vehicle

Abstract

This invention discloses a vehicle. The objective of this invention is to unlock the doors even without instructions from the ADK (Autopilot Drive). The vehicle is configured to be able to install and remove the ADK that issues instructions for autonomous driving and to perform autonomous driving. The vehicle includes: a base vehicle equipped with doors; a body system that controls the doors according to lock or unlock instructions from the ADK; an active safety system, different from the body system; and a main VCIB that relays communication between the ADK and the body system. When instructions can be received from the ADK via the main VCIB, the body system locks or unlocks the doors according to those instructions. If the active safety system detects a communication failure via the main VCIB, it issues an instruction to unlock the doors to the body system during avoidance maneuvers (steps S311 to S313).

Description

Technical Field

[0001] The present invention relates to a vehicle, and more particularly to a vehicle configured to be capable of loading and unloading an autonomous driving kit that issues instructions for autonomous driving and capable of autonomous driving. Background Technology

[0002] Previously, there existed a vehicle configured to install and remove an autonomous driving kit (hereinafter referred to as an "Autonomous Driving Kit (ADK)") that issues instructions for autonomous driving and was capable of autonomous driving (for example, see Patent Document 1). In this vehicle, the vehicle doors are locked and unlocked according to instructions, i.e., commands, from the ADK (for example, see paragraphs 3.7.2.1 and 3.7.2.2 of

[0176] of Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-123147 Summary of the Invention

[0004] However, if the vehicle is unable to receive commands from ADK normally (for example, if commands cannot be received from ADK via the usual path), it may be unable to unlock the doors according to the instructions from ADK.

[0005] The present invention was made to solve the above-mentioned problems, and its object is to provide a vehicle that can unlock its doors even without instructions from an autonomous driving kit.

[0006] The vehicle according to this invention is configured to be capable of mounting and dismounting an autonomous driving kit that issues autonomous driving instructions and to perform autonomous driving. The vehicle includes: a base vehicle equipped with doors; a first control system that controls the doors according to lock or unlock instructions from the autonomous driving kit; a second control system, different from the first control system; and a main vehicle control interface box that relays communication between the autonomous driving kit and the first control system. When the first control system is able to receive instructions from the autonomous driving kit via the main vehicle control interface box, it locks or unlocks the doors according to those instructions. When the second control system detects a communication failure via the main vehicle control interface box, it issues an instruction to unlock the doors to the first control system during evasive maneuvers.

[0007] Based on this structure, it is possible to provide a vehicle that can unlock its doors even without instructions from an autonomous driving suite.

[0008] The vehicle may also be equipped with a sub-vehicle control interface box, which relays communication between the autonomous driving suite and the base vehicle, and is also capable of communicating with the main vehicle control interface box. If the first control system detects a communication failure from the autonomous driving suite via the main vehicle control interface box, and is able to receive instructions from the autonomous driving suite via both the sub-vehicle control interface box and the main vehicle control interface box, it can lock or unlock the doors according to those instructions.

[0009] According to this structure, even if the autonomous driving kit detects a communication failure via the main vehicle control interface box and there is no direct instruction from the autonomous driving kit to the first control system via the main vehicle control interface, the doors can still be unlocked.

[0010] According to another aspect of the invention, a vehicle is configured to be capable of loading and unloading an autonomous driving kit that issues autonomous driving instructions and to perform autonomous driving. The vehicle includes: a base vehicle equipped with doors; a first control system that controls the doors according to locking or unlocking instructions from the autonomous driving kit; a main vehicle control interface box that relays communication between the autonomous driving kit and the first control system; and a sub-vehicle control interface box that relays communication between the autonomous driving kit and the base vehicle, and is capable of communicating with the main vehicle control interface box. When the first control system is able to receive instructions from the autonomous driving kit via the main vehicle control interface box, it locks or unlocks the doors according to those instructions. When the first control system detects a communication failure from the autonomous driving kit via the main vehicle control interface box, it locks or unlocks the doors according to those instructions, provided it is able to receive instructions from the autonomous driving kit via both the sub-vehicle control interface box and the main vehicle control interface box.

[0011] According to this structure, it is possible to unlock the doors even if the autonomous driving kit detects a communication failure via the main vehicle control interface box and there is no direct instruction from the autonomous driving kit to the first control system via the main vehicle control interface.

[0012] The vehicle may also be equipped with a second control system, which is different from the first control system. In the event of a communication failure via the main vehicle control interface box, the second control system can issue an instruction to unlock the doors to the first control system while the vehicle is swerving to avoid a collision.

