Vehicle platform, autonomous driving system, and vehicle control interface box

Abstract

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

Description

Technical Field

[0001] The present disclosure relates to a vehicle platform configured to be capable of mounting an automatic driving system, an automatic driving system configured to be mounted on the vehicle platform, and a vehicle control interface box that interfaces between the vehicle platform and the automatic driving system mounted on the vehicle platform.

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0005] This disclosure is made to solve the above-mentioned problems, and the purpose of this disclosure is to enable appropriate switching between manual mode and autonomous driving mode in a vehicle platform capable of being equipped with an autonomous driving system. [Means for solving the problem]

[0006] (1) A vehicle platform relating to a certain aspect of the present disclosure is a vehicle platform configured to be equipped with an autonomous driving system. The vehicle platform comprises a vehicle and a vehicle control interface box that provides an interface between the vehicle and the autonomous driving system. The vehicle platform includes, as vehicle modes, a manual mode under the control of the vehicle's driver and an autonomous driving mode under the control of the autonomous driving system. The vehicle platform includes, as power modes, a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power is on. The vehicle control interface box is configured to receive vehicle mode requests from the autonomous driving system that request control of the vehicle mode, and is configured to output an automation readiness signal to the autonomous driving system that indicates whether the vehicle platform is ready for autonomous driving mode. After authentication by the autonomous driving system, the vehicle control interface box receives a vehicle mode request that requests autonomous driving mode, and if the power mode is drive mode and the automation readiness signal indicates that autonomous driving mode is ready, it transitions the vehicle mode from manual mode to autonomous driving mode.

[0007] According to the above configuration, when the vehicle platform's power mode is drive mode and the automation readiness signal indicates that the vehicle is ready for autonomous driving mode, that is, when the vehicle platform is in a state where it can respond to autonomous driving mode, the vehicle mode is switched from manual mode to autonomous driving mode in response to a vehicle mode request for autonomous driving mode. Therefore, the transition of the vehicle mode from manual mode to autonomous driving mode can be performed appropriately.

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

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

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

[0011] The above configuration simplifies the conditions for transitioning from autonomous driving mode to manual mode in vehicle mode. Therefore, it becomes possible to reduce the difficulty of implementing an autonomous driving system on a vehicle platform.

[0012] (4) An automated driving system relating to another aspect of the present disclosure is an automated driving system configured to be mounted on a vehicle platform. The vehicle platform includes a vehicle and a vehicle control interface box that provides an interface between the vehicle and the automated driving system. The vehicle platform includes, as vehicle modes, a manual mode under the control of the vehicle's driver and an automated driving mode under the control of the automated driving system. The vehicle platform includes, as power modes, a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated and a drive mode in which the vehicle power is on. The automated driving system includes a computer and a communication module that communicates with the vehicle control interface box. The computer is configured to send vehicle mode requests to the vehicle control interface box via the communication module, requesting control of the vehicle mode. After the automated driving system has been authenticated by the vehicle control interface box, the computer sends a vehicle mode request to the vehicle control interface box requesting the automated driving mode when transitioning the vehicle mode from manual mode to automated driving mode.

[0013] (5) In one embodiment, the computer is further configured to send a power mode request to the vehicle control interface box via a communication module, which requests control of the power mode. When the computer transitions the vehicle mode from manual mode to automatic driving mode, it sends a power mode request to the vehicle control interface box, in addition to the vehicle mode request requesting automatic driving mode, which requests drive mode.

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

[0015] (7) In one embodiment, when the computer transitions the vehicle mode from automatic driving mode to manual mode, it requests a vehicle mode request that requests the cancellation of automatic driving mode. Send to the vehicle control interface box.

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

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

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

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

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

Advantages of the Invention

[0021] According to the present disclosure, in a vehicle platform capable of mounting an autonomous driving system, the manual mode and the automatic mode can be appropriately switched.

