vehicle

Abstract

To enable various types of instruments to operate optimally, when determination of an automatic operation system on operations of the various types of instruments differs from determination of a user on the operation.SOLUTION: A VCIB receives a headlight mode request from an ADK (S2) when headlight driver input shows an AUTO mode (YES in S1). The VCIB identifies current headlight driver input (S3). The VCIB reads out first corresponding information, refers the identified headlight driver input and the received headlight mode request to the first corresponding information, to determine a lighting state of the headlight (S4).SELECTED DRAWING: Figure 7

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] In this case, there may be a difference between the judgment of the automated driving system and the judgment of the user regarding the operation of various devices such as headlights, front wipers, and rear wipers. In this case, uniformly prioritizing one of the judgments may not result in optimal operation of the various devices.

[0005] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to operate various devices optimally when a discrepancy arises between the autonomous driving system's judgment regarding the operation of various devices and the user's judgment. [Means for solving the problem]

[0006] (1) A vehicle according to one aspect of this disclosure is a vehicle configured to be able to be equipped with an autonomous driving system. The vehicle includes a vehicle platform that controls the vehicle in accordance with commands from the autonomous driving system, and a vehicle control interface box that interfaces between the vehicle platform and the autonomous driving system. The vehicle platform includes equipment and an operation device that allows a user to instruct the operation of the equipment. The vehicle control interface box receives an operation request for the equipment from the autonomous driving system. The vehicle control interface box stores correspondence information for determining the operation state of the equipment. When an operation request based on a user operation on the operation device differs from the operation request, the vehicle control interface box determines the operation state of the equipment using the operation request, the operation request, and the correspondence information.

[0007] According to the above configuration, the vehicle control interface box stores correspondence information for determining the operating state of the device. When the operation request and the operation request differ, the vehicle control interface box can determine the operating state of the device by referencing the operation request and the operation request to the correspondence information. By appropriately defining the correspondence information, the device can be operated optimally when a difference occurs between the operation request and the operation request.

[0008] (2) In one embodiment, the device includes a headlight. The headlight includes an OFF mode, a TAIL mode, a HEAD mode, an AUTO mode, and a HI mode as operation modes. The vehicle control interface box accepts the operation request when the operation request requests the AUTO mode.

[0009] According to the above configuration, when the user selects the AUTO mode, an operation request from the automatic driving system can be accepted.

[0010] (3) In one embodiment, the operation device includes a first operation unit that switches between a first position that requests HI mode and a second position that does not request HI mode, and a second operation unit that is configured to be able to select OFF mode, TAIL mode, HEAD mode, and AUTO mode. When either the operation request or the action request requests HI mode, the vehicle control interface box prioritizes HI mode over HEAD mode and AUTO mode based on the correspondence information.

[0011] According to the above configuration, when an operation request requests HI mode (the first operating unit is in the first position) or an operation request requests HI mode, HI mode is prioritized over HEAD mode and AUTO mode based on the correspondence information. By defining the correspondence information in this way, the headlights can be operated optimally.

[0012] (4) In one embodiment, when the received operation request requests OFF mode or TAIL mode, the vehicle control interface box determines the operation state of the headlights to be the mode in which they were last operated based on the correspondence information.

[0013] According to the above configuration, if the received operation request is for the OFF mode or the TAIL mode, the operation state of the headlights is determined to be the mode they were last operating in. By defining correspondence information that guides the above determination, the headlights can be operated optimally.

[0014] (5) In one embodiment, when the received operation request requests OFF mode or TAIL mode, the vehicle control interface box determines the operation state of the headlights to the mode in which they were last operating based on the correspondence information when the second operating unit is switched from AUTO mode to OFF mode, TAIL mode, or HEAD mode.

[0015] After receiving the operation request, the user may switch the second operation unit from AUTO mode to OFF mode, TAIL mode, or HEAD mode. In this case, the operation state of the headlights is determined to be the mode in which they were last operated. By defining correspondence information that guides the above determination, the headlights can be operated optimally.

[0016] (6) In one embodiment, when the first operating unit is in the first position and the second operating unit has selected AUTO mode, and the operation request is HEAD mode or AUTO mode, the vehicle control interface box determines the operation state of the headlights to HI mode based on the correspondence information; and when the first operating unit is in the second position and the second operating unit has selected AUTO mode, and the operation request is HEAD mode or AUTO mode, the vehicle control interface box determines the operation state of the headlights to the mode in which they were last operating based on the correspondence information.

[0017] According to the above configuration, when an operation request for the HEAD mode or AUTO mode is received, the operation state of the headlights is determined depending on whether the first operating unit is in the first position or the second position. By defining correspondence information that guides the above determination, the headlights can be operated optimally.

[0018] (7) In one embodiment, the device includes a windshield wiper. When the operation request and the operation request differ, the vehicle control interface box determines the operation state of the windshield wiper according to the request that requires the windshield wiper to be operated more based on the correspondence information.

[0019] According to the above configuration, when the operation request and the operation request differ, the operation state of the front wiper is determined so as to operate the front wiper more efficiently. By defining correspondence information that guides the above determination, the front wiper can be operated optimally.

[0020] (8) In one embodiment, the vehicle control interface box determines the operation state of the front wiper to be the HI mode when either the operation request or the operation request is in the HI mode.

[0021] According to the above configuration, when the operation request and the operation request are different, the front wiper can be operated more effectively.

[0022] (9) In one embodiment, the device includes a rear wiper. When the operation request and the operation request differ, the vehicle control interface box determines the operation state of the rear wiper according to the request that more strongly operates the rear wiper based on the correspondence information.

