Vehicle platform, automatic driving system and vehicle control interface box

Abstract

To provide a vehicle platform that can be mounted with an automatic driving system, which is configured so that a manual mode and an automatic mode can be appropriately switched.SOLUTION: A VCIB 40 establishes an interface between an automatic driving kit (ADK) 10 and a vehicle platform (VP) 20. The VP 20 includes, as vehicle modes, a manual mode which is under the control of a driver and an automatic driving mode which is under the control of the ADK 10. In the manual mode, when a first condition is satisfied, the VCIB 40 causes the vehicle mode to be transitioned from the manual mode to the automatic driving mode. The first condition includes: a condition (1) that the ADK 10 is authenticated by the VCIB 40; a condition (2) that a power supply mode state signal shows [a drive mode]; a condition (3) that an automation preparing signal shows [completion of preparation for the automatic driving mode]; and a condition (4) that a vehicle mode request is [an autonomy request].SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a vehicle platform configured to be equipped with an autonomous driving system, an autonomous driving system configured to be equipped with the vehicle platform, and a vehicle control interface box that provides an interface between the vehicle platform and the autonomous driving system equipped with the vehicle platform. [Background technology]

[0002] In recent years, the development of autonomous driving technology for vehicles has been progressing. For example, Japanese Patent Application Laid-Open Publication No. 2018-132015 (Patent Document 1) discloses an autonomous driving system that comprehensively executes autonomous driving control of a vehicle. This autonomous driving system includes a camera, a laser device, a radar device, an operation device, a gradient sensor, an autonomous driving device, and an autonomous driving ECU (Electronic Control Unit). It is equipped with. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-132015 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is possible to attach the autonomous driving system to the vehicle body. In this case, autonomous driving is realized by a vehicle platform (described later) controlling the vehicle according to commands from the autonomous driving system. In this case, for example, the vehicle platform may include, as vehicle modes, a manual mode under the control of the driver and an autonomous mode under the control of the autonomous driving system. There is a demand for appropriate switching between the manual mode and the autonomous driving mode.

[0005] The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to appropriately switch between manual mode and autonomous driving mode in a vehicle platform capable of mounting an autonomous driving system. [Means for solving the problem]

[0006] (1) A vehicle platform according to an aspect of the present disclosure is a vehicle platform configured to be capable of mounting an autonomous driving system. The vehicle platform includes a vehicle and a vehicle control interface box that interfaces between the vehicle and the autonomous driving system. The vehicle platform includes, as vehicle modes, a manual mode under the control of a driver of the vehicle and an autonomous driving mode under the control of the autonomous driving system. The vehicle platform includes, as power modes, a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power is on. The vehicle control interface box is configured to be able to receive a vehicle mode request requesting control of the vehicle mode from the autonomous driving system, and is configured to output an automation preparation signal indicating whether the vehicle platform is ready for the autonomous driving mode to the autonomous driving system. After authenticating the autonomous driving system, the vehicle control interface box receives a vehicle mode request requesting the autonomous driving mode, and when the power mode is the drive mode and the automation preparation signal indicates that the autonomous driving mode is ready, the vehicle mode transitions from the manual mode to the autonomous driving mode.

[0007] According to the above configuration, when the power supply mode of the vehicle platform is the drive mode and the automation preparation signal indicates that the automatic driving mode is ready, that is, when the vehicle platform is in a state capable of handling the automatic driving mode, the vehicle mode is transitioned from the manual mode to the automatic driving mode in response to a vehicle mode request requesting the automatic driving mode. Thus, the vehicle mode can be appropriately transitioned from the manual mode to the automatic driving mode.

[0008] (2) In one embodiment, the vehicle control interface box sets the vehicle mode to the manual mode when the power supply mode is transitioned from the sleep mode to the wake mode or the drive mode.

[0009] According to the above configuration, the initial state of the vehicle mode can be set to the manual mode.

[0010] (3) In one embodiment, when the vehicle mode is in an autonomous driving mode, the vehicle control interface box transitions the vehicle mode from the autonomous driving mode to a manual mode when it receives a vehicle mode request from the autonomous driving system to cancel the autonomous driving mode.

[0011] According to the above configuration, the conditions for switching the vehicle mode from the autonomous driving mode to the manual mode can be simplified, which makes it easier to implement an autonomous driving system on a vehicle platform.

[0012] (4) An autonomous driving system according to another aspect of the present disclosure is an autonomous driving system that is configured to be mountable on a vehicle platform. The vehicle platform includes a vehicle and a vehicle control interface box that interfaces between the vehicle and the autonomous driving system. The vehicle platform includes, as vehicle modes, a manual mode under the control of a driver of the vehicle and an autonomous driving mode under the control of the autonomous driving system. The vehicle platform includes, as power modes, a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power is on. The autonomous driving system includes a computer and a communication module that communicates with the vehicle control interface box. The computer is configured to transmit a vehicle mode request requesting control of the vehicle mode to the vehicle control interface box through the communication module. When the vehicle mode is to be transitioned from the manual mode to the autonomous driving mode after the autonomous driving system is authenticated by the vehicle control interface box, the computer transmits a vehicle mode request requesting the autonomous driving mode to the vehicle control interface box.