Brief Description of the Drawings

[0022] [Figure 1] It is a diagram showing an overview of a vehicle according to an embodiment of the present disclosure. [Figure 2] It is a diagram showing the configurations of ADS, VCIB, and VP in more detail. [Figure 3] It is a state machine showing the transition of the vehicle mode. [Figure 4] It is a diagram showing the transmission directions of various signals or commands related to the transition between modes. [Figure 5] It is a diagram for explaining the power mode request. [Figure 6] It is a diagram for explaining the power mode state signal. [Figure 7] It is a diagram for explaining the vehicle mode request. [Figure 8] ] It is a diagram for explaining the vehicle mode state signal. [Figure 9] This is a diagram illustrating the automation preparation signal. [Figure 10] This flowchart shows the procedure for processing transitions between vehicle modes. [Modes for carrying out the invention]

[0023] The embodiments of this disclosure will be described in detail below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions will not be repeated.

[0024] [Embodiment] Figure 1 is a diagram showing an overview of a vehicle according to an embodiment of the present disclosure. The vehicle 1 comprises an Autonomous Driving Kit (ADK) 10 and a Vehicle Platform (VP) 20. The ADK 10 is attachable to the VP 20 (attached to the vehicle 1). It is configured to be able to be mounted. ADK10 and VP20 are configured to be able to communicate with each other via a vehicle control interface (VCIB40, described later).

[0025] The VP20 can perform autonomous driving in accordance with control requests from the ADK10. Although Figure 1 shows the ADK10 in a position separate from the VP20, the ADK10 is actually mounted on the rooftop of the VP20, etc. It is also possible to remove the ADK10 from the VP20. If the ADK10 is removed, the VP20 will perform driving control in manual mode (driving control in response to user operation).

[0026] ADK10 is an autonomous driving system (ADS) for autonomous driving of vehicle 1. Includes a Driving System (ADS) 11. The ADS 11, for example, creates a driving plan for vehicle 1. The ADS11 outputs various control requests to the VP20 according to the API (Application Program Interface) defined for each control request, in order to drive vehicle 1 according to the travel plan. Furthermore, the ADS11 receives various signals indicating the vehicle status (status of the VP20) from the VP20 according to the API defined for each signal. The ADS11 then reflects the vehicle status in the driving plan. The detailed configuration of the ADS11 is explained in Figure 2.

[0027] VP20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40.

[0028] The base vehicle 30 performs various vehicle controls in accordance with control requests from ADK10 (ADS11). The base vehicle 30 includes various systems and sensors for controlling the base vehicle 30. More specifically, the base vehicle 30 includes an integrated control manager 31, a brake system 32, a steering system 33, a powertrain system 34, an active safety system 35, a body system 36, wheel speed sensors 51, 52, a pinion angle sensor 53, a camera 54, and radar sensors 55, 56.

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

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

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

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

[0033] A pinion angle sensor 53 is connected to the steering system 33. The pinion angle sensor 53 detects the rotation angle (pinion angle) of the pinion gear connected to the rotation axis of the actuator and outputs the detected pinion angle to the steering system 33. The steering system 33 outputs the pinion angle to the VCIB 40 as one of the pieces of information included in the vehicle state. The steering system 33 also generates steering commands for the steering device according to predetermined control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The steering system 33 controls the steering device using the generated steering commands.

[0034] The powertrain system 34 controls an electric parking brake (EPB) system 341 provided on at least one of the wheels, a parking lock (P-Lock) system 342 provided on the vehicle 1's transmission, and a propulsion system 343 including a shift device (not shown) configured to allow selection of the shift range. A more detailed configuration of the powertrain system 34 is shown in Figure 2.

