Vehicle control interface, vehicle comprising same, autonomous driving system and vehicle comprising same, and method of controlling a vehicle

Abstract

The present disclosure relates to a vehicle control interface and a vehicle comprising the same, an autonomous driving system and a vehicle comprising the same, and a method of controlling a vehicle. The vehicle (1) comprises a manual mode similar to a POV when a VP (20) is started, a manual mode with a VO where the VP (20) is controlled by an operator, and an autonomous mode with a VO where the VP (20) is controlled by an ADS (11). A processor of the VCIB (40) is configured to: 1) receive from the ADS (11) an operator command to transition the vehicle (1) from the manual mode similar to a POV to the manual mode with a VO, and 2) provide to the ADS (11) an autonomous ready signal indicating that autonomous driving of the VP (20) is ready, and receive from the ADS (11) an autonomous request to switch the vehicle (1) from the manual mode with a VO to the autonomous mode with a VO.

Description

[0001] This non-provisional application is based on Japanese Patent Application No. 2021-157686, 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 control interface and a vehicle including the vehicle control interface, an autonomous driving system and a vehicle including the autonomous driving system, and a method for controlling the vehicle. 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] An 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 according to commands from the autonomous driving system.

[0005] Vehicles capable of being equipped with autonomous driving systems can include a manual mode where the vehicle platform is controlled by an operator (e.g., a driver) and an autonomous mode where the vehicle platform is controlled by the autonomous driving system. Appropriate switching between manual and autonomous modes is required.

[0006] This disclosure was made to solve the above-mentioned problems, and its purpose is to enable appropriate switching between manual mode and autonomous mode in vehicles on which an autonomous driving system can be installed.

[0007] (1) A vehicle control interface according to one aspect of this disclosure provides an interface between an automated driving system (ADS) and a vehicle platform (VP) that controls the vehicle according to a control request from the ADS. The vehicle includes a first manual mode set when the VP is activated, a second manual mode in which an operator is located in the VP and the VP is controlled by the operator, and an autonomous mode in which the VP is controlled by the ADS. The vehicle control interface includes a processor and a memory storing programs executable by the processor. The processor is configured to: receive from the ADS an operator command to switch the vehicle from the first manual mode to the second manual mode, provide the ADS with an autonomous readiness signal indicating the readiness of the VP's automated driving, and receive from the ADS an autonomous request to switch the vehicle from the second manual mode to the autonomous mode.

[0008] (2) The processor is configured to receive a request from the ADS to cancel the autonomous request in the autonomous mode in the autonomous mode.

[0009] (3) The vehicle also includes a sleep mode in which the vehicle control interface is disabled. The processor is configured to receive a power mode request from the ADS in the second manual mode for switching the vehicle from the second manual mode to the sleep mode.

[0010] (4) The vehicle also includes a maintenance mode for maintaining the vehicle. The processor is configured to: during the transition from the first manual mode to the maintenance mode, provide the ADS with a power mode status signal indicating that the ignition of the VP is on, provide the ADS with a propulsion direction status signal indicating that the shift gear is set to P, provide the ADS with an actual movement direction signal indicating that the VP is stationary, and receive from the ADS a maintenance request for requesting maintenance of the vehicle.

[0011] (5) The processor is configured to: during the transition from the maintenance mode to the first manual mode, provide the ADS with a power mode status signal indicating that the ignition of the VP is turned on, provide the ADS with a propulsion direction status signal indicating that the shift gear is set to the P gear, provide the ADS with an actual movement direction signal indicating that the VP is in the stationary state, and receive from the ADS the maintenance request for not requesting maintenance of the vehicle.

[0012] (6) Another embodiment of the vehicle according to this disclosure includes a vehicle platform (VP) that includes the aforementioned vehicle control interface.

[0013] (7) An automated driving system (ADS) according to another aspect of this disclosure is an ADS that can be installed in a vehicle. The vehicle includes a vehicle platform (VP) that controls the vehicle according to control requests from the ADS. The VP includes a vehicle control interface that provides an interface between the ADS and the VP. The vehicle includes a first manual mode set when the VP is activated, a second manual mode in which an operator is located in the VP and the VP is controlled by the operator, and an autonomous mode in which the VP is controlled by the ADS. The ADS includes a computing component and a communication module configured to communicate with the vehicle control interface. The computing component is configured to: provide the vehicle control interface with an operator command for switching the vehicle from the first manual mode to the second manual mode, and receive from the vehicle control interface an autonomous readiness signal indicating the readiness of the VP's automated driving, and provide the vehicle control interface with an autonomous request for switching the vehicle from the second manual mode to the autonomous mode.

[0014] (8) The computing component is configured to provide the autonomous request to the vehicle control interface in the autonomous mode to cancel the autonomous mode.

[0015] (9) The vehicle also includes a sleep mode in which the vehicle control interface is disabled. The computing component is configured to provide a power mode request to the vehicle control interface in the second manual mode to switch the vehicle from the second manual mode to the sleep mode.

[0016] (10) The vehicle further includes a maintenance mode for maintaining the vehicle. The computing component is configured to: during the transition from the first manual mode to the maintenance mode, receive from the vehicle control interface a power mode status signal indicating that the ignition of the VP is on, receive from the vehicle control interface a propulsion direction status signal indicating that the shift gear is set to P gear, receive from the vehicle control interface an actual movement direction signal indicating that the VP is stationary, and provide to the vehicle control interface a maintenance request for requesting maintenance of the vehicle.

[0017] (11) The computing component is configured to: during the transition from the maintenance mode to the first manual mode, receive from the vehicle control interface the power mode status signal indicating that the ignition of the VP is turned on, receive from the vehicle control interface the propulsion direction status signal indicating that the shift gear is set to the P gear, receive from the vehicle control interface the actual movement direction signal indicating that the VP is in the stationary state, and provide to the vehicle control interface the maintenance request for not requesting maintenance of the vehicle.

[0018] (12) A vehicle according to another embodiment of this disclosure includes the aforementioned ADS and vehicle platform (VP).

[0019] (13) In a method for controlling a vehicle according to yet another aspect of this disclosure, the vehicle includes a vehicle platform (VP) that controls the vehicle according to a control request from an automated driving system (ADS). The VP includes a vehicle control interface that provides an interface between the ADS and the VP. The method includes: setting the vehicle to a first manual mode when the VP is activated; and having the vehicle switch from the first manual mode to an autonomous mode via a second manual mode. The second manual mode is a mode in which an operator is located in the VP and the VP is controlled by the operator. The autonomous mode is a mode in which the VP is controlled by the ADS.

[0020] (14) The method further includes: when an autonomous request to cancel the autonomous mode is provided from the ADS to the vehicle control interface, the vehicle performs the switch from the autonomous mode to the second manual mode.

[0021] (15) The vehicle also includes a sleep mode in which the vehicle control interface is turned off. The method further includes: when a power mode request for switching the vehicle from the second manual mode to the sleep mode is provided from the ADS to the vehicle control interface, the method performs the switch from the second manual mode to the sleep mode.

[0022] (16) The vehicle further includes a maintenance mode for maintaining the vehicle. The method further includes, when a first condition, a second condition, a third condition, and a fourth condition are met, the vehicle switches from the first manual mode to the maintenance mode. The first condition is that the vehicle control interface provides the ADS with a power mode status signal indicating that the ignition of the VP is on. The second condition is that the vehicle control interface provides the ADS with a propulsion direction status signal indicating that the shift gear is set to P gear. The third condition is that the vehicle control interface provides the ADS with an actual movement direction signal indicating that the VP is stationary. The fourth condition is that the ADS provides the vehicle control interface with a maintenance request for requesting maintenance of the vehicle.

[0023] (17) The method further includes, when conditions five, six, seven, and eight are met, the vehicle performs a switch from the maintenance mode to the first manual mode. The fifth condition is that the vehicle control interface provides the ADS with a power mode status signal indicating that the ignition of the VP is on. The sixth condition is that the vehicle control interface provides the ADS with a propulsion direction status signal indicating that the shift gear is set to P gear. The seventh condition is that the vehicle control interface provides the ADS with an actual direction of movement signal indicating that the VP is in the stationary state. The eighth condition is that the ADS provides the vehicle control interface with a maintenance request for not requesting maintenance of the vehicle.

[0024] 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

[0025] Figure 1 This is a diagram illustrating an outline of a vehicle according to an embodiment of the present disclosure.

[0026] Figure 2 This is a diagram showing the configuration of ADS, VCIB, and VP in more detail.

[0027] Figure 3 The state machine is shown, which illustrates the mode transitions of VP.

[0028] Figure 4 This is a diagram showing the transmission directions of various signals related to mode switching.

[0029] Figure 5 It is a diagram used to illustrate operator instructions.

[0030] Figure 6 It is a graph used to illustrate operator feedback signals.

[0031] Figure 7 This is a diagram used to illustrate a power mode request.

[0032] Figure 8 It is a diagram used to illustrate power mode status signals.

[0033] Figure 9 This is a diagram used to illustrate the VP autonomous readiness signal.

[0034] Figure 10 It is a diagram used to illustrate autonomous requests.

[0035] Figure 11 This is a diagram used to illustrate the autonomous state signal of VP.