[0013] (5) In an embodiment, the computer is further configured to transmit, via the communication module, a power mode request requesting control of the power mode to the vehicle control interface box. When the computer transitions the vehicle mode from the manual mode to the autonomous driving mode, the computer transmits a power mode request requesting the drive mode to the vehicle control interface box in addition to the vehicle mode request requesting the autonomous driving mode.

[0014] (6) In one embodiment, when the computer powers up the vehicle platform, it sends a power mode signal to the vehicle control interface box requesting a wake mode.

[0015] (7) In one embodiment, when the vehicle mode is to be transitioned from the autonomous driving mode to the manual mode, the computer issues a vehicle mode request requesting cancellation of the autonomous driving mode. Transmitted to the vehicle control interface box.

[0016] (8) In one embodiment, the computer receives an automation readiness signal from the vehicle control interface box via the communications module, indicating whether the vehicle platform is ready for an autonomous driving mode.

[0017] (9) A vehicle control interface box according to another aspect of the present disclosure is a vehicle control interface box that interfaces between a vehicle platform and an autonomous driving system mounted on the vehicle platform. The vehicle platform includes, as vehicle modes, a manual mode under the control of a driver of the vehicle platform and an autonomous driving mode under the control of the autonomous driving system. The vehicle platform includes, as power modes, a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power is on. The vehicle control interface box includes a processor and a memory that stores a program executable by the processor. The processor is configured to be able to receive a vehicle mode request from the autonomous driving system that requests control of the vehicle mode, and is configured to output an automation preparation signal indicating whether the vehicle platform is ready for the autonomous driving mode to the autonomous driving system.

[0018] (10) In one embodiment, the processor is further configured to receive a power mode request from the autonomous driving system to request control of the power mode. When transitioning the vehicle mode from the manual mode to the autonomous driving mode, the processor authenticates the autonomous driving system, receives a vehicle mode request requesting the autonomous driving mode and a power mode request requesting the drive mode from the autonomous driving system, and outputs an automation preparation signal to the autonomous driving system indicating completion of preparation for the autonomous driving mode.

[0019] (11) In one embodiment, the processor is further configured to output a power mode status signal to the autonomous driving system indicating a state of the power mode of the vehicle platform. When transitioning the vehicle mode from the manual mode to the autonomous driving mode, the processor authenticates the autonomous driving system, receives a vehicle mode request from the autonomous driving system requesting the autonomous driving mode, and outputs to the autonomous driving system an automation ready signal indicating readiness of the autonomous driving mode and a power mode status signal indicating the drive mode.

[0020] (12) In one embodiment, when transitioning the vehicle mode from an autonomous driving mode to a manual mode, the processor receives a vehicle mode request from the autonomous driving system requesting cancellation of the autonomous driving mode. Effect of the Invention

[0021] According to the present disclosure, it is possible to appropriately switch between manual mode and automatic mode in a vehicle platform capable of mounting an automatic driving system. [Brief description of the drawings]

[0022] [Figure 1] 1 is a diagram showing an overview of a vehicle according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram showing the configuration of ADS, VCIB and VP in more detail. [Diagram 3] 1 is a state machine illustrating vehicle mode transitions. [Figure 4] FIG. 2 is a diagram showing the transmission directions of various signals or commands related to transitions between modes. [Diagram 5] FIG. 11 is a diagram for explaining a power supply mode request. [Figure 6] FIG. 11 is a diagram for explaining a power supply mode state signal. [Figure 7] FIG. 4 is a diagram for explaining a vehicle mode request. [Figure 8] FIG. 4 is a diagram for explaining a vehicle mode state signal. [Figure 9] FIG. 13 is a diagram for explaining an automation preparation signal. [Figure 10] 5 is a flowchart showing a procedure of a process related to a transition of a vehicle mode. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference characters, and the description thereof will not be repeated.

[0024] [Embodiment Mode] FIG. 1 is a diagram illustrating an overview of a vehicle according to an embodiment of the present disclosure. The vehicle 1 includes an autonomous driving kit (ADK) 10 and a vehicle platform (VP) 20. The ADK 10 can be attached to the VP 20 (when the ADK 10 is installed in the vehicle 1). The ADK 10 and the VP 20 are configured to be able to communicate with each other via a vehicle control interface (the VCIB 40, which will be described later).

[0025] The VP20 can perform automatic driving according to control requests from the ADK10. Although the ADK10 is shown in a position separate from the VP20 in FIG. 1, the ADK10 is actually attached to the rooftop of the VP20 or the like. The ADK10 can also be removed from the VP20. When the ADK10 is removed, the VP20 performs driving control in manual mode (driving control according to user operation).

[0026] ADK10 is a system that supports the autonomous driving of vehicle 1 (ADS). The ADS 11 includes, for example, a vehicle driving plan. The ADS 11 outputs various control requests for driving the vehicle 1 according to the driving plan to the VP 20 according to an API (Application Program Interface) defined for each control request. In addition, the ADS11 receives various signals indicating the vehicle state (the state of the VP20) from the VP20 according to an API defined for each signal. The ADS11 then reflects the vehicle state in the driving plan. The detailed configuration of the ADS11 will be described in FIG. 2.

[0027] The VP 20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40 .

