vehicle

Abstract

To enable appropriate determination of whether an operation request from an automatic operation system after operation stop due to interference between a user operation and an automatic operation system operation is a request that has been continuously received from before the operation stop or a request that is newly requested after the operation stop.SOLUTION: An ADK 200 determines whether the operation of a target device is stopped due to control interference due to a simultaneous operation of a user operation and an ADK operation (S1). When the ADK 200 determines that the operation of the target device is stopped due to the control interference by the simultaneous operation of the user operation and the ADK operation, the ADK transmits a control request (operation command) indicating "No request" corresponding to the target device whose operation has been stopped to a VP 120 (VCIB 111) (S3).SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] In recent years, development of technologies related to autonomous driving of vehicles has been progressing. For example, Japanese Patent Application Laid-Open No. 2018-132015 (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 autonomous driving control of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-132015 Summary of the Invention [Problem to be solved by the invention]

[0004] When autonomous driving is being performed, doors and windows are opened and closed automatically in accordance with commands from the autonomous driving system. However, the user may also open and close the doors and windows. If the user's operation of the doors and windows interferes with the operation of the autonomous driving system, the vehicle may, for example, stop the opening and closing of the doors and windows. In this case, the vehicle may not be able to determine whether an operation request received from the autonomous driving system after the system has stopped is a request that has been continuously received since before the system was stopped or a new request after the system was stopped.

[0005] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to make it possible to appropriately determine whether an operation request from an autonomous driving system after operation has stopped due to interference between user operation and autonomous driving system operation is a request that has been continuously received before operation stopped, or a new request after operation has stopped. [Means for solving the problem]

[0006] (1) A vehicle according to an aspect of this disclosure includes an automated driving system, a base vehicle configured to be able to mount the automated driving system, and a vehicle control interface box that interfaces between the base vehicle and the automated driving system. When a device of the base vehicle is deactivated due to control interference caused by simultaneous user operation and automated driving system operation, the automated driving system transmits an activation command indicating no request to the vehicle control interface box.

[0007] According to the above configuration, when the operation of a device of the base vehicle is stopped due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system transmits an operation command indicating "no request" to the vehicle control interface box. For example, when the vehicle control interface box receives an operation command indicating "no request," it can recognize the next operation command it receives as a new request after the operation is stopped. When the operation of a device of the base vehicle is stopped due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system transmits an operation command indicating "no request" to the vehicle control interface box, thereby making it clear that the operation command transmitted from the autonomous driving system thereafter is different from the request that had been continuously transmitted before the operation was stopped.

[0008] (2) In one embodiment, the automated driving system sends an operation command indicating no request to the vehicle control interface box, and then sends an operation command indicating an open operation or a close operation to the vehicle control interface box.

[0009] According to the above configuration, the vehicle control interface box can recognize an operation command indicating an open operation or a close operation after receiving an operation command indicating no request as a new request after operation has stopped.

[0010] (3) In one embodiment, when the equipment stops operating due to control interference, the vehicle control interface box generates a control command in response to the operation command received from the autonomous driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0011] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that the equipment can be operated based on the latest operation command.

[0012] (4) In one embodiment, the device is the second-row left door of a base vehicle. The autonomous driving system sends an operation command to the vehicle control interface box requesting automatic opening and closing of the second-row left door. If operation of the second-row left door is stopped due to control interference caused by simultaneous user operation of the second-row left door and operation of the autonomous driving system based on the operation command, the autonomous driving system sends an operation command indicating no request to the vehicle control interface box.

[0013] According to the above configuration, when the second-row left door is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system sends an operation command indicating "no request" to the vehicle control interface box, making it clear that the operation command sent from the autonomous driving system thereafter is different from the request that had been continuously sent before the operation was stopped.

[0014] (5) In one embodiment, when the second-row left door stops operating due to control interference, the vehicle control interface box generates a control command corresponding to the operation command received from the autonomous driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0015] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that the second row left door can be operated based on the latest operation command.

[0016] (6) In one embodiment, the device is the second-row right door of a base vehicle. The autonomous driving system sends an operation command to the vehicle control interface box requesting automatic opening and closing of the second-row right door. If operation of the second-row right door is stopped due to control interference caused by simultaneous user operation of the second-row right door and operation of the autonomous driving system based on the operation command, the autonomous driving system sends an operation command indicating no request to the vehicle control interface box.

[0017] According to the above configuration, when the second-row right door is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system sends an operation command indicating "no request" to the vehicle control interface box, making it clear that the operation command sent from the autonomous driving system thereafter is different from the request that had been continuously sent before the operation was stopped.

[0018] (7) In one embodiment, when the second-row right door stops operating due to control interference, the vehicle control interface box generates a control command in response to the operation command received from the autonomous driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0019] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that the second row right door can be operated based on the latest operation command.

[0020] (8) In one embodiment, the device is all windows of a base vehicle. The autonomous driving system sends an operation command to the vehicle control interface box requesting automatic opening and closing of all windows. If all windows are deactivated due to control interference caused by simultaneous user operation on all windows and autonomous driving system operation based on the operation command, the autonomous driving system sends an operation command indicating no request to the vehicle control interface box.

[0021] According to the above configuration, when all windows are stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system sends an operation command indicating "no request" to the vehicle control interface box, making it clear that the operation command sent from the autonomous driving system thereafter is different from the request that had been continuously sent before the operation was stopped.

[0022] (9) In one embodiment, when all windows are deactivated due to control interference, the vehicle control interface box generates a control command in response to the operation command received from the automated driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0023] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that all windows can be operated based on the latest operation command.

[0024] (10) In one embodiment, the device is a driver's window of a base vehicle. The autonomous driving system sends an operation command to the vehicle control interface box requesting automatic opening and closing of the driver's window. If the driver's window is deactivated due to control interference caused by simultaneous user operation on the driver's window and operation of the autonomous driving system based on the operation command, the autonomous driving system sends an operation command indicating no request to the vehicle control interface box.

[0025] According to the above configuration, when the driver's seat window is deactivated due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system sends an activation command indicating "no request" to the vehicle control interface box, making it clear that the activation command sent from the autonomous driving system thereafter is different from the request that had been continuously sent before the activation was deactivated.