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

[0036] The body system 36 is configured to control components such as turn signals, horns, and wipers (none of which are shown) according to the driving conditions or environment of the vehicle 1. The body system 36 controls each of the above components according to predetermined control requests output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

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

[0038] Vehicle 1 can be used as one component of a MaaS (Mobility as a Service) system. In addition to Vehicle 1, the MaaS system may include, for example, a data server and a Mobility Service Platform (MSPF) ( It includes (not shown)

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

[0040] Vehicle 1 is equipped with a Data Communication Module (DCM) capable of wireless communication with a data server. The system further includes (not shown) components. The DCM outputs vehicle information, such as speed, location, and autonomous driving status, to the data server. The DCM also receives various data from mobility services, such as vehicle 1, for managing the operation of autonomous vehicles in autonomous driving-related mobility services, via the MSPF and the data server.

[0041] MSPF provides APIs for accessing various vehicle status and control data necessary for ADS11 development. Various mobility services can use the APIs published on MSPF to utilize the various functions provided by MSPF according to their service content. For example, autonomous driving-related mobility services can use the APIs published on MSPF to obtain driving control data for vehicle 1, information stored on the data server, etc. from MSPF. In addition, autonomous driving-related mobility services can use the above APIs to send data for managing autonomous vehicles, including vehicle 1, to MSPF.

[0042] <Detailed Configuration> Figure 2 is a diagram showing the configuration of ADS11, VCIB40, and VP20 in more detail. As shown in Figure 2, ADS11 consists of a computer 111, an HMI (Human Machine Interface) 112, a recognition sensor 113, an attitude sensor 114, and a sensor cleaner 1 Includes 15.

[0043] During the automatic driving of vehicle 1, computer 111 uses various sensors (described later) to acquire the environment of vehicle 1, as well as the attitude, behavior, and position of vehicle 1. It also acquires the vehicle state from VP20 via VCIB40 and sets the next action of vehicle 1 (acceleration, deceleration, turning, etc.). Computer 111 outputs various commands to VCIB40 to realize the next action. Computer 111 includes communication modules 111A and 111B. Each of the communication modules 111A and 111B is configured to communicate with VCIB40.

[0044] The HMI112 presents information to the user and accepts user input during autonomous driving, during driving requiring user input, and during transitions between autonomous driving and driving requiring user input. The HMI112 is configured to be connected to an input / output device (not shown), such as a touch panel display, provided on the base vehicle 30.

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

[0046] The attitude sensor 114 is a sensor for detecting the attitude, behavior, and position of vehicle 1. The attitude sensor 114 includes, for example, an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System) (neither of which are shown). The IMU detects, for example, the acceleration of vehicle 1 in the longitudinal, lateral, and vertical directions, and the angular velocity of vehicle 1 in the roll, pitch, and yaw directions. The GPS detects the position of vehicle 1 using information received from multiple GPS satellites orbiting the Earth.

[0047] The sensor cleaner 115 is configured to remove dirt that adheres to the various sensors (camera lenses, laser beam irradiation parts, etc.) while the vehicle 1 is in motion, using a cleaning solution, wipers, etc.

[0048] VCIB40 includes VCIB41 and VCIB42. Although not shown in the diagram, each of VCIB41 and VCIB42 is a processor such as a CPU (Central Processing Unit) It includes memory such as ROM (Read Only Memory) and RAM (Random Access Memory). The memory stores programs that can be executed by the processor. VCIB41 and communication module 111A are connected to each other in a communicative manner. VCIB42 and communication module 111B are connected to each other in a communicative manner. Furthermore, VCIB41 and VCIB42 are connected to each other in a communicative manner.

[0049] Each of the VCIB41 and 42 relays control requests and vehicle information between the ADS11 and the VP20. More specifically, the VCIB41 uses an API to generate control commands from control requests from the ADS11. The control commands include, for example, a propulsion direction command requesting a shift range change, a stationary command requesting the activation / deactivation of the EPB system 341 and the P-Lock system 342, an acceleration command requesting the acceleration or deceleration of vehicle 1, a steering angle command requesting the steering wheel angle, and an autonomization command requesting the switching between autonomous mode and manual mode. The VCIB41 then outputs the generated control commands to the corresponding system among the multiple systems included in the VP20. The VCIB41 also uses an API to generate information indicating the vehicle state from the vehicle information from each system of the VP20. The information indicating the vehicle state may be the same as the vehicle information, or it may be information extracted from the vehicle information that is used for processing performed by the ADS11. The VCIB41 outputs the generated information indicating the vehicle state to the ADS11. The same applies to VCIB42.