[0028] The base vehicle 30 executes various vehicle controls in accordance with control requests from the ADK 10 (ADS 11). The base vehicle 30 includes various systems and sensors for controlling the base vehicle 30. More specifically, the base vehicle 30 includes an integrated control manager 31, a brake system 32, a steering system 33, a powertrain system 34, an active safety system 35, a body system 36, wheel speed sensors 51, 52, a pinion angle sensor 53, a camera 54, and radar sensors 55, 56.

[0029] The integrated control manager 31 includes a processor and a memory, and controls the above-mentioned systems related to the operation of the vehicle 1 (the brake system 32, the steering system 33, the powertrain system 34, the active safety system 35, and the body system 36) in an integrated manner.

[0030] The brake system 32 is configured to control a braking device provided on each wheel of the base vehicle 30. The braking device includes, for example, a disc brake system (not shown) that operates in response to hydraulic pressure adjusted by an actuator.

[0031] Wheel speed sensors 51 and 52 are connected to the brake system 32. The wheel speed sensor 51 detects the rotation speed of the front wheels of the base vehicle 30 and outputs the detected rotation speed of the front wheels to the brake system 32. The wheel speed sensor 52 detects the rotation speed of the rear wheels of the base vehicle 30. The ADS 11 detects the rotation speed of each wheel and outputs the detected rotation speed of the rear wheels to the brake system 32. The brake system 32 outputs the rotation speed of each wheel to the VCIB 40 as one piece of information included in the vehicle state. The brake system 32 also generates a braking command for the braking device according to a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The brake system 32 controls the braking device using the generated braking command. The integrated control manager 31 can calculate the speed of the vehicle 1 (vehicle speed) based on the rotation speed of each wheel.

[0032] The steering system 33 is configured to be able to control the steering angle of the steering wheels of the vehicle 1 using a steering device. The steering device may be, for example, a rack and pinion type electric power steering (EPS) that is capable of adjusting the steering angle by an actuator. include.

[0033] A pinion angle sensor 53 is connected to the steering system 33. The pinion angle sensor 53 detects a rotation angle (pinion angle) of a pinion gear connected to a 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 one piece of information included in the vehicle state. In addition, the steering system 33 generates a steering command for the steering device according to a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The steering system 33 controls the steering device using the generated steering command.

[0034] The powertrain system 34 controls an electric parking brake (EPB) system 341 provided on at least one of the wheels, a parking lock (P-Lock) system 342 provided on the transmission of the vehicle 1, and a propulsion system 343 including a shift device (not shown) configured to be able to select a shift range. A more detailed configuration of the powertrain system 34 will be described with reference to FIG. 2.

[0035] The active safety system 35 detects obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front or behind the vehicle 1 using the camera 54 and radar sensors 55, 56. The active safety system 35 determines whether there is a possibility that the vehicle 1 will collide with the obstacle based on the distance between the vehicle 1 and the obstacle and the moving direction of the vehicle 1. If the active safety system 35 determines that there is a possibility of a collision, it outputs a braking command to the brake system 32 via the integrated control manager 31 so as to increase the braking force.

[0036] The body system 36 is configured to control parts such as turn signals, a horn, and windshield wipers (none of which are shown) according to the driving state or environment of the vehicle 1. The body system 36 controls each of the above parts in accordance with a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

[0037] VCIB40 communicates with ADS11 via CAN (Controller Area Network) etc. The VCIB40 is configured to be able to receive various control requests from the ADS11 and output the vehicle state to the ADS11 by executing a predetermined API defined for each signal. When the VCIB40 receives a control request from the ADK202, it outputs a control command corresponding to the control request to a system corresponding to the control command via the integrated control manager 31. In addition, the VCIB40 acquires various information about the base vehicle 30 from various systems via the integrated control manager 31, and outputs the state of the base vehicle 30 to the ADS11 as the vehicle state.

[0038] The vehicle 1 can be used as one of the components of a MaaS (Mobility as a Service) system. The MaaS system includes, in addition to the vehicle 1, for example, a data server and a Mobility Service Platform (MSPF) (any of the above). (also not shown).

[0039] The MSPF is a unified platform to which various mobility services are connected. Autonomous driving-related mobility services are connected to the MSPF. In addition to autonomous driving-related mobility services, mobility services provided by ride-sharing operators, car-sharing operators, rental car operators, taxi operators, insurance companies, etc. can be connected to the MSPF.

[0040] Vehicle 1 is equipped with a DCM (Data Communication Module) that can wirelessly communicate with the data server. (not shown). The DCM outputs vehicle information such as speed, location, and autonomous driving status to the data server. The DCM also receives various data for managing the traveling of autonomous vehicles including vehicle 1 in an autonomous driving-related mobility service from the mobility service via the MSPF and the data server.

[0041] In MSPF, APIs for using various vehicle status and vehicle control data required for the development of ADS11 are published. Various mobility services can use the APIs published on MSPF to use various functions provided by MSPF according to the service content. For example, an autonomous driving-related mobility service can use the APIs published on MSPF to obtain vehicle 1's driving control data and information stored in a data server from MSPF. In addition, an autonomous driving-related mobility service can use the above APIs to send data for managing autonomous driving vehicles, including vehicle 1, to MSPF.

[0042] <Detailed configuration> 2 is a diagram showing in more detail the configuration of the ADS 11, the VCIB 40, and the VP 20. As shown in FIG. 2, the ADS 11 includes a computer 111, an HMI (Human Machine Interface) 112, a recognition sensor 113, a posture sensor 114, and a sensor cleaner 115. Includes 15 and 16.