[0026] (11) In one embodiment, when the driver's window stops operating due to control interference, the vehicle control interface box generates a control command in response to the operation command received from the autonomous driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0027] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that the driver's seat window can be operated based on the latest operation command.

[0028] (12) In one embodiment, the device is another window other than the driver's window of the base vehicle. The autonomous driving system sends an operation command to the vehicle control interface box requesting automatic opening and closing of the other window. otherIf other windows are deactivated due to control interference caused by simultaneous user operation on the window and automatic driving system operation based on the activation command, an activation command indicating no request is sent to the vehicle control interface box.

[0029] According to the above configuration, when another window is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the autonomous driving system sends an operation command indicating "no request" to the vehicle control interface box, making it clear that the operation command sent from the autonomous driving system thereafter is different from the request that had been continuously sent before the operation was stopped.

[0030] (13) In one embodiment, when other windows are deactivated due to control interference, the vehicle control interface box generates a control command in response to the operation command received from the automated driving system after receiving an operation command indicating no request, and transmits the control command to the base vehicle.

[0031] According to the above configuration, after receiving an operation command indicating no request, the vehicle control interface box transmits a control command to the base vehicle corresponding to the operation command (latest operation command) received from the autonomous driving system, so that other windows can be operated based on the latest operation command. [Effects of the Invention]

[0032] According to the present disclosure, it is possible to appropriately determine whether an operation request from an autonomous driving system after operation has been stopped due to interference between user operation and autonomous driving system operation is a request that has been continuously received before operation has been stopped, or a new request after operation has been stopped. [Brief explanation of the drawings]

[0033] [Figure 1] FIG. 1 is a diagram illustrating an overview of a vehicle according to an embodiment of the present disclosure. [Figure 2]2 is a diagram illustrating in more detail the configuration of the ADK (ADS) and VP shown in FIG. 1. FIG. [Figure 3] FIG. 2 is a diagram schematically illustrating the right side of the base vehicle. [Figure 4] FIG. 2 is a diagram schematically showing the left side of the base vehicle. [Figure 5] FIG. 10 is a diagram for explaining a second-row left door operation command. [Figure 6] FIG. 10 is a diagram for explaining a second-row right door operation command. [Figure 7] FIG. 10 is a diagram for explaining a global window operation command. [Figure 8] FIG. 10 is a diagram for explaining a driver's seat window operation command. [Figure 9] FIG. 10 is a diagram for explaining another window activation command. [Figure 10] 10 is a flowchart showing the procedure of processing executed by the ADK. DETAILED DESCRIPTION OF THE INVENTION

[0034] 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 numerals, and description thereof will not be repeated.

[0035] <Overall structure> FIG. 1 is a diagram illustrating an overview of a vehicle 10 according to an embodiment of the present disclosure. Referring to FIG. 1, 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. ADK 200 is configured to be attachable to (mountable on) VP 120. ADK 200 and VP 120 are configured to be able to communicate with each other via a vehicle control interface box 111 (described below) mounted on VP 120.

[0036] The VP 120 can perform automatic driving in accordance with control requests (commands) from the ADK 200. Although the VP 120 and the ADK 200 are shown in separate locations in FIG. 1, the ADK 200 is actually attached to the rooftop or the like of a base vehicle 100 (described later) that constitutes the VP 120. The ADK 200 can also be detached from the VP 120. When the ADK 200 is detached, the VP 120 can be driven by the user. In this case, the VP 120 executes driving control in manual mode (driving control according to user operation).

[0037] The ADK 200 includes an autonomous driving system (hereinafter referred to as "ADS (Autonomous Driving System)") 202 for performing autonomous driving of the vehicle 10. The ADS 202, for example, creates a driving plan for the vehicle 10. The ADS 202 then outputs various commands (control requests) for driving the vehicle 10 in accordance with the created driving plan to the VP 120 in accordance with an API (Application Program Interface) defined for each command. The ADS 202 also receives various signals indicating the state of the VP 120 (vehicle state) from the VP 120 in accordance with an API defined for each signal. The ADS 202 then reflects the received vehicle state in creating the driving plan. A detailed configuration of the ADS 202 will be described later.

[0038] 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.

[0039] Base vehicle 100 executes various vehicle controls in accordance with control requests from ADK 200 (ADS 202). Base vehicle 100 includes various systems and sensors for controlling the vehicle. Specifically, base vehicle 100 includes integrated control manager 115, brake system 121, steering system 122, powertrain system 123, active safety system 125, body system 126, wheel speed sensors 127A and 127B, pinion angle sensor 128, camera 129A, and radar sensors 129B and 129C.

[0040] The integrated control manager 115 includes a processor and a memory, and controls the above-mentioned systems (brake system 121, steering system 122, powertrain system 123, active safety system 125, and body system 126) related to the operation of the vehicle in an integrated manner.

[0041] The brake system 121 is configured to control a brake device provided on each wheel. The brake device includes, for example, a disc brake system (not shown) that operates using hydraulic pressure regulated by an actuator.

[0042] 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.

[0043] 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. Note that the integrated control manager 115 can calculate the speed of the vehicle (vehicle speed) based on the rotational speed of each wheel.

[0044] 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 using an actuator.

[0045] A pinion angle sensor 128 is connected to the steering system 122. The pinion angle sensor 128 detects the rotation angle (pinion angle) of a pinion gear connected to a rotation shaft of an actuator that constitutes the steering device, and outputs the detected value to the steering system 122.

[0046] Furthermore, 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.

[0047] 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.

[0048] 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 radar sensors 129B and 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 direction of movement 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 to increase the braking force of the vehicle.

[0049] 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 various devices in accordance with a predetermined control request output from the ADK 200. The body system 126 is also configured to control opening and closing devices (described below) that operate each door (first row right door, first row left door, second row right door, and second row left door). The body system 126 is also configured to control opening and closing devices (described below) that operate each window (first row right window, first row left window, second row right window, and second row left window). The body system 126 controls each opening and closing device to operate the above doors and windows in accordance with a predetermined control request output from the ADK 200.