[0013] This structure enables the doors to be unlocked even without instructions from the autonomous driving suite.

[0014] The first control system can unlock the doors even if it does not receive instructions from the autonomous driving suite when it detects a communication failure via the main vehicle control interface box and the vehicle has stopped.

[0015] This structure enables the doors to be unlocked even without instructions from the autonomous driving suite.

[0016] Invention Effects

[0017] According to the present invention, a vehicle is provided that can unlock its doors even without instructions from an autonomous driving kit. Attached Figure Description

[0018] Figure 1 This is a diagram showing an outline of a vehicle according to an embodiment of the present invention.

[0019] Figure 2 This is a diagram that shows in detail the structure of ADK, VCIB, and VP involved in this embodiment.

[0020] Figure 3 This is a flowchart illustrating the process of previous door control instructions.

[0021] Figure 4 This is a flowchart illustrating the process of controlling the car door in this embodiment.

[0022] Figure 5 This is a first block diagram illustrating the flow of instructions for door control in this embodiment.

[0023] Figure 6 This is the second block diagram showing the flow of the instruction for door control in this embodiment. Detailed Implementation

[0024] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Identical or corresponding parts in the drawings are labeled with the same symbols and will not be described again.

[0025] Figure 1 This is a diagram showing an outline of the vehicle 1 according to an embodiment of the present invention. Figure 2 This is a diagram showing in detail the structures of ADK10, VCIB40, and VP20 involved in this embodiment. (See reference) Figure 1 and Figure 2 Vehicle 1 is equipped with ADK10 and VP20. ADK10 is configured to be mounted on VP20 (which can be mounted on vehicle 1). ADK10 and VP20 are configured to communicate with each other via VCIB40.

[0026] The VP20 is capable of autonomous driving upon receiving control requests from the ADK10. Additionally, Figure 1In the diagram, ADK10 is shown in a position away from VP20, but in reality, ADK10 is mounted on the roof of VP20. ADK10 can also be removed from VP20. With ADK10 removed, VP20 performs driving control based on manual mode (manual driving mode) (driving control based on user operation).

[0027] ADK10 includes an Autonomous Driving System (ADS) 11 for autonomous driving of vehicle 1. ADS 11, for example, creates a driving plan for vehicle 1. ADS 11 outputs various control requests to VP 20 to enable vehicle 1 to drive according to the driving plan, according to the application program interface (API) defined for each control request. Furthermore, ADS 11 receives various signals representing the vehicle state (the state of VP 20) from VP 20 according to the API defined for each signal. ADS 11 then reflects the vehicle state in the driving plan.

[0028] VP20 includes a base vehicle 30 and VCIB40. The base vehicle 30 performs various vehicle controls according to control requests from ADK10 (ADS11). The base vehicle 30 includes various onboard systems and sensors for controlling the base vehicle 30. 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.

[0029] The integrated control manager 31 includes a processor such as a central processing unit (CPU) and a memory such as a read-only memory (ROM) and a random access memory (RAM), and integrates and controls the aforementioned systems (braking system 32, steering system 33, powertrain system 34, active safety system 35, and body system 36) related to the operation of the vehicle 1.

[0030] The braking system 32 is configured to control the braking devices installed on each wheel of the base vehicle 30. The braking devices include, for example, a disc brake system that operates according to hydraulic pressure adjusted by an actuator.

[0031] Wheel speed sensors 51 and 52 are connected to the braking system 32. Wheel speed sensors 51 and 52 detect the rotational speeds of the front and rear wheels of the base vehicle 30, respectively, and output the detected rotational speeds to the braking system 32. The braking system 32 outputs the rotational speed of each wheel as one of the information included in the vehicle state to the VCIB 40. Furthermore, the braking system 32 generates braking commands for the braking device according to the prescribed control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The braking system 32 uses the generated braking commands to control the braking device. Additionally, the integrated control manager 31 can calculate the speed (vehicle speed) of the vehicle 1 based on the rotational speed of each wheel.

[0032] The steering system 33 is configured to control the steering angle (tire angle) of the steering wheels of the vehicle 1 using the steering device. The steering device includes, for example, a rack and pinion electric power steering (EPS) system that can adjust the steering angle via an actuator.

[0033] A 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 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 as one of the pieces of information included in the vehicle status to the VCIB 40. Furthermore, the steering system 33 generates steering commands for the steering device according to the prescribed control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The steering system 33 uses the generated steering commands to control the steering device.