[0036] Figure 12 It is a diagram used to illustrate the propulsion direction status signal.

[0037] Figure 13 It is a diagram used to illustrate the actual direction of movement signal.

[0038] Figure 14 It is a diagram used to illustrate maintenance requests.

[0039] Figure 15 This is a diagram showing the overall structure of the Autono-Maas vehicle.

[0040] Figure 16 This is a diagram illustrating the system architecture of an Autono-Maas vehicle.

[0041] Figure 17 This is a diagram illustrating a typical workflow in ADS.

[0042] Figure 18 This is a graph showing the relationship between the front wheel steering angle rate limit and speed.

[0043] Figure 19 This is the state machine diagram for power mode.

[0044] Figure 20 This is a diagram showing the details of the gear shifting sequence.

[0045] Figure 21 It is a diagram showing a fixed order.

[0046] Figure 22 It is a diagram showing the static sequence.

[0047] Figure 23 It is a state machine diagram of autonomous states.

[0048] Figure 24 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] [Example]

[0051] 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).

[0052] 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).

[0053] 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.

[0054] VP 20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40.

[0055] 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.

[0056] 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).

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] The active safety system 35 uses camera 54 and radar sensors 55 and 56 to detect obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front of or behind the vehicle. Based on the distance between the vehicle 1 and the obstacle and the direction of the vehicle 1's movement, the active safety system 35 determines whether the 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 through the integrated control manager 31 to increase braking force.

[0063] 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.

[0064] 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 defined APIs for each signal. When VCIB 40 receives a control request from ADS 11, 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.

[0065] 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).

[0066] 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.

[0067] 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.

[0068] 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.

[0069] <Detailed Configuration>

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] In this embodiment, the EPB system 341 performs a brake holding function and is configured to switch between activating and deactivating brake holding.

[0085] 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.

[0086] 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).

[0087] 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.

[0088] 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.

[0089] 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.

[0090] <Mode Conversion>

[0091] Figure 3 The diagram shows a state machine illustrating mode transitions for vehicle 1. In this example, vehicle 1 includes a sleep mode, two manual modes, one autonomous mode, and a maintenance mode. The two manual modes include a manual mode similar to a private vehicle (POV) and a manual mode with a vehicle operator (VO). The autonomous mode is an autonomous mode with a VO.

[0092] <<Sleep Mode>>

[0093] Sleep mode refers to the mode in which most systems, including VCIB 40, are shut down. VP 20 (including VCIB 40) enters sleep mode immediately upon startup. In sleep mode, ADS 11 cannot provide any control commands to VP 20. Device authentication of ADS 11 by VCIB40 is also not performed.

[0094] Since both the integrated control manager 31 and VCIB 40 are turned off in sleep mode, the operator feedback signal, power mode status signal, and VP autonomy status signal are not used. Details of each signal will be described later.

[0095] <<Manual Mode Similar to POV>>

[0096] The POV-like manual mode refers to a mode similar to that of a conventional vehicle (not suitable for autonomous driving), i.e., a mode in which VP 20 is controlled by an operator (driver or passenger). In the POV-like manual mode, the operator may or may not be in the passenger compartment (VP 20). The POV-like manual mode corresponds to the "first manual mode" according to this disclosure.

[0097] In the POV-like manual mode, the operator feedback signal is set to "unknown", the power mode status signal is set to "ignition on" or "driving mode", and the VP autonomous status signal is set to "manual mode".

[0098] <<Manual Mode with VO>>

[0099] The manual mode with VO refers to the manual mode operated by the operator inside the carriage. In the manual mode with VO, VCIB 40 is authenticated so that VCIB 40 can communicate with VP 20 (Integrated Control Manager 31). However, VP 20 is controlled by the operator, not ADS 11. The manual mode with VO corresponds to the "second manual mode" according to this disclosure.

[0100] In the manual mode with VO, the operator feedback signal is set to "vehicle operator present", the power mode status signal is set to "ignition on" or "driving mode" and the VP autonomy status signal is set to "manual mode".

[0101] Various known methods can be used to determine whether an operator is in the carriage. For example, the presence of someone can be determined by analyzing images from cameras that capture images of the carriage interior. Instead of cameras, or in addition to cameras, the status of operations on the human-machine interface (HMI) within the carriage, detection values ​​from load sensors located in the seats, the tightness of seat belts, or the open and closed status of doors can be used.

[0102] <<Autonomous Mode with VO>>

[0103] The autonomous mode with VO refers to a mode in which VP 20 is controlled by ADS 11 and vehicle 1 can drive automatically. The autonomous mode with VO corresponds to the "autonomous mode" according to this disclosure.

[0104] In the autonomous mode with VO, the operator feedback signal is set to "vehicle operator present", the power mode status signal is set to "driving mode" and the VP autonomous status signal is set to "autonomous mode".

[0105] <<Maintenance Mode>>

[0106] The maintenance mode is used for the maintenance of vehicle 1. In maintenance mode, the P-lock system 342 secures the wheels to prevent vehicle 1 from moving. Furthermore, the integrated control manager 31 rejects power-on requests even when the operator presses the start button (not shown). This is to prevent the engine from starting (along with the generation of exhaust gases) if vehicle 1 falls into the hybrid electric vehicle category.

[0107] The vehicle can be configured to include only a single manual mode. Conversely, the vehicle 1 according to this embodiment has two manual modes (a POV-like manual mode and a VO-like manual mode). The vehicle 1 switches from a POV-like manual mode to a VO-like manual mode, and then to a VO-like autonomous mode. In other words, the vehicle 1 allows the VO-like manual mode to be inserted between the POV-like manual mode and the VO-like autonomous mode. When switching directly from a POV-like manual mode to a VO-like autonomous mode, it is necessary to determine whether the operator is present in the passenger compartment. By allowing the insertion of the VO-like manual mode, the presence of the operator in the passenger compartment is ensured when determining whether to switch to the VO-like autonomous mode. Therefore, according to this embodiment, the switch from manual mode to autonomous mode is smooth, and appropriate mode conversion can be achieved.

[0108] The conversion between the five modes will be described in turn. Figure 4 This diagram illustrates the transmission directions of various signals or commands related to mode transitions. During mode transitions, VCIB 40 receives power mode requests, operator commands, autonomy requests, or maintenance requests from ADS 11. Additionally, VCIB 40 provides ADS 11 with power mode status signals, operator feedback signals, VP autonomy status signals, VP autonomy ready signals, propulsion direction status signals, or actual movement direction signals.

[0109] Figures 5 to 13 Each of these diagrams is used to illustrate signals or commands related to mode switching. These will be described in detail below. Figure 3 The transformations shown are from a to f, l, and m.

[0110] <<Convert a>>

[0111] In sleep mode, when the operator presses the start button while a physical key (not shown), such as a smart key, is in the passenger compartment, vehicle 1 performs a transition from sleep mode to a manual mode similar to POV.

[0112] <<Convert to b>>

[0113] In a POV-like manual mode, when the operator presses the start button while the physical key is in the cabin, vehicle 1 will switch from POV-like manual mode to sleep mode.

[0114] <<Convert to c>>

[0115] In a POV-like manual mode, when (1) VP 20 (integrated control manager 31) authenticates VCIB 40 and (2) the operator is present in the cabin, vehicle 1 will switch from a POV-like manual mode to a VO-like manual mode.

[0116] More specifically, ADS 11 provides operator commands to VCIB 40 indicating the presence of an operator in the carriage. VCIB 40 serves as the interface between operator commands (or commands corresponding to operator commands) and the integrated control manager 31. Figure 5 As shown, the operator command indicates any of the following: "No request," "Operator present," and "No operator present." When the operator command is set to "Operator present," the integrated control manager 31 can determine that the operator is present in the carriage. The integrated control manager 31 uses operator feedback signals (see...) Figure 6 Provides feedback to ADS 11 regarding the operator's presence in the carriage. When VP 20 is activated, the operator feedback signal is set to "Unknown".

[0117] <<Conversion d>>

[0118] In manual mode with VO, when (1) VP 20 is switched to the vehicle power off state (Ready OFF) or (2) the operator presses the start button while the physical key is in the passenger compartment, the vehicle 1 switches from manual mode with VO to sleep mode.

[0119] More specifically, ADS 11 provides a power mode request to VCIB 40 for controlling the power mode of vehicle 1. VCIB 40 serves as the interface between the power mode request (or the request corresponding to the power mode request) and the integrated control manager 31. Figure 7 As shown, the power mode request can be any of the following: "No Request", "Sleep" indicating the vehicle power is off (Ready OFF), "Wake Up" or "Ignition On" indicating VCIB 40 activation, or "Driving Mode" indicating the vehicle power is on (Ready ON). When the power mode request is set to "Sleep", the integrated control manager 31 allows VP 20 to switch to the vehicle power off state.

[0120] The VCIB 40 provides the ADS 11 with a power mode status signal indicating the power mode of vehicle 1 based on signals from the integrated control manager 31. For example... Figure 8 As shown, the power mode status signal indicates any of the following: "Sleep", "Wake-up", "Ignition On", and "Driving Mode".