[0043] During autonomous driving of the vehicle 1, the computer 111 acquires the environment of the vehicle 1, as well as the attitude, behavior, and position of the vehicle 1, using various sensors (described later), and also acquires the vehicle state from the VP 20 via the VCIB 40 to set the next operation of the vehicle 1 (acceleration, deceleration, turning, etc.). The computer 111 outputs various commands to the VCIB 40 to realize the next operation. The computer 111 includes communication modules 111A and 111B. Each of the communication modules 111A and 111B is configured to be able to communicate with the VCIB 40.

[0044] The HMI 112 presents information to the user and accepts user operations during automatic driving, during driving requiring user operation, during transition between automatic driving and driving requiring user operation, etc. The HMI 112 is configured to be connected to an input / output device (not shown) such as a touch panel display provided on the base vehicle 30, for example.

[0045] The recognition sensor 113 is a sensor for recognizing the environment of the vehicle 1. The recognition sensor 113 is, for example, a LIDAR (Laser Imaging Detection and Ranging) and a millimeter wave The LIDAR includes at least one of a radar and a camera (neither shown). The LIDAR measures the distance and direction of an object by emitting, for example, infrared pulsed laser light and detecting the reflected light of the laser light from the object. The millimeter wave radar measures the distance and direction of an object by emitting millimeter waves and detecting the millimeter wave reflected from the object. The camera is disposed, for example, behind the rear-view mirror, and captures an image of the area ahead of the vehicle 1.

[0046] The attitude sensor 114 is a sensor for detecting the attitude, behavior, and position of the vehicle 1. The attitude sensor 114 includes, for example, an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System) (neither shown). The IMU detects, for example, the acceleration in the forward / backward, left / right, and up / down directions of the vehicle 1, and the angular velocities in the roll, pitch, and yaw directions of the vehicle 1. The GPS detects the position of the vehicle 1 using information received from multiple GPS satellites orbiting the Earth.

[0047] The sensor cleaner 115 is configured to remove dirt adhering to the above-mentioned various sensors (camera lenses, laser light irradiation parts, etc.) while the vehicle 1 is traveling, using a cleaning liquid, a wiper, etc.

[0048] The VCIB 40 includes a VCIB 41 and a VCIB 42. Although not shown, each of the VCIBs 41 and 42 may include a processor such as a CPU (Central Processing Unit). The VCIB41 and the communication module 111A include memories such as a read only memory (ROM) and a random access memory (RAM). The memories store programs executable by the processor. The VCIB41 and the communication module 111A are connected to be able to communicate with each other. The VCIB42 and the communication module 111B are connected to be able to communicate with each other. Furthermore, the VCIB41 and the VCIB42 are connected to be able to communicate with each other.

[0049] Each of the VCIBs 41 and 42 relays control requests and vehicle information between the ADS 11 and the VP 20. More specifically, the VCIB 41 uses an API to generate a control command from a control request from the ADS 11. The control command includes, for example, a propulsion direction command requesting switching of the shift range, a non-movement command requesting activation / deactivation of the EPB system 341 and the P-Lock system 342, an acceleration command requesting acceleration or deceleration of the vehicle 1, a tire turning angle command requesting the tire turning angle of the steering wheel, and an autonomy command requesting switching between an autonomous mode and a manual mode. The VCIB 41 then outputs the generated control command to a corresponding system among the multiple systems included in the VP 20. The VCIB 41 also uses an API to generate information indicating a vehicle state from vehicle information from each system of the VP 20. The information indicating the vehicle state may be the same information as the vehicle information, or may be information extracted from the vehicle information to be used in processing executed by the ADS 11. The VCIB 41 outputs the generated information indicating the vehicle state to the ADS 11. The same applies to VCIB42.

[0050] The brake system 32 includes brake systems 321 and 322. The steering system 33 includes steering systems 331 and 332. The powertrain system 34 includes an EPB system 341, a P-Lock system 342, and a propulsion system 343.

[0051] Although the VCIB41 and VCIB42 basically have the same functions, there are some differences between the VCIB41 and VCIB42 in the connections to the systems including the VP20. Specifically, the VCIB41, the brake system 321, the steering system 331, the EPB system 341, the P-Lock system 342, the propulsion system 343, and the body system 36 are connected to each other via a communication bus so as to be able to communicate with each other. The VCIB42, the brake system 322, the steering system 332, and the P-Lock system 342 are connected to each other via a communication bus so as to be able to communicate with each other.

[0052] In this way, the VCIB 40 includes the VCIBs 41 and 42 that have the same functions for some system operations (braking, steering, etc.), so that the control system between the ADS 11 and the VP 20 is made redundant. The functionality of VP20 can be maintained by appropriately switching control systems or cutting off a control system in which a fault has occurred.

[0053] Each of the brake systems 321 and 322 is configured to be able to control a brake device. The brake system 321 generates a braking command for the brake device according to a control request output from the ADS 11 via the VCIB 41. The brake system 322 generates a braking command for the brake device according to a control request output from the ADS 11 via the VCIB 42. The brake systems 321 and 322 may have equivalent functions. Alternatively, one of the brake systems 321 and 322 may be configured to be able to independently control the braking force of each wheel, and the other may be configured to be able to control the same braking force to be generated in each wheel. For example, the brake systems 321 and 322 may control the brake device using a braking command generated by one of the brake systems, and when an abnormality occurs in the brake system, control the brake device using a braking command generated by the other brake system.