[0034] The powertrain system 34 controls the vehicle securing systems 341, 342 and the propulsion system 343. The vehicle securing systems 341, 342 control an electric parking brake (EPB) installed on at least one of the plurality of wheels and a parking lock (P-Lock) device installed on the transmission of the vehicle 1. The propulsion system 343 includes a shifting device configured to select a shift gear.

[0035] The active safety system 35 uses a 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 and the obstacle and the direction of the vehicle's movement, the active safety system 35 determines whether a collision with the obstacle is possible. If a collision is deemed possible, the active safety system 35 outputs a braking command to the braking system 32 via the integrated control manager 31 to increase the braking force.

[0036] The body system 36 is configured to control components such as turn signals, hazard warning lights, horn, wipers, headlights, and brake lights based on the driving state or environment of the vehicle 1. The body system 36 controls the aforementioned components according to the prescribed control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

[0037] The VCIB40 is configured to communicate with the ADS11 via a Controller Area Network (CAN). The VCIB40 receives various control requests from the ADS11 or outputs vehicle status to the ADS11 by executing the defined API for each signal. When the VCIB40 receives a control request from the ADK10, it outputs the control command corresponding to the control request to the system corresponding to the control command via the integrated control manager 31. Furthermore, the VCIB40 obtains various 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 the ADS11.

[0038] In addition, vehicle 1 can be used as one of the structures of a Mobility as a Service (Maas) system. In addition to vehicle 1, the Maas system also includes, for example, a data server and a Mobility Service Platform (MSPF).

[0039] MSPF is a unified platform connecting various mobility services. Autonomous driving-related mobility services are connected to MSPF. In addition to autonomous driving-related mobility services, MSPF can also connect to mobility services provided by ride-sharing operators, car-sharing operators, car rental operators, taxi operators, insurance companies, and others.

[0040] Vehicle 1 also has a Data Communication Module (DCM) capable of wirelessly communicating with a data server. The DCM outputs vehicle information such as speed, location, and autonomous driving status to the data server. Furthermore, the DCM receives, for example, various data from the mobility services via MSPF and the data server for managing the operation of the autonomous vehicle, including Vehicle 1, within autonomous driving-related mobility services.

[0041] MSPF exposes APIs for various vehicle status and control data required for ADS11 development. Various mobility services can use these exposed APIs to utilize the various functions provided by MSPF, depending on their service content. For example, autonomous driving-related mobility services can use the exposed APIs to obtain driving control data for vehicle 1, information stored in a data server, etc., from MSPF. Furthermore, autonomous driving-related mobility services can use these APIs to send data used to manage autonomous vehicles, including vehicle 1, to MSPF.

[0042] ADS11 includes a computer 111, a human machine interface (HMI) 112, a recognition sensor 113, an attitude sensor 114, and a sensor cleaner 115.

[0043] Computer 111 includes a processor 101 such as a CPU and a memory 102 such as ROM and RAM. Memory 102 stores programs executable by the processor 101. During autonomous driving of vehicle 1, computer 111 uses various sensors (described later) to acquire information about the environment of vehicle 1, as well as the attitude, behavior, and position of vehicle 1, and obtains the vehicle state from VP20 via VCIB40 to set the next action of vehicle 1 (acceleration, deceleration, turning, etc.). Computer 111 outputs various instructions for implementing the next action to VCIB40. Computer 111 also includes communication modules 111A and 111B. Communication modules 111A and 111B are configured to communicate with VCIB40.

[0044] HMI112 provides information to the user or accepts user input during autonomous driving, manual driving requiring user intervention, and transitions between autonomous driving and manual driving requiring user intervention. HMI112 includes, for example, input / output devices such as a touch panel display installed in the base vehicle 30.

[0045] The identification sensor 113 is a sensor used to identify the environment of the vehicle 1. The identification sensor 113 includes, for example, at least one of Laser Imaging Detection and Ranging (LIDAR), millimeter-wave radar, and a camera. The LIDAR, for example, emits a laser beam of infrared pulses and measures the distance and direction of an object by detecting the reflected light from an object originating from its laser beam. The millimeter-wave radar emits millimeter waves and measures the distance and direction of an object by detecting the reflected waves from an object originating from its millimeter waves. The camera, for example, is disposed behind a rearview mirror to capture an image of the area in front of the vehicle 1.

[0046] Attitude sensor 114 is a sensor used to detect the attitude, behavior, and position of vehicle 1. Attitude sensor 114 includes, for example, an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). The IMU, for example, detects the acceleration of vehicle 1 in the forward, left, right, and up directions, and the angular velocities of vehicle 1 in the roll, pitch, and yaw directions. The GPS uses information received from multiple GPS satellites orbiting the Earth to detect the position of vehicle 1.