[0121] <<Convert e>>

[0122] In a POV-like manual mode, when (1) VP 20 is ready for autonomous driving and (2) ADS 11 requests VCIB40 to perform autonomous driving, vehicle 1 will switch from a POV-like manual mode to an autonomous mode with VO.

[0123] More specifically, VCIB 40 provides ADS 11 with a VP autonomous readiness signal indicating whether vehicle 1 can switch to an autonomous mode with VO. The VP autonomous readiness signal is generated by VCIB 40 based on a signal from the integrated control manager 31. For example... Figure 9 As shown, the VP autonomous readiness signal indicates any of the following: "autonomy not ready", "autonomy ready", and "invalid".

[0124] ADS 11 provides autonomous requests to VCIB 40 to control the switching between manual and autonomous modes. VCIB 40 serves as the interface between the autonomous request (or a request corresponding to the autonomous request) and the integrated control manager 31. Figure 10 As shown, an autonomy request indicates any of the following: "No autonomy request," "Autonomy request," or "Deactivation request" as a request to switch to manual mode. The VP autonomy status signal indicates either "Manual mode" or "Autonomy mode" (see [link]). Figure 11 ).

[0125] When the VP autonomous readiness signal is set to "autonomy ready" and the autonomous request is set to "request autonomy", vehicle 1 switches from a manual mode similar to POV to an autonomous mode with VO.

[0126] <<Conversion f>>

[0127] In autonomous mode with VO, when ADS 11 requests the integrated control manager 31 to switch to manual mode via VCIB 40, vehicle 1 switches from autonomous mode with VO to a manual mode similar to POV. More specifically, when autonomous request = "deactivation request" is set, vehicle 1 switches from autonomous mode with VO to a manual mode similar to POV.

[0128] <<Conversion>>

[0129] In a POV-like manual mode, when (1) VP 20 has certified VCIB 40, (2) VP 20 ignition has been turned on, (3) the shift gear has been set to P, (4) vehicle 1 is stationary, and (5) ADS 11 issues a maintenance request, vehicle 1 switches from a POV-like manual mode to a maintenance mode.

[0130] More specifically, VCIB 40 provides ADS 11 with a shift direction status signal indicating the current shift gear. The shift direction status signal is generated by VCIB 40 based on a signal from the integrated control manager 31. For example... Figure 12As shown, the propulsion direction status signal indicates any of the following: “P”, “R”, “N”, “D”, “B”, and “Invalid (no shift gear set)”.

[0131] VCIB 40 provides ADS 11 with an actual direction of movement signal indicating the direction of movement of vehicle 1. This actual direction of movement signal is also generated by VCIB 40 based on signals from the integrated control manager 31. Figure 13 As shown, the actual movement direction signal indicates any of "forward", "backward", "stationary", and "undefined". When the speed of all four wheels has been zero for a certain period of time, an actual movement direction signal indicating "stationary" is provided.

[0132] ADS 11 provides maintenance requests to VCIB 40 to request maintenance for vehicle 1. VCIB 40 serves as the interface between the maintenance request (or the request corresponding to the maintenance request) and the integrated control manager 31. Figure 14 As shown, the maintenance request indicates either "No request" or "Maintenance required".

[0133] When the propulsion direction status signal is set to "P", the actual movement direction signal is set to "stationary", and the maintenance request is set to "maintenance required", vehicle 1 switches from a POV-like manual mode to a maintenance mode.

[0134] <<Convert m>>

[0135] In maintenance mode, when (1) VP 20 ignition is on, (2) the gear shift is set to P, (3) vehicle 1 is stationary, and (4) ADS 11 does not issue a maintenance request, vehicle 1 switches from maintenance mode to a POV-like manual mode. More specifically, when the propulsion direction status signal is set to "P", the actual movement direction signal is set to "stationary", and the maintenance request is set to "no request", vehicle 1 switches from maintenance mode to a POV-like manual mode.

[0136] As described above, in this embodiment, a manual mode with VO is used for the transition from manual mode to autonomous mode. Vehicle 1 transitions from a POV-like manual mode to an autonomous mode with VO via the manual mode with VO. Inserting the manual mode with VO between the POV-like manual mode and the autonomous mode with VO ensures that the operator is present in the passenger compartment when determining whether a transition to the autonomous mode with VO can be performed. Therefore, according to this embodiment, in a vehicle 1 capable of installing ADS11, a smooth transition from manual mode to autonomous mode is possible, and appropriate mode conversion can be achieved.

[0137] In vehicle 1, a transition from a POV-like manual mode to a maintenance mode (transition 1) was performed. This is because, unlike the autonomous mode with VO, in maintenance mode, an operator is not required to be present in the passenger compartment. When attempting to implement maintenance mode in a vehicle configured to include only a single manual mode, the conditions for determining whether a transition from a single manual mode to an autonomous mode, or the conditions for determining whether a transition from a single manual mode to maintenance mode, become complex, which may complicate the implementation of ADS 11.

[0138] Conversely, in this embodiment, the manual mode is divided into a POV-like manual mode and a VO-like manual mode. The conditions for determining whether a switch (switch l or m) can be made between the POV-like manual mode and the maintenance mode are simplified, as are the conditions for determining whether a switch (switch e or f) can be made between the VO-like manual mode and the VO-like autonomous mode. Therefore, the implementation difficulty of ADS 11 is reduced.

[0139] [Example]

[0140] Toyota vehicle platform API specifications

[0141] Version 1.1

[0142] Revision history

[0143]

[0144]

[0145] Table of contents

[0146] 1. Introduction

[0147] 1.1. Purpose of this specification

[0148] 1.2. Target Vehicle

[0149] 1.3. Definition of Terms

[0150] 2. Structure

[0151] 2.1. Overall Structure of Autono-MaaS Vehicles

[0152] 2.2. System Architecture of Autono-MaaS Vehicles

[0153] 3. Application Interface

[0154] 3.1. Typical Use of API

[0155] 3.2. APIs for Vehicle Motion Control

[0156] 3.2.1. List of APIs used for vehicle motion control

[0157] 3.2.2. Details of each API used for vehicle motion control. 3.3. APIs used for body control.

[0158] 3.3.1. List of APIs used for vehicle body control

[0159] 3.3.2. Details of each API used for body control

[0160] 3.4. API for Power Control

[0161] 3.4.1. List of APIs for Power Control

[0162] 3.4.2. Details of each API used for power control

[0163] 3.5. API for Fault Notification

[0164] 3.5.1. List of APIs used for fault notification

[0165] 3.5.2. Details of each API used for fault notification

[0166] 3.6. APIs for Security

[0167] 3.6.1. List of APIs for Security

[0168] 3.6.2. Details of each API used for security

[0169] 4. API Guidelines for Controlling Toyota Vehicles

[0170] 4.1. API for Vehicle Motion Control

[0171] 4.1.1. List of APIs used for vehicle motion control

[0172] 4.1.2. Detailed API Guide for Vehicle Motion Control

[0173] 4.2. APIs for Body Control

[0174] 4.2.1. List of APIs used for vehicle body control

[0175] 4.3. API for Power Control

[0176] 4.3.1. List of APIs for Power Control

[0177] 4.4. API for Fault Notification

[0178] 4.4.1. List of APIs used for fault notification

[0179] 4.5. APIs for Security

[0180] 4.5.1. List of APIs for Security

[0181] 4.5.2. Detailed Guidelines for Secure APIs

[0182] 1. Introduction

[0183] 1.1. Purpose of this specification

[0184] 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.

[0185] 1.2. Target Vehicle

[0186] This specification applies to Autono-MaaS vehicles as defined by the [Architecture Specification for Toyota Vehicle Platform with Autonomous Driving System].

[0187] 1.3. Definition of Terms

[0188] Table 1. Definitions of Terms

[0189]

[0190] 2. Structure

[0191] 2.1. Overall Structure of Autono-MaaS Vehicles

[0192] This shows the overall structure of an Autono-MaaS vehicle. Figure 15 ).

[0193] 2.2. System Architecture of Autono-MaaS Vehicles

[0194] exist Figure 16 The system architecture is shown in the diagram.

[0195] 3. Application Interface

[0196] 3.1. Typical Use of API

[0197] This section describes typical uses of the API.

[0198] The typical workflow of an API is as follows ( Figure 17 The following example assumes CAN for physical communication.

[0199] 3.2. APIs for Vehicle Motion Control

[0200] This section describes the API used for vehicle motion control.

[0201] 3.2.1. List of APIs used for vehicle motion control

[0202] 3.2.1.1. Input

[0203] Table 3. Input APIs for Vehicle Motion Control

[0204]

[0205]

[0206] *Response time in VP based on the request from ADK

[0207] 3.2.1.2. Output

[0208] Table 4. Output APIs for Vehicle Motion Control

[0209]

[0210]

[0211] 3.2.2. Details of each API used for vehicle motion control

[0212] 3.2.2.1. Direction of Advance Command

[0213] Request to change gear from forward (D) to reverse (R), or from reverse to forward.

[0214] value

[0215] value describe Remark 0 No request 2 R Shift to reverse (R) 4 D Shift to D gear other reserve

[0216] Remark

[0217] • Available only when vehicle mode status = "Autonomous Mode".

[0218] • Available only when the vehicle is stationary (direction of travel = "stationary").

[0219] • Available only when braking is applied.