[0023] According to the above configuration, when the operation request and the operation request are different, the operation state of the rear wiper is determined so as to operate the rear wiper more efficiently. By defining correspondence information that guides the above determination, the rear wiper can be optimally operated.

[0024] (10) In one embodiment, the vehicle control interface box determines the operation state of the rear wiper to be the HI mode when either the operation request or the operation request is in the HI mode.

[0025] According to the above configuration, when the operation request and the operation request are different, the rear wiper can be operated more effectively. [Effects of the Invention]

[0026] According to the present disclosure, when a discrepancy arises between the judgment of the autonomous driving system regarding the operation of various devices and the judgment of the user, the various devices can be operated optimally. [Brief explanation of the drawings]

[0027] [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. 1 is a diagram illustrating a combination switch. [Figure 4] FIG. 4 is a diagram for explaining a headlight driver input. [Figure 5] FIG. 10 is a diagram for explaining a write operation mode request. [Figure 6] FIG. 10 is a diagram for explaining first correspondence information. [Figure 7] 10 is a flowchart showing a procedure for a process for determining a headlight mode state. [Figure 8] FIG. 10 is a diagram for explaining a front wiper driver input. [Figure 9] FIG. 10 is a diagram for explaining a front wiper operation mode request. [Figure 10] FIG. 10 is a diagram for explaining second correspondence information. [Figure 11] 10 is a flowchart showing a procedure for a process for determining a front wiper state. [Figure 12] FIG. 10 is a diagram for explaining a rear wiper driver input. [Figure 13] FIG. 10 is a diagram for explaining a rear wiper operation mode request. [Figure 14] FIG. 10 is a diagram for explaining third correspondence information. [Figure 15] 10 is a flowchart showing a procedure for a process for determining a rear wiper state. DETAILED DESCRIPTION OF THE INVENTION

[0028] 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.

[0029] <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.

[0030] 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).

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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 adjusted by an actuator.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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. The detailed configuration of the powertrain system 123 will be described later with reference to FIG. 2.

[0042] 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.

[0043] 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. The body system 126 controls the various devices in accordance with a predetermined control request output from the ADK 200 via the VCIB 111 and the integrated control manager 115.

[0044] 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.

[0045] 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).

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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).

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Each of the VCIBs 111A and 111B relays control requests and vehicle status between the ADS 202 and the VP 120. More specifically, to describe 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 a command corresponding to the received control request and outputs it 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 (Trunk Operate Command) that commands the opening and closing of the trunk door (back door) of the base vehicle 100.

[0060] 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.

[0061] 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.

[0062] 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 .

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 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 device using an actuator that is separate from the brake systems 121A and 121B and that can adjust the hydraulic pressure supplied to the braking device.

[0069] The EPB system 123A controls the EPB in accordance with a control request received from the ADS 202 via the VCIB 111.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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 .

[0074] 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.

[0075] 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 headlights, front wipers, and rear wipers. The body system 126 also controls the headlights, front wipers, and rear wipers in accordance with control commands from a combination switch 300 (FIG. 3) for manually operating the headlights, front wipers, and rear wipers.

[0076] 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.

[0077] 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.

[0078] The various devices (headlights, front wipers, and rear wipers) are controlled based on a user operation on the combination switch 300 (FIG. 3) or a control command (operation mode request) from the ADK 200. The VCIB 111 generates a control command based on the user operation on the combination switch 300 (FIG. 3) or a command from the ADK 200, and outputs the control command to the body system 126. The body system 126 operates the various devices in accordance with the control command.

[0079] 3 is a diagram for explaining the combination switch 300. In the following, the combination switch 300 may be referred to as the "combination switch 300."

[0080] The combination switch 300 includes a lever switch 310 for operating the headlights, and a lever switch 320 for operating the front wiper and rear wiper.

[0081] The headlights have operating states (operating modes) including "TAIL mode," "HEAD mode," "AUTO mode," "HI mode," and "OFF mode." "TAIL mode" is a mode in which the parking lights (sidelights) are turned on. "HEAD mode" is a mode in which the headlights are turned on and set to low beam. "AUTO mode" is a mode in which the VP 120 (body system 126 in this embodiment) automatically sets the operating mode based on the illuminance around the vehicle 10. "HI mode" is a mode in which the headlights are turned on and set to high beam. "OFF mode" is a mode in which the headlights are turned off.

[0082] The user can set the operation mode of the headlights by operating the lever switch 310. The headlight operation mode set by the user by operating the lever switch 310 may be referred to as a "headlight setting mode." The combination switch 300 outputs a signal indicating the set headlight setting mode (hereinafter also referred to as "Headlight_Driver_Input") to the VCIB 111. That is, the combination switch 300 notifies the VCIB 111 of the driver's operation input for the headlights.

[0083] Lever switch 310 includes an operation unit 311. By operating operation unit 311, a user can set the headlight setting mode to one of "OFF mode," "TAIL mode," "AUTO mode," and "HEAD mode." Operation unit 311 includes a mode position 313 for setting the OFF mode, a mode position 314 for setting the TAIL mode, a mode position 315 for setting the AUTO mode, and a mode position 316 for setting the HEAD mode. A user can set the headlight setting mode to a desired mode by aligning the desired mode position with reference position 312. In FIG. 3, mode position 313 is aligned with reference position 312. Operation unit 311 corresponds to a "second operation unit" according to this embodiment.

