Vehicle Platform

Abstract

To suppress a trunk door from being activated at a timing when a user does not expect, during execution of automatic operation.SOLUTION: A body system determines whether getting on / off doors for all seats or getting on / off doors for rear seats are in an unlock state or not (S1). When determining affirmatively, the body system determines whether a trunk motion command received by a VCIB from an ADK (ADS) shows "an opening / closing request" for a trunk door or not (S3). When determining affirmatively, the body system determines whether the system has received "the opening / closing request" continually for one second or not (S5). When determining affirmatively, the body system starts to activate the trunk door (S7).SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a vehicle platform configured to be capable of autonomous driving. [Background technology]

[0002] In recent years, development of technologies related to the autonomous driving of vehicles has been progressing. For example, JP 2018-132015 A (Patent Document 1) discloses a vehicle equipped with a power system that comprehensively manages the power of the vehicle, a power supply system that comprehensively manages the power supply of various on-board devices, and an autonomous driving system that comprehensively executes the autonomous driving control of the vehicle. [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] When autonomous driving is in progress, the trunk door (back door) opens and closes automatically according to commands from the autonomous driving system. Get In this case, it is undesirable for the trunk door to be opened at a timing that is not anticipated by the vehicle user.

[0005] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to prevent the trunk door from being opened at a time unexpected by the user when autonomous driving is being performed. [Means for solving the problem]

[0006] A vehicle platform according to an aspect of the present disclosure is a vehicle platform configured to be capable of mounting an automated driving system. The vehicle platform includes a vehicle and a vehicle control interface box that interfaces between the vehicle and the automated driving system. The vehicle includes an entry / exit door and a trunk door. When the entry / exit door is in an unlocked state, the vehicle accepts a trunk operation command received by the vehicle control interface box from the automated driving system, the trunk door being requested to operate.

[0007] A vehicle platform according to another aspect of the present disclosure includes an autonomous driving system that creates a driving plan, a vehicle that executes vehicle control in accordance with a command from the autonomous driving system, and a vehicle control interface that interfaces between the vehicle and the autonomous driving system. box The vehicle includes an entry / exit door and a trunk door. When the entry / exit door is in an unlocked state, the vehicle receives a trunk operation command requesting operation of the trunk door, the trunk operation command being received by a vehicle control interface box from the autonomous driving system.

[0008] When the entry / exit door is in an unlocked state, the user can foresee that the trunk door may be operated. According to the above configuration, the vehicle accepts a trunk operation command when the entry / exit door is in an unlocked state, so that the trunk door can be operated at a timing when the user can foresee the operation of the trunk door.

[0009] In one embodiment, the vehicle will accept a trunk operation command when the rear passenger doors are unlocked.

[0010] When the rear seat door is unlocked, the user can further foresee that the trunk door may be operated. According to the above configuration, the vehicle accepts a trunk operation command when the rear seat door is unlocked, so that the trunk door can be operated at a timing when the user can foresee the operation of the trunk door.

[0011] In one embodiment, the trunk operation command includes a first request to operate the trunk door by opening or closing the trunk door, and the vehicle operates the trunk door if the first request is received for one continuous second.

[0012] According to the above configuration, the trunk door is configured to continuously accept the first request for one second. Operation By satisfying the above condition, it is possible to prevent the trunk door from being erroneously operated due to noise or the like.

[0013] In one embodiment, the trunk operation command includes a second request indicating no request, and if the vehicle receives the second request while the trunk door is operating, the vehicle allows the trunk door to continue operating.

[0014] According to the above configuration, the trunk door can be operated appropriately. In one embodiment, if the vehicle receives the first request after receiving the second request while the trunk door is in operation, the vehicle stops the operation of the trunk door.

[0015] According to the above configuration, the trunk door can be operated appropriately. In one embodiment, when the vehicle stops the operation of the trunk door, when the trunk door is operated again in accordance with a trunk operation command, the vehicle controls the trunk door to operate in the opposite manner to the operation before the stop.

[0016] When a stopped trunk door is to be operated again, there is a high probability that the user will desire an operation opposite to that before the trunk door was stopped. According to the above configuration, when the trunk door is to be operated again, the trunk door is controlled to perform an operation opposite to that before the trunk door was stopped, thereby improving user convenience.

[0017] In one embodiment, the autonomous driving system transmits the first request until the trunk door is fully open or fully closed.

[0018] According to the above configuration, it is possible to prevent the process from being terminated with the trunk door remaining in a state other than fully open or fully closed. Effect of the Invention

[0019] According to the present disclosure, when autonomous driving is being performed, it is possible to prevent the trunk door from being opened at a time unexpected by the user. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing an overview of a vehicle according to an embodiment of the present disclosure. [Diagram 2] 2 is a diagram showing in more detail the configuration of an ADK (ADS) and a VP shown in FIG. 1. [Diagram 3] FIG. 2 is a schematic side view of a base vehicle. [Figure 4] FIG. 13 is a diagram for explaining a trunk operation command. [Diagram 5] 5 is a flowchart showing a procedure of a process related to the opening and closing operation of the trunk door. [Figure 6] 6 is a flowchart showing a procedure of a process executed during operation of the trunk door. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] 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 designated by the same reference characters and their description will not be repeated.