[0050] Brake system 32 includes brake systems 321 and 322. Steering system 33 includes steering systems 331 and 332. Powertrain system 34 includes EPB system 341, P-Lock system 342, and propulsion system 343.

[0051] VCIB41 and VCIB42 have essentially equivalent functions, but there are some differences in how they connect to the system including VP20. Specifically, VCIB41, brake system 321, steering system 331, EPB system 341, P-Lock system 342, propulsion system 343, and body system 36 are interconnected via a communication bus. VCIB42, brake system 322, steering system 332, and P-Lock system 342 are interconnected via a communication bus.

[0052] Thus, by including VCIB40 with VCIB41 and VCIB42, which have equivalent functions for the operation of some systems (brakes, steering, etc.), the control system between ADS11 and VP20 is made redundant. Therefore, in the event of any failure in the system... The functionality of the VP20 can be maintained by switching control systems as needed or shutting off the control system that has experienced a failure.

[0053] Each of the brake systems 321 and 322 is configured to control the braking device. Brake system 321 generates a braking command to the braking device in accordance with a control request output from ADS11 via VCIB41. Brake system 322 generates a braking command to the braking device in accordance with a control request output from ADS11 via VCIB42. Brake systems 321 and 322 may have equivalent functions. Alternatively, one of the brake systems 321 and 322 may be configured to independently control the braking force of each wheel, while the other is configured to control the generation of the same braking force on each wheel. Brake systems 321 and 322 may, for example, control the braking device using a braking command generated by one of the brake systems, and if a malfunction occurs in that brake system, control the braking device using a braking command generated by the other brake system.

[0054] Each of the steering systems 331 and 332 is configured to control the steering angle of the steering wheels of vehicle 1 using a steering device. Steering system 331 generates steering commands for the steering device in accordance with control requests output from ADS 11 via VCIB 41. Steering system 332 generates steering commands for the steering device in accordance with control requests output from ADS 11 via VCIB 42. Steering systems 331 and 332 may have equivalent functions. Alternatively, steering systems 331 and 332 may, for example, control the steering device using steering commands generated by one of the steering systems, and if a malfunction occurs in that steering system, control the steering device using steering commands generated by the other steering system.

[0055] The EPB system 341 controls the EPB according to control requests output from the ADS 11 via the VCIB 41. The EPB is provided separately from the braking system (such as a disc brake system) and locks the wheels by the operation of an actuator. For example, the EPB locks the wheels by using an actuator to actuate drum brakes for parking brakes provided on some of the wheels, or by using an actuator that can adjust the hydraulic pressure supplied to the braking system separately from the brake systems 321, 322 to actuate the braking system and lock the wheels. The EPB system 341 may have a brake hold function and may be configured to allow switching between brake hold activation and deactivation.

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

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

[0058] The active safety system 35 is communicatively connected to the brake system 321. As described above, the active safety system 35 uses the camera 54 and / or radar sensor 55 to detect obstacles ahead and outputs a braking command to the brake system 321 to increase the braking force if it determines that a collision is possible.

[0059] The body system 36 controls components such as turn signals, horns, and wipers according to control requests output from the ADS 11 via the VCIB 41.

[0060] In vehicle 1, for example, autonomous driving is performed when the autonomous driving mode described below is selected by a request from ADK10. As mentioned above, during autonomous driving, ADS11 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 along a predetermined driving route, and a plan to change driving lanes. ADS11 calculates the controllable physical quantities (acceleration, deceleration, tire steering angle, etc.) necessary for vehicle 1 to operate according to the created driving plan. ADS11 divides the physical quantities for each API execution cycle. ADS11 uses the API to output control requests representing the divided physical quantities to VCIB40. Furthermore, ADS11 obtains the vehicle state (actual direction of movement of vehicle 1, vehicle fixation state, etc.) from VP20 and recreates the driving plan reflecting the obtained vehicle state. In this way, ADS11 enables autonomous driving of vehicle 1.