[0220] 3.2.2.2. Fixed Commands

[0221] Request to open / close wheel lock

[0222] value

[0223] The table below shows the cases where EPB and P files are used for fixing.

[0224]

[0225] Remark

[0226] This API is used to park the vehicle.

[0227] • Available only when vehicle mode status = "Autonomous Mode".

[0228] • It can only be changed when the vehicle is stationary (direction of travel = "stationary").

[0229] • It can only be changed when braking is applied.

[0230] 3.2.2.3. Static Command

[0231] Request to apply / disappear brake holding function

[0232] value

[0233] value describe Remark 0 No request 1 Already applied Allows brake holding function. 2 Released

[0234] Remark

[0235] This API is used to select whether the brake hold function is enabled.

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

[0237] • Continue to use the acceleration command (deceleration request) until the stationary state changes to "applied".

[0238] 3.2.2.4. Acceleration Command

[0239] Request acceleration

[0240] value

[0241] Estimated maximum deceleration to estimated maximum acceleration [m / s] 2 ]

[0242] Remark

[0243] • Available only when vehicle mode status = "Autonomous Mode".

[0244] • Acceleration (+) and deceleration (-) requests based on the propulsion direction and state direction.

[0245] • The upper / lower limits will be based on the estimated maximum deceleration and the estimated maximum acceleration change.

[0246] • When the requested acceleration is greater than the estimated maximum acceleration, the request is set to the estimated maximum acceleration.

[0247] • When the requested deceleration is greater than the estimated maximum deceleration, the request is set to the estimated maximum deceleration.

[0248] • When the driver is operating the vehicle (over-control), the requested acceleration may not be achieved.

[0249] • When PCS is working simultaneously, VP should be selected with minimum acceleration (maximum deceleration).

[0250] 3.2.2.5. Front wheel steering angle command

[0251] value

[0252] value describe Remark — [Unit: radians]

[0253] Remark

[0254] • Available only when vehicle mode status = "Autonomous Mode".

[0255] Left represents a positive value (+). Right represents a negative value (-).

[0256] • When the vehicle is traveling in a straight line, the front wheel steering angle is set to a value (0).

[0257] • This request is set to a value relative to the current one to prevent the accumulation of misalignment in the "front wheel steering angle".

[0258] The requested value should be set within the front wheel steering angle rate limit.

[0259] • When the driver is operating the vehicle (over-control), the requested front wheel steering angle may not be achieved.

[0260] 3.2.2.6. Vehicle Mode Command

[0261] Request a change from manual mode to autonomous mode, or vice versa.

[0262] value

[0263]

[0264] Remark

[0265] N / A

[0266] 3.2.2.7. High Dynamic Commands

[0267] If ADK is to improve VP's braking response performance * The high dynamics command should be set to "high".

[0268] *Response time in VP based on the request from ADK

[0269] value

[0270] value describe Remark 0 No request 1 high 2-3 reserve

[0271] Remark

[0272] N / A

[0273] 3.2.2.8. Propulsion Direction Status

[0274] Current shift status

[0275] value

[0276] value describe Remark 0 reserve 1 P 2 R 3 N 4 D 5 reserve 6 Invalid value

[0277] Remark

[0278] • If VP is unaware of the current shift state, this output is set to "invalid value".

[0279] 3.2.2.9. Fixed State

[0280] Each fixed system state

[0281] value

[0282] The table below shows the cases where EPB and P files are used for fixing.

[0283]

[0284] Remark

[0285] ·N / A

[0286] 3.2.2.10. Stationary state

[0287] static state

[0288] value

[0289] value describe Remark 0 Released 1 Already applied 2 reserve 3 Invalid value

[0290] Remark

[0291] ·N / A

[0292] 3.2.2.11. Estimate the gliding acceleration

[0293] With the throttle valve closed, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0294] value

[0295] [Unit: meters per second] 2 ]

[0296] Remark

[0297] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0298] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0299] 3.2.2.12. Estimating the maximum acceleration

[0300] With the throttle valve fully open, the acceleration calculated in VP is taken into account factors such as slope and road load.

[0301] value

[0302] [Unit: meters per second] 2 ]

[0303] Remark

[0304] • When the propulsion direction is “D”, the acceleration in the forward direction is shown as a positive value.

[0305] • When the forward direction is “R”, the acceleration in the backward direction is shown as a positive value.

[0306] 3.2.2.13. Estimate the maximum deceleration

[0307] 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.

[0308] value

[0309] [Unit: meters per second] 2 ]

[0310] Remark

[0311] • When the propulsion direction is “D”, the deceleration in the forward direction is shown as a negative value.

[0312] • When the forward direction is “R”, the deceleration in the backward direction is shown as a negative value.

[0313] 3.2.2.14. Front wheel steering angle

[0314] value

[0315]

[0316]

[0317] Remark

[0318] Left represents a positive value (+). Right represents a negative value (-).

[0319] The signal will show an invalid value until the VP is able to calculate the correct value or when the sensor is invalid / malfunctioning.

[0320] 3.2.2.15. Front wheel steering angular rate

[0321] Front wheel steering angle rate

[0322] value

[0323] value describe Remark Minimum value Invalid value other [Unit: radians]

[0324] Remark

[0325] Left represents a positive value (+). Right represents a negative value (-).

[0326] The signal will display an invalid value until VP can calculate the correct value or the current wheel steering angle shows a minimum value.

[0327] 3.2.2.16. Front wheel steering rate limit

[0328] Front wheel steering rate limit

[0329] value

[0330] [Unit: radians / second]

[0331] Remark

[0332] From Table 5 below and Figure 18 The speed-steering angle rate mapping shown calculates this limit.

[0333] A) When at low speed or at a stop, use a fixed value (0.751 [radians / second]).

[0334] B) At higher speeds, use 3.432 m / s 3 The steering angle rate is calculated from the vehicle speed.

[0335] Table 5. Vehicle Speed-Steering Angle Rate Mapping Chart

[0336] 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

[0337] 3.2.2.17. Estimate the maximum lateral acceleration

[0338] value

[0339] [Unit: meters per second] 2 (Fixed value: 3.432)

[0340] Remark

[0341] • Maximum lateral acceleration limited by VP

[0342] 3.2.2.18. Estimating the maximum lateral acceleration rate

[0343] value

[0344] [Unit: meters per second] 3 (Fixed value: 3.432)

[0345] Remark

[0346] • Maximum lateral acceleration rate limited by VP

[0347] 3.2.2.19. Accelerator pedal intervention

[0348] This signal indicates whether the accelerator pedal has been pressed by the driver (intervention).

[0349] value

[0350] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous acceleration

[0351] Remark

[0352] • When the accelerator pedal is positioned above a predetermined threshold, the signal is set to "pressed".

[0353] • 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”.

[0354] 3.2.2.20. Brake pedal intervention

[0355] This signal indicates whether the driver has pressed the brake pedal (intervention).

[0356] value

[0357] value describe Remark 0 Unpressed 1 It has been suppressed 2 Exceeding autonomous deceleration

[0358] Remark

[0359] • When the brake pedal position is above a predetermined threshold, the signal is set to "pressed".

[0360] • 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”.

[0361] 3.2.2.21. Steering wheel intervention

[0362] This signal indicates whether the driver has intervened by operating the steering wheel.

[0363] value

[0364] value describe Remark 0 Not rotated 1 ADS works in collaboration with drivers 2 Only through human drivers

[0365] Remark

[0366] • 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.

[0367] • 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.)

[0368] 3.2.2.22. Gear shift lever intervention

[0369] This signal indicates whether the driver is controlling the gear shift lever (intervention).

[0370] value

[0371] value describe Remark 0 closure 1 Open Controlled (moved to any gear)

[0372] Remark

[0373] ·N / A

[0374] 3.2.2.23. Wheel speed pulse (front left), wheel speed pulse (front right), wheel speed pulse (rear left), wheel speed pulse (rear right)

[0375] value

[0376]

[0377] Remark

[0378] • Integrate the pulse value at the moment of pulse descent.

[0379] The wheel speed sensor outputs 96 pulses per rotation.

[0380] • The wheel speed pulse will be updated regardless of whether the wheel speed sensor is invalid or malfunctioning.

[0381] • 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”.

[0382] • The rotation direction is determined after the ECU is started, and the pulse value will be increased when the rotation direction is "forward".

[0383] • When forward rotation is detected, the pulse value will be increased.

[0384] • When backward rotation is detected, the pulse value will be subtracted.

[0385] 3.2.2.24. Wheel rotation direction (front left), wheel rotation direction (front right), wheel rotation direction (rear left), wheel rotation direction (rear right)

[0386] value

[0387] value describe Remark 0 forward 1 backward 2 reserve 3 Invalid value The sensor is malfunctioning.

[0388] Remark

[0389] • Determine the rotation direction after VP is turned on and set it to "forward".

[0390] 3.2.2.25. Direction of travel

[0391] Direction of movement of the vehicle

[0392] value

[0393] value describe Remark 0 forward 1 backward 2 still 3 Undefined

[0394] Remark

[0395] • When the speed of all four wheels is “0” at a constant time, the signal indicates “stationary”.

[0396] • When shifting gears immediately after the vehicle has started, it can be "undefined".