[0084] Furthermore, the lever switch 310 can be set to two positions. The two positions include a position corresponding to a normal lever status (low beam position) and a position corresponding to a lever status of HI (high beam position). When the lever switch 310 is in the low beam position, low beam is used. When the lever switch 310 is in the high beam position, high beam is used. For example, in FIG. 3, if the lever switch 310 is in the low beam position, the combination switch 300 outputs a headlight driver input to the VCIB 111 that sets the headlight setting mode to OFF mode. For example, in FIG. 3, if the lever switch 310 is in the high beam position, the combination switch 300 outputs a headlight driver input to the VCIB 111 that sets the headlight setting mode to HI mode. Note that the mechanism for switching the position of the lever switch 310 corresponds to the "first operation unit" according to the present disclosure.

[0085] Fig. 4 is a diagram for explaining the headlight driver input. Fig. 4 shows the relationship between the headlight driver input and the corresponding value. Specifically, the value is shown in the "Value" column, and the headlight driver input is shown in the "Description" column. Note that remarks are written in the "Remarks" column.

[0086] Referring to FIG. 4, a value of 0 indicates "OFF mode." A value of 1 indicates "TAIL mode ON." A value of 2 indicates "LO mode ON," in other words, "HEAD mode ON." A value of 3 indicates "AUTO mode ON." A value of 4 indicates "HI mode ON." A value of 7 indicates "invalid." Note that in this embodiment, values ​​5 and 6 are not used, but they can be set appropriately and used.

[0087] When the mode position 313 is set to the reference position 312 and the off position contact signal is ON, the combination switch 300 outputs "0" to the VCIB 111. When the mode position 314 is set to the reference position 312 and the tail position contact signal is ON, the combination switch 300 outputs "1" to the VCIB 111. When the mode position 316 is set to the reference position 312 and the head position contact signal is ON, the combination switch 300 outputs "2" to the VCIB 111. When the mode position 315 is set to the reference position 312 and the auto position contact signal is ON, the combination switch 300 outputs "3" to the VCIB 111. When the lever switch 310 is set to the high beam position and the HI position contact signal is ON, the combination switch 300 outputs "4" to the VCIB 111.

[0088] When the contacts of the combination switch 300 are simultaneously ON, the combination switch 300 outputs a value determined according to the priority order of "LO>AUTO>TAIL>OFF" to the VCIB 111. For example, when the auto position contact signal and the tail position contact signal are simultaneously ON, the combination switch 300 outputs "3" to the VCIB 111 according to the priority order.

[0089] When the headlight setting mode is AUTO mode, the VCIB 111 accepts a light operation mode request (control request) from the ADK 200. The ADK 200 outputs a light operation mode request (Headlight_Mode_Command) that commands the lighting state of the headlights to the VCIB 111 at predetermined intervals. When the headlight setting mode is AUTO mode, the VCIB 111 that has received the light operation mode request accepts the light operation mode request.

[0090] Fig. 5 is a diagram for explaining a write operation mode request. Fig. 5 shows the relationship between a write operation mode request and a corresponding value. Specifically, the value is shown in the "Value" column, and the write operation mode request is shown in the "Description" column. Note that remarks are written in the "Remarks" column.

[0091] Referring to FIG. 5, a value of 0 indicates "No request". A value of 1 indicates "TAIL mode request". A value of 2 indicates "HEAD mode request". A value of 3 indicates "AUTO mode request". A value of 4 indicates "HI mode request". A value of 5 indicates "OFF mode request". Note that in this embodiment, values ​​6 and 7 are not used, but they can be set and used as appropriate.

[0092] The VCIB 111 according to this embodiment stores in its memory first correspondence information for determining the headlight mode status (Headlight_Mode_Status) based on the relationship between the headlight driver input and the light operation mode request. The headlight mode status is a signal that notifies the lighting status of the headlights. As described above, the VCIB 111 accepts a light operation mode request when the headlight setting mode is the AUTO mode. The VCIB 111 determines the headlight mode status using the headlight driver input, the light operation mode request, and the first correspondence information. Furthermore, after the VCIB 111 accepts the light operation mode request, the user may operate the lever switch 310 to change the headlight setting mode to another mode. In such a case, the VCIB 111 also determines the headlight mode status using the headlight driver input, the light operation mode request, and the first correspondence information. The VCIB 111 generates a control command according to the determined headlight mode status and outputs the generated control command to the VP 120 (body system 126).

[0093] 6 is a diagram for explaining the first correspondence information. The VCIB 111 determines the operation mode of the headlights by checking the headlight driver input and the light operation mode request against the first correspondence information.

[0094] Referring to FIG. 6, the headlight driver input (Driver input in FIG. 6) is roughly classified depending on whether the lever switch 310 is in the low beam position (the position that is the normal lever status) or the high beam position. When the lever switch 310 is in the low beam position, the VCIB 111 refers to the corresponding headlight driver input in the upper row and the corresponding light operation mode request. When the lever switch 310 is in the high beam position, the VCIB 111 refers to the corresponding headlight driver input in the lower row and the corresponding light operation mode request. Basically, the VCIB 111 prioritizes the last operating mode. When either the headlight driver input or the light operation mode request indicates HI, the VCIB 111 prioritizes HI over HEAD and AUTO.