[0050] The VCIB 111 is configured to be able to communicate with the ADS 202 of the ADK 200 via a CAN (Controller Area Network) or the like. The VCIB 111 executes a predetermined API defined for each communicated signal to receive various control requests from the ADS 202 and also outputs the status of the VP 120 to the ADS 202. When the VCIB 111 receives a control request from the ADS 202, it outputs a control command corresponding to the control request to a system corresponding to the control command via the integrated control manager 115. The VCIB 111 also acquires various pieces of information about the base vehicle 100 from each system via the integrated control manager 115 and outputs the status of the base vehicle 100 to the ADS 202 as a vehicle status.

[0051] The vehicle 10 may be employed as one component of a MaaS (Mobility as a Service) system. In addition to the vehicle 10, the MaaS system may further include, for example, a data server and a mobility service platform (MSPF) (neither of which is shown).

[0052] MSPF is a unified platform to which various mobility services are connected. Autonomous driving-related mobility services are connected to 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 also be connected to MSPF. Various mobility services, including these, can use the APIs published on MSPF to use the various functions provided by MSPF according to the content of the service.

[0053] The VP 120 further includes a DCM (Data Communication Module) (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 status, to the data server. The DCM also receives various data for managing the travel of autonomous vehicles, including vehicle 10, from the mobility service via the MSPF and the data server in an autonomous driving-related mobility service.

[0054] The MSPF publishes APIs for accessing various vehicle status and vehicle control data required for ADK development. Various mobility services can use the APIs published on the MSPF to utilize the various functions provided by the MSPF according to the service content. For example, an autonomous driving-related mobility service can use the APIs published on the MSPF to obtain, from the MSPF, driving control data of an autonomous vehicle communicating with a data server, as well as information stored in the data server. Furthermore, an autonomous driving-related mobility service can use the APIs to send data for managing autonomous vehicles, including vehicle 10, to the MSPF.

[0055] Fig. 2 is a diagram showing in more detail the configuration of the ADK 200 (ADS 202) and VP 120 shown in Fig. 1. Referring to Fig. 2, the ADS 202 of the ADK 200 includes a computer 210, an HMI (Human Machine Interface) 230, a recognition sensor 260, an attitude sensor 270, and a sensor cleaner 290.

[0056] 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 below) to acquire information about 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.

[0057] The HMI 230 presents information to the user and accepts user operations during automatic driving, driving requiring user operation, 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.

[0058] The recognition sensor 260 is a sensor for recognizing the environment around the vehicle, and is configured to include at least one of a LIDAR (Laser Imaging Detection and Ranging), a millimeter wave radar, and a camera, for example.

[0059] LIDAR is a distance measurement device that emits pulsed laser light (infrared light) and measures 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 emits short-wavelength radio waves toward an object and detects the radio waves returned from the object to measure the distance and direction to the object. The camera is placed, for example, behind the rearview mirror inside the vehicle and is used to capture images ahead of the vehicle 10. Image processing of images and videos captured by the camera using artificial intelligence (AI) and an image processing processor enables the vehicle 10 to recognize other vehicles, obstacles, people, etc. ahead of the vehicle 10. Information acquired by the recognition sensor 260 is output to the computer 210.

[0060] 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).

[0061] The IMU detects, for example, accelerations 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.

[0062] Sensor cleaner 290 is configured to remove dirt adhering to various sensors. For example, sensor cleaner 290 removes dirt adhering to a camera lens or a laser or radio wave irradiation unit using a cleaning liquid, a wiper, or the like.

[0063] 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 memory (Read Only Memory (ROM) and Random Access Memory (RAM)). The ROM stores programs that can be executed by the processor. The processor executes various processes in accordance with the programs stored in the ROM.

[0064] The VCIBs 111A 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 VCIBs 111A and 111B are also connected to be able to communicate with each other. The VCIB 111B has the same functions as the VCIB 111A, but the connections to the multiple systems that make up the VP 120 are partially different.

[0065] Each of the VCIBs 111A and 111B relays control requests and vehicle status 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 in accordance with an API defined for each control request. The VCIB 111A then generates commands corresponding to the received control requests and outputs them to the system of the base vehicle 100 corresponding to the control request. In this embodiment, the control requests received from the ADS 202 include a second-row left door operate command (2nd_Left_Door_Operate_Command) that requests the automatic opening and closing of the second-row left door, and a second-row right door operate command (2nd_Right_Door_Operate_Command) that requests the automatic opening and closing of the second-row right door. The control requests received from the ADS 202 also include a global window operate command (Global_Window_Command) that requests the automatic opening and closing of all windows (windows 171 to 174), a driver's seat window operate command (D_Seat_Window_Operate_Command) that requests the automatic opening and closing of the driver's seat window 171, and an other window operate command (Other_Window_Operate_Command) that requests the automatic opening and closing of other windows (windows 172 to 174) other than the driver's seat window.

[0066] Furthermore, the VCIB 111A receives vehicle information output from each system of the VP 120 and transmits information indicating the vehicle status of the VP 120 to the ADS 202 in accordance with an API defined for each vehicle status. The information indicating the vehicle status transmitted to the ADS 202 may be the same information as the vehicle information output from each system of the VP 120, or information used in the processing executed by the ADS 202 may be extracted from the above vehicle information.

[0067] By providing VCIB111A and VCIB111B, which 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 functionality of VP120 (turning, stopping, etc.) by switching over to the appropriate control system or shutting off the control system where the failure occurred if a failure occurs in part of the system.

[0068] The brake system 121 includes brake systems 121A and 121B. The steering system 122 includes steering systems 122A and 122B. The powertrain system 123 includes an EPB system 123A, a P-Lock system 123B, and a propulsion system .

[0069] 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 communicatively connected to one another via a communication bus. Also, the VCIB 111B, the brake system 121B, the steering system 122B, and the P-Lock 123 are communicatively connected to one another via a communication bus.

[0070] Brake systems 121A and 121B are configured to be able to control multiple braking devices provided on each wheel. Brake system 121B may have the same function as brake system 121A, or one may be configured to be able to independently control the braking force of each wheel when the vehicle is running, and the other may be configured to be able to control so that the same braking force is generated on each wheel when the vehicle is running.