[0047] The sensor cleaner 115 is configured to use cleaning fluid, windshield wipers, etc., to remove dirt adhering to the various sensors (camera lenses, laser beam irradiation parts, etc.) while the vehicle 1 is in motion.

[0048] VCIB40 includes a main VCIB41 and a sub-VCIB42. VCIB41 and 42 each include processors 411 and 421 (e.g., CPU) and memories 412 and 422 (e.g., ROM and RAM). Memories 412 and 422 store programs that can be executed by processors 411 and 421, and data processed by those programs, respectively. The main VCIB41 is communicatively connected to the communication module 111A via communication bus 43 (main bus). The sub-VCIB42 is communicatively connected to the communication module 111B via communication bus 44 (sub-bus). Furthermore, the main VCIB41 and sub-VCIB42 are communicatively connected via communication bus 45.

[0049] VCIB41 and 42 relay control requests and vehicle information between ADS11 and VP20, respectively. VCIB41 and 42 interface with the base vehicle 30 and ADS11 via communication buses 43 and 44. VCIB41 and 42 use API to generate control commands based on control requests from ADS11.

[0050] Control commands (instructions) corresponding to control requests supplied from ADS11 to VCIB40 include, for example: a drive direction command requesting a shift gear; a stationary command requesting the operation / deactivation of the EPB and P-Lock devices; an acceleration command requesting the acceleration or deceleration of vehicle 1; a tire steering angle command requesting the tire steering angle of the steering wheels; an autonomous command requesting a switch between Autonomous mode and Manual mode; and a stop command requesting the vehicle to maintain or release the parking position.

[0051] Then, VCIB41 and 42 output the generated control commands to the corresponding systems among the multiple systems included in VP20. Furthermore, VCIB41 and 42 use the API to generate information indicating the vehicle status based on vehicle information from each system in VP20. This information indicating the vehicle status can be the same as the vehicle information itself, or it can be information extracted from the vehicle information and used in the processing executed in ADS11. VCIB41 and 42 then output the generated information indicating the vehicle status to ADS11.

[0052] Braking system 32 includes braking systems 321 and 322. Steering system 33 includes steering systems 331 and 332. Powertrain system 34 includes vehicle fixing system 340 and propulsion system 343. Vehicle fixing system 340 includes vehicle fixing systems 341 and 342.

[0053] VCIBs 41 and 42 have essentially the same function, but differ in their connection destination to the onboard system included in VP20. Specifically, the main VCIB 41, braking system 321, steering system 331, vehicle fixing systems 341 and 342, propulsion system 343, and body system 36 are communicatively connected to each other via communication bus 37. The sub-VCIBs 42, braking system 322, steering system 332, and vehicle fixing systems 341 and 342 are communicatively connected to each other via communication bus 38.

[0054] Thus, by including VCIB41 and 42, which have the same functions regarding the actions (braking, steering, etc.) of a portion of the system, redundancy is achieved between the control systems of ADS11 and VP20. Therefore, in the event of a fault in the system, the function of VP20 can be maintained by appropriately switching the control system or disconnecting the faulty control system.

[0055] Braking systems 321 and 322 each include processors 3211 and 3221 (e.g., CPU) and memories 3212 and 3222 (e.g., ROM and RAM). Braking systems 321 and 322 are configured to control braking devices. Braking systems 321 and 322 generate braking commands for the braking devices according to control requests output from ADS11 via VCIB41 and 42. Braking systems 321 and 322 may have the same function. Alternatively, one of the braking systems 321 and 322 may be configured to independently control the braking force of each wheel, while the other may be configured to control the same braking force in each wheel. For example, braking systems 321 and 322 can use braking commands generated by either braking system to control the braking devices, and in the event of an anomaly in one braking system, use braking commands generated by the other braking system to control the braking devices.

[0056] Steering systems 331 and 332 each include processors 3311 and 3321 (e.g., CPU) and memories 3312 and 3322 (e.g., ROM and RAM). Steering systems 331 and 332 are configured to control the steering angle of the steering wheels of vehicle 1 using the steering mechanism. Steering systems 331 and 332 generate steering commands for the steering mechanism according to control requests output from ADS11 via VCIB41 and 42. Steering systems 331 and 332 may have the same function. Alternatively, steering systems 331 and 332 may, for example, use steering commands generated by either steering system to control the steering mechanism, and in the event of an anomaly in that steering system, use steering commands generated by the other steering system to control the steering mechanism.