[0061] <Mode transitions> Figure 3 is a state machine showing the transitions between vehicle modes. In this example, vehicle 1 has two vehicle modes: Manual Mode and Autonomous Mode. It has a Mode.

[0062] Manual mode is the same mode as for vehicles that are not compatible with autonomous driving, that is, a mode in which the VP20 is under the driver's control. In manual mode, the ADK10 is basically unable to control the VP20, except for certain requests.

[0063] The autonomous driving mode is a mode in which VP20 is under the control of ADK10 and vehicle 1 can be driven autonomously. In autonomous driving mode, ADK10 can communicate with VP20 after successful authentication of ADK10 by VCIB40. In autonomous driving mode, VP20 is under the control of ADK10 as a result of ADK10 issuing a "Request for Autonomy" as a vehicle mode request (described later).

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

[0065] In autonomous driving mode, the power mode is "Drive Mode," and the vehicle mode is "Autonomous Driving Mode."

[0066] Figure 4 shows the transmission direction of various signals or commands (requests) related to mode transitions. During mode transitions, VCIB40 receives power mode commands and vehicle mode commands from ADK10 (ADS11). VCIB40 also outputs power mode status signals, vehicle mode status signals, and readiness for autonomization signals to ADK10.

[0067] The power mode request is a request to control the power mode of the VP20. The power mode status signal is a signal that indicates the current power mode status of the VP20.

[0068] Figure 5 is a diagram illustrating a power mode request. Referring to Figure 5, in this vehicle 1, the power mode of VP20 can be controlled from ADS11 by sending a power mode request from ADS11 to VCIB40 according to a predetermined API.

[0069] The VP20 according to this embodiment has a power mode of sleep mode and It has three power modes: Wake mode, Drive mode, and two other modes.

[0070] Sleep mode is the state in which the VP20 is powered off (vehicle power is off). In sleep mode, there is no power supplied to the systems from the vehicle's main battery (not shown), and the systems (ECUs) of VCIB40 (VCIB41, 42) and the base vehicle 30 are not activated.

[0071] Wake mode is a state in which the VCIB40 is activated by power supplied from the vehicle's auxiliary battery (not shown). In wake mode, there is no power supply from the main battery, and with the exception of some body system ECUs in the body system 36 (for example, the verification ECU that performs smart key verification, and the body ECU that controls door locking / unlocking, etc.), ECUs other than the VCIB40 are not activated.

[0072] Drive mode is the state when the VP20 is powered on (vehicle power is on). In drive mode, power is supplied from the main battery, the systems of the VCIB40 and the base vehicle 30 are activated, and the VP20 becomes ready to drive.

[0073] The power mode request can take one of the values ​​from 0 to 6 as an argument. A value of 0 is set when no power mode request is made from ADS11 to VP40. If VCIB40 receives a power mode request with a value of 0, VP20 maintains the power mode at that time.

[0074] A value of 1 is set when the ADS11 requests sleep mode. A power mode request with a value of 1 requests the VP20 to be shut down. When VCIB40 receives a power mode request with a value of 1, the VP20's power mode transitions to sleep mode, and the VP20 is powered off.

[0075] Value 2 is set when ADS11 requests wake mode. In other words, a power mode request with value 2 set requests the VCIB40 to start up. When VCIB40 receives a power mode request with value 2 set, the VP20's power mode transitions to wake mode, and VCIB40 starts up by receiving power from the auxiliary battery.

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

[0077] The value 6 is set when the ADS11 requests drive mode (Drive). A power mode request with a value of 6 requests the VP20 to start up. When VCIB40 receives a power mode request with a value of 6, the VP20's power mode transitions to drive mode, and the VP20 is powered on.