[0071] 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, one of the brake systems 121A and 121B controls the brake device using the braking command generated in the other brake system when an abnormality occurs in the first brake system.

[0072] 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.

[0073] 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 command generated in one of the steering systems, and when an abnormality occurs in the steering system, control the steering devices using the steering command generated in the other steering system.

[0074] The EPB system 123A is configured to be able to control the EPB. The EPB is provided separately from the braking devices 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 with an actuator, or fixes the wheels by operating the braking devices using an actuator that is separate from the brake systems 121A and 121B and that can adjust the hydraulic pressure supplied to the braking devices.

[0075] The EPB system 123A controls the EPB in accordance with a control request received from the ADS 202 via the VCIB 111.

[0076] The P-Lock system 123B is configured to be able to control the P-Lock device. The P-Lock device engages a protrusion provided at the tip of a parking lock pole, the position of which is adjusted by an actuator, with 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 locks the wheels.

[0077] 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 deactivates the P-Lock device when the control request includes a request to set the shift range to a range other than the P range.

[0078] 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 direction of movement of the vehicle 10 using a driving source. The switchable shift ranges include, for example, a P range, a neutral range (N range), a forward driving range (D range), and a reverse driving range (R range). The driving source includes, for example, a motor generator, an engine, etc.

[0079] The propulsion system 124 controls the shift device and the drive source according to control requests received from the ADS 202 via the VCIB 111 .

[0080] The active safety system 125 is communicably connected to the brake system 121A. As described above, the active safety system 125 detects obstacles (obstacles or people) ahead 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 to increase the braking force.

[0081] The body system 126 controls various devices in accordance with control requests (control commands) received from the ADS 202 via the VCIB 111. The various devices include, for example, turn signals, headlights, hazard lights, a horn, front wipers, and rear wipers. The various devices also include door opening / closing devices 165-168 (FIGS. 3 and 4) and window opening / closing devices 175-178 (FIGS. 3 and 4). That is, the body system 126 controls the door opening / closing devices 165-168 (FIGS. 3 and 4) and window opening / closing devices 175-178 (FIGS. 3 and 4) in accordance with control requests received from the ADS 202 via the VCIB 111 and the integrated control manager 115.

[0082] In the vehicle 10, autonomous driving is performed, for example, when the autonomous mode is selected as the autonomous state by a user's operation on the HMI 230. As described above, during autonomous driving, the ADS 202 first creates a driving plan. Examples of driving plans include a plan to continue driving straight, a plan to turn left / right at a predetermined intersection on a predetermined driving route, a plan to change driving lanes, etc.

[0083] 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. Using the API, the ADS202 outputs a control request representing the divided physical quantities to the VCIB111. 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.

[0084] Fig. 3 is a diagram schematically showing the right side of base vehicle 100. Fig. 4 is a diagram schematically showing the left side of base vehicle 100. Base vehicle 100 includes a first row right door 161, a second row right door 162, a first row left door 163, a second row left door 164, a first row right window 171, a second row right window 172, a first row left window 173, and a second row left window 174. Furthermore, base vehicle 100 includes an opening / closing device 165 for opening and closing first-row right door 161, an opening / closing device 166 for opening and closing second-row right door 162, an opening / closing device 167 for opening and closing first-row left door 163, an opening / closing device 168 for opening and closing second-row left door 164, an opening / closing device 175 for opening and closing first-row right window 171, an opening / closing device 176 for opening and closing second-row right window 172, an opening / closing device 177 for opening and closing first-row left window 173, and an opening / closing device 178 for opening and closing second-row left window 174. Note that the driver's seat of base vehicle 100 according to this embodiment is the first-row right seat. Hereinafter, first-row right window 171 may be referred to as the "driver's seat window 171." Furthermore, windows 172 to 174 other than first-row right window 171 may be collectively referred to as the "other windows 172 to 174."

[0085] Each of the opening and closing devices 165-168 and the opening and closing devices 175-178 operates in accordance with a control signal from the body system 126. Each of the opening and closing devices 165-168 includes an actuator. The opening and closing devices 165-168 open and close the first row right door 161, the second row right door 162, the first row left door 163, and the second row left door 164, respectively, in accordance with a control signal from the body system 126. Each of the opening and closing devices 175-178 includes an actuator. The opening and closing devices 175-178 open and close the first row right window 171, the second row right window 172, the first row left window 173, and the second row left window 174, respectively, in accordance with a control signal from the body system 126. In the following, the first row right door 161, the second row right door 162, the first row left door 163, and the second row left door 164 may be collectively referred to as "doors 161 to 164." In addition, in the following, the first row right window 171, the second row right window 172, the first row left window 173, and the second row left window 174 may be collectively referred to as "windows 171 to 174."

[0086] Furthermore, the base vehicle 100 includes an operating device 181 that allows the user to open and close the doors 161 to 164. In the present embodiment, one operating device 181 that can centrally operate the doors 161 to 164 is illustrated, but an operating device corresponding to each of the doors 161 to 164 may also be provided. The second-row right door 162 and the second-row left door 164 may be, for example, an electric sliding door.

[0087] The base vehicle 100 also includes an operating device 182 that allows the user to open and close the windows 171 to 174. In the present embodiment, one operating device 182 that can centrally operate the windows 171 to 174 is exemplified, but an operating device corresponding to each of the windows 171 to 174 may be provided.

[0088] <Opening and closing the door> As described above, the control requests received by the VCIB 111 from the ADS 202 include a second-row left door operate command (2nd_Left_Door_Operate_Command) requesting automatic opening / closing of the second-row left door 164 of the base vehicle 100, and a second-row right door operate command (2nd_Right_Door_Operate_Command) requesting automatic opening / closing of the second-row right door 162. The second-row left door operate command and the second-row right door operate command are converted into corresponding control commands by the VCIB 111 and sent to the body system 126 via the integrated control manager 115. The body system 126 controls the opening / closing device 168 in accordance with the second-row left door operate command (control command) to operate the second-row left door 164. The body system 126 controls the opening / closing device 166 in accordance with the second-row right door operate command (control command) to operate the second-row right door 162.