[0095] When either the headlight driver input or the light operation mode request is the HI mode, in other words, when the headlight driver input is the HI mode (the lever switch 310 is in the high beam position) or when the light operation mode request is the HI mode, the VCIB 111 prioritizes the HI mode over the HEAD mode and the AUTO mode. Specifically, referring to FIG. 6, when the headlight driver input is the HI mode (the lever switch 310 is in the high beam position and the reference position 312 is the mode position 315) and the light operation mode request is the HEAD mode or the AUTO mode, the VCIB 111 determines the headlight mode state to be the HI mode in accordance with the first correspondence information. When the headlight driver input is the HEAD mode or the AUTO mode (the lever switch 310 is in the low beam position and the reference position 312 is the mode position 315 or the mode position 316) and the light operation mode request is the HI mode, the VCIB 111 determines the headlight mode state to be the HI mode in accordance with the first correspondence information. The VCIB 111 outputs a control command to the VP 120 to set the headlight mode state to HI.

[0096] Furthermore, if the received light operation mode request is OFF mode or TAIL mode, the VCIB 111 determines the headlight mode state to be Latest. Latest means the most recent (immediately preceding) headlight mode state. The VCIB 111 outputs a control command to the VP 120 to set the determined headlight mode state.

[0097] Furthermore, when a light operation mode request for OFF mode or TAIL mode is received and the user operates the lever switch 310 to switch the headlight setting mode from AUTO mode to OFF mode, TAIL mode, or HEAD mode, the VCIB 111 determines the headlight mode state to Latest. The VCIB 111 outputs a control command to the VP 120 to set the determined headlight mode state.

[0098] Furthermore, when the headlight driver input is in AUTO mode (the lever switch 310 is in the low beam position and the reference position 312 is in the mode position 315) and the received light operation mode request is in HEAD mode or AUTO mode, the VCIB 111 determines the headlight mode state to Latest. When the headlight driver input is in HI mode (the lever switch 310 is in the high beam position and the reference position 312 is in the mode position 315) and the received light operation mode request is in HEAD mode or AUTO mode, the VCIB 111 determines the headlight mode state to HI mode. The VCIB 111 outputs a control command to the VP 120 to set the headlight mode state to the determined headlight mode.

[0099] Fig. 7 is a flowchart showing the procedure of a process for determining the headlight mode state. The process of the flowchart in Fig. 7 is called from the main routine at each predetermined control cycle and executed by the VCIB 111. Note that the process of the flowcharts in Fig. 7 and Figs. 11 and 15 described below will be described as being realized by software processing by the VCIB 111, but part or all of it may also be realized by hardware (electrical circuitry) created within the VCIB 111.

[0100] In S1, the VCIB 111 determines whether the headlight driver input is in AUTO mode. If the headlight driver input is in AUTO mode (YES in S1), the VCIB 111 proceeds to S2. If the headlight driver input is not in AUTO mode (NO in S1), the VCIB 111 proceeds to S5.

[0101] In S2, the VCIB 111 determines to accept the write operation mode request from the ADK 200.

[0102] In S3, the VCIB 111 identifies the current headlight driver input. At this point, if the user operates the lever switch 310 to set a position other than the mode position 315 at the reference position 312 (if the mode position set at the reference position 312 after S1 has been changed from the mode position 315), the VCIB 111 identifies the headlight driver input corresponding to that mode position as the current headlight driver input.

[0103] In S4, the VCIB 111 reads the first correspondence information. The VCIB 111 checks the current headlight driver input identified in S3 and the light operation mode request received in S2 against the first correspondence information to determine the headlight illumination state (headlight mode state). The VCIB 111 then proceeds to S6.

[0104] In S5, the VCIB 111 determines not to accept the write operation mode request from the ADK 200.

[0105] In S6, the VCIB 111 generates a control command. When the processes from S2 to S4 have been executed, the VCIB 111 generates a control command for realizing the headlight mode state determined in S4. When the process of S5 has been executed, the VCIB 111 generates a control command according to the headlight driver input.

[0106] In S7, the VCIB 111 outputs the control command generated in S6 to the VP 120 (body system 126).

[0107] Referring again to FIG. 3, lever switch 320 includes an operating portion 330 for the front wiper and an operating portion 340 for the rear wiper.

[0108] The front wiper has operation modes including "OFF mode," "LO mode," "HI mode," "intermittent operation mode," "AUTO mode," and "MIST mode." "OFF mode" is a mode in which the front wiper is stopped. "LO mode" is a mode in which the front wiper is operated at a first speed. "HI mode" is a mode in which the front wiper is operated at a second speed faster than the first speed. "Intermittent operation mode" is a mode in which the front wiper is operated intermittently. In intermittent operation mode, the operation interval of the front wiper is set based on the position of the operation unit 333 relative to the setting position 332. "AUTO mode" is a mode in which the VP120 automatically selects between LO mode and HI mode based on the detection result of a raindrop detection sensor installed on the windshield. If the raindrop detection sensor does not react, the front wiper will not operate in AUTO mode. "MIST mode" is a mode in which the front wiper is operated a predetermined number of times (for example, once).

[0109] The operation mode of the front wipers can be set by the user by operating the operation unit 330 of the lever switch 320. The operation mode of the front wipers set by the user by operating the operation unit 330 may be referred to as a "front wiper setting mode." The combination switch 300 outputs a signal indicating the set front wiper setting mode (hereinafter also referred to as "Front Wiper Driver Input (Windshieldwiper_Front_Driver_Input)") to the VCIB 111. In other words, the combination switch 300 notifies the VCIB 111 of the driver's operation input for the front wipers.