[0078] Figure 6 is a diagram illustrating the power mode status signal. Referring to Figure 6, in this vehicle 1, the power mode status of VP20 is notified to ADS11 by transmitting a signal indicating the power mode status from VCIB40 to ADS11 according to a predetermined API.

[0079] The power mode status signal transmitted to the ADS11 can take any value from 0 to 7 as an argument. Values ​​0, 3 to 5 are currently unused and are considered reserves.

[0080] Value 1 is set when the power mode is sleep mode. Value 2 is set when the power This is set when the source mode is Wake mode. Value 6 is set when the power mode is Drive mode. Value 7 is set when there is some issue with the VP20 power supply. This setting is activated when an unhealthy situation occurs.

[0081] Figure 7 is a diagram illustrating a vehicle mode request. Referring to Figure 7, in this vehicle 1, the vehicle mode of VP20 can be controlled from ADS11 by sending a vehicle mode request from ADS11 to VCIB40 according to a predetermined API.

[0082] As described above, the VP20 according to this embodiment has two vehicle modes: manual mode and automatic driving mode.

[0083] A vehicle mode request can take one of the values ​​0 to 2 as an argument. A value of 0 is set when no vehicle mode request is made from ADS11 to VP40. If VCIB40 receives a vehicle mode request with a value of 0, the current vehicle mode is maintained.

[0084] A value of 1 is set when the ADS11 requests an autonomous driving mode (Request for Autonomy). In other words, a vehicle mode request with a value of 1 (Request for Autonomy) requests a transition from manual mode to autonomous driving mode.

[0085] Value 2 is set when requesting manual mode from ADS11 (Deactivation Request). In other words, when a vehicle mode request (Deactivation Request) is set with value 2. An activation request (Deactivation Request) is issued when switching from vehicle mode to autonomous driving mode. Requesting a transition to manual mode.

[0086] Figure 8 is a diagram illustrating the vehicle mode status signal. In this vehicle 1, the vehicle mode status of VP20 is notified to ADS11 by transmitting a signal indicating the vehicle mode status from VCIB40 to ADS11 according to a predetermined API.

[0087] The vehicle mode status signal can take either a value of 0 or 1 as its argument. A value of 0 is set when the vehicle mode is manual mode. A value of 1 is set when the vehicle mode is automatic driving mode. Note that when the VP20 starts up (power mode state is wake or drive), the vehicle mode starts from manual mode. In other words, the initial state of the vehicle mode is set to "manual mode".

[0088] Figure 9 is a diagram illustrating the automation preparation signal. In this vehicle 1, the VCIB40 transmits a signal to the ADS11 indicating the automation preparation status of the VP20 according to a predetermined API, thereby notifying the ADS11 whether or not the VP20 can transition to the automated driving mode.

[0089] The automation readiness signal can take one of two argument values ​​(0-2). A value of 0 is set when the vehicle is not ready for autonomous driving mode (Autonomous driving mode not ready). (Autonomous Mode). Value 1 is set when the vehicle is ready for autonomous driving mode (Ready For Autonomous Mode). Value 2 is set when the state has not yet been determined. Value 2 means invalid.

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

[0091] (1) The condition that ADK10 has been authenticated by VCIB40.

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

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

[0094] (4) The condition that the vehicle mode request is a "Request for Autonomy".

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

[0096] Figure 10 is a flowchart showing the procedure for processing transitions between vehicle modes. The flowchart in Figure 10 is initiated by VCIB40 when the power mode changes from sleep mode to wake mode or drive mode. In other words, the flowchart in Figure 10 is initiated when VCIB40 is started.

[0097] In S1, the VCIB40 sets the vehicle mode to manual mode. In other words, the initial state of the vehicle mode is set to "manual mode".

[0098] In S2, VCIB40 determines whether a transition to sleep mode in power mode has been requested. If VCIB40 determines that a transition to sleep mode in power mode has not been requested (NO in S2), it proceeds to S3. If VCIB40 determines that a transition to sleep mode in power mode has been requested (YES in S2), it terminates this series of processes.