[0022] <Overall composition> FIG. 1 is a diagram showing an overview of a vehicle 10 according to an embodiment of the present disclosure. With reference to FIG. 1, the vehicle 10 includes an autonomous driving kit (hereinafter referred to as an "ADK (Autonomous Driving Kit)") 200 and a vehicle platform (hereinafter referred to as a "VP (Vehicle Platform)") 120. The ADK 200 is configured to be attachable (mountable) to the VP 120. The ADK 200 and the VP 120 are configured to be able to communicate with each other via a vehicle control interface box 111 (described later) mounted on the VP 120.

[0023] The VP120 can perform automatic driving according to a control request (command) from the ADK200. Although the VP120 and the ADK200 are shown in FIG. 1 at separate locations, the ADK200 is actually attached to the rooftop or the like of a base vehicle 100 (described later) that constitutes the VP120. The ADK200 can also be removed from the VP120. When the ADK200 is removed, the VP120 can be driven by the user. In this case, the VP120 executes driving control in manual mode (driving control according to user operation).

[0024] The ADK200 includes an autonomous driving system (hereinafter, referred to as "ADS (Autonomous Driving System)") 202 for autonomous driving of the vehicle 10. The ADS202 creates, for example, a driving plan for the vehicle 10. The ADS202 then outputs various commands (control requests) for driving the vehicle 10 according to the created driving plan to the VP120 according to an API (Application Program Interface) defined for each command. The ADS202 also receives various signals indicating the state of the VP120 (vehicle state) from the VP120 according to an API defined for each signal. The ADS202 then reflects the received vehicle state in the creation of the driving plan. A detailed configuration of the ADS202 will be described later.

[0025] The VP 120 includes a base vehicle 100 and a vehicle control interface box (hereinafter, referred to as a “VCIB (Vehicle Control Interface Box)”) 111.

[0026] The base vehicle 100 executes various vehicle controls in accordance with control requests from the ADK 200 (ADS 202). The base vehicle 100 includes various systems and sensors for controlling the vehicle. Specifically, the base vehicle 100 includes an integrated control manager 115, a brake system 121, a steering system 122, a powertrain system 123, an active safety system 125, a body system 126, wheel speed sensors 127A and 127B, a pinion angle sensor 128, a camera 129A, and radar sensors 129B and 129C.

[0027] The integrated control manager 115 includes a processor and a memory, and controls the above-mentioned systems (the brake system 121, the steering system 122, the power train system 123, the active safety system 125, and the body system 126) related to the operation of the vehicle in an integrated manner.

[0028] The brake system 121 is configured to control a braking device provided on each wheel. The braking device includes, for example, a disc brake system (not shown) that operates using hydraulic pressure regulated by an actuator.

[0029] Wheel speed sensors 127A and 127B are connected to the brake system 121. The wheel speed sensor 127A detects the rotation speed of the front wheels and outputs the detected value to the brake system 121. The wheel speed sensor 127B detects the rotation speed of the rear wheels and outputs the detected value to the brake system 121.

[0030] Furthermore, the brake system 121 generates a braking command for the braking device in accordance with a predetermined control request output from the ADK 200 via the VCIB 111 and the integrated control manager 115. Then, the brake system 121 controls the braking device using the generated braking command. The integrated control manager 115 can calculate the vehicle speed (vehicle speed) based on the rotation speed of each wheel.

[0031] The steering system 122 is configured to control the steering angle of the steering wheels of the vehicle using a steering device. The steering device includes, for example, a rack-and-pinion type electric power steering (EPS) that can adjust the steering angle by an actuator.

[0032] A pinion angle sensor 128 is connected to the steering system 122. The pinion angle sensor 128 detects a rotation angle (pinion angle) of a pinion gear connected to a rotating shaft of an actuator that constitutes a steering device, and outputs the detected value to the steering system 122.

[0033] Also, the steering system 122 generates a steering command for the steering device in accordance with a predetermined control request output from the ADK 200 via the VCIB 111 and the integrated control manager 115. Then, the steering system 122 controls the steering device using the generated steering command.

[0034] The powertrain system 123 controls an electric parking brake (EPB) system provided on at least one of the wheels, a parking lock (P-Lock) system provided on the transmission of the base vehicle 100, and a propulsion system including a shift device for selecting a shift range. A detailed configuration of the powertrain system 123 will be described later with reference to FIG. 2.

[0035] The active safety system 125 detects obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front of or behind the vehicle using the camera 129A and the radar sensors 129B, 129C. The active safety system 125 determines whether there is a possibility that the vehicle 10 will collide with the obstacle based on the distance between the vehicle 10 and the obstacle and the moving direction of the vehicle 10. If the active safety system 125 determines that there is a possibility of a collision, it outputs a braking command to the brake system 121 via the integrated control manager 115 so as to increase the braking force of the vehicle.