[0054] Each of the steering systems 331 and 332 is configured to be able to control the steering angle of the steering wheels of the vehicle 1 using a steering device. The steering system 331 generates a steering command for the steering device according to a control request output from the ADS 11 via the VCIB 41. The steering system 332 generates a steering command for the steering device according to a control request output from the ADS 11 via the VCIB 42. The steering systems 331 and 332 may have equivalent functions. Alternatively, the steering systems 331 and 332 may control the steering device using a steering command generated by one of the steering systems, and when an abnormality occurs in the steering system, control the steering device using a steering command generated by the other steering system.

[0055] The EPB system 341 controls the EPB in accordance with a control request output from the ADS 11 via the VCIB 41. The EPB is provided separately from a braking device (such as a disc brake system) and fixes the wheels by operating an actuator. For example, the EPB fixes the wheels by operating drum brakes for parking brakes provided on some of the wheels using an actuator, or fixes the wheels by operating the braking device using an actuator capable of adjusting the hydraulic pressure supplied to the braking device, separate from the brake systems 321 and 322. The EPB system 341 may have a brake hold function and be configured to be able to switch between activation and release of the brake hold.

[0056] The P-Lock system 342 controls the P-Lock device in accordance with a control request output from the ADS 11 via the VCIB 41. For example, the P-Lock system 342 activates the P-Lock device when the control request includes a control request to set the shift range to a parking range (P range), and deactivates the P-Lock device when the control request includes a control request to set the shift range to a range other than the P range. The P-Lock device engages a protrusion at the tip of a parking lock pole, the position of which can be adjusted by an actuator, with the teeth of a gear (lock gear) that is connected to a rotating element in the transmission of the vehicle 1. This fixes the rotation of the output shaft of the transmission, and locks the wheels.

[0057] The propulsion system 343 switches the shift range of the shift device and controls the driving force from the driving source (motor generator, engine, etc.) in accordance with a control request output from the ADS 11 via the VCIB 41. In addition to the P range, the shift range includes, for example, a neutral range (N range), a forward driving range (D range), and a reverse driving range (R range).

[0058] The active safety system 35 is communicatively connected to the brake system 321. As described above, the active safety system 35 detects an obstacle ahead using the camera 54 and / or the radar sensor 55, and outputs a braking command to the brake system 321 to increase the braking force when it determines that there is a possibility of a collision.

[0059] The body system 36 controls components such as turn indicators, a horn, and wipers in accordance with a control request output from the ADS 11 via the VCIB 41.

[0060] In the vehicle 1, for example, when an autonomous driving mode described later is selected by a request from the ADK 10, the vehicle 1 performs autonomous driving. As described above, the ADS 11 first creates a driving plan during autonomous driving. Examples of the driving plan include a plan to continue driving straight, a plan to turn left / right at a predetermined intersection on a predetermined driving route, and a plan to change the driving lane. The ADS 11 calculates control physical quantities (acceleration, deceleration, tire turning angle, etc.) required for the vehicle 1 to operate according to the created driving plan. The ADS 11 divides the physical quantities for each execution cycle of the API. The ADS 11 outputs a control request representing the divided physical quantities to the VCIB 40 using the API. Furthermore, the ADS 11 acquires the vehicle state (the actual moving direction of the vehicle 1, the state of immobilization of the vehicle, etc.) from the VP 20, and recreates a driving plan that reflects the acquired vehicle state. In this way, the ADS 11 enables the vehicle 1 to be driven autonomously.

[0061] <Mode transition> FIG. 3 is a state machine showing the transition of vehicle modes. In this example, the vehicle 1 has a manual mode and an autonomous driving mode as vehicle modes. Mode).

[0062] The manual mode is the same as that of a non-autonomous vehicle, that is, a mode in which the VP20 is under the control of the driver. In the manual mode, the ADK10 cannot basically control the VP20, except for some requests.

[0063] The autonomous driving mode is a mode in which the VP 20 is under the control of the ADK 10 and autonomous driving of the vehicle 1 is possible. In the autonomous driving mode, the ADK 10 is able to communicate with the VP 20 after the VCIB 40 has successfully authenticated the ADK 10. In the autonomous driving mode, the VP 20 is under the control of the ADK 10 as a result of the ADK 10 issuing a "Request for Autonomy" as a vehicle mode request (described later).

[0064] In manual mode, the power mode status is "Way The vehicle mode state is "Wake mode" or "Drive mode". The vehicle mode state is "Manual mode".

[0065] In the autonomous driving mode, the power mode state is "drive mode" and the vehicle mode state is "autonomous driving mode".

[0066] 4 is a diagram showing the transmission direction of various signals or commands (requests) related to the transition between modes. During the mode transition, the VCIB 40 receives a power mode request (Power mode command) and a vehicle mode request (Vehicle Mode Command) from the ADK 10 (ADS 11). The VCIB 40 also outputs a power mode status signal, a vehicle mode status signal, and a readiness for autonomization signal (Readiness for autonomization) to the ADK 10.

[0067] The power mode request is a request for controlling the power mode of the VP 20. The power mode status signal is a signal that indicates the current power mode status of the VP 20.