[0397] 3.2.2.26. Vehicle speed

[0398] Estimated longitudinal speed of the vehicle

[0399] value

[0400] value describe Remark Maximum value in transmitted bits Invalid value The sensor is malfunctioning. other Speed ​​[unit: meters per second]

[0401] Remark

[0402] • The signal value is positive when both the forward and backward directions are in motion.

[0403] 3.2.2.27. Longitudinal acceleration

[0404] Estimated longitudinal acceleration of the vehicle

[0405] value

[0406] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0407] Remark

[0408] • Acceleration (+) and deceleration (-) values ​​based on the pulse direction and state direction.

[0409] 3.2.2.28. Lateral acceleration

[0410] lateral acceleration of the vehicle

[0411] value

[0412] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other <![CDATA[Acceleration [Unit: m / s 2 >

[0413] Remark

[0414] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0415] 3.2.2.29. Yaw rate

[0416] yaw rate sensor value

[0417] value

[0418] value describe Remark Minimum value in transmitted bits Invalid value The sensor is malfunctioning. other Yaw rate [unit: degrees / second]

[0419] Remark

[0420] Positive values ​​indicate counter-clockwise rotation. Negative values ​​indicate clockwise rotation.

[0421] 3.2.2.30. Sliding Detection

[0422] Tire slippage / sharp turn / skid detection

[0423] value

[0424] value describe Remark 0 No sliding 1 slide 2 reserve 3 Invalid value

[0425] Remark

[0426] • This signal is considered "slippery" when any of the following systems are already running.

[0427] -ABS (Anti-lock Braking System)

[0428] -TRC (Traction Control)

[0429] -VSC (Vehicle Stability Control)

[0430] -VDIM (Vehicle Dynamics Integrated Management)

[0431] 3.2.2.31. Vehicle Mode Status

[0432] Autonomous mode or manual mode

[0433] value

[0434] value describe Remark 0 Manual mode The mode starts from manual mode. 1 Autonomous mode

[0435] Remark

[0436] • The initial state is set to "manual mode".

[0437] 3.2.2.32. Automation Readiness

[0438] This signal indicates whether the vehicle can switch to autonomous mode.

[0439] value

[0440] value describe Remark 0 Autonomous mode not ready 1 Autonomous mode is ready 3 invalid The status has not yet been determined.

[0441] Remark

[0442] ·N / A

[0443] 3.2.2.33. Fault Status of VP Function in Autonomous Mode

[0444] This signal is used to indicate whether the VP function has certain fault modes when the vehicle is operating in autonomous mode.

[0445] value

[0446] value describe Remark 0 No fault 1 Fault 3 invalid The status has not yet been determined.

[0447] Remark

[0448] ·N / A

[0449] 3.2.2.34. PCS Alarm Status

[0450] value

[0451] value describe Remark 0 normal 1 alarm Request an alert from the PCS system. 3 Unavailable

[0452] Remark

[0453] N / A

[0454] 3.2.2.35. PCS Preparation Status

[0455] Pre-filling state as preparation for PCS braking

[0456] value

[0457] value describe Remark 0 normal 1 start up 3 Unavailable

[0458] Remark

[0459] • “Start” is a state that prepares the braking actuator for the PCS to shorten the delay from when the PCS issues a deceleration request.

[0460] • When the value changes to “Start” during the vehicle mode state = “Autonomous Mode”, “ADS / PCS Disruption Status” displays “ADS”.

[0461] 3.2.2.36. PCS Braking / PCS Braking Holding Status

[0462] value

[0463] value describe Remark 0 normal 1 PCS braking 2 PCS Braking Hold 7 Unavailable

[0464] Remark

[0465] N / A

[0466] 3.2.2.37. ADS / PCS Mediation Status

[0467] Mediation status

[0468] value

[0469] value describe Remark 0 No request 1 ADS ADS 2 PCS PCS braking or PCS braking hold 3 Invalid value

[0470] Remark

[0471] • When the acceleration requested by the PCS system in VP is less than the acceleration requested by ADS, the state is set to "PCS".

[0472] • When the acceleration requested by the PCS system in VP is greater than the acceleration requested by ADS, the state is set to "ADS".

[0473] 3.3 APIs for Body Control

[0474] 3.3.1. List of APIs used for vehicle body control

[0475] 3.3.1.1. Input

[0476] Table 6. Input APIs for Body Control

[0477]

[0478] 3.3.1.2. Output

[0479] Table 7. Output APIs for Body Control

[0480]

[0481]

[0482] 3.3.2. Details of each API used for body control

[0483] 3.3.2.1. Turning signal command

[0484] Request to control steering signal

[0485] value

[0486] value describe Remark 0 closure 1 right Right flash on 2 Left Left flash on 3 reserve

[0487] Remark

[0488] ·N / A

[0489] 3.3.2.2.Headlight command

[0490] Request to control headlights

[0491] value

[0492] 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

[0493] Remark

[0494] • This command is invalid when the headlight mode of the combination switch is "off" or the autonomous mode is "on".

[0495] • Driver's actions take precedence over this command.

[0496] 3.3.2.3. Hazard Warning Light Command

[0497] Request to control hazard warning lights

[0498] value

[0499] value describe Remark 0 No request 1 Open

[0500] Remark

[0501] • Driver's actions take precedence over this command.

[0502] • The hazard warning lights will turn on upon receiving the "on" command.

[0503] 3.3.2.4. Horn Mode Command

[0504] The request value for selecting the on and off times per cycle.

[0505] 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

[0506] Remark

[0507] N / A

[0508] 3.3.2.5. Horn Cycle Command

[0509] Request to select the number of cycles to turn on and off

[0510] value

[0511] 0-7[-]

[0512] Remark

[0513] N / A

[0514] 3.3.2.6. Continuous Horn Command

[0515] Request to turn the speaker on / off

[0516] value

[0517] value describe Remark 0 No request 1 Open

[0518] Remark

[0519] • This command has higher priority than the 3.3.2.4 Horn Mode and 3.3.2.5 Horn Cycle commands.

[0520] • The speaker will "turn on" simultaneously upon receiving the "turn on" command.

[0521] 3.3.2.7. Windshield wiper command

[0522] Request to control the windshield wipers

[0523] value

[0524] 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

[0525] Remark

[0526] This command is valid when the windshield wiper mode of the combination switch is set to "Off" or "Auto".

[0527] • Driver input takes precedence over this command.

[0528] • Maintain windshield wiper mode while receiving the command.

[0529] • Erasing speed in fixed intermittent mode.

[0530] 3.3.2.8. Rear windshield wiper command

[0531] Request to control rear windshield wipers

[0532] value

[0533]

[0534]

[0535] Remark

[0536] • Driver input takes precedence over this command.

[0537] • Maintain windshield wiper mode while receiving the command.

[0538] • Erasing speed in fixed intermittent mode.

[0539] 3.3.2.9. HVAC (First Line) Operation Commands

[0540] Start / stop the first line of air conditioning control request

[0541] value

[0542] value describe Remark 0 No request 1 Open 2 closure

[0543] Remark

[0544] ·N / A

[0545] 3.3.2.10. HVAC (Second Line) Operation Commands

[0546] Start / stop the second line of air conditioning control request

[0547] value

[0548] value describe Remark 0 No request 1 Open 2 closure

[0549] Remark

[0550] ·N / A

[0551] 3.3.2.11. Target Temperature (first command on the left)

[0552] Request to set the target temperature in the left front region

[0553] value

[0554] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0555] Remark

[0556] • When Celsius is used in VP, the value should be set to Celsius.

[0557] 3.3.2.12. Target Temperature (first command on the right)

[0558] Request to set the target temperature in the right front region

[0559] value

[0560] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0561] Remark

[0562] • When Celsius is used in VP, the value should be set to Celsius.

[0563] 3.3.2.13. Target Temperature (second from the left) command

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

[0565] value

[0566]

[0567]

[0568] Remark

[0569] • When Celsius is used in VP, the value should be set to Celsius.

[0570] 3.3.2.14. Target Temperature (second from the right) command

[0571] Request to set the target temperature in the right rear region.

[0572] value

[0573] value describe Remark 0 No request 60 to 85 [unit: degrees Fahrenheit] (in increments of 1.0 degrees Fahrenheit) Target temperature

[0574] Remark

[0575] • When Celsius is used in VP, the value should be set to Celsius.

[0576] 3.3.2.15. HVAC Fan (First Line) Command

[0577] Request to set the fan level of the front AC

[0578] value

[0579] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0580] Remark

[0581] • To switch the fan level to 0 (off), you should transmit "HVAC (first line) operation command = off".

[0582] • To switch the fan level to automatic, you should send the command "HVAC (first line) operation = turn on".

[0583] 3.3.2.16. HVAC Fan (Second Line) Command

[0584] Request for AC fan level after configuration

[0585] value

[0586] value describe Remark 0 No request 1 to 7 (maximum) Fan level

[0587] Remark

[0588] • To switch the fan level to 0 (off), you should transmit "HVAC (second line) operation command = off".

[0589] • To switch the fan level to automatic, you should send the command "HVAC (second line) operation = turn on".