[0057] Vehicle securing systems 341 and 342 respectively include processors 3411 and 3421 (CPU, etc.) and memories 3412 and 3422 (ROM, RAM, etc.). Vehicle securing systems 341 and 342 control the EPB and P-Lock devices according to control requests output from ADS11 via VCIB41 and 42. The EPB is separate from the braking system (disc brake system, etc.) and secures the wheels by the action of an actuator. For example, the EPB uses an actuator to activate a drum brake on a portion of the parking brakes located on multiple wheels to secure the wheels, or uses an actuator capable of adjusting the hydraulic pressure supplied to the braking system, which is separate from the braking systems 321 and 322, to activate the braking system to secure the wheels. Vehicle securing systems 341 and 342 have a brake holding function and are configured to switch the operation and release of brake holding.

[0058] For example, vehicle securing systems 341 and 342 activate the P-Lock device when a control request includes a request to shift the gear to the parking position (P), and deactivate the P-Lock device when a control request includes a request to shift the gear to a position other than P. The P-Lock device engages a protrusion at the front end of a parking lock lever, whose position can be adjusted via an actuator, with the teeth of a gear (locking gear) connected to a rotating element within the transmission of vehicle 1. This fixes the rotation of the transmission output shaft, thereby securing the wheels.

[0059] The propulsion system 343 includes a processor 3431 (such as a CPU) and a memory 3432 (such as ROM and RAM). The propulsion system 343 includes a steering control system and a propulsion system. The steering control system is connected to the VCIB 40. According to control requests output from the ADS 11 via the VCIB 41, the steering control system controls the direction of travel (forward or reverse) of the VP 20 by switching the gears of the shifting device. The shifting gears include P (Park) and neutral (N) gears, as well as a forward driving gear (D) and a reverse driving gear (R). The propulsion system is connected to the VCIB 40. The propulsion system controls the propulsion force of the VP 20 (e.g., acceleration and deceleration) by controlling the driving force from a drive source (motor, generator, engine, etc.).

[0060] The active safety system 35 includes a processor 351 such as a CPU and a memory 352 such as ROM and RAM. The active safety system 35 and the braking system 321 are communicatively connected via a communication bus 39. As described above, the active safety system 35 uses a camera 54 and / or a radar sensor 55 to detect obstacles ahead, and if it determines that a collision may occur, it outputs a braking command to the braking system 321 to increase the braking force.

[0061] The body system 36 includes a processor 361 such as a CPU and a memory 362 such as ROM and RAM. Furthermore, the body system 36 includes a door lock device 363 for locking or unlocking the doors of the base vehicle 30 and a door opening / closing device 364 for opening or closing the doors of the base vehicle 30. The body system 36 controls components such as the direction indicator, horn, windshield wipers, door lock device 363, and door opening / closing device 364 according to control requests output from the ADS11 via the VCIB41.

[0062] In vehicle 1, autonomous driving is performed, for example, when the user selects the autonomous mode (autonomous driving mode) through operation of HMI 112. As described above, ADS 11 first creates a driving plan for autonomous driving. Examples of driving plans include a plan to continue straight, a plan to turn left / right at a predetermined intersection in the middle of a pre-set driving path, and a plan to change lanes. According to the created driving plan, ADS 11 calculates the control physical quantities (acceleration, deceleration, tire steering angle, etc.) required for the actions of vehicle 1. ADS 11 divides the physical quantities for each API execution cycle. ADS 11 uses the API to output control requests representing the divided physical quantities to VCIB 40. Furthermore, ADS 11 obtains the vehicle state (actual direction of movement of vehicle 1, stationary state of vehicle, etc.) from VP 20 and recreates a driving plan reflecting the obtained vehicle state. In this way, ADS 11 can perform autonomous driving of vehicle 1.

[0063] In the aforementioned VP20, fault diagnosis is performed in various systems such as braking systems 321, 322 and steering systems 331, 332, and fault information is sent to VCIB41, 42. Then, information regarding the presence or absence of malfunctions indicated by the fault information is sent from VCIB41, 42 to ADK10.

[0064] Previously, in vehicle 1, the doors of vehicle 1 were locked and unlocked according to instructions or commands from ADK10. However, if vehicle 1 is unable to receive commands from ADK10 normally (for example, if commands cannot be received from ADK10 via the usual path), the doors may not be able to be unlocked according to the instructions from ADK10.