[0036] The body system 126 is configured to control various devices (none of which are shown) such as turn signals, headlights, hazard lights, a horn, front wipers, and rear wipers, depending on the driving state or environment of the vehicle 10, for example. The body system 126 controls the above-mentioned various devices in accordance with a predetermined control request output from the ADK 200 via the VCIB 111 and the integrated control manager 115. The body system 126 is also configured to control an opening / closing device (described later) that operates a trunk door (back door). The body system 126 controls the opening / closing device to operate the trunk door in accordance with a predetermined control request output from the ADK 200 via the VCIB 111 and the integrated control manager 115.

[0037] The VCIB111 is configured to be able to communicate with the ADS202 of the ADK200 via a CAN (Controller Area Network) or the like. The VCIB111 executes a predetermined API defined for each communicated signal to receive various control requests from the ADS202 and also outputs the state of the VP120 to the ADS202. When the VCIB111 receives a control request from the ADS202, it outputs a control command corresponding to the control request to a system corresponding to the control command via the integrated control manager 115. In addition, the VCIB111 acquires various information of the base vehicle 100 from each system via the integrated control manager 115 and outputs the state of the base vehicle 100 to the ADS202 as a vehicle state.

[0038] The vehicle 10 may be used as one of the components of a MaaS (Mobility as a Service) system. In addition to the vehicle 10, the MaaS system further includes, for example, a data server and a mobility service platform (MSPF) (neither of which are 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. Various mobility services, including mobility services, can use the APIs published on the MSPF to use the various functions provided by the MSPF according to the content of the service.

[0040] The VP 120 further includes a Data Communication Module (DCM) (not shown) as a communication I / F (interface) for wireless communication with a data server of the MaaS system. The DCM outputs various vehicle information such as speed, position, and autonomous driving state to the data server. The DCM also receives various data for managing the travel of autonomous vehicles including the vehicle 10 in an autonomous driving-related mobility service from the mobility service through the MSPF and the data server.

[0041] In the MSPF, APIs for using various vehicle state and vehicle control data required for the development of an ADK are published. Various mobility services can use various functions provided by the MSPF according to the service content by using the API published on the MSPF. For example, an autonomous driving-related mobility service can obtain driving control data of an autonomous driving vehicle that communicates with a data server and information stored in the data server from the MSPF by using the API published on the MSPF. In addition, an autonomous driving-related mobility service can transmit data for managing autonomous driving vehicles including the vehicle 10 to the MSPF by using the above API.

[0042] Fig. 2 is a diagram showing in more detail the configuration of the ADK200 (ADS202) and the VP120 shown in Fig. 1. Referring to Fig. 2, the ADS202 of the ADK200 includes a computer 210, an HMI (Human Machine Interface) 230, a recognition sensor 260, a posture sensor 270, and a sensor cleaner 290.

[0043] The computer 210 includes communication modules 210A and 210B. The communication modules 210A and 210B are configured to be able to communicate with the VCIB 111. During autonomous driving of the vehicle 10, the computer 210 uses various sensors (described later) to acquire the environment around the vehicle, as well as the attitude, behavior, and position of the vehicle 10, and also acquires the vehicle state from the VP 120 via the VCIB 111, and sets the next operation (acceleration, deceleration, turning, etc.) of the vehicle 10. Then, the computer 210 outputs various commands to the VCIB 111 of the VP 120 to realize the set next operation.

[0044] The HMI 230 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 230 is configured to be connectable to an input / output device (not shown) such as a touch panel display provided in the VP 120, for example.

[0045] The recognition sensor 260 is a sensor for recognizing the environment around the vehicle. The recognition sensor 260 includes at least one of a LIDAR (Laser Imaging Detection and Ranging), a millimeter wave radar, and a camera, for example.

[0046] LIDAR is a distance measurement device that irradiates a pulsed laser light (infrared light) and measures the distance based on the time it takes for the light to reflect off an object and return. Millimeter wave radar is a distance measurement device that irradiates an object with a short wavelength radio wave, detects the radio wave returned from the object, and measures the distance and direction to the object. The camera is disposed, for example, behind the rear-view mirror in the vehicle cabin, and is used to capture images in front of the vehicle 10. By performing image processing using artificial intelligence (AI) and an image processing processor on the images and videos captured by the camera, other vehicles, obstacles, people, etc. in front of the vehicle 10 can be recognized. Information acquired by the recognition sensor 260 is output to the computer 210.

[0047] The attitude sensor 270 is a sensor for detecting the attitude, behavior, and position of the vehicle 10. The attitude sensor 270 includes, for example, an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System).

[0048] The IMU detects, for example, acceleration in the forward / backward, left / right, and up / down directions of the vehicle 10, and angular velocities in the roll, pitch, and yaw directions of the vehicle 10. The GPS detects the position of the vehicle 10 using information received from multiple GPS satellites orbiting the Earth. The information acquired by the attitude sensor 270 is output to the computer 210.