[0068] Fig. 5 is a diagram for explaining a power supply mode request. With reference to Fig. 5, in this vehicle 1, the ADS 11 can control the power supply mode of the VP 20 by transmitting a power supply mode request from the ADS 11 to the VCIB 40 in accordance with a predetermined API.

[0069] The VP20 according to the present embodiment has two power modes: a sleep mode and a It has three power modes: wake mode (Wake), and drive mode (Drive).

[0070] Sleep mode is the state in which the VP20 is powered off (the vehicle power is off). In the sleep mode, power is not supplied to each system from the main battery (not shown) mounted on the vehicle, and the VCIB 40 (VCIBs 41, 42) and each system (ECU) of the base vehicle 30 are not activated.

[0071] The wake mode (Wake) is a state in which the VCIB 40 is activated by power supplied from an auxiliary battery (not shown) mounted on the vehicle. In the wake mode, there is no power supply from the main battery, and no ECUs other than the VCIB 40 are activated, except for some of the body-related ECUs of the body system 36 (for example, a verification ECU that performs smart key verification, a body ECU that controls door lock / unlock, etc.).

[0072] Drive mode is when the VP20 is turned on (when the vehicle power is on). In the drive mode, power is supplied from the main battery, the VCIB 40 and the systems of the base vehicle 30 are started, and the VP 20 is ready to travel.

[0073] The power mode request can take any of the values ​​0 to 6 as an argument. The value 0 is set when no power mode request for VP 40 is made from ADS 11. When VCIB 40 receives a power mode request with the value 0 set, VP 20 maintains the power mode at that time.

[0074] A value of 1 is set when requesting sleep mode from ADS11. That is, a power mode request with a value of 1 set requests the stopping of the VP 20. When the VCIB 40 receives a power mode request with a value of 1 set, the power mode of the VP 20 transitions to the sleep mode, and the VP 20 enters a power-off state.

[0075] The value 2 is set when a wake mode (Wake) is requested from the ADS 11. That is, a power mode request with the value 2 set requests the start of the VCIB 40. When the VCIB 40 receives a power mode request with the value 2 set, the power mode of the VP 20 transitions to the wake mode, and the VCIB 40 starts up by receiving power from the auxiliary battery.

[0076] Values ​​3 to 5 are reserved for future expansion and are unused in this embodiment.

[0077] The value 6 is set when the drive mode (Drive) is requested from ADS11. That is, a power mode request with the value 6 set requests the startup of the VP 20. When the VCIB 40 receives a power mode request with the value 6 set, the power mode of the VP 20 transitions to the drive mode, and the VP 20 enters the power-on state.

[0078] Fig. 6 is a diagram for explaining the power supply mode state signal. With reference to Fig. 6, in the vehicle 1, a signal indicating the power supply mode state is transmitted from the VCIB 40 to the ADS 11 according to a predetermined API, whereby the power supply mode state of the VP 20 is notified to the ADS 11.

[0079] The power mode status signal sent to ADS11 can have any value from 0 to 7 as an argument. Values ​​0, 3 through 5 are currently unused and reserved.

[0080] A value of 1 is set when the power mode is sleep mode. A value of 2 is set when the power mode is A value of 6 is set when the power supply mode is in the drive mode. A value of 7 is set when any power supply mode is in the VP20 power supply. This is set when an unhealthy situation occurs.

[0081] Fig. 7 is a diagram for explaining a vehicle mode request. With reference to Fig. 7, in this vehicle 1, the vehicle mode of the VP 20 can be controlled from the ADS 11 by transmitting a vehicle mode request from the ADS 11 to the VCIB 40 in accordance with a predetermined API.

[0082] As described above, the VP 20 according to this embodiment has two vehicle modes: the manual mode and the automatic driving mode.

[0083] The vehicle mode request can take any one of the values ​​0 to 2 as an argument. The value 0 is set when the ADS 11 does not request the vehicle mode of the VP 40. When the VCIB 40 receives a vehicle mode request with the value 0 set, the vehicle mode at that time is maintained.

[0084] The value 1 is set when an autonomous driving mode is requested from the ADS 11 (Request For Autonomy). In other words, a vehicle mode request (Request For Autonomy) with the value 1 set requests a transition of the vehicle mode from the manual mode to the autonomous driving mode.

[0085] The value 2 is set when requesting manual mode from the ADS 11 (Deactivation Request). Deactivation Request: Deactivation Request is a request to deactivate the vehicle from autonomous driving mode to the master mode. Requests a transition to manual mode.

[0086] 8 is a diagram for explaining the vehicle mode state signal. In this vehicle 1, the vehicle mode state of the VP 20 is notified to the ADS 11 by transmitting a signal indicating the vehicle mode state from the VCIB 40 to the ADS 11 in accordance with a predetermined API.

[0087] The vehicle mode status signal can take either the value 0 or 1 as an argument. The value 0 is set when the vehicle mode is manual mode. The value 1 is set when the vehicle mode is autonomous driving mode. When the VP20 is started (when the power supply mode state is wake or drive), the vehicle mode starts from manual mode. In other words, the initial state of the vehicle mode is set to "manual mode."