[0110] By operating the operation unit 330, the user can set the front wiper setting mode to one of "OFF mode," "LO mode," "HI mode," "intermittent operation mode," "AUTO mode," and "MIST mode." The operation unit 330 has a mode position for setting the OFF mode, a mode position for setting the LO mode, a mode position for setting the HI mode, a mode position for setting the intermittent operation mode, a mode position for setting the AUTO mode, and a mode position for setting the MIST mode. Note that "ON" on the operation unit 330 in FIG. 3 indicates the mode position for setting the LO mode. The user can set the front wiper setting mode to a desired mode by, for example, rotating the operation unit 330 in the direction of arrow 331. In FIG. 3, the front wiper setting mode is set to the OFF mode.

[0111] FIG. 8 is a diagram for explaining the front wiper driver input. FIG. 8 shows the relationship between the front wiper driver input and the corresponding value. Specifically, the value is shown in the "Value" column, and the front wiper driver input is shown in the "Description" column. Note that remarks are written in the "Remarks" column.

[0112] Referring to FIG. 8, a value of 0 indicates an "OFF mode position." A value of 1 indicates an "LO mode position." A value of 2 indicates an "HI mode position." A value of 3 indicates an "Intermitten mode position." A value of 4 indicates an "AUTO mode position." A value of 5 indicates a "MIST mode (one time wiping) position." A value of 7 indicates "invalid." Note that in this embodiment, a value of 6 is not used, but it can be set appropriately and used.

[0113] When the OFF position contact signal is ON, the combination switch 300 outputs "0" to the VCIB111. When the LO position contact signal is ON, the combination switch 300 outputs "1" to the VCIB111. When the HI position contact signal is ON, the combination switch 300 outputs "2" to the VCIB111. When the INT position contact signal (Intermittent) is ON, the combination switch 300 outputs "3" to the VCIB111. When the AUTO position contact signal is ON, the combination switch 300 outputs "4" to the VCIB111. When the MIST position contact signal is ON, the combination switch 300 outputs "5" to the VCIB111.

[0114] When the contacts of the combination switch 300 are simultaneously ON, the combination switch 300 outputs a value determined according to the priority order of "HI>AUTO>LO>MIST>OFF" to the VCIB 111. For example, when the HI position contact signal and the OFF position contact signal are simultaneously ON, the combination switch 300 outputs "2" to the VCIB 111 according to the priority order. When the contacts are all open, the combination switch 300 outputs 0.

[0115] The VCIB 111 receives a front wiper operation mode request (Windshieldwiper_Mode_Front_Command) from the ADK 200. The ADK 200 outputs a front wiper operation mode request that instructs the operation mode of the front wiper to the VCIB 111 at predetermined intervals.

[0116] Fig. 9 is a diagram for explaining a front wiper operation mode request. Fig. 9 shows the relationship between a front wiper operation mode request and a corresponding value. Specifically, a value is shown in the "Value" column, and a front wiper operation mode request is shown in the "Description" column. Note that remarks are written in the "Remarks" column.

[0117] Referring to FIG. 9, a value of 0 indicates an "OFF mode request." A value of 1 indicates an "LO mode request." A value of 2 indicates an "HI mode request." A value of 3 indicates an "Intermittent mode request." A value of 4 indicates an "AUTO mode request." A value of 5 indicates a "MIST mode request." Note that, although values ​​6 and 7 are not used in this embodiment, they can be set appropriately and used.

[0118] When the front wiper driver input and the front wiper operation mode request are different requests, the VCIB 111 generates a control command according to the request that operates the front wiper more, and outputs the generated control command to the VP 120 (body system 126). The VCIB 111 stores second correspondence information in a memory for determining the front wiper status (Windshieldwiper_Mode_Front_Status) based on the relationship between the front wiper driver input and the front wiper operation mode request. The front wiper status is a signal that notifies the operation status of the front wiper.

[0119] 10 is a diagram for explaining the second correspondence information. The VCIB 111 determines the operation mode of the front wiper by checking the front wiper driver input and the front wiper operation mode request against the second correspondence information.

[0120] If the front wiper driver input and the front wiper operation mode request are different requests, the VCIB 111 reads second correspondence information from the memory and checks the front wiper driver input and the front wiper operation mode request against the second correspondence information. If either the front wiper driver input or the front wiper operation mode request is HI mode, the VCIB 111 outputs a control command to the VP 120 to set the front wiper state to HI.

[0121] For example, when the front wiper driver input is a value of 2 (HI mode position) and the front wiper operation mode request is a value of 1 (LO mode request), the VCIB111 outputs a control command to VP120 to change the front wiper state to HI. For example, when the front wiper driver input is a value of 5 (MIST mode position) and the front wiper operation mode request is a value of 1 (LO mode request), the VCIB111 outputs a control command to VP120 to change the front wiper state to LO. Also, when the front wiper driver input is a value of 3 (intermittent operation mode position) or a value of 5 (MIST mode position) and the front wiper operation mode request is a value of 3 (intermittent operation mode request) or a value of 5 (MIST mode request), the VCIB111 outputs a control command to VP120 to change the front wiper state to LO.

[0122] 11 is a flowchart showing the procedure of a process for determining the state of the front wipers 100. The process of the flowchart in FIG.

[0123] In S10, the VCIB 111 determines whether or not it has received a front wiper driver input (front wiper control request) from the combination switch 300 and a front wiper operation mode request from the ADK 200. If it has received a front wiper driver input and a front wiper operation mode request (YES in S10), the VCIB 111 proceeds to S11. If it has received either a front wiper driver input or a front wiper operation mode request (NO in S10), the VCIB 111 skips the process of S11 and proceeds to S12.

[0124] In S11, the VCIB 111 reads out the second correspondence information, and determines the operation state of the front wiper (front wiper state) by referring to the second correspondence information for the front wiper driver input and the front wiper operation mode request.