[0049] Sensor cleaner 290 is configured to remove dirt adhering to various sensors. For example, sensor cleaner 290 removes dirt adhering to a camera lens, a laser or radio wave irradiation unit, etc., using a cleaning liquid, a wiper, etc.

[0050] The VCIB 111 includes a VCIB 111A and a VCIB 111B. Each of the VCIBs 111A and 111B is configured by an ECU (Electronic Control Unit). The ECU is configured to include a processor such as a CPU (Central Processing Unit) (not shown) and memories (Read Only Memory (ROM) and Random Access Memory (RAM)). The ROM stores programs executable by the processor. The processor executes various processes according to the programs stored in the ROM.

[0051] The VCIB111A and 111B are connected to the communication modules 210A and 210B of the ADS 202 so as to be able to communicate with each other. The VCIB111A and VCIB111B are also connected to be able to communicate with each other. The VCIB111B has the same functions as the VCIB111A, but the connection destinations for the multiple systems constituting the VP120 are partially different.

[0052] Each of the VCIBs 111A and 111B relays control requests and vehicle states between the ADS 202 and the VP 120. More specifically, to explain the VCIB 111A as a representative example, the VCIB 111A receives various control requests output from the ADS 202 according to an API defined for each control request. The VCIB 111A then generates a command corresponding to the received control request and outputs the command to the system of the base vehicle 100 corresponding to the control request. In this embodiment, the control request received from the ADS 202 includes a trunk operate command that commands the opening and closing of the trunk door (back door) of the base vehicle 100.

[0053] In addition, the VCIB111A receives vehicle information output from each system of the VP120, and transmits information indicating the vehicle state of the VP120 to the ADS202 according to an API defined for each vehicle state. The information indicating the vehicle state transmitted to the ADS202 may be the same information as the vehicle information output from each system of the VP120, or information used in the processing executed by the ADS202 may be extracted from the above vehicle information.

[0054] By providing VCIB111A and VCIB111B that have equivalent functions for the operation of some systems (for example, braking and steering), the control system between ADS202 and VP120 is made redundant. This makes it possible to maintain the functions of VP120 (turning, stopping, etc.) by switching the control system appropriately or cutting off the control system where the failure occurred if some failure occurs in part of the system.

[0055] The brake system 121 includes brake systems 121A and 121 B. The steering system 122 includes steering systems 122A and 122 B. The power train system 123 includes an EPB system 123A, a P-Lock system 123B, and a propulsion system 124.

[0056] The VCIB 111A, the brake system 121A, the steering system 122A, the EPB system 123A, the P-Lock system 123B, the propulsion system 124, and the body system 126 are connected to each other via a communication bus so as to be able to communicate with each other. B are communicatively connected to each other via a communication bus.

[0057] Brake systems 121A and 121B are configured to be capable of controlling a plurality of braking devices provided on each wheel. Brake system 121B may have the same function as brake system 121A, or one of them may be configured to be capable of independently controlling the braking force of each wheel when the vehicle is traveling, and the other may be configured to be capable of controlling the same braking force to be generated on each wheel when the vehicle is traveling.

[0058] The brake systems 121A and 121B generate braking commands for the brake devices in accordance with a control request received from the ADS 202 via the VCIB 111. For example, the brake systems 121A and 121B control the brake devices using the braking command generated in one of the brake systems, and when an abnormality occurs in the brake system, control the brake devices using the braking command generated in the other brake system.

[0059] The steering systems 122A and 122B are configured to be able to use a steering device to control the steering angle of the steering wheels of the vehicle 10. The steering system 122B has the same functions as the steering system 122A.

[0060] The steering systems 122A and 122B generate steering commands for the steering devices in accordance with a control request received from the ADS 202 via the VCIB 111. For example, the steering systems 122A and 122B control the steering devices using the steering commands generated in one steering system, and when an abnormality occurs in the steering system, control the steering devices using the steering commands generated in the other steering system.

[0061] The EPB system 123A is configured to be able to control the EPB. The EPB is provided separately from the braking device, and fixes the wheels by the operation of an actuator. For example, the EPB fixes the wheels by operating drum brakes for parking brakes provided on some of the wheels with an actuator, or fixes the wheels by operating the braking device using an actuator that can adjust the hydraulic pressure supplied to the braking device, separate from the brake systems 121A and 121B.

[0062] The EPB system 123A controls the EPB according to a control request received from the ADS 202 via the VCIB 111.

[0063] The P-Lock system 123B is configured to be able to control the P-Lock device. The P-Lock device fits a protrusion provided at the tip of a parking lock pole, the position of which is adjusted by an actuator, into the teeth of a gear (lock gear) that is connected to a rotating element in the transmission of the base vehicle 100. This fixes the rotation of the output shaft of the transmission and fixes the wheels.