[0089] Fig. 5 is a diagram for explaining the second-row left door operation command, showing possible values ​​of the second-row left door operation command, their descriptions, and remarks.

[0090] The second row left door operation command takes one of the values ​​0, 1, 2, or 3. The value 0 indicates "no request (maintaining the current status)." The value 0 is set when maintaining (continuing) the current operation. The value 1 indicates "open operation request." The open operation request is a request for operation to open the second row left door 164 (opening / closing device 168). The value 2 indicates "close operation request." The close operation request is a request for operation to close the second row left door 164 (opening / closing device 168). The value 3 indicates "reserve." In this embodiment, the value 3 is not used, but it can be set appropriately and used.

[0091] When the VCIB 111 receives a second-row left door operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the second-row left door 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 second-row left door 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 second-row left door operation command indicates a value of 1, the VCIB 111 generates a control command indicating an "open operation request" and outputs it to the body system 126. If the second-row left door operation command indicates a value of 2, the VCIB 111 generates a control command indicating a "close operation request" and outputs it to the body system 126. In more detail, the control command output from the VCIB 111 is input to the body system 126 via the integrated control manager 115 .

[0092] The second-row left door 164 can also be opened or closed by a user operating an operating device 181. The operating device 181 outputs a signal corresponding to the user's operation to the VCIB 111. Note that the signal may be output to the VCIB 111 via the body system 126, for example.

[0093] Here, if the signal for operating the second-row left door 164 from the operation device 181 and the second-row left door operation command from the ADK 200 request different operations (if they interfere), the VCIB 111 generates a control command to stop the operation of the second-row left door 164 and outputs it to the body system 126. That is, if there is control interference due to simultaneous operations of a "user operation" on the operation device 181 for the second-row left door 164 and an "ADK operation" based on the second-row left door operation command from the ADK 200, the VCIB 111 generates a control command to stop the operation of the second-row left door 164. The operation of the second-row left door 164 is stopped by the base vehicle 100 (body system 126) following this control command.

[0094] In a state in which the operation of the second-row left door 164 is stopped, the VCIB 111 may not be able to appropriately determine whether the second-row left door operation command received from the ADK 200 is a request that has been continuously transmitted since before the operation of the second-row left door 164 was stopped or a new request after the operation was stopped. As a specific example, assume that the VCIB 111 receives a closing operation request from the ADK 200 and an opening operation request from the operating device 181. In this case, because the ADK operation and the user operation interfere with each other, the VCIB 111 generates a control command to stop the operation of the second-row left door 164. The body system 126 is activated in accordance with this control command, and the operation of the second-row left door 164 is stopped. In this state, when the VCIB 111 receives a closing operation request from the ADK 200, it cannot appropriately determine whether the closing operation request is a request that has been continuously transmitted since before the operation of the second-row left door 164 was stopped or a new request after the operation was stopped.

[0095] Therefore, when the second-row left door 164 is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 first transmits a second-row left door operation command indicating "no request" to the VP 120 (VCIB 111). After transmitting the second-row left door operation command indicating "no request," the ADK 200 transmits the next command (new request), the second-row left door operation command, to the VP 120. When the VCIB 111 receives a second-row left door operation command indicating "no request" while the second-row left door 164 is stopped due to control interference, it recognizes that the second-row left door operation command received after the second-row left door operation command is a new request after the operation is stopped. In this case, the VCIB 111 generates a control command corresponding to the value indicated by the second-row left door operation command that it has determined to be a new request, and outputs the control command to the base vehicle 100.

[0096] On the other hand, when the second-row left door 164 is stopped due to control interference and the VCIB 111 does not receive a second-row left door operation command indicating "no request," the VCIB 111 recognizes the received second-row left door operation command as a request that has been continuously transmitted since before the second-row left door 164 was stopped. In this case, the VCIB 111 generates a control command to continue the stoppage of the second-row left door 164 and outputs it to the base vehicle 100.

[0097] For example, the ADK 200 can determine, based on the information indicating the vehicle state received from the VCIB 111, that the second-row left door 164 has been stopped due to control interference caused by simultaneous user operation and ADK operation.

[0098] As described above, when the second-row left door 164 is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the ADK200 sends a second-row left door operation command indicating "no request," and the VCIB111 can determine that the second-row left door operation command received after the second-row left door operation command indicating "no request" is a new request after the operation is stopped.

[0099] Fig. 6 is a diagram for explaining the second-row right door operation command, showing possible values ​​of the second-row right door operation command, their descriptions, and remarks.

[0100] The second row right door operation command takes one of the values ​​0, 1, 2, or 3. The value 0 indicates "no request (maintaining the current status)." The value 0 is set when maintaining (continuing) the current operation. The value 1 indicates "open operation request." The open operation request is a request for operation to open the second row right door 162 (opening / closing device 166). The value 2 indicates "close operation request." The close operation request is a request for operation to close the second row right door 162 (opening / closing device 166). The value 3 indicates "reserve." In this embodiment, the value 3 is not used, but it can be set appropriately and used.

[0101] When the VCIB 111 receives a second-row right door operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the second-row right door 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 second-row right door 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 second-row right door operation command indicates a value of 1, the VCIB 111 generates a control command indicating an "open operation request" and outputs it to the body system 126. If the second-row right door operation command indicates a value of 2, the VCIB 111 generates a control command indicating a "close operation request" and outputs it to the body system 126.

[0102] Like the second-row left door 164, the second-row right door 162 can also be opened or closed by the user operating the operation device 181. If the signal for operating the second-row right door 162 from the operation device 181 and the second-row right door operation command from the ADK 200 request different operations (if they interfere), the VCIB 111 generates a control command to stop the operation of the second-row right door 162 and outputs it to the body system 126. That is, if there is control interference due to simultaneous operations of a "user operation" on the second-row right door 162 to the operation device 181 and an "ADK operation" based on the second-row right door operation command from the ADK 200, the VCIB 111 generates a control command to stop the operation of the second-row right door 162. The operation of the second-row right door 162 is stopped by the base vehicle 100 (body system 126) following this control command.