[0125] In S12, the VCIB 111 generates a control command. If the process of S11 is executed, the VCIB 111 generates a control command to realize the front wiper state determined in S11. If the process of S11 is skipped, the VCIB 111 generates a control command according to the received request out of the front wiper driver input and the front wiper operation mode request.

[0126] In S13, the VCIB 111 outputs the control command generated in S12 to the VP 120 (body system 126).

[0127] The rear wiper has three operating modes: "OFF mode," "LO mode," and "intermittent operation mode." "OFF mode" is a mode in which the rear wiper is stopped. "LO mode" is a mode in which the front wiper is operated at a predetermined speed. "Intermittent operation mode" is a mode in which the rear wiper is operated intermittently. In this embodiment, the operation interval of the rear wiper in the intermittent operation mode is fixed to a predetermined interval. Like the front wiper described above, the rear wiper may also be configured so that the operation interval can be set.

[0128] The rear wiper operation mode can be set by the user by operating the operation unit 340 of the lever switch 320. The rear wiper operation mode set by the user by operating the operation unit 340 may be referred to as a "rear wiper setting mode." The combination switch 300 outputs a signal indicating the set rear wiper setting mode (hereinafter also referred to as "rear wiper driver input (Windshieldwiper_Rear_Driver_Input)") to the VCIB 111. That is, the combination switch 300 notifies the VCIB 111 of the driver's operation input for the rear wiper.

[0129] A user can set the rear wiper setting mode to one of "OFF mode," "LO mode," and "intermittent operation mode" by operating the operation unit 340. The operation unit 340 has an OFF mode position for setting the OFF mode, an LO mode position for setting the LO mode, and an intermittent operation mode position for setting the intermittent operation mode. A user can set the rear wiper setting mode to a desired mode by aligning the desired mode position with the reference position 341. In FIG. 3, the rear wiper setting mode is set to the OFF mode. Note that "ON" on the operation unit 340 in FIG. 3 indicates the mode position for setting the LO mode.

[0130] FIG. 12 is a diagram for explaining rear wiper driver inputs. FIG. 12 shows the relationship between rear wiper driver inputs and corresponding values. Specifically, values ​​are shown in the "Value" column, and front wiper driver inputs are shown in the "Description" column. Remarks are provided in the "Remarks" column.

[0131] Referring to FIG. 12, a value of 0 indicates an "OFF mode position." A value of 1 indicates an "LO mode position." A value of 3 indicates an "Intermittent mode position." A value of 7 indicates "invalid." Note that in this embodiment, values ​​2, 4 to 6 are not used, but they can be set appropriately and used.

[0132] When the ON position contact signal (LO position contact signal) is ON, the combination switch 300 outputs "1" to the VCIB 111. When the INT position contact signal (Intermittent) is ON, the combination switch 300 outputs "3" to the VCIB 111. When both the ON position contact signal and the INT position contact signal are OFF, the combination switch 300 outputs "0" to the VCIB 111.

[0133] When the contacts of the combination switch 300 are simultaneously ON, the combination switch 300 outputs a value determined according to the priority order of "RrON>Rrin>OFF" to the VCIB 111. RrON means the ON position contact signal, and Rrin means the INT position contact signal. For example, when the ON position contact signal and the INT position contact signal are simultaneously ON, the combination switch 300 outputs "1" to the VCIB 111 according to the priority order.

[0134] The VCIB 111 receives a rear wiper operation mode request (Windshieldwiper_Mode_Rear_Command) from the ADK 200. The ADK 200 outputs a rear wiper operation mode request that instructs the operation mode of the rear wiper to the VCIB 111 at predetermined intervals.

[0135] Fig. 13 is a diagram for explaining a rear wiper operation mode request. Fig. 13 shows the relationship between a rear wiper operation mode request and a corresponding value. Specifically, a value is shown in the "Value" column, and a front wiper operation mode request is shown in the "Description" column. Note that remarks are written in the "Remarks" column.

[0136] Referring to Fig. 13, a value of 0 indicates an "OFF mode request." A value of 1 indicates an "LO mode request." A value of 3 indicates an "Intermittent mode request." Note that in this embodiment, values ​​2, 4 to 7 are not used, but they can be set appropriately and used.

[0137] When the rear wiper driver input and the rear wiper operation mode request are different requests, the VCIB 111 generates a control command according to the request that operates the rear wiper more, and outputs the generated control command to the VP 120 (body system 126). The VCIB 111 stores third correspondence information in a memory for determining the rear wiper status (Windshieldwiper_Mode_Rear_Status) based on the relationship between the rear wiper driver input and the rear wiper operation mode request. The rear wiper status is a signal that notifies the operation status of the rear wiper.

[0138] 14 is a diagram for explaining the third correspondence information. The VCIB 111 determines the operation mode of the rear wiper by checking the rear wiper driver input and the rear wiper operation mode request against the third correspondence information.

[0139] When the rear wiper driver input and the rear wiper operation mode request are different requests, the VCIB111 reads third correspondence information from the memory and compares the rear wiper driver input and the rear wiper operation mode request with the third correspondence information. For example, when the rear wiper driver input is 1 (LO mode position) and the rear wiper operation mode request is 0 (OFF mode request), the VCIB111 outputs a control command to the VP120 to change the rear wiper state to LO. For example, when the rear wiper driver input is 3 (intermittent operation mode position) and the rear wiper operation mode request is 1 (LO mode request), the VCIB111 outputs a control command to the VP120 to change the rear wiper state to LO.