[0064] The P-Lock system 123B controls the P-Lock device in accordance with a control request received from the ADS 202 via the VCIB 111. The P-Lock system 123B activates the P-Lock device when the control request from the ADS 202 includes a request to set the shift range to the parking range (P range), and releases the operation of the P-Lock device when the control request includes a request to set the shift range to a range other than the P range.

[0065] The propulsion system 124 is configured to be capable of switching the shift range using a shift device, and to be capable of controlling the driving force of the vehicle 10 in the moving direction of the vehicle 10 using a driving source. Examples of the switchable shift range include a P range, a neutral range (N range), a forward driving range (D range), and a reverse driving range (R range). Examples of the driving source include a motor generator, an engine, etc.

[0066] The propulsion system 124 controls the shifting device and the drive source according to control requests received from the ADS 202 via the VCIB 111 .

[0067] The active safety system 125 is connected to the brake system 121A so as to be able to communicate with it. As described above, the active safety system 125 detects obstacles (obstacles and people) in front of the vehicle using the camera 129A and the radar sensor 129B, and when it determines that there is a possibility of a collision based on the distance to the obstacle, it outputs a braking command to the brake system 121A so as to increase the braking force.

[0068] The body system 126 controls various devices according to a control request (control command) received from the ADS 202 via the VCIB 111. The various devices include, for example, a turn signal, a headlight, a hazard lamp, a horn, a front wiper, a rear wiper, and the like. The various devices also include a trunk door opening / closing device (FIG. 3). That is, the body system 126 controls the trunk door opening / closing device according to a control request received from the ADS 202 via the VCIB 111 and the integrated control manager 115.

[0069] In the vehicle 10, for example, when the autonomous mode is selected as the autonomous state by the user's operation on the HMI 230, the vehicle 10 performs autonomous driving. As described above, the ADS 202 first creates a driving plan during autonomous driving. Examples of the driving plan include a plan to continue going straight, a plan to turn left / right at a predetermined intersection in a predetermined driving route, a plan to change the driving lane, and the like.

[0070] The ADS202 calculates control physical quantities (acceleration, deceleration, tire turning angle, etc.) required for the vehicle 10 to operate according to the created driving plan. The ADS202 divides the physical quantities for each execution cycle of the API. The ADS202 outputs a control request representing the divided physical quantities to the VCIB111 using the API. Furthermore, the ADS202 acquires the vehicle state (actual moving direction of the vehicle, vehicle immobilization state, etc.) from the VP120, and recreates a driving plan that reflects the acquired vehicle state. In this way, the ADS202 enables the vehicle 10 to be driven autonomously.

[0071] 3 is a diagram that shows a schematic side view of the base vehicle 100. The base vehicle 100 includes a front door 161, a rear door 162, a front door lock device 165, a rear door lock device 166, a trunk door (back door) 170, and an opening / closing device 175.

[0072] The front door lock device 165 is configured to switch the front door 161 between a locked state and an unlocked state. The rear door lock device 166 is configured to switch the rear door 162 between a locked state and an unlocked state. The front door lock device 165 and the rear door lock device 166 operate according to a control signal from the body system 126.

[0073] The trunk door (back door) 170 is provided as a back door of the base vehicle 100. The trunk door 170 is provided with an opening / closing device 175. The opening / closing device 175 includes, for example, an actuator, and opens and closes the trunk door 170 in accordance with a control signal from the body system 126. In Fig. 3, the trunk door 170 is shown in a fully closed state by a solid line. Also, in Fig. 3, the trunk door 170 is shown in a fully open state by a dashed line.

[0074] <Opening and closing the trunk door> As described above, the control request received by the VCIB 111 from the ADS 202 includes a trunk operation command requesting the opening and closing of the trunk door 170 of the base vehicle 100. The trunk operation command is converted by the VCIB 111 into a corresponding control command and sent to the body system 126 via the integrated control manager 115. The body system 126 controls the opening and closing device 175 in accordance with the trunk operation command (control command) and opens and closes the trunk door 170. 0 Activate.

[0075] Fig. 4 is a diagram for explaining trunk operation commands, showing possible values ​​of the trunk operation commands, their descriptions, and remarks.

[0076] The trunk operation command takes one of the values ​​0, 1, 2, or 3. The value 0 indicates "No Request." As will be explained in detail later, the value 0 is set when maintaining (continuing) the current operation. The value 1 indicates an "Open / Close Request." An open / close request is a request to operate the trunk door 170 (opening / closing device 175). The values ​​2 and 3 indicate "Reserve." In this embodiment, the values ​​2 and 3 are not used, but they can be set appropriately and used.

[0077] When the VCIB 111 receives a trunk operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the trunk operation command and outputs it to the base vehicle 100. The integrated control manager 115 of the base vehicle 100 outputs the control command received from the VCIB 111 to the body system 126. If the trunk operation command indicates a value of 0, the VCIB 111 generates a control command indicating "no request" and outputs it to the body system 126. If the trunk operation request indicates a value of 1, the VCIB 111 generates a control command indicating "open / close request" and outputs it to the body system 126. In particular, the control command output from the VCIB 111 is input to the body system 126 via the integrated control manager 115.