[0103] When the second-row right door 162 is deactivated due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 first transmits a second-row right door operation command indicating "no request" to the VP 120 (VCIB 111). After transmitting the second-row right door operation command indicating "no request," the ADK 200 then transmits the next command (new request), the second-row right door operation command, to the VP 120. When the VCIB 111 receives a second-row right door operation command indicating "no request" while the second-row right door 162 is deactivated due to control interference, it recognizes that the second-row right door operation command received after the second-row right door operation command is a new request after the deactivation. In this case, the VCIB 111 generates a control command corresponding to the value indicated by the second-row right door operation command that it has determined to be a new request, and outputs the control command to the base vehicle 100.

[0104] On the other hand, when the second-row right door 162 is stopped due to control interference and the VCIB 111 does not receive a second-row right door operation command indicating "no request," the VCIB 111 recognizes the received second-row right door operation command as a request that has been continuously transmitted since before the second-row right door 162 was stopped. In this case, the VCIB 111 generates a control command to continue the stoppage of the second-row right door 162 and outputs it to the base vehicle 100.

[0105] As described above, when the second-row right door 162 is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the ADK200 sends a second-row right door operation command indicating "no request," and the VCIB111 can determine that the second-row right door operation command received after the second-row right door operation command indicating "no request" is a new request after the operation is stopped.

[0106] <Opening and closing windows> As described above, the control requests received by the VCIB 111 from the ADS 202 include a global window operation command (Global_Window_Command) requesting the automatic opening / closing of all windows (windows 171 to 174), a driver's seat window operation command (D_Seat_Window_Operate_Command) requesting the automatic opening / closing of the driver's seat window 171, and an other window operation command (Other_Window_Operate_Command) requesting the automatic opening / closing of windows 172 to 174 other than the driver's seat window. These operation commands are converted into corresponding control instructions by the VCIB 111 and sent to the body system 126 via the integrated control manager 115. The body system 126 controls the opening / closing devices 175 to 178 in accordance with the global window operation command to operate all windows (windows 171 to 174). The body system 126 controls the opening / closing device 175 in accordance with the driver's seat window operation command to operate the driver's seat window 171. The body system 126 controls the opening and closing devices 176 to 178 in accordance with the other window operation command, and operates the other windows 172 to 174.

[0107] Fig. 7 is a diagram for explaining the global window operation command, showing the values ​​that the global window operation command can take, their descriptions, and remarks.

[0108] The global window operation command takes one of the following values: 00b, 01b, or 10b. A value of 00b indicates "No request." A value of 01b indicates "Open." A value of 10b indicates "Close."

[0109] When the VCIB 111 receives a global window operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the global window 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 global window operation command indicates a value of 00b, the VCIB 111 generates a control command indicating "no request" and outputs it to the body system 126. If the global window operation command indicates a value of 01b, the VCIB 111 generates a control command indicating "open operation" and outputs it to the body system 126. If the global window operation command indicates a value of 10b, the VCIB 111 generates a control command indicating "close operation" and outputs it to the body system 126.

[0110] While receiving a global window operation command, the VCIB 111 generates a control command to, for example, open or close all windows. If another request (for example, a user operation on the operation device 182 (i.e., manual control)) occurs while the VCIB 111 is outputting a control command corresponding to the global window operation command, the VCIB 111 does not accept the global window operation command.

[0111] The windows 171 to 174 can also be opened and closed by the user operating the operation device 182. The operation device 182 outputs a signal according to the user's operation to the VCIB 111. Note that the signal may be output to the VCIB 111 via the body system 126, for example.

[0112] When the signal for operating the windows 171-174 from the operation device 182 and the global window operation command from the ADK 200 request different operations (interference occurs), the VCIB 111 generates a control command to stop the operation of the windows 171-174 and outputs it to the body system 126. That is, when there is control interference due to simultaneous operations of a "user operation" on at least one of the windows 171-174 via the operation device 182 and an "ADK operation" based on the global window operation command from the ADK 200, the VCIB 111 generates a control command to stop the operation of the windows 171-174. The operation of the windows 171-174 is stopped by the base vehicle 100 (body system 126) following this control command.

[0113] When all windows (windows 171 to 174) are deactivated due to control interference caused by simultaneous user and ADK operations, the ADK 200 transmits a global window activation command indicating "no request" to the VP 120 (VCIB 111). After transmitting the global window activation command indicating "no request," the ADK 200 transmits the next global window activation command (new request) to the VP 120. When the VCIB 111 receives a global window activation command indicating "no request" when all windows are deactivated due to control interference, it recognizes that the global window activation command received next after the global window activation command is a new request after the deactivation. In this case, the VCIB 111 generates a control command corresponding to the value indicated by the global window activation command that it has determined to be a new request, and outputs the control command to the base vehicle 100.

[0114] On the other hand, when the VCIB 111 does not receive a global window operation command indicating "no request" when all windows are stopped due to control interference, it recognizes the received global window operation command as a request that has been continuously transmitted since before the operation of all windows was stopped. In this case, the VCIB 111 generates a control command to continue the operation of all windows and outputs it to the base vehicle 100.

[0115] As described above, when all windows are deactivated due to control interference caused by simultaneous user operation and ADK operation, ADK200 sends a global window activation command indicating "no request," and VCIB111 can determine that the global window activation command received after the global window activation command indicating "no request" is a new request after the activation is deactivated.

[0116] Fig. 8 is a diagram for explaining the driver's seat window operation command, showing possible values ​​of the driver's seat window operation command, their descriptions, and remarks.

[0117] The driver's window operation command takes one of the following values: 00b, 01b, or 10b. A value of 00b indicates "No request." A value of 01b indicates "Open." A value of 10b indicates "Close."

[0118] When the VCIB 111 receives a driver's side window operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the driver's side window 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 driver's side window operation command indicates a value of 00b, the VCIB 111 generates a control command indicating "no request" and outputs it to the body system 126. If the driver's side window operation command indicates a value of 01b, the VCIB 111 generates a control command indicating "open operation" and outputs it to the body system 126. If the driver's side window operation command indicates a value of 10b, the VCIB 111 generates a control command indicating "close operation" and outputs it to the body system 126.