[0065] Figure 3 This is a flowchart illustrating the previous door control instructions. (Reference) Figure 3 In the past, instructions to control the doors (e.g., instructions to unlock the doors) were transmitted from the main communication module 111A of the computer 111 of ADK10 to the body system 36 via the communication bus 43, the main VCIB 41, and the communication bus 37. Thus, the doors from ADK10 could be controlled.

[0066] In the event of a failure of the main communication module 111A, even if an attempt is made to transmit the door control instruction from the sub-side communication module of the computer 111 to the body system 36 via the communication bus 44 and sub-VCIB42, the door control instruction will not be transmitted to the body system 36 because no communication bus is provided between the sub-VCIB42 and the body system 36.

[0067] Therefore, when the body system 36 can receive instructions from ADK10 via VCIB41, it locks or unlocks the doors according to those instructions. If the active safety system 35 detects a communication failure via VCIB41, it sends an instruction to the door locking device 363 to unlock the doors to the body system 36 while the vehicle 1 is swerving. Thus, the doors can be unlocked even without instructions from ADK10.

[0068] Figure 4 This is a flowchart illustrating the process for controlling the vehicle door in this embodiment. (Reference) Figure 4 VCIB2 processing is invoked and executed by sub-VCIB42 from the higher-level processing unit at each specified cycle. Front camera processing is invoked and executed by processor 351 of active safety system 35 from the higher-level processing unit at each specified cycle.

[0069] In VCIB2 processing, the processor 421 of sub-VCIB42 determines whether a communication failure is detected between ADK10 and main VCIB41 (step S111). If no failure is detected ("No" in step S111), the processor 421 returns the processing to be executed to the higher-level processing of the calling source of this VCIB2 processing.

[0070] On the other hand, if it is determined that a communication failure has been detected between ADK10 and the main VCIB41 ("Yes" in step S111), the processor 421 determines whether there is an instruction from ADK10 to control the door (step S112). For example, the processor 421 of the sub-VCIB42 queries ADK10 for instructions sent to VCIB41 before and after the communication failure with VCIB41, and determines whether there is an instruction to control the door by judging whether such instructions include an instruction to control the door.

[0071] If an instruction to control the vehicle door is detected ("Yes" in step S112), the processor 421, according to the instruction from ADK10, sends a command to the body system 36 via the main VCIB 41 to control the door (step S113). Thus, the body system 36 controls the door according to the command. After step S113, the processor 421 returns the processing to be executed to the higher-level processing of the calling source of the VCIB2 processing.

[0072] On the other hand, if it is determined that there is no instruction to control the door ("No" in step S112), the processor 421 determines whether a stop of vehicle 1 has been detected (step S114). If it is determined that a stop of vehicle 1 has been detected ("Yes" in step S114), a command to control the door (e.g., a command to control the door lock device 363 to unlock the door, or a command to control the door opening / closing device 364 to open the door) is sent to the body system 36 via the main VCIB 41 (step S115). Thus, the body system 36 controls the door according to the command. If it is determined that a stop of vehicle 1 has not been detected ("No" in step S114), or after step S115, the processor 421 returns the processing to be executed to the higher-level processing of the calling source of the VCIB 2 processing.

[0073] Figure 5 This is a first block diagram illustrating the flow of instructions for door control in this embodiment. (See reference) Figure 5 If the communication between the communication module 111A of the computer 111 of ADK10 and the main VCIB41 is not lost, the instruction to control the door is transmitted from the communication module 111A to the body system 36 via the communication bus 43, the main VCIB41 and the communication bus 37.

[0074] like Figure 4 As shown in steps S111 to S113, if communication between the communication module 111A of the computer 111 of ADK10 and the main VCIB41 fails, and there is an instruction to control the door from ADK10, the instruction to control the door is transmitted from the communication module 111B of the computer 111 of ADK10 to the body system 36 via the communication bus 44, sub-VCIB42, communication bus 45, main VCIB41 and communication bus 37.

[0075] And, as Figure 4 As shown in steps S111, S112, S114 and S115, in the event of a communication failure between the communication module 111A of the computer 111 of ADK10 and the main VCIB41, even without any instructions from ADK10 to control the doors, when the vehicle 1 is stopped, the sub-VCIB42 spontaneously transmits instructions to control the doors (e.g., instructions to control the door lock device 363 to unlock the doors, instructions to control the door opening and closing device 364 to open the doors) to the body system 36 via the communication bus 45, the main VCIB41 and the communication bus 37.