[0078] The body system 126 accepts a trunk operation command (control command) when all the doors of the vehicle 10 are unlocked or when the rear door of the vehicle 10 is unlocked. That is, the body system 126 accepts a trunk operation command (control command) when at least the rear door is unlocked. The body system 126 does not accept a trunk operation command (control command) unless the rear door is unlocked.

[0079] If the received trunk operation command indicates "no request", the body system 126 maintains (continues) the current operation. Specifically, if the body system 126 receives a trunk operation command indicating "no request" when the trunk door 170 is in a fully closed or fully open state, the body system 126 maintains the state of the trunk door 170 (fully closed or fully open state) without operating the opening / closing device 175.

[0080] When the body system 126 receives a trunk operation command indicating an "opening / closing request" when the trunk door 170 is in a fully closed or fully open state, the body system 126 controls the opening / closing device 175 so as to transition to a state opposite to the current state of the trunk door 170. Specifically, for example, when the body system 126 receives a trunk operation command indicating an "opening / closing request" when the trunk door 170 is in a fully closed state, the body system 126 controls the opening / closing device 175 so as to transition the trunk door 170 to a fully open state. For example, when the body system 126 receives a trunk operation command indicating an "opening / closing request" when the trunk door 170 is in a fully open state, the body system 126 controls the opening / closing device 175 so as to transition the trunk door 170 to a fully closed state. Note that the body system 126 starts the operation of the trunk door 170 (opening / closing device 175) when it receives a trunk operation command indicating an opening / closing request (operation request) continuously for one second.

[0081] When the ADK200 (ADS202) first outputs a trunk operation command, it continues to output the trunk operation command until the trunk door 170 is fully open or fully closed.

[0082] Even if a trunk operation command indicating "no request" is requested from the ADK 200 during the execution of the opening or closing operation of the trunk door 170, the body system 126 controls the opening / closing device 175 to continue the operation (opening or closing operation) of the trunk door 170 until the trunk door 170 is fully opened or fully closed. That is, even if the trunk operation command is changed from "opening / closing request" to "no request" during the execution of the opening or closing operation of the trunk door 170, the body system 126 continues the operation (opening or closing operation) of the trunk door 170. More specifically, even if the trunk operation command is changed from "opening / closing request" to "no request" during the execution of the opening operation of the trunk door 170, the body system 126 continues the opening operation of the trunk door 170. Even if the trunk operation command is changed from "opening / closing request" to "no request" during the execution of the closing operation of the trunk door 170, the body system 126 continues the closing operation of the trunk door 170.

[0083] The body system 126 controls the opening / closing device 175 to stop the operation of the trunk door 170 midway when the trunk operation command is changed from "open / close request" to "no request" while the trunk door 170 is being opened or closed, and then when the trunk operation command is further changed from "no request" to "open / close request."

[0084] When the ADK 200 (ADS 202) stops the operation of the trunk door 170 midway, it changes the trunk operation command to "no request", for example.

[0085] When the operation of the trunk door 170 is stopped midway and the trunk door 170 is to be operated again, the body system 126 performs a reverse operation of the trunk door 170. Specifically, when the body system 126 receives a trunk operation command indicating a "request to open / close" that continues for one second while the operation of the trunk door 170 is stopped, the body system 126 controls the opening / closing device 175 so that the trunk door 170 performs an operation opposite to the operation before the operation is stopped (reverse operation). More specifically, if the operation of the trunk door 170 before the operation is stopped is an opening operation, the body system 126 controls the opening / closing device 175 so that the trunk door 170 performs a closing operation as a reverse operation. If the operation of the trunk door 170 before the operation is stopped is a closing operation, the body system 126 controls the opening / closing device 175 so that the trunk door 170 performs an opening operation as a reverse operation.

[0086] 5 is a flowchart showing a procedure for processing related to the opening and closing operation of the trunk door 170. Door 170 When the body system 126 receives a trunk operation command (control command) while the trunk is fully closed or fully open, the process is started by the body system 126. The process of the flowchart in FIG. 5 will be described as being realized by software processing by the body system 126, but a part or all of the process may be realized by hardware (electrical circuitry) created within the body system 126.

[0087] In S1, the body system 126 judges whether all the doors of the passenger seats or the doors of the rear seats are unlocked. That is, the body system 126 judges whether at least the doors of the rear seats are unlocked. If the doors of the rear seats are not unlocked (NO in S1), the body system 126 does not accept the trunk operation command and closes the trunk. Door 170 If at least the rear door is unlocked (YES in S1), the body system 126 advances the process to S3.