[0088] 9 is a diagram for explaining the automation preparation signal. In this vehicle 1, the VCIB 40 transmits a signal indicating the preparation state of the automation of the VP 20 to the ADS 11 according to a predetermined API, thereby notifying the ADS 11 of whether or not the VP 20 can transition to the automatic driving mode.

[0089] The automation preparation signal can take any of the values ​​0 to 2 as an argument. The value 0 is set when the automatic driving mode is not ready (automatic driving mode not ready: Not Ready For The value 1 is set if the autonomous mode is ready (Ready For Autonomous Mode). The value 2 is set if the state has not yet been determined. The value 2 means an invalid value (Invalid).

[0090] <<transition a>> Referring again to FIG. 3, the transition between modes will be described in detail. Transition a is Manual This indicates a transition from a manual mode to an autonomous driving mode. When a first condition is satisfied in the manual mode, the vehicle mode transitions from the manual mode to the autonomous driving mode. The first condition includes the following conditions (1) to (4). The first condition is satisfied when all of the following conditions (1) to (4) are satisfied. The first condition is not satisfied when any of the following conditions (1) to (4) are not satisfied.

[0091] (1) The condition is that the ADK10 has been certified by the VCIB40.

[0092] (2) The condition that the power mode status signal is in “Drive mode (Drive)”.

[0093] (3) The condition that the automation preparation signal is "Ready For Autonomous Mode."

[0094] (4) The condition that the vehicle mode request is a “Request For Autonomy.”

[0095] <<transition b>> Transition b indicates a transition from the autonomous driving mode to the manual mode. In the autonomous driving mode, if the vehicle mode request is a “Deactivation Request”, When the second condition is satisfied, the vehicle mode transitions from the autonomous driving mode to the manual mode.

[0096] Fig. 10 is a flowchart showing the procedure of a process related to a transition of a vehicle mode. The flowchart in Fig. 10 is started by the VCIB 40 when the power supply mode changes from the sleep mode to the wake mode or the drive mode. That is, the flowchart in Fig. 10 is started when the VCIB 40 is started.

[0097] In S1, the VCIB 40 sets the vehicle mode to the manual mode, that is, the initial state of the vehicle mode is set to the "manual mode".

[0098] In S2, the VCIB 40 judges whether or not a request to switch the power supply mode to the sleep mode has been made. If the VCIB 40 judges that a request to switch the power supply mode to the sleep mode has not been made (NO in S2), the process proceeds to S3. If the VCIB 40 judges that a request to switch the power supply mode to the sleep mode has been made (YES in S2), the VCIB 40 ends this series of processes.

[0099] In S3, the VCIB 40 judges whether the first condition is satisfied. Specifically, the VCIB 40 judges whether the above-mentioned conditions (1) to (4) included in the first condition are satisfied. If the VCIB 40 judges that the first condition is not satisfied (NO in S3), the process returns to S1 and the vehicle mode is maintained in the manual mode. If the VCIB 40 judges that the first condition is satisfied (YES in S3), the process proceeds to S4.

[0100] In S4, the VCIB 40 transitions (shifts) the vehicle mode from the manual mode to the automatic driving mode.

[0101] In S5, the VCIB 40 judges whether or not a request to switch the power supply mode to the sleep mode has been made. If the VCIB 40 judges that a request to switch the power supply mode to the sleep mode has not been made (NO in S5), the process proceeds to S6. If the VCIB 40 judges that a request to switch the power supply mode to the sleep mode has been made (YES in S5), the process ends.

[0102] In S6, the VCIB 40 judges whether the second condition is satisfied. If the VCIB 40 judges that the second condition is not satisfied (NO in S6), the process returns to S4 and the vehicle mode is maintained in the autonomous driving mode. If the VCIB 40 judges that the second condition is satisfied (YES in S6), the process returns to S1 and the vehicle mode is transitioned (shifted) from the autonomous driving mode to the manual mode.

[0103] As described above, in this embodiment, after authenticating the ADK 10, the VCIB 40 detects that the power mode status signal is “Drive mode” and the automation preparation signal is “ When the vehicle is "Ready for Autonomous Mode" and the vehicle mode request is "Request For Autonomy", the vehicle mode is transitioned (shifted) from the manual mode to the autonomous driving mode. The satisfaction of the above condition (first condition) ensures that VP20 is in a state capable of supporting the autonomous driving mode. Therefore, when VP20 is in a state capable of supporting the autonomous driving mode, the vehicle mode is shifted from the manual mode to the autonomous driving mode. Therefore, the transition of the vehicle mode from the manual mode to the autonomous driving mode can be performed appropriately.

[0104] In addition, when the vehicle mode request is a "Deactivation Request", the VCIB 40 transitions the vehicle mode from the automatic driving mode to the manual mode. By simplifying the conditions for transitioning from autonomous driving mode to manual mode in a vehicle, it is possible to reduce the difficulty of implementing ADS11.

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[0187] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the embodiments described above, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0188] 1 vehicle, 10 autonomous driving kit (ADK), 11 autonomous driving system (ADS), 111 computer, 111A, 111B communication module, 113 recognition sensor, 1 14 attitude sensor, 115 sensor cleaner, 20 vehicle platform (VP), 30 base vehicle, 31 integrated control manager, 32, 321, 322 brake system, 33, 331, 332 steering system, 34 powertrain system, 341 EPB, 342 P-Lock system, 343 propulsion system, 35 active safety system, 36 body system, 40-42 vehicle control interface box (VCIB), 51, 52 wheel speed sensor, 53 pinion angle sensor, 54 camera, 55, 56 radar sensor.