[0140] 15 is a flowchart showing the procedure of a process for determining the state of the rear wiper 100. The process of the flowchart of FIG.

[0141] In S20, the VCIB 111 determines whether or not it has received a rear wiper driver input (rear wiper control request) from the combination switch 300 and a rear wiper operation mode request from the ADK 200. If it has received a rear wiper driver input and a rear wiper operation mode request (YES in S20), the VCIB 111 proceeds to S21. If it has received either a rear wiper driver input or a rear wiper operation mode request (NO in S20), the VCIB 111 skips the process of S21 and proceeds to S22.

[0142] In S21, the VCIB 111 reads out the third correspondence information, and determines the operation state of the rear wiper (rear wiper state) by referring to the third correspondence information for the rear wiper driver input and the rear wiper operation mode request.

[0143] In S22, the VCIB 111 generates a control command. If the process of S21 is executed, the VCIB 111 generates a control command to realize the rear wiper state determined in S21. If the process of S21 is skipped, the VCIB 111 generates a control command according to the received request out of the rear wiper driver input and the rear wiper operation mode request.

[0144] In S23, the VCIB 111 outputs the control command generated in S22 to the VP 120 (body system 126).

[0145] As described above, in the vehicle 10 according to this embodiment, when the VCIB 111 receives a headlight driver input and a light operation mode request, it checks both requests against the first correspondence information and determines the headlight mode state. If the headlight driver input and the light operation mode request are different requests, the VCIB 111 follows the first correspondence information, basically prioritizing the most recent one (request). The VCIB 111 outputs a control command according to the determined headlight mode state to the VP 120. By setting the first correspondence information in advance and determining the headlight mode state according to the first correspondence information, it is possible to operate the headlights optimally when a discrepancy occurs between the ADK 200's judgment regarding headlight operation and the user's judgment.

[0146] In the vehicle 10 according to this embodiment, when the VCIB 111 receives a front wiper driver input and a front wiper operation mode request, it checks both requests against the second correspondence information and determines the front wiper mode state. If the front wiper driver input and the front wiper operation mode request are different requests, the VCIB 111 generates a control command according to the request that operates the front wipers more effectively by following the second correspondence information. By setting the second correspondence information in advance and determining the front wiper state according to the second correspondence information, it is possible to operate the front wipers optimally when a discrepancy occurs between the ADK 200's judgment regarding the operation of the front wipers and the user's judgment.

[0147] In the vehicle 10 according to this embodiment, when the VCIB 111 receives a rear wiper driver input and a rear wiper operation mode request, it checks both requests against the third correspondence information and determines the rear wiper mode state. If the rear wiper driver input and the rear wiper operation mode request are different requests, the VCIB 111 generates a control command according to the request that more effectively operates the rear wiper by following the third correspondence information. By setting the third correspondence information in advance and determining the rear wiper state according to the third correspondence information, the rear wiper can be optimally operated when a discrepancy occurs between the ADK 200's judgment regarding rear wiper operation and the user's judgment.

[0148] [Variations] In the embodiment, an example has been described in which, when a discrepancy occurs between the ADK 200's judgment for various devices and the user's judgment, the VCIB 111 generates a control command for operating various devices in accordance with the correspondence information (first to third correspondence information) corresponding to the various devices. However, the execution of the above processing is not limited to the VCIB 111, and it is also possible to adopt a configuration in which the VP 120 executes the processing. Even in the modified example, the same effects as those of the embodiment can be achieved. [Example]

