US20210245778A1 - Vehicle and method of controlling vehicle - Google Patents

Vehicle and method of controlling vehicle Download PDF

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Publication number
US20210245778A1
US20210245778A1 US17/154,058 US202117154058A US2021245778A1 US 20210245778 A1 US20210245778 A1 US 20210245778A1 US 202117154058 A US202117154058 A US 202117154058A US 2021245778 A1 US2021245778 A1 US 2021245778A1
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Prior art keywords
vehicle
command
mode
value
remarks
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US17/154,058
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English (en)
Inventor
Ikuma SUZUKI
Satoshi Katoh
Ryo Irie
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Toyota Motor Corp
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Toyota Motor Corp
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Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA reassignment TOYOTA JIDOSHA KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: IRIE, RYO, KATOH, SATOSHI, SUZUKI, IKUMA
Publication of US20210245778A1 publication Critical patent/US20210245778A1/en
Priority to US17/722,861 priority Critical patent/US11731650B2/en
Priority to US18/343,202 priority patent/US20230339501A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2050/0062—Adapting control system settings
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    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
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    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position

Definitions

  • the present disclosure relates to control of a vehicle that is carrying out autonomous driving.
  • An autonomous driving system that has a vehicle travel without requiring an operation by a user has recently been developed.
  • the autonomous driving system may be provided separately from the vehicle with an interface being interposed.
  • Japanese Patent Laying-Open No. 2018-132015 discloses a technique allowing addition of an autonomous driving function without greatly modifying an existing vehicle platform, by providing an electronic control unit (ECU) that manages motive power of a vehicle and an ECU for autonomous driving independently of each other.
  • ECU electronice control unit
  • deterioration over time or misalignment of a vehicle may cause deviation between an estimated value of a steering angle based on information obtained from the vehicle platform and an actually requested steering angle. Therefore, elimination of deviation of the steering angle is required in order to appropriately control the vehicle.
  • An object of the present disclosure is to provide a vehicle on which an autonomous driving system is mountable, the vehicle achieving improved accuracy in steering during autonomous driving.
  • a vehicle is a vehicle on which an autonomous driving system is mountable.
  • the vehicle includes a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system and a vehicle control interface that interfaces between the autonomous driving system and the vehicle platform.
  • the vehicle platform receives a tire turning angle command that requests for a wheel steer angle transmitted from the autonomous driving system.
  • the vehicle platform transmits a signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle to the autonomous driving system.
  • the vehicle platform steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle is in a straight-ahead travel state.
  • the tire turning angle command is set based on a relative value relative to the estimated wheel angle.
  • Deviation of the steering angle can thus be eliminated and accuracy in steering during autonomous driving can be improved.
  • the estimated wheel angle while the vehicle is in the straight-ahead travel state is set as a correction value for a value representing the tire turning angle command and the correction value is updated while an autonomous mode is not set.
  • the estimated wheel angle while the vehicle is in the straight-ahead travel state is thus set as the correction value for the tire turning angle command, accuracy in steering can be improved. Furthermore, the correction value is updated while the autonomous mode is not set. Therefore, for example, great change in behavior of the vehicle during autonomous driving in case of great change in correction value can be suppressed.
  • a vehicle includes an autonomous driving system and a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system.
  • a command that requests for a wheel steer angle is transmitted from the autonomous driving system to the vehicle platform.
  • a signal indicating an estimated value of the wheel steer angle is transmitted from the vehicle platform to the autonomous driving system.
  • the autonomous driving system requests for the wheel steer angle based on an estimated value of the wheel steer angle while the vehicle is in a straight-ahead travel state.
  • FIG. 1 is a diagram showing overview of a MaaS system in which a vehicle according to an embodiment of the present disclosure is used.
  • FIG. 2 is a diagram for illustrating in detail a configuration of each of an ADS, a vehicle control interface, and a VP.
  • FIG. 3 is a flowchart showing exemplary processing for calculating a correction value performed in the ADS.
  • FIG. 4 is a flowchart showing exemplary processing performed in the ADS in an autonomous mode.