Claims

1. A vehicle platform configured to be capable of mounting an autonomous driving system, Vehicles and a vehicle control interface box that interfaces between the vehicle and the automated driving system; The vehicle platform includes: The vehicle modes include a manual mode under the control of a driver of the vehicle and an autonomous driving mode under the control of the autonomous driving system; The power supply modes include a sleep mode in which the vehicle power supply is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power supply is on; The vehicle control interface box is configured to be able to receive a vehicle mode request requesting control of the vehicle mode from the autonomous driving system, and is configured to output an automation preparation signal indicating whether the autonomous driving mode of the vehicle platform is ready to be operated to the autonomous driving system; The vehicle control interface box receives the vehicle mode request requesting the autonomous driving mode after authenticating the autonomous driving system, and when the power mode is the drive mode and the automation preparation signal indicates that the autonomous driving mode is ready, transitions the vehicle mode from the manual mode to the autonomous driving mode.

2. The vehicle platform according to claim 1 , wherein the vehicle control interface box sets the vehicle mode to the manual mode when the power supply mode is transitioned from the sleep mode to the wake mode or the drive mode.

3. 3. The vehicle platform according to claim 1, wherein when the vehicle mode is the autonomous driving mode, the vehicle control interface box transitions the vehicle mode from the autonomous driving mode to the manual mode when the vehicle mode request is received from the autonomous driving system to cancel the autonomous driving mode.

4. An automated driving system configured to be mounted on a vehicle platform, The vehicle platform includes: Vehicles and a vehicle control interface box that interfaces between the vehicle and the automated driving system; The vehicle platform includes: The vehicle modes include a manual mode under the control of a driver of the vehicle and an autonomous driving mode under the control of the autonomous driving system; The power supply modes include a sleep mode in which the vehicle power supply is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power supply is on; The automated driving system includes: A computer, a communication module for communicating with the vehicle control interface box; the computer is configured to transmit, via the communication module, a vehicle mode request to the vehicle control interface box to request control of the vehicle mode; When the vehicle mode is to be transitioned from the manual mode to the autonomous driving mode after the autonomous driving system is authenticated by the vehicle control interface box, the computer transmits the vehicle mode request requesting the autonomous driving mode to the vehicle control interface box. The autonomous driving system transmits the data to the interface box.

5. The computer is further configured to send, via the communication module, a power mode request to the vehicle control interface box to request control of the power mode; 5. The autonomous driving system according to claim 4, wherein when the computer transitions the vehicle mode from the manual mode to the autonomous driving mode, the computer transmits to the vehicle control interface box the power mode requesting the drive mode in addition to the vehicle mode request requesting the autonomous driving mode.

6. 6. The automated driving system of claim 5, wherein the computer sends the power mode requesting the wake mode to the vehicle control interface box when waking up the vehicle platform.

7. 7. The autonomous driving system according to claim 4, wherein when the vehicle mode is transitioned from the autonomous driving mode to the manual mode, the computer transmits the vehicle mode request to the vehicle control interface box to request cancellation of the autonomous driving mode.

8. The autonomous driving system according to any one of claims 4 to 7, wherein the computer receives an automation preparation signal from the vehicle control interface box through the communication module, the automation preparation signal indicating whether the vehicle platform is ready for the autonomous driving mode.

9. A vehicle control interface box that interfaces between a vehicle platform and an automated driving system mounted on the vehicle platform, comprising: The vehicle platform includes: vehicle modes including a manual mode under control of a driver of the vehicle platform and an automated driving mode under control of the automated driving system; The power supply modes include a sleep mode in which the vehicle power supply is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power supply is on; The vehicle control interface box includes: A processor; a memory for storing a program executable by the processor; The processor, A vehicle mode request for requesting control of the vehicle mode is received from the autonomous driving system, A vehicle control interface box configured to output an automation readiness signal to the autonomous driving system indicating readiness of the vehicle platform for the autonomous driving mode.

10. The processor is further configured to receive a power mode request from the autonomous driving system to request control of the power mode, When the vehicle mode is transitioned from the manual mode to the autonomous driving mode, the processor Certifying the automated driving system; receiving the vehicle mode request from the autonomous driving system, the vehicle mode request requesting the autonomous driving mode, and the power mode requesting the drive mode; 10. The vehicle control interface box of claim 9, further comprising: a vehicle control unit configured to control a vehicle speed of the vehicle;

11. The processor is further configured to output a power mode status signal to the automated driving system indicative of a status of the power mode of the vehicle platform; When the vehicle mode is transitioned from the manual mode to the autonomous driving mode, the processor Certifying the automated driving system; receiving the vehicle mode request from the automated driving system, the vehicle mode request requesting the automated driving mode; 10. The vehicle control interface box of claim 9, further comprising: an automation ready signal indicating readiness of the autonomous driving mode and a power mode status signal indicating the drive mode to the autonomous driving system.

12. 12. The vehicle control interface box according to claim 9, wherein when the vehicle mode is transitioned from the autonomous driving mode to the manual mode, the processor receives the vehicle mode request from the autonomous driving system, the vehicle mode request requesting cancellation of the autonomous driving mode.

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