[0119] While receiving the driver's seat window operation command, the VCIB 111 generates a control command to, for example, perform an opening / closing operation of the driver's seat window 171. If another request for the driver's seat window 171 (for example, a user operation on the operating device 182 (i.e., manual control)) occurs while the VCIB 111 is outputting a control command corresponding to the driver's seat window operation command, the VCIB 111 does not accept the driver's seat window operation command.

[0120] The driver's seat window 171 can also be opened and closed by the user operating the operation device 182. If the signal for operating the driver's seat window 171 from the operation device 182 and the driver's seat window operation command from the ADK 200 request different operations (if they interfere), the VCIB 111 generates a control command to stop the operation of the driver's seat window 171 and outputs it to the body system 126. That is, if there is control interference due to simultaneous operations of a "user operation" on the driver's seat window 171 via the operation device 182 and an "ADK operation" based on the driver's seat window operation command from the ADK 200, the VCIB 111 generates a control command to stop the operation of the driver's seat window 171. The operation of the window 171 is stopped by the base vehicle 100 (body system 126) following this control command.

[0121] When the driver's seat window 171 is deactivated due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 first transmits a driver's seat window operation command indicating "no request" to the VP 120 (VCIB 111). After transmitting the driver's seat window operation command indicating "no request," the ADK 200 transmits the next command (new request), a driver's seat window operation command, to the VP 120. When the VCIB 111 receives a driver's seat window operation command indicating "no request" while the driver's seat window 171 is deactivated due to control interference, it recognizes that the driver's seat window operation command received next after the driver's seat window operation command is a new request after the deactivation. In this case, the VCIB 111 generates a control command corresponding to the value indicated by the driver's seat window operation command that it has determined to be a new request, and outputs the control command to the base vehicle 100.

[0122] On the other hand, when the driver's seat window 171 is stopped due to control interference and the VCIB 111 does not receive a driver's seat window operation command indicating "no request," the VCIB 111 recognizes the received driver's seat window operation command as a request that has been continuously transmitted since before the driver's seat window 171 was stopped. In this case, the VCIB 111 generates a control command to continue the driver's seat window 171 being stopped, and outputs the control command to the base vehicle 100.

[0123] As described above, when the driver's seat window 171 is stopped from operating due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 sends a driver's seat window operation command indicating "no request," and the VCIB 111 can determine that the driver's seat window operation command received next after the driver's seat window operation command indicating "no request" is a new request after the operation is stopped.

[0124] Fig. 9 is a diagram for explaining the other window operation command, showing the values ​​that the other window operation command can take, their descriptions, and remarks.

[0125] The other window operation command takes one of the following values: 00b, 01b, or 10b. The value 00b indicates "No request." The value 01b indicates "Open." The value 10b indicates "Close."

[0126] When the VCIB 111 receives an other window operation command from the ADK 200 (ADS 202), it generates a control command corresponding to the value indicated by the other window 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 other window operation command indicates a value of 00b, the VCIB 111 generates a control command indicating "no request" and outputs it to the body system 126. If the other window operation command indicates a value of 01b, the VCIB 111 generates a control command indicating "open operation" and outputs it to the body system 126. If the other window operation command indicates a value of 10b, the VCIB 111 generates a control command indicating "close operation" and outputs it to the body system 126.

[0127] While receiving the other window operation command, the VCIB 111 generates a control command to, for example, perform opening and closing operations of the other windows 172 to 174. If another request for the other windows 172 to 174 (for example, a user operation (i.e., manual control) on the operation device 182) occurs while the VCIB 111 is outputting a control command corresponding to the other window operation command, the VCIB 111 does not accept the other window operation command.

[0128] The other windows 172-174 are also opened and closed by the user operating the operation device 182. When a signal for operating the other windows 172-174 from the operation device 182 and an other window operation command from the ADK 200 request different operations (interference occurs), the VCIB 111 generates a control command to stop the operation of the other windows 172-174 and outputs it to the body system 126. That is, when there is control interference due to simultaneous operations of a "user operation" on the operation device 182 for the other windows 172-174 and an "ADK operation" based on an other window operation command from the ADK 200, the VCIB 111 generates a control command to stop the operation of the other windows 172-174. The operation of the windows 172-174 is stopped by the base vehicle 100 (body system 126) following this control command.

[0129] When the operation of the other windows 172-174 is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 first transmits an other window operation command indicating "No request" to the VP 120 (VCIB 111). After transmitting the other window operation command indicating "No request," the ADK 200 transmits the next command (new request), which is an other window operation command, to the VP 120. When the VCIB 111 receives an other window operation command indicating "No request" when the operation of the other windows 172-174 is stopped due to control interference, it recognizes that the next other window operation command received after the other window operation command is a new request after the operation is stopped. In this case, the VCIB 111 generates a control command corresponding to the value indicated by the other window operation command that it has determined to be a new request, and outputs the control command to the base vehicle 100.

[0130] On the other hand, when the operation of the other windows 172 to 174 is stopped due to control interference and the VCIB 111 does not receive an other window operation command indicating "no request," the VCIB 111 recognizes the received other window operation command as a request that has been continuously transmitted since before the operation of the other windows 172 to 174 was stopped. In this case, the VCIB 111 generates a control command to continue the operation of the other windows 172 to 174 being stopped, and outputs the control command to the base vehicle 100.

[0131] As described above, when the operation of other windows 172 to 174 is stopped due to control interference caused by simultaneous user operation and ADK operation, by transmitting an other window operation command indicating "no request," VCIB 111 can determine that the other window operation command received after the other window operation command indicating "no request" is a new request after the operation is stopped.

[0132] <Flowchart> Figure 10 is a flowchart showing the procedure of processing executed by the ADK 200. The processing of the flowchart in Figure 10 is called from the main routine at a predetermined interval. The processing of the flowchart in Figure 10 will be described as being implemented by software processing by the ADK 200, but some or all of it may also be implemented by hardware (electrical circuits) created within the ADK 200.