[0590] 3.3.2.17. Air Exit (First Line) Command

[0591] Request to set the first line of air outlet mode

[0592] value

[0593] 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

[0594] Remark

[0595] ·N / A

[0596] 3.3.2.18. Air Exit (Second Line) Command

[0597] Request to set the air outlet mode in the second row

[0598] value

[0599] 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.

[0600] Remark

[0601] ·N / A

[0602] 3.3.2.19. Air Circulation Command

[0603] Request to set air circulation mode

[0604] value

[0605] value describe Remark 0 No request 1 Open 2 closure

[0606] Remark

[0607] ·N / A

[0608] 3.3.2.20. AC Mode Commands

[0609] Request to configure AC mode

[0610] value

[0611] value describe Remark 0 No request 1 Open 2 closure

[0612] Remark

[0613] ·N / A

[0614] 3.3.2.21. Turning signal status

[0615] value

[0616] value describe Remark 0 closure 1 Left 2 right 3 invalid

[0617] Remark

[0618] N / A

[0619] 3.3.2.22. Headlight Status

[0620] value

[0621] value describe Remark 0 closure 1 taillight 2 Low beam 3 reserve 4 High beams 5-6 reserve 7 invalid

[0622] Remark

[0623] N / A

[0624] 3.3.2.23. Hazard warning light status

[0625] value

[0626] value describe Remark 0 closure 1 Danger warning 2 reserve 3 invalid

[0627] Remark

[0628] N / A

[0629] 3.3.2.24. Horn Status

[0630] value

[0631] value describe Remark 0 closure 1 Open 2 reserve 3 invalid

[0632] Remark

[0633] When the 3.3.2.4 horn mode command is activated, the horn status is "1" even during periods of shutdown in some modes.

[0634] 3.3.2.25. Windshield wiper status

[0635] value

[0636]

[0637]

[0638] Remark

[0639] N / A

[0640] 3.3.2.26. Rear windshield wiper status

[0641] value

[0642] value describe Remark 0 closure 1 low frequency 2 reserve 3 Intermittent 4-5 reserve 6 Fault 7 invalid

[0643] Remark

[0644] N / A

[0645] 3.3.2.27. HVAC (first line) status

[0646] value

[0647] value describe Remark 0 closure 1 Open

[0648] Remark

[0649] ·N / A

[0650] 3.3.2.28. HVAC (Second line) Status

[0651] value

[0652] value describe Remark 0 closure 1 Open

[0653] Remark

[0654] ·N / A

[0655] 3.3.2.29. Target Temperature (first one on the left) Status

[0656] value

[0657] value describe Remark 0 Low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0658] Remark

[0659] • When Celsius is used in VP, the value should be set to Celsius.

[0660] 3.3.2.30. Target Temperature (first one on the right) Status

[0661] value

[0662] value describe Remark 0 Low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0663] Remark

[0664] • When Celsius is used in VP, the value should be set to Celsius.

[0665] 3.3.2.31. Target Temperature (Second from the left) Status

[0666] value

[0667] value describe Remark 0 Low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0668] Remark

[0669] • When Celsius is used in VP, the value should be set to Celsius.

[0670] 3.3.2.32. Target Temperature (Second from the Right) Status

[0671] value

[0672] value describe Remark 0 Low temperature coldest 60 to 85 [unit: degrees Fahrenheit] Target temperature 100 high temperature hottest FFh unknown

[0673] Remark

[0674] • When Celsius is used in VP, the value should be set to Celsius.

[0675] 3.3.2.33. HVAC Fan (First Line) Status

[0676] value

[0677] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0678] Remark

[0679] ·N / A

[0680] 3.3.2.34. HVAC Fan (Second Row) Status

[0681] value

[0682] value describe Remark 0 closure 1 to 7 Fan level 8 Undefined

[0683] Remark

[0684] ·N / A

[0685] 3.3.2.35. Air outlet (first line) status

[0686] value

[0687] value describe Remark 0 Close all 1 upper body Airflow to the upper body 2 upper body / feet Airflow to the upper body and feet 3 feet Air flows towards the feet. 4 Foot / Defogger Airflow towards the feet and windshield defroster operation 5 Demister Windshield defroster 7 Undefined

[0688] Remark

[0689] ·N / A

[0690] 3.3.2.36. Air outlet (second line) status

[0691] value

[0692] 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

[0693] Remark

[0694] ·N / A

[0695] 3.3.2.37. Air circulation status

[0696] value

[0697] value describe Remark 0 closure 1 Open

[0698] Remark

[0699] ·N / A

[0700] 3.3.2.38. AC Mode Status

[0701] value

[0702]

[0703]

[0704] Remark

[0705] ·N / A

[0706] 3.3.2.39. Seat Occupancy (First Seat on the Right) Status

[0707] value

[0708] 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

[0709] Remark

[0710] • When there is luggage on the seat, the signal can be set to "occupied".

[0711] 3.3.2.40. Seatbelt (first one on the left) 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 Switch malfunction

[0714] Remark

[0715] N / A

[0716] 3.3.2.41. Seatbelt (first one on the right) status

[0717] value

[0718] 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

[0719] Remark

[0720] N / A

[0721] 3.3.2.42. Seatbelt (second one from the left) status

[0722] value

[0723] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0724] Remark

[0725] • Cannot detect sensor malfunction

[0726] 3.3.2.43. Seatbelt (second one from the right) status

[0727] value

[0728] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0729] Remark

[0730] • Cannot detect sensor malfunction

[0731] 3.3.2.44. Seatbelt (third one from the left) status

[0732] value

[0733] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0734] Remark

[0735] • Cannot detect sensor malfunction

[0736] 3.3.2.45. Seatbelt (third center seatbelt) status

[0737] value

[0738] value describe Remark 0 Fastened 1 Untie 2 Undecided If the sensor does not work after the ignition device is turned on. 3 reserve

[0739] Remark

[0740] • Cannot detect sensor malfunction

[0741] 3.3.2.46. Seatbelt (third one from the right) status

[0742] value

[0743]

[0744]

[0745] Remark

[0746] • Cannot detect sensor malfunction

[0747] 3.4. API for Power Control

[0748] 3.4.1. List of APIs for Power Control

[0749] 3.4.1.1. Input

[0750] Table 8. Input APIs for Power Control

[0751] Signal name describe redundancy Power mode command Commands to control the power mode of VP N / A

[0752] 3.4.1.2. Output

[0753] Table 9. Output APIs for Power Control

[0754] Signal name describe redundancy Power mode status The current power mode status of VP N / A

[0755] 3.4.2. Details of each API used for power control

[0756] 3.4.2.1. Power Mode Command

[0757] Request to control power mode

[0758] value

[0759]

[0760]

[0761] Remark

[0762] ·exist Figure 19 The state machine diagram for the power mode is shown below.

[0763] [Sleep]

[0764] 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.

[0765] [wake]

[0766] 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.

[0767] [Driving Mode]

[0768] Vehicle powered on. In this mode, the main battery supplies power to the entire VP, and all VP ECUs, including the VCIB, are activated.

[0769] 3.4.2.2. Power Mode Status

[0770] value

[0771] value describe Remark 0 reserve 1 sleep 2 wake 3 reserve 4 reserve 5 reserve 6 drive 7 unknown This means that an unhealthy condition may occur.

[0772] Remark

[0773] After executing the sleep sequence, VCIB will continuously transmit [sleep] as the power mode state for 3000 [milliseconds]. Then, VCIB will shut down.

[0774] • While VCIB is transmitting [sleep], ADS will stop transmitting signals to VCIB.

[0775] 3.5. API for Fault Notification

[0776] 3.5.1. List of APIs used for fault notification

[0777] 3.5.1.1. Input

[0778] Table 10. Input APIs for Fault Notification

[0779] Signal name describe redundancy N / A N / A N / A

[0780] 3.5.1.2. Output

[0781] Table 11. Output APIs for Fault Notification

[0782] Signal name describe redundancy Request for ADS operation Already applied Impact detection signal N / A Performance degradation of the braking system Already applied Performance degradation of propulsion system N / A Performance degradation of the shift control system N / A Performance degradation of fixed systems Already applied Deterioration of steering system performance Already applied Power system performance degradation Already applied Performance degradation of communication systems Already applied

[0783] 3.5.2. Details of each API used for fault notification

[0784] 3.5.2.1. Requests for ADS Operations

[0785] value

[0786] value describe Remark 0 No request 1 Maintenance required 2 Need to return to the garage 3 Need to stop immediately other reserve

[0787] Remark

[0788] This signal indicates the expected behavior of ADS in response to a fault occurring in VP.

[0789] 3.5.2.2. Impact detection signal

[0790] value

[0791] value describe Remark 0 normal 5 Collision detection with airbags deployed 6 Collision detection with high-voltage circuit off 7 Invalid value other reserve

[0792] Remark

[0793] • 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.

[0794] Priority: Collision detection > Normal

[0795] 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.

[0796] 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.

[0797] In this situation, a momentary power outage should be considered.