[0076] Return to Figure 4 In the front camera processing, the processor 351 of the active safety system 35 determines whether a failure of the main VCIB41 is detected (step S311). If no failure is detected, the processor 351 returns the processing to be executed to the higher-level processing of the calling source of the front camera processing.

[0077] On the other hand, if it is determined that a malfunction of the main VCIB41 has been detected ("Yes" in step S311), the processor 351 determines whether a stop has been detected after the vehicle 1 has attempted to avoid a collision (step S312). If it is determined that a stop has been detected after the vehicle 1 has attempted to avoid a collision ("Yes" in step S312), the processor 351 directly sends instructions to control the doors (e.g., instructions to control the door lock device 363 to unlock the doors, instructions to control the door opening / closing device 364 to open the doors) from the body system 36 via the communication bus 37A (step S313). In addition, the communication bus 37A branches off from the communication bus 37 connected to the body system 36 and connects to the active safety system 35.

[0078] If it is determined that no stop was detected after the avoidance driving ("No" in step S312), or after step S313, the processor 351 returns the processing to be executed to the higher-level processing of the calling source of the front camera processing.

[0079] Figure 6 This is the second block diagram illustrating the flow of the door control instruction in this embodiment. (See reference) Figure 6In the event of a failure of the main VCIB41, not only can instructions be transmitted from the communication module 111A of the computer 111 of ADK10 via the communication bus 43, but also... Figure 5 The instructions transmitted by the sub-VCIB42 are transmitted to the body system 36.

[0080] like Figure 4 As shown in steps S311 to S313, in the event of a failure of the main VCIB41, when the vehicle 1 stops after evading the vehicle, the active safety system 35 spontaneously transmits instructions to control the doors (e.g., instructions to control the door lock device 363 to unlock the door, and instructions to control the door opening and closing device 364 to open the door) to the body system 36 via the communication bus 37A.

[0081] [Variation Example]

[0082] (1) In the described embodiment, such as Figure 4 As shown in steps S115 and S313, in the event of a communication failure between ADK10 and the main VCIB41 or a failure of the main VCIB41, the door lock device 363 is controlled to unlock the door, or the door opening / closing device 364 is controlled to open the door. However, this is not a limitation; either controlling the door lock device 363 to unlock the door or controlling the door opening / closing device 364 to open the door may be performed, or other door-related controls may be performed (e.g., window opening control).

[0083] (2) In the foregoing embodiments, the purpose of vehicle 1 is not particularly limited. However, it is not limited to this and vehicle 1 can also be used for driverless taxis. In this case, it is particularly effective in preventing taxi passengers from being confined in vehicle 1.

[0084] (3) The above embodiments can be understood as inventions of vehicle 1 or vehicle 1 control devices (processor 361 of body system 36, processor 351 of active safety system 35, processor 411 of VCIB41, processor 421 of VCIB42, and computer 111 of ADK10). The above embodiments can be understood as inventions of control methods or control programs executed by vehicle 1 or vehicle 1 control devices.

[0085] [Summarize]

[0086] (1) As Figure 1 and Figure 2 As shown, vehicle 1 is configured to be able to load and unload ADK10, which issues instructions for automatic driving, and to perform automatic driving. As... Figure 1 and Figure 2As shown, vehicle 1 includes: a base vehicle 30 with doors; a body system 36 that controls the doors according to the door locking or unlocking commands from ADK10; an active safety system 35, which is different from the body system 36; and a main VCIB 41 that relays the communication between ADK10 and body system 36.

[0087] like Figure 3 As shown, the body system 36, when able to receive commands from ADK10 via the main VCIB41, locks or unlocks the doors according to those commands. Figure 4 and Figure 6 As shown, when the active safety system 35 detects a communication failure via the main VCIB 41, it issues an instruction to unlock the doors to the body system 36 during the avoidance maneuver of the vehicle 1 (e.g., steps S311 to S313).

[0088] Therefore, the doors can be unlocked even without commands from the ADK10. Furthermore, when commands from the ADK10 are received, by executing those commands, the intentions of the ADK10's manufacturer can be fulfilled. Figure 1 Effective control. Moreover, it can prevent people from being trapped in vehicle 1 after evasive maneuvers.

[0089] (2) Figure 1 and Figure 2 As shown, vehicle 1 may also have a sub-VCIB42, which relays the communication between ADK10 and the base vehicle 30, and is also capable of communicating with the main VCIB41. Figure 4 and Figure 5 As shown, when the body system 36 detects a communication failure via the main VCIB41 from ADK10, and is able to receive instructions from ADK10 via the sub VCIB42 and the main VCIB41, it can lock or unlock the doors according to the instructions (e.g., steps S111 to S113).