[0133] In S1, the ADK 200 determines whether the target device has been deactivated due to control interference caused by simultaneous user operation and ADK operation. In this embodiment, the target device is any one of the second-row left door 164, the second-row right door 162, all windows (windows 171-174), the driver's window 171, and the other windows 172-174. If the ADK 200 determines that the target device has been deactivated due to control interference caused by simultaneous user operation and ADK operation (YES in S1), the ADK 200 proceeds to S3. If the ADK 200 determines that the target device has not been deactivated due to control interference caused by simultaneous user operation and ADK operation (NO in S1), the ADK 200 ends the process.

[0134] In S3, the ADK200 transmits a control request (operation command) indicating "No request" corresponding to the target device whose operation has been stopped to the VP120 (VCIB111). Specifically, if the operation of the second-row left door 164 is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK200 transmits a second-row left door operation command indicating "No request" to the VP120 (VCIB111). If the operation of the second-row right door 162 is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK200 transmits a second-row right door operation command indicating "No request" to the VP120 (VCIB111). If the operation of all windows is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK200 transmits a global window operation command indicating "No request" to the VP120 (VCIB111). When the driver's seat window 171 is deactivated due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 transmits a driver's seat window operation command indicating "no request" to the VP 120 (VCIB 111). When the other windows 172 to 174 are deactivated due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 transmits other window operation commands indicating "no request" to the VP 120 (VCIB 111).

[0135] When the VCIB111 stops the operation of the target device due to control interference caused by simultaneous user operation and ADK operation, the VCIB111 receives an operation command indicating "no request" from the ADK200 and can recognize that the operation command received after the operation command indicating "no request" is a new request after the operation has been stopped.

[0136] As described above, in the vehicle 10 according to this embodiment, when the operation of the target device is stopped due to control interference caused by simultaneous user operation and ADK operation, the ADK 200 transmits an operation command indicating "no request" once to the VP 120 (VCIB 111). When the operation of the target device is stopped due to control interference caused by simultaneous user operation and ADK operation, the VCIB 111 receives the operation command indicating "no request" from the ADK 200, and can recognize that the operation command received next after the operation command indicating "no request" is a new request after the operation is stopped. [Example]

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[0219] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above embodiments, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0220] 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, 161 First row right door, 162 Second row right door, 163 First row left door, 164 Second row left door, 165, 166, 167, 168 Opening and closing device, 171 First row right window, 172 second row right window, 173 first row left window, 174 second row left window, 175, 176, 177, 178 opening and 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. Autonomous driving systems and a base vehicle configured to be able to mount the autonomous driving system; and a vehicle control interface box that interfaces between the base vehicle and the automated driving system; The vehicle control interface box stops operation of the equipment of the base vehicle when control interference occurs due to simultaneous operation of a user operation and an automatic driving system operation; The autonomous driving system determines that the equipment has been deactivated due to the control interference based on information indicating the vehicle state received from the vehicle control interface box, and if the equipment has been deactivated due to the control interference, sends an activation command indicating no request to the vehicle control interface box.

2. The vehicle of claim 1 , wherein the automated driving system transmits an operation command indicating an open operation or a close operation to the vehicle control interface box after transmitting an operation command indicating no request to the vehicle control interface box.

3. When the device stops operating due to the control interference, the vehicle control interface box: generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 2 , wherein the control command is transmitted to the base vehicle.

4. the device is a second-row left door of the base vehicle, the automatic driving system transmits an operation command to the vehicle control interface box requesting an automatic opening / closing operation of the second-row left door; 4. The vehicle of claim 1, wherein the autonomous driving system transmits the operation command indicating no request to the vehicle control interface box when the second-row left door is deactivated due to control interference caused by simultaneous user operation of the second-row left door and autonomous driving system operation based on the operation command.

5. When the second row left door is stopped due to the control interference, the vehicle control interface box generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 4 , wherein the control command is transmitted to the base vehicle.

6. the device is a second-row right door of the base vehicle, the automatic driving system transmits an operation command to the vehicle control interface box requesting an automatic opening / closing operation of the second-row right door; 4. The vehicle of claim 1, wherein the automated driving system transmits the operation command indicating no request to the vehicle control interface box when the second-row right door is deactivated due to control interference caused by simultaneous user operation of the second-row right door and automated driving system operation based on the operation command.

7. When the second row right door is stopped due to the control interference, the vehicle control interface box generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 6 , wherein the control command is transmitted to the base vehicle.

8. the device is a full window of the base vehicle; The automatic driving system transmits an operation command to the vehicle control interface box requesting automatic opening and closing of all the windows; 4. The vehicle of claim 1, wherein the automated driving system sends the operation command indicating no request to the vehicle control interface box when all the windows are deactivated due to control interference caused by simultaneous user operation on all the windows and automated driving system operation based on the operation command.

9. When all the windows are stopped due to the control interference, the vehicle control interface box: generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 8 , wherein the control command is transmitted to the base vehicle.

10. the device is a driver's seat window of the base vehicle, The automatic driving system transmits an operation command to the vehicle control interface box requesting an automatic opening / closing operation of the driver's seat window; A vehicle as described in any one of claims 1 to 3, wherein the automated driving system sends the operation command indicating no request to the vehicle control interface box when the driver's seat window is deactivated due to control interference caused by simultaneous user operation of the driver's seat window and automated driving system operation based on the operation command.

11. When the driver's seat window is deactivated due to the control interference, the vehicle control interface box: generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 10 , wherein the control command is transmitted to the base vehicle.

12. the device is another window other than the driver's seat window of the base vehicle, The automatic driving system transmits an operation command to the vehicle control interface box requesting automatic opening / closing of the other window; 4. The vehicle of claim 1, wherein the automated driving system sends the operation command indicating no request to the vehicle control interface box when the other window is deactivated due to control interference caused by simultaneous user operation on the other window and automated driving system operation based on the operation command.

13. When the other window is stopped by the control interference, the vehicle control interface box: generating a control command in response to the operation command received from the automated driving system after receiving the operation command indicating no request; The vehicle of claim 12 , wherein the control command is transmitted to the base vehicle.

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