[0798] 3.5.2.3. Performance degradation of the braking system

[0799] value

[0800] value describe Remark 0 normal — 1 Degradation detected —

[0801] Remark

[0802] ·N / A

[0803] 3.5.2.4. Performance degradation of the propulsion system

[0804] value

[0805] value describe Remark 0 normal — 1 Degradation detected —

[0806] Remark

[0807] ·N / A

[0808] 3.5.2.5. Performance degradation of the shift control system

[0809] value

[0810] value describe Remark 0 normal — 1 Degradation detected —

[0811] Remark

[0812] ·N / A

[0813] 3.5.2.6. Performance degradation of fixed systems

[0814] value

[0815] value describe Remark 0 normal — 1 Degradation detected —

[0816] Remark

[0817] ·N / A

[0818] 3.5.2.7. Performance degradation of the steering system

[0819] value

[0820] value describe Remark 0 normal — 1 Degradation detected —

[0821] Remark

[0822] ·N / A

[0823] 3.5.2.8. Performance degradation of the power supply system

[0824] value

[0825] value describe Remark 0 normal — 1 Degradation detected —

[0826] Remark

[0827] ·N / A

[0828] 3.5.2.9. Performance degradation of communication systems

[0829] value

[0830] value describe Remark 0 normal — 1 Degradation detected —

[0831] Remark

[0832] ·N / A

[0833] 3.6. APIs for Security

[0834] 3.6.1. List of APIs for Security

[0835] 3.6.1.1. Input

[0836] Table 12. Input APIs for Security

[0837]

[0838] 3.6.1.2. Output

[0839] Table 13. Output APIs for Security

[0840]

[0841]

[0842] 3.6.2. Details of each API used for security

[0843] 3.6.2.1. Door lock (front) command, door lock (rear) command

[0844] value

[0845] value describe Remark 0 No request 1 locking Not supported in Toyota VP 2 Unlock 3 reserve

[0846] Remark

[0847] • If ADK requests to unlock the front, then both front doors will be unlocked.

[0848] • If ADK requests to unlock the rear, then unlock the second row of doors and the trunk door.

[0849] • If ADK requests to lock any door, the “Central Door Lock Command” should be used.

[0850] (The functionality for individual locks is not supported in Toyota VP.)

[0851] 3.6.2.2. Central door lock command

[0852] Request to control all door locks

[0853] value

[0854] value describe Remark 0 No request 1 Lock (All) 2 Unlock (all) 3 reserve

[0855] Remark

[0856] ·N / A

[0857] 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

[0858] The first word of the device authentication signature exists in the first to eighth bytes of the signature.

[0859] The second word of the device authentication signature is present in bytes nine through sixteen of the signature.

[0860] The third word of the device authentication signature is located in bytes seventeen through twenty-four of the signature.

[0861] The fourth word of the device authentication signature is located in bytes 25 through 32 of the signature.

[0862] The first word of the device authentication seed exists in the first to eighth bytes of the seed.

[0863] The second word of the device authentication seed exists in bytes nine through sixteen of the seed.

[0864] 3.6.2.4. Door lock (first one on the left) status

[0865] value

[0866] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0867] Remark

[0868] ·N / A

[0869] 3.6.2.5. Door lock (first one on the right) status

[0870] value

[0871] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0872] Remark

[0873] ·N / A

[0874] 3.6.2.6. Door lock (second from the left) status

[0875] value

[0876] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0877] Remark

[0878] ·N / A

[0879] 3.6.2.7. Door lock (second from the right) status

[0880] value

[0881] value describe Remark 0 reserve 1 locking 2 Unlock 3 invalid

[0882] Remark

[0883] ·N / A

[0884] 3.6.2.8. Door lock status of all departments

[0885] value

[0886]

[0887]

[0888] Remark

[0889] • "Any door unlocked" if any door is unlocked.

[0890] • When all departments are locked down, “all departments are locked down”.

[0891] 3.6.2.9. Alarm System Status

[0892] value

[0893] 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

[0894] Remark

[0895] ·N / A

[0896] 3.6.2.9.1. Short-range odometer

[0897] The counter is incremented in short increments by the freshness value management main ECU.

[0898] value

[0899] 0-FFFFh

[0900] Remark

[0901] This value is used to create the freshness value.

[0902] For more details, please refer to other materials [Toyota's MAC module specifications].

[0903] 3.6.2.9.2. Reset the counter

[0904] This counter is periodically incremented by the main ECU, which manages the freshness value.

[0905] value

[0906] 0-FFFFFh

[0907] Remark

[0908] This value is used to create the freshness value.

[0909] For more details, please refer to other materials [Toyota's MAC module specifications].

[0910] 3.6.2.10. The first door on the left is open.

[0911] The current open / closed status of the first door on the left side of the vehicle platform.

[0912] value

[0913] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0914] Remark

[0915] N / A

[0916] 3.6.2.11. The first door on the right is open.

[0917] The current open / closed status of the first door on the right.

[0918] value

[0919] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0920] Remark

[0921] N / A

[0922] 3.6.2.12. The second door on the left is open.

[0923] The current open / closed status of the second door on the left.

[0924] value

[0925] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0926] Remark

[0927] N / A

[0928] 3.6.2.13. The second door on the right is open.

[0929] The current open / closed status of the second door on the right.

[0930] value

[0931] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0932] Remark

[0933] N / A

[0934] 3.6.2.14. Trunk Status

[0935] Current trunk door open / closed status

[0936] value

[0937] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0938] Remark

[0939] N / A

[0940] 3.6.2.15. Engine hood open

[0941] Current engine hood open / closed status

[0942] value

[0943] value describe Remark 0 reserve 1 Open 2 closure 3 invalid

[0944] Remark

[0945] N / A

[0946] 4. API Guidelines for Controlling Toyota Vehicles

[0947] This section details how to use the API for Toyota vehicles.

[0948] 4.1. API for Vehicle Motion Control

[0949] 4.1.1. List of APIs used for vehicle motion control

[0950] 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.

[0951] 4.1.1.1. Input

[0952] Table 14. Input APIs for Vehicle Motion Control

[0953]

[0954] *Response time in VP based on the request from ADK

[0955] 4.1.1.2. Output

[0956] Table 15. Input APIs for Vehicle Motion Control

[0957]

[0958]

[0959]

[0960] 4.1.2. API Details for Vehicle Motion Control

[0961] 4.1.2.1. Pulse Direction Command

[0962] For values ​​and notes, please refer to section 3.2.2.1.

[0963] Figure 20 The detailed shift sequence is shown.

[0964] 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 20 In Chinese, “D” → “R”.

[0965] The acceleration command needs to be used to request deceleration until the gear shift is complete.

[0966] After changing gears, you can select to accelerate or decelerate based on the acceleration command.

[0967] When the vehicle is in autonomous mode, it does not accept driver gear shifting.

[0968] 4.1.2.2. Fixed Commands

[0969] For values ​​and notes, please refer to 3.2.2.2.

[0970] Figure 21 This shows how to enable / disable pinned features.

[0971] 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".

[0972] 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".

[0973] After the fixed function is disabled, the vehicle can be accelerated / decelerated based on the acceleration command.

[0974] 4.1.2.3. Static Command

[0975] For values ​​and notes, please refer to 3.2.2.3.

[0976] 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.

[0977] Figure 22 The static sequence is shown.

[0978] To bring the vehicle to a stop, an acceleration command is used to request deceleration.

[0979] 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.

[0980] 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.

[0981] 4.1.2.4. Speed-up command

[0982] For values ​​and notes, please refer to 3.2.2.4.

[0983] The following shows what the vehicle does when the accelerator pedal is pressed.

[0984] 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.

[0985] The following shows what the vehicle does when the brake pedal is operated.

[0986] 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.

[0987] 4.1.2.5. Front wheel steering angle command

[0988] For values ​​and notes, please refer to 3.2.2.5.

[0989] The following shows how to use the front wheel steering angle command.

[0990] The front wheel steering angle command is set to a value relative to the front wheel steering angle.

[0991] For example, when the front wheel steering angle is 0.1 radians and the vehicle is traveling straight;

[0992] If ADK wants to go straight, the front wheel steering angle command will be set to 0 + 0.1 = 0.1 [radians].

[0993] 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.

[0994] The following illustrates how the vehicle behaves when the driver operates the steering mechanism.

[0995] Choose the maximum value from 1) the value calculated based on the driver's steering wheel operation, or 2) the value requested by ADK.

[0996] 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.

[0997] 4.1.2.6. Vehicle Mode Command

[0998] exist Figure 23 The diagram shows the state machine for mode transitions in Autono-MaaS vehicles.

[0999] The description of each state is shown below.

[1000]

[1001]

[1002] The descriptions for each conversion are shown below.