[0088] In S3, the body system 126 accepts a trunk operation command. Then, the body system 126 judges whether the accepted trunk operation command is an "opening / closing request". Specifically, the body system 126 judges the contents of the trunk operation command based on the control command from the VCIB 111 received via the integrated control manager 115. That is, the body system 126 judges whether the trunk operation command received by the VCIB 111 from the ADS 202 is an "opening / closing request" based on the control command from the VCIB 111. If the trunk operation command is not an "opening / closing request" (NO in S3), the body system 126 does not operate the trunk door 170 (opening / closing device 175) and ends the process. That is, if the trunk operation command is "no request", the body system 126 does not operate the trunk door 170 and ends the process. If the trunk operation command is an "opening / closing request" (YES in S3), the body system 126 advances the process to S5.

[0089] In S5, the body system 126 judges whether or not an "open / close request" has been received continuously for one second. If an "open / close request" has not been received continuously for one second (NO in S5), the body system 126 waits to receive an "open / close request" continuously for one second. If an "open / close request" has been received continuously for one second (YES in S5), the body system 126 advances the process to S7. Note that the body system 126 may end the process if the trunk operation command is interrupted before the body system 126 receives an "open / close request" continuously for one second.

[0090] In S7, the body system 126 controls the opening / closing device 175 according to the state of the trunk door 170. Details of the processing in S7 will be described with reference to FIG.

[0091] FIG. 6 is a flow chart showing the steps of the process executed during operation of the trunk door 170.

[0092] In S70, the body system 126 starts the operation of the trunk door 170. Specifically, if the state of the trunk door 170 before the start of the operation is fully closed, the body system 126 controls the opening / closing device 175 to fully open the trunk door 170. If the state of the trunk door 170 before the start of the operation is fully open, the body system 126 controls the opening / closing device 175 to fully close the trunk door 170.

[0093] In S71, the body system 126 judges whether the trunk door 170 is fully open or fully closed. Specifically, when the body system 126 controls the opening / closing device 175 so as to fully open the trunk door 170, it judges whether the trunk door 170 is fully open (whether the opening / closing device 175 has moved to the fully open position). When the body system 126 controls the opening / closing device 175 so as to fully close the trunk door 170, it judges whether the trunk door 170 is fully closed (whether the opening / closing device 175 has moved to the fully closed position). When it is judged that the trunk door 170 is not fully open or fully closed (NO in S71), the body system 126 advances the process to S72. When it is judged that the trunk door 170 is fully open or fully closed (YES in S71), the body system 126 advances the process to S78.

[0094] In S72, the body system 126 controls the opening / closing device 175 so that the trunk door 170 continues to operate.

[0095] In S73, the body system 126 judges whether the trunk operation command has been changed from "open / close request" to "no request." The body system 126 judges the contents of the trunk operation command based on the control command received from the VCIB 111 via the integrated control manager 115. If it is judged that the trunk operation command has been changed from "open / close request" to "no request" (YES in S73), the body system 126 returns the process to S71 and continues the operation of the trunk door 170. If it is judged that the trunk operation command has not been changed from "open / close request" to "no request" (NO in S73), the body system 126 advances the process to S74.

[0096] In S74, the body system 126 judges whether the trunk operation command has been changed from "no request" to "open / close request". If it is judged that the trunk operation command has not been changed from "no request" to "open / close request" (NO in S74), that is, if an "open / close request" is still being received, the body system 126 returns the process to S71 and continues the operation of the trunk door 170. If it is judged that the trunk operation command has been changed from "no request" to "open / close request" (YES in S74), the body system 126 advances the process to S75.

[0097] In S75, the body system 126 controls the opening / closing device 175 to halt the operation of the trunk door 170. When the ADS 202 halts the operation of the trunk door 170, it outputs a trunk operation command indicating, for example, "no request."

[0098] In S76, the body system 126 judges whether or not a trunk operation command indicating an "open / close request" has been received continuously for one second. If a trunk operation command indicating an "open / close request" has not been received continuously for one second (NO in S76), the body system 126 continues to stop the trunk door 170. If a trunk operation command indicating an "open / close request" has been received continuously for one second (YES in S76), the body system 126 advances the process to S77.

[0099] In S77, the body system 126 controls the opening / closing device 175 so that the trunk door 170 performs an operation opposite to the operation before the operation was stopped (reverse operation), and then the body system 126 returns the process to S71.

[0100] In S78, the body system 126 ends the control of the opening / closing device 175 because the trunk door 170 has become fully open or fully closed, and completes the operation of the trunk door 170. In this case, the body system 126 or the integrated control manager 115 may output a signal indicating that the trunk door 170 has become fully open or fully closed to the VCIB 111. Then, the VCIB 111 may inform the ADK 200 (ADS 202) that the trunk door 170 has become fully open or fully closed, and the ADS 202 may end the output of the trunk operation command.

[0101] As described above, in this embodiment, the base vehicle 100 (body system 126) accepts a trunk operation command (control command) from the ADK200 (ADS202) when at least the rear door is unlocked. When the rear door is not unlocked, the base vehicle 100 (body system 126) does not accept a trunk operation command (control command). By accepting a trunk operation command (control command) when at least the rear door is unlocked, it is possible to prevent the trunk door 170 from being opened or closed at a timing unexpected by the user of the vehicle 10.

