946] 4.1.2.3. Static Command

[0947] For values ​​and notes, please refer to 3.2.2.3.

[0948] 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.

[0949] Figure 17 The static sequence is shown.

[0950] To bring the vehicle to a stop, an acceleration command is used to request deceleration.

[0951] 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.

[0952] 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.

[0953] 4.1.2.4. Speed-up command

[0954] For values ​​and notes, please refer to 3.2.2.4.

[0955] The following shows what the vehicle does when the accelerator pedal is pressed.

[0956] 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.

[0957] The following shows what the vehicle does when the brake pedal is operated.

[0958] 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.

[0959] 4.1.2.5. Front wheel steering angle command

[0960] For values ​​and notes, please refer to 3.2.2.5.

[0961] The following shows how to use the front wheel steering angle command.

[0962] The front wheel steering angle command is set to a value relative to the front wheel steering angle.

[0963] For example, when the front wheel steering angle is 0.1 radians and the vehicle is traveling straight;

[0964] If ADK wants to go straight, the front wheel steering angle command will be set to 0 + 0.1 = 0.1 [radians].

[0965] 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.

[0966] The following illustrates how the vehicle behaves when the driver operates the steering mechanism.

[0967] Choose the maximum value from 1) the value calculated based on the driver's steering wheel operation, or 2) the value requested by ADK.

[0968] 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.

[0969] 4.1.2.6. Vehicle Mode Command

[0970] exist Figure 18 The diagram shows the state machine for mode transitions in Autono-MaaS vehicles.

[0971] The description of each state is shown below.

[0972]

[0973] The descriptions for each conversion are shown below.

[0974]

[0975] 4.2. APIs for Body Control

[0976] 4.2.1. List of APIs used for vehicle body control

[0977] 4.2.1.1. Input

[0978] Table 16. Input APIs for Body Control

[0979]

[0980]

[0981] 4.2.1.2. Output

[0982] Table 17. Output APIs for Body Control

[0983]

[0984]

[0985] 4.3. API for Power Control

[0986] 4.3.1. List of APIs for Power Control

[0987] 4.3.1.1. Input

[0988] Table 18. Input APIs for Power Control

[0989] Signal name describe redundancy User Guide Power mode command Commands to control the power mode of VP N / A —

[0990] 4.3.1.2. Output

[0991] Table 19. Output APIs for Power Control

[0992] Signal name describe redundancy User Guide Power mode status The current power mode status of VP N / A —

[0993] 4.4. API for Fault Notification

[0994] 4.4.1. List of APIs used for fault notification

[0995] 4.4.1.1. Input

[0996] Table 20. Input APIs for Fault Notification

[0997] Signal name describe redundancy User Guide N / A — — —

[0998] 4.4.1.2. Output

[0999] Table 21. Output APIs for Fault Notification

[1000]

[1001]

[1002] 4.5. APIs for Security

[1003] 4.5.1. List of APIs for Security

[1004] 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.

[1005] 4.5.1.1. Input

[1006] Table 22. Input APIs for Security

[1007]

[1008]

[1009] 4.5.1.2. Output

[1010] Table 23. Output APIs for Security

[1011]

[1012]

[1013] 4.5.2. Detailed Guidelines for Secure APIs

[1014] 4.5.2.1. Device Authentication Protocol

[1015] When VCIB is started from "sleep" mode, the application device is authenticated.

[1016] After successful authentication, VCIB is able to begin communicating with ADK.

[1017] exist Figure 19 The authentication process is shown in the authentication process diagram.

[1018] Certification Standards

[1019] 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 —

[1020] 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. An automated driving system (ADS) capable of being installed in a vehicle, the vehicle including a vehicle platform (VP) that controls the vehicle according to control requests from the ADS, the VP including an electronic parking brake system and a vehicle control interface, the electronic parking brake system switching between activation and deactivation of brake holding, the vehicle control interface providing an interface between the ADS and the VP, the vehicle control interface providing a stationary state signal to the ADS, the stationary state signal including a first applied value indicating activation of brake holding and a first deactivated value indicating deactivation of brake holding, the ADS including: Computing components; as well as The communication module communicates with the vehicle control interface, wherein... The computing component is configured to output a stationary command to the VP via the vehicle control interface. The stationary command includes a second applied value indicating that the brake holding is enabled and a second released value indicating that the ADS is requesting the VP to release the brake holding. When the computing component requests the VP to activate the brake hold, even if the vehicle speed is not 0, the computing component activates the function of switching the brake hold by setting the standstill command to the second applied value, and the computing component requests the VP to decelerate until the standstill state signal switches from the first deactivated value to the first applied value. After the stationary state signal is switched to the first applied value, the computing component continues to request the VP deceleration during the period when the brake hold is activated.

2. The ADS according to claim 1, wherein When the quiescent state signal has been set to the first applied value, the computing component requests acceleration from the VP to switch the quiescent state signal from the first applied value to the first deactivated value.

3. A vehicle comprising the ADS according to claim 1 or 2.

4. A vehicle control interface providing an interface between an automated driving system (ADS) and a vehicle platform (VP), the vehicle platform controlling a vehicle according to a control request from the ADS, the VP including an electronic parking brake system that switches between activation and deactivation of brake holding, the vehicle control interface comprising: processor; as well as A memory that stores programs executable by the processor, wherein The processor A stationary state signal is provided to the ADS, the stationary state signal including a first applied value indicating activation of the brake holding and a first released value indicating deactivation of the brake holding; Output a stationary command from the ADS to the VP, the stationary command including a second applied value indicating that the brake holding is enabled and a second released value indicating that the ADS is requesting the VP to release the brake holding; When the ADS requests the VP to activate the brake hold, even if the vehicle speed is not 0, it receives the stationary command from the ADS set to the second applied value to activate the function of switching the brake hold, and After the vehicle comes to a stop, a deceleration request is also received from the ADS until the stationary state signal switches from the first deactivated value to the first applied value. After the stationary state signal is switched to the first applied value, the processor continues to receive requests for deceleration from the ADS during the period when the brake hold is activated.

5. The vehicle control interface according to claim 4, wherein... When the quiescent state signal has been set to the first applied value, the processor, in response to the acceleration request from the ADS, switches the quiescent state signal from the first applied value to the first deactivated value.

6. A vehicle comprising the vehicle control interface according to claim 4 or 5.

7. The vehicle according to claim 6, further comprising the ADS.

Images