[1003]

[1004] 4.2. APIs for Body Control

[1005] 4.2.1. List of APIs used for vehicle body control

[1006] 4.2.1.1. Input

[1007] Table 16. Input APIs for Body Control

[1008]

[1009]

[1010]

[1011] 4.2.1.2. Output

[1012] Table 17. Output APIs for Body Control

[1013]

[1014]

[1015] 4.3. API for Power Control

[1016] 4.3.1. List of APIs for Power Control

[1017] 4.3.1.1. Input

[1018] Table 18. Input APIs for Power Control

[1019] Signal name describe redundancy User Guide Power mode command Commands to control the power mode of VP N / A —

[1020] 4.3.1.2. Output

[1021] Table 19. Output APIs for Power Control

[1022] Signal name describe redundancy User Guide Power mode status The current power mode status of VP N / A —

[1023] 4.4. API for Fault Notification

[1024] 4.4.1. List of APIs used for fault notification

[1025] 4.4.1.1. Input

[1026] Table 20. Input APIs for Fault Notification

[1027] Signal name describe redundancy User Guide N / A — — —

[1028] 4.4.1.2. Output

[1029] Table 21. Output APIs for Fault Notification

[1030] Signal name describe redundancy User Guide Request for ADS operation — Already applied — Impact detection signal — N / A — Performance degradation of the braking system — Already applied — Performance degradation of propulsion system — N / A — Performance degradation of the shift control system — N / A — Performance degradation of fixed systems — Already applied — Deterioration of steering system performance Already applied — Power system performance degradation Already applied — Performance degradation of communication systems Already applied —

[1031] 4.5. APIs for Security

[1032] 4.5.1. List of APIs for Security

[1033] 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.

[1034] 4.5.1.1. Input

[1035] Table 22. Input APIs for Security

[1036]

[1037] 4.5.1.2. Output

[1038] Table 23. Output APIs for Security

[1039]

[1040]

[1041] 4.5.2. Detailed Guidelines for Secure APIs

[1042] 4.5.2.1. Device Authentication Protocol

[1043] When VCIB is started from "sleep" mode, the application device is authenticated.

[1044] After successful authentication, VCIB is able to begin communicating with ADK.

[1045] exist Figure 24 The authentication process is shown in the authentication process diagram.

[1046] Certification Standards

[1047] 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 —

[1048] 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 control interface providing an interface between an automated driving system (ADS) and a vehicle platform (VP) controlling a vehicle according to a control request from the ADS, the vehicle including a first manual mode set when the VP is activated and not requiring an operator driving the vehicle to be located in the VP, a second manual mode requiring the operator to be located in the VP and the VP being controlled by the operator, and an autonomous mode in which the VP is controlled by the ADS, the vehicle control interface comprising: processor; as well as A memory that stores programs executable by the processor, wherein The processor is configured to The ADS is notified whether the operator is located in the VP. The system receives operator commands from the ADS to switch the vehicle from the first manual mode to the second manual mode when it is determined that the operator is in the VP, and does not switch the vehicle from the first manual mode to the autonomous mode when it is not determined that the operator is in the VP. After the vehicle has been switched to the second manual mode, an autonomous readiness signal indicating the readiness of the VP's autonomous driving is provided to the ADS, and an autonomous request for switching the vehicle from the second manual mode to the autonomous mode is received from the ADS.

2. The vehicle control interface according to claim 1, wherein... The processor is configured to receive a request from the ADS to cancel the autonomy request in the autonomous mode.

3. The vehicle control interface according to claim 1 or 2, wherein... The vehicle also includes a sleep mode in which the vehicle control interface is disabled, and The processor is configured to receive a power mode request from the ADS in the second manual mode for switching the vehicle from the second manual mode to the sleep mode.

4. The vehicle control interface according to claim 1 or 2, wherein The vehicle also includes a maintenance mode for maintaining the vehicle, and The processor is configured to, during the transition from the first manual mode to the maintenance mode, Provide the ADS with a power mode status signal indicating that the VP's ignition is on. Provide the ADS with a forward direction status signal indicating that the shift gear has been set to P gear. The ADS is provided with a signal indicating the actual direction of movement of the VP, indicating that the VP is stationary. Receive a maintenance request from the ADS for requesting maintenance of the vehicle.

5. The vehicle control interface according to claim 4, wherein... The processor is configured to, during the transition from the maintenance mode to the first manual mode, The power mode status signal indicating that the ignition of the VP has been turned on is provided to the ADS. The ADS is provided with a propulsion direction status signal indicating that the shift gear has been set to P gear. The ADS is provided with the actual direction of movement signal indicating that the VP is in the stationary state, and The maintenance request is received from the ADS for not requesting maintenance of the vehicle.

6. A vehicle having the VP including the vehicle control interface according to any one of claims 1 to 5.

7. 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 a vehicle control interface providing an interface between the ADS and the VP, the vehicle including a first manual mode that is set when the VP is activated and does not require an operator driving the vehicle to be located in the VP, a second manual mode that requires the operator to be located in the VP and the VP to be controlled by the operator, and an autonomous mode in which the VP is controlled by the ADS, the ADS including: Computing components; as well as A communication module, configured to communicate with the vehicle control interface, wherein The computing component is configured as follows: Receive an indication from the vehicle control interface regarding whether the operator is located in the VP. When it is determined that the operator is in the VP, an operator command is provided to the vehicle control interface to switch the vehicle from the first manual mode to the second manual mode; when it is not determined that the operator is in the VP, no command is provided to the vehicle control interface to switch the vehicle from the first manual mode to the autonomous mode, and The system receives an autonomous readiness signal from the vehicle control interface, indicating the readiness level of the VP's autonomous driving, and provides the vehicle control interface with an autonomous request to switch the vehicle from the second manual mode to the autonomous mode.

8. The ADS according to claim 7, wherein The computing component is configured to provide the autonomous request to the vehicle control interface in the autonomous mode to cancel the autonomous mode.

9. The ADS according to claim 7 or 8, wherein The vehicle also includes a sleep mode in which the vehicle control interface is disabled, and The computing component is configured to, in the second manual mode, provide the vehicle control interface with a power mode request for switching the vehicle from the second manual mode to the sleep mode.

10. The ADS according to claim 7 or 8, wherein The vehicle also includes a maintenance mode for maintaining the vehicle, and The computing component is configured to, during the transition from the first manual mode to the maintenance mode, Receive a power mode status signal from the vehicle control interface indicating that the VP's ignition is on. Receive a propulsion direction status signal from the vehicle control interface indicating that the gear shift position has been set to P. Receives from the vehicle control interface a signal indicating the actual direction of movement of the VP, indicating that the VP is stationary. A maintenance request is provided to the vehicle control interface to request maintenance of the vehicle.

11. The ADS of claim 10, wherein The computing component is configured to, during the transition from the maintenance mode to the first manual mode, Receive the power mode status signal indicating that the ignition of the VP is turned on from the vehicle control interface. The system receives a propulsion direction status signal from the vehicle control interface, indicating that the shift gear has been set to P gear. Receive from the vehicle control interface the actual direction of movement signal indicating that the VP is in the stationary state, and Provide the maintenance request to the vehicle control interface without requesting maintenance of the vehicle.

12. A vehicle comprising: ADS according to any one of claims 7 to 11; as well as The VP.

13. A method of controlling a vehicle, the vehicle including a vehicle platform VP that controls the vehicle according to a control request from an automated driving system (ADS), the VP including a vehicle control interface that provides an interface between the ADS and the VP, the method comprising: When the VP is activated, the vehicle is set to a first manual mode, which does not require the operator driving the vehicle to be in the VP; as well as The vehicle performs the transition from the first manual mode to the autonomous mode via the second manual mode, wherein... The second manual mode is a mode that requires the operator to be located in the VP and the VP to be controlled by the operator, and The autonomous mode is the mode in which the VP is controlled by the ADS; When it is determined that the operator is located in the VP, the vehicle switches from the first manual mode to the second manual mode, and The vehicle does not switch from the first manual mode to the autonomous mode if the operator is not determined to be in the VP.

14. The method for controlling a vehicle according to claim 13, further comprising, when an autonomous request to cancel the autonomous mode is provided from the ADS to the vehicle control interface, the vehicle switching from the autonomous mode to the second manual mode.

15. The method for controlling a vehicle according to claim 13 or 14, wherein The vehicle also includes a sleep mode in which the vehicle control interface is disabled, and The method further includes performing the transition from the second manual mode to the sleep mode when a power mode request for switching the vehicle from the second manual mode to the sleep mode is provided from the ADS to the vehicle control interface.

16. The method for controlling a vehicle according to claim 13 or 14, wherein The vehicle also includes a maintenance mode for maintaining the vehicle, and The method further includes, when the first, second, third, and fourth conditions are met, the vehicle switching from the first manual mode to the maintenance mode. The first condition is that the vehicle control interface provides the ADS with a power mode status signal indicating that the VP's ignition is on. The second condition is that the vehicle control interface provides the ADS with a propulsion direction status signal indicating that the shift gear has been set to P gear. The third condition is that the vehicle control interface provides the ADS with a signal indicating the actual direction of movement of the VP, indicating that the VP is stationary. The fourth condition is that the ADS provides a maintenance request to the vehicle control interface to request maintenance for the vehicle.

17. The method for controlling a vehicle according to claim 16, further comprising, when a fifth condition, a sixth condition, a seventh condition, and an eighth condition are met, the vehicle switching from the maintenance mode to the first manual mode, wherein... The fifth condition is that the vehicle control interface provides the ADS with a power mode status signal indicating that the VP's ignition is on. The sixth condition is that the vehicle control interface provides the ADS with a propulsion direction status signal indicating that the shift gear has been set to P gear. The seventh condition is that the vehicle control interface provides the ADS with a signal indicating the actual direction of movement of the VP in the stationary state, and The eighth condition is that the ADS provides the vehicle control interface with a maintenance request that does not require maintenance of the vehicle.

Images