[0090] Therefore, even if ADK10 detects a communication failure via the main VCIB41, and even if there is no direct instruction from ADK10 to the body system 36 via the main VCIB41 to the vehicle body system 36, the doors can still be unlocked.

[0091] (3) Figure 4 and Figure 5 As shown, when the vehicle body system 36 detects a communication failure via the main VCIB 41, it can unlock the doors even without receiving a command from ADK 10 when the vehicle 1 is detected to be stopped (e.g., steps S111, S112, S114, and S115). Thus, the doors can be unlocked even without a command from ADK 10.

[0092] It is understood that the embodiments disclosed herein are illustrative in all respects and not restrictive. The scope of the invention is defined by the claims rather than by the description of the above embodiments, and is intended to include all modifications within the equivalent meaning and scope of the claims.

[0093] Symbol Explanation

[0094] 1-Vehicle, 10-ADK, 11-ADS, 20-VP, 30-Base Vehicle, 31-Integrated Control Manager, 32, 321, 322-Braking System, 33, 331, 332-Steering System, 34-Powertrain System, 35-Active Safety System, 36-Body System, 37, 37A, 38, 39, 43, 44, 45-Communication Bus, 40, 41, 42-VCIB, 51, 52-Wheel Speed ​​Sensor, 53-Pin Gear Angle Sensor, 54-Camera, 55, 56-Radar Sensor, 101, 351, 361, 411, 421, 3 211, 3221, 3311, 3321, 3411, 3421, 3431 - Processor; 102, 352, 362, 412, 422, 3212, 3222, 3312, 3322, 3412, 3422, 3432 - Memory; 111 - Computer; 111A, 111B - Communication Module; 112 - HMI; 113 - Sensor for Identification; 114 - Attitude Sensor; 115 - Sensor Cleaner; 340, 341, 342 - Vehicle Fixing System; 343 - Propulsion System; 363 - Door Locking Device; 364 - Door Opening and Closing Device.

Claims

1. A vehicle configured to be capable of detaching an autonomous driving kit that issues instructions for autonomous driving and to perform autonomous driving, the vehicle being characterized by comprising: The basic vehicle is equipped with doors; The first control system controls the door according to the locking or unlocking instructions from the autonomous driving kit. A second control system, which is different from the first control system; and The main vehicle control interface box relays communication between the autonomous driving kit and the first control system. When the first control system is able to receive the instruction from the autonomous driving suite via the main vehicle control interface box, it locks or unlocks the vehicle door according to the instruction. If the second control system detects a communication failure via the main vehicle control interface box, it sends an instruction to the first control system to unlock the door while the vehicle is swerving.

2. The vehicle according to claim 1, characterized in that, It also has: The sub-vehicle control interface box relays communication between the autonomous driving kit and the base vehicle, and is also capable of communicating with the main vehicle control interface box. If the first control system detects a communication failure from the autonomous driving kit via the main vehicle control interface box, and is able to receive the instruction from the autonomous driving kit via the sub-vehicle control interface box and the main vehicle control interface box, it locks or unlocks the vehicle door according to the instruction.

3. A vehicle configured to be capable of assembling and disassembling an autonomous driving kit that issues autonomous driving instructions and is capable of autonomous driving, the vehicle being characterized by having: The basic vehicle is equipped with doors; The first control system controls the door according to the locking or unlocking instructions from the autonomous driving kit. The main vehicle control interface box, which relays communication between the autonomous driving kit and the first control system; and The sub-vehicle control interface box relays communication between the autonomous driving kit and the base vehicle, and is also capable of communicating with the main vehicle control interface box. When the first control system is able to receive the instruction from the autonomous driving suite via the main vehicle control interface box, it locks or unlocks the vehicle door according to the instruction. If the first control system detects a communication failure from the autonomous driving kit via the main vehicle control interface box, and is able to receive the instruction from the autonomous driving kit via the sub-vehicle control interface box and the main vehicle control interface box, it locks or unlocks the vehicle door according to the instruction.

4. The vehicle according to claim 3, characterized in that, It also possesses: The second control system differs from the first control system. If the second control system detects a communication failure via the main vehicle control interface box, it sends an instruction to the first control system to unlock the door while the vehicle is swerving.

5. The vehicle according to any one of claims 2 to 4, characterized in that, When the first control system detects a communication failure via the main vehicle control interface box, it unlocks the vehicle door even if it does not receive the instruction from the autonomous driving suite when the vehicle stops.

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