[0149] TIFF0007803245000001.tif208144

[0150] TIFF0007803245000002.tif208147

[0151] TIFF0007803245000003.tif208144

[0152] TIFF0007803245000004.tif208144

[0153] TIFF0007803245000005.tif208147

[0154] TIFF0007803245000006.tif208147

[0155] TIFF0007803245000007.tif208144

[0156] TIFF0007803245000008.tif208144

[0157] TIFF0007803245000009.tif208144

[0158] TIFF0007803245000010.tif208144

[0159] TIFF0007803245000011.tif208144

[0160] TIFF0007803245000012.tif208144

[0161] TIFF0007803245000013.tif208144

[0162] TIFF0007803245000014.tif208144

[0163] TIFF0007803245000015.tif208144

[0164] TIFF0007803245000016.tif208144

[0165] TIFF0007803245000017.tif208144

[0166] TIFF0007803245000018.tif208144

[0167] TIFF0007803245000019.tif208144

[0168] TIFF0007803245000020.tif208144

[0169] TIFF0007803245000021.tif208144

[0170] TIFF0007803245000022.tif208144

[0171] TIFF0007803245000023.tif208144

[0172] TIFF0007803245000024.tif208146

[0173] TIFF0007803245000025.tif208144

[0174] TIFF0007803245000026.tif208146

[0175] TIFF0007803245000027.tif208144

[0176] TIFF0007803245000028.tif208144

[0177] TIFF0007803245000029.tif208144

[0178] TIFF0007803245000030.tif208144

[0179] TIFF0007803245000031.tif208146

[0180] TIFF0007803245000032.tif208146

[0181] TIFF0007803245000033.tif208144

[0182] TIFF0007803245000034.tif208144

[0183] TIFF0007803245000035.tif208144

[0184] TIFF0007803245000036.tif208144

[0185] TIFF0007803245000037.tif208144

[0186] TIFF0007803245000038.tif208144

[0187] TIFF0007803245000039.tif208144

[0188] TIFF0007803245000040.tif208144

[0189] TIFF0007803245000041.tif208144

[0190] TIFF0007803245000042.tif208144

[0191] TIFF0007803245000043.tif208144

[0192] TIFF0007803245000044.tif208144

[0193] TIFF0007803245000045.tif208144

[0194] TIFF0007803245000046.tif208144

[0195] TIFF0007803245000047.tif208144

[0196] TIFF0007803245000048.tif208144

[0197] TIFF0007803245000049.tif208144

[0198] TIFF0007803245000050.tif208144

[0199] TIFF0007803245000051.tif208144

[0200] TIFF0007803245000052.tif208144

[0201] TIFF0007803245000053.tif208144

[0202] TIFF0007803245000054.tif208144

[0203] TIFF0007803245000055.tif208144

[0204] TIFF0007803245000056.tif208144

[0205] TIFF0007803245000057.tif208144

[0206] TIFF0007803245000058.tif208144

[0207] TIFF0007803245000059.tif208144

[0208] TIFF0007803245000060.tif208144

[0209] TIFF0007803245000061.tif208144

[0210] TIFF0007803245000062.tif208144

[0211] TIFF0007803245000063.tif208144

[0212] TIFF0007803245000064.tif208144

[0213] TIFF0007803245000065.tif208144

[0214] TIFF0007803245000066.tif208144

[0215] TIFF0007803245000067.tif208144

[0216] TIFF0007803245000068.tif208144

[0217] TIFF0007803245000069.tif208144

[0218] TIFF0007803245000070.tif208144

[0219] TIFF0007803245000071.tif208144

[0220] TIFF0007803245000072.tif208144

[0221] TIFF0007803245000073.tif208144

[0222] TIFF0007803245000074.tif208144

[0223] TIFF0007803245000075.tif208144

[0224] TIFF0007803245000076.tif208144

[0225] TIFF0007803245000077.tif208144

[0226] TIFF0007803245000078.tif208147

[0227] TIFF0007803245000079.tif208144

[0228] TIFF0007803245000080.tif208144

[0229] TIFF0007803245000081.tif208144

[0230] TIFF0007803245000082.tif208144

[0231] 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]

[0232] 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, 200 Autonomous driving kit (ADK), 202 Autonomous driving system (ADS), 210 Computer, 210A, 210B Communication module, 230 HMI, 260 Perception sensor, 270 Attitude sensor, 290 sensor cleaner, 300 combination switch (combination switch), 310, 320 lever switch, 311, 330, 333, 340 operation unit, 312, 341 reference position, 313, 314, 315, 316 mode position, 331 arrow, 332 setting position.

Claims

1. A vehicle configured to be able to mount an automated driving system, a vehicle platform that controls the vehicle in accordance with commands from the automated driving system; a vehicle control interface box that interfaces between the vehicle platform and the automated driving system; the vehicle platform includes an equipment and an operation device for a user to instruct the operation of the equipment; the vehicle control interface box receives an operation request for the device from the autonomous driving system; The vehicle control interface box stores corresponding information for determining the operating state of the device; A vehicle in which, when an operation request based on a user operation on the operating device differs from the operation request, the vehicle control interface box determines the operating state of the equipment using the operation request, the operation request, and the corresponding information.

2. the equipment includes a headlight; The headlight includes, as operation modes, an OFF mode, a TAIL mode, a HEAD mode, an AUTO mode, and a HI mode; The vehicle according to claim 1 , wherein the vehicle control interface box accepts the operation request when the operation request requests an AUTO mode.

3. The operating device is a first operating unit that switches between a first position that requests the HI mode and a second position that does not request the HI mode; a second operation unit configured to be able to select an OFF mode, a TAIL mode, a HEAD mode, and an AUTO mode; 3. The vehicle according to claim 2, wherein when either the operation request or the action request requests the HI mode, the vehicle control interface box prioritizes the HI mode over the HEAD mode and the AUTO mode based on the correspondence information.

4. 4. The vehicle according to claim 3, wherein the vehicle control interface box determines the operation state of the headlights to be the mode in which they were last operated based on the correspondence information when the received operation request requests OFF mode or TAIL mode.

5. 4. The vehicle according to claim 3, wherein when the received operation request requests OFF mode or TAIL mode and the second operation unit is switched from AUTO mode to OFF mode, TAIL mode, or HEAD mode, the vehicle control interface box determines the operation state of the headlights to the mode in which they were last operated based on the correspondence information.

6. The vehicle control interface box includes: When the first operating unit is in the first position and the second operating unit has selected the AUTO mode, if the operation request is the HEAD mode or the AUTO mode, determining the operation state of the headlights to be a HI mode based on the correspondence information; 4. The vehicle according to claim 3, wherein when the first operating unit is in the second position and the second operating unit has selected the AUTO mode, if the operation request is the HEAD mode or the AUTO mode, the operation state of the headlights is determined to be the mode in which they were last operated based on the correspondence information.

7. The device includes a windshield wiper, The vehicle according to claim 1, wherein, when the operation request and the operation request are different, the vehicle control interface box determines the operation state of the front wiper based on the correspondence information in accordance with the request that requires the front wiper to be operated more.

8. 8. The vehicle according to claim 7, wherein the vehicle control interface box determines the operation state of the front wiper to be in the HI mode when either the operation request or the operation request is in the HI mode.

9. The device includes a rear wiper, The vehicle according to claim 1, wherein when the operation request and the operation request are different, the vehicle control interface box determines the operation state of the rear wiper based on the correspondence information in accordance with the request that requires the rear wiper to be operated more.

Images