[0099] In S3, VCIB40 determines whether the first condition is met. Specifically, VCIB40 determines whether the conditions (1) to (4) above, which are included in the first condition, are met. If VCIB40 determines that the first condition is not met (NO in S3), it returns to S1 and maintains the vehicle mode in manual mode. If VCIB40 determines that the first condition is met (YES in S3), it proceeds to S4.

[0100] In S4, the VCIB40 transitions the vehicle mode from manual mode to autonomous driving mode.

[0101] In S5, VCIB40 determines whether a transition to sleep mode in power mode has been requested. If VCIB40 determines that a transition to sleep mode in power mode has not been requested (NO in S5), it proceeds to S6. If VCIB40 determines that a transition to sleep mode in power mode has been requested (YES in S5), it terminates this series of processes.

[0102] In S6, VCIB40 determines whether the second condition is met. If VCIB40 determines that the second condition is not met (NO in S6), it returns to S4 and maintains the vehicle mode in autonomous driving mode. If VCIB40 determines that the second condition is met (YES in S6), it returns to S1 and transitions the vehicle mode from autonomous driving mode to manual mode.

[0103] As described above, in this embodiment, after authenticating ADK10, VCIB40 checks that the power mode status signal is "Drive mode" and the automation preparation signal is The vehicle mode is transitioned from manual mode to autonomous driving mode when the system is "Ready for Autonomous Mode" and the vehicle mode request is "Request for Autonomy". The fulfillment of the above condition (Condition 1) ensures that the VP20 is capable of handling autonomous driving mode. Therefore, when the VP20 is capable of handling autonomous driving mode, the vehicle mode is transitioned from manual mode to autonomous driving mode. Consequently, the transition of the vehicle mode from manual mode to autonomous driving mode can be performed appropriately.

[0104] Furthermore, VCIB40 transitions the vehicle mode from autonomous driving mode to manual mode when the vehicle mode request is a "Deactivation Request". This allows for the transition from automatic driving mode to manual mode in vehicle mode. By simplifying the conditions for this transition, the difficulty of implementing ADS11 can be reduced.

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[0187] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0188] 1 Vehicle, 10 Autonomous Driving Kit (ADK), 11 Autonomous Driving System (ADS), 111 Computer, 111A, 111B Communication Module, 113 Recognition Sensor, 1 14 Attitude sensors, 115 Sensor cleaner, 20 Vehicle platform (VP), 30 Base vehicle, 31 Integrated control manager, 32, 321, 322 Brake system, 33, 331, 332 Steering system, 34 Powertrain system, 341 EPB, 342 P-Lock system, 343 Propulsion system, 35 Active safety system, 36 Body system, 40-42 Vehicle control interface box (VCIB), 51, 52 Wheel speed sensors, 53 Pinion angle sensor, 54 Camera, 55, 56 Radar sensors.

Claims

[Claim 1] A vehicle platform configured to be equipped with an autonomous driving system, Vehicles and, The vehicle includes a vehicle control interface box that provides an interface between the vehicle and the automated driving system, The aforementioned vehicle platform is The vehicle modes include a manual mode under the control of the vehicle's driver and an automatic driving mode under the control of the automatic driving system. The power modes include a sleep mode in which the vehicle power is off, a wake mode in which the vehicle control interface box is activated, and a drive mode in which the vehicle power is on. The vehicle control interface box is configured to receive vehicle mode requests from the automated driving system that request control of the vehicle mode, and is configured to output an automation readiness signal to the automated driving system indicating whether the vehicle platform is ready for the automated driving mode. A vehicle platform wherein the vehicle control interface box transitions the vehicle mode from manual mode to automatic mode when it satisfies a first condition which includes that the automatic driving system is authenticated, that it has received the vehicle mode request requesting the automatic driving mode, that the power mode is the drive mode, and that the automation readiness signal indicates that the automatic driving mode is ready.

Images