[0102] Furthermore, the base vehicle 100 (body system 126) starts the operation of the trunk door 170 (opening / closing device 175) when it receives a trunk operation command (control command) indicating an "opening / closing request" continuously for one second. By making the continuous reception of an "opening / closing request" for one second a condition for the operation of the trunk door 170, it is possible to prevent the trunk door 170 from being unintentionally operated due to noise or the like. Note that the continuous reception time of an "opening / closing request" as a condition for the operation of the trunk door 170 is not limited to one second, and can be set appropriately. The continuous reception time of an "opening / closing request" may be set to a time less than one second, or may be set to a time greater than one second.

[0103] Furthermore, when the trunk door 170 is to be operated again after being stopped midway, the base vehicle 100 (body system 126) controls the opening / closing device 175 so that the trunk door 170 operates in the opposite direction (reverse operation) to the operation before the midway stop. When the trunk door 170 is stopped midway, there is a high probability that a reverse operation will be desired as the next operation. By performing a reverse operation on the trunk door 170 after it is stopped midway, it is possible to improve user convenience. EXAMPLES

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[0186] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention 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]

[0187] 10 vehicle, 100 base vehicle, 111, 111A, 111B vehicle control interface box (VCIB), 115 integrated control manager, 120 vehicle platform (VP), 121, 121A, 121B brake system, 122, 122A, 122B steering system, 123 powertrain system, 123A EPB system, 123B P-Lock system, 124 propulsion system, 125 active safety system, 126 body system, 127A, 127B wheel speed sensor, 128 pinion angle sensor, 129A camera, 129B, 129C radar sensor, 150 main engine battery, 152 DC / DC converter, 154 auxiliary battery, 156 switching DC / DC converter, 158 secondary battery, 161 front door, 162 rear door, 165 Front door lock device, 166, rear door lock device, 170, trunk door, 175, opening / closing device, 200, automatic driving kit (ADK), 202, automatic driving system (ADS), 210, computer, 210A, 210B, communication module, 230, HMI, 260, recognition sensor, 270, attitude sensor, 290, sensor cleaner.

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 includes a boarding door and a trunk door, The vehicle is When the boarding / alighting door is in an unlocked state, a trunk operation command is received by the vehicle control interface box from the autonomous driving system, the trunk operation command requesting operation of the trunk door; The vehicle platform does not accept the trunk operation command unless the rear passenger door is unlocked.

2. The vehicle platform of claim 1 , wherein the vehicle accepts the trunk operation command when the rear passenger door is unlocked.

3. The trunk operation command includes a first request for operating the trunk door, 3. The vehicle platform of claim 1, wherein the vehicle operates the trunk door when the first request is received continuously for one second.

4. the trunk operation command includes a second request indicating no request; The vehicle platform of claim 3 , wherein the vehicle continues operation of the trunk door when the second request is received while the trunk door is in operation.

5. The vehicle platform of claim 4 , wherein the vehicle stops operation of the trunk door when the first request is received after the second request is received while the trunk door is in operation.

6. 6. The vehicle platform of claim 5, wherein when the vehicle stops the operation of the trunk door, when the vehicle operates the trunk door again in accordance with the trunk operation command, the vehicle controls the trunk door to operate in an opposite manner to the operation before the trunk door was stopped.

7. An autonomous driving system that creates a driving plan; A vehicle that performs vehicle control in accordance with a command from the autonomous driving system; a vehicle control interface box that interfaces between the vehicle and the automated driving system; The vehicle includes a boarding door and a trunk door, The vehicle is When the boarding / alighting door is in an unlocked state, a trunk operation command is received by the vehicle control interface box from the autonomous driving system, the trunk operation command requesting operation of the trunk door; The vehicle platform does not accept the trunk operation command unless the rear passenger door is unlocked.

8. The vehicle platform of claim 7 , wherein the vehicle accepts the trunk operation command when the rear passenger door is unlocked.

9. The trunk operation command includes a first request for operating the trunk door, 9. The vehicle platform according to claim 7, wherein the vehicle operates the trunk door when the first request is received continuously for one second.

10. 10. The vehicle platform of claim 9, wherein the automated driving system transmits the first request until the trunk door is fully open or fully closed.

11. the trunk operation command includes a second request indicating no request; The vehicle platform according to claim 9 or 10, wherein the vehicle continues operation of the trunk door when the second request is received while the trunk door is in operation.

12. The vehicle platform of claim 11 , wherein the vehicle stops operation of the trunk door if the first request is received after the second request is received while the trunk door is in operation.

13. The vehicle platform of claim 12, wherein when the vehicle stops the operation of the trunk door, when the vehicle operates the trunk door again in accordance with the trunk operation command, the vehicle controls the trunk door to operate in an opposite manner to the operation before the operation was stopped.

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