  • FIG. 5 is a flowchart showing exemplary processing performed in the vehicle control interface.
  • FIG. 6 is a timing chart for illustrating operations by the ADS, the vehicle control interface, and the VP.
  • FIG. 7 is a diagram of an overall configuration of MaaS.
  • FIG. 8 is a diagram of a system configuration of a MaaS vehicle.
  • FIG. 9 is a diagram showing a typical flow in an autonomous driving system.
  • FIG. 10 is a diagram showing an exemplary timing chart of an API relating to stop and start of the MaaS vehicle.
  • FIG. 11 is a diagram showing an exemplary timing chart of the API relating to shift change of the MaaS vehicle.
  • FIG. 12 is a diagram showing an exemplary timing chart of the API relating to wheel lock of the MaaS vehicle.
  • FIG. 13 is a diagram showing a limit value of variation in tire turning angle.
  • FIG. 14 is a diagram illustrating intervention by an accelerator pedal.
  • FIG. 15 is a diagram illustrating intervention by a brake pedal.
  • FIG. 16 is a diagram of an overall configuration of MaaS.
  • FIG. 17 is a diagram of a system configuration of a vehicle.
  • FIG. 18 is a diagram showing a configuration of supply of power of the vehicle.
  • FIG. 19 is a diagram illustrating strategies until the vehicle is safely brought to a standstill at the time of occurrence of a failure.
  • FIG. 20 is a diagram showing arrangement of representative functions of the vehicle.
  • FIG. 1 is a diagram showing overview of a mobility as a service (MaaS) system in which a vehicle according to an embodiment of the present disclosure is used.
  • this MaaS system includes a vehicle 10 , a data server 500 , a mobility service platform (which is denoted as “MSPF” below) 600 , and autonomous driving related mobility services 700 .
  • MSPF mobility service platform
  • Vehicle 10 includes a vehicle main body 100 and an autonomous driving kit (which is denoted as “ADK” below) 200 .
  • Vehicle main body 100 includes a vehicle control interface 110 , a vehicle platform (which is denoted as “VP” below) 120 , and a data communication module (DCM) 190 .
  • ADK autonomous driving kit
  • VP vehicle platform
  • DCM data communication module
  • Vehicle 10 can carry out autonomous driving in accordance with commands from ADK 200 attached to vehicle main body 100 .
  • FIG. 1 shows vehicle main body 100 and ADK 200 at positions distant from each other, ADK 200 is actually attached to a rooftop or the like of vehicle main body 100 .
  • ADK 200 can also be removed from vehicle main body 100 .
  • vehicle main body 100 can travel by driving by a user.
  • VP 120 carries out travel control (travel control in accordance with an operation by a user) in a manual mode.
  • Vehicle control interface 110 can communicate with ADK 200 over a controller area network (CAN). Vehicle control interface 110 receives various commands from ADK 200 or outputs a state of vehicle main body 100 to ADK 200 by executing a prescribed application program interface (API) defined for each communicated signal.
  • API application program interface
  • vehicle control interface 110 When vehicle control interface 110 receives a command from ADK 200 , it outputs a control command corresponding to the received command to VP 120 . Vehicle control interface 110 obtains various types of information on vehicle main body 100 from VP 120 and outputs the state of vehicle main body 100 to ADK 200 . A configuration of vehicle control interface 110 will be described in detail later.
  • VP 120 includes various systems and various sensors for controlling vehicle main body 100 .
  • VP 120 carries out various types of vehicle control in accordance with a command given from ADK 200 through vehicle control interface 110 .
  • ADK 200 autonomous driving of vehicle 10 is carried out.
  • a configuration of VP 120 will also be described in detail later.
  • ADK 200 includes an autonomous driving system (which is denoted as “ADS” below) 202 for autonomous driving of vehicle 10 .
  • ADS 202 creates, for example, a driving plan of vehicle 10 and outputs various commands for traveling vehicle 10 in accordance with the created driving plan to vehicle control interface 110 in accordance with the API defined for each command.
  • ADS 202 receives various signals indicating states of vehicle main body 100 from vehicle control interface 110 in accordance with the API defined for each signal and has the received vehicle state reflected on creation of the driving plan.
  • a configuration of ADS 202 will also be described later.
  • DCM 190 includes a communication interface (I/F) for vehicle main body 100 to wirelessly communicate with data server 500 .
  • DCM 190 outputs various types of vehicle information such as a speed, a position, or an autonomous driving state to data server 500 .
  • DCM 190 receives from autonomous driving related mobility services 700 through MSPF 600 and data server 500 , various types of data for management of travel of an autonomous driving vehicle including vehicle 10 by mobility services 700 .
  • MSPF 600 is an integrated platform to which various mobility services are connected.
  • various mobility services for example, various mobility services provided by a ride-share company, a car-sharing company, an insurance company, a rent-a-car company, and a taxi company
  • Various mobility services including mobility services 700 can use various functions provided by MSPF 600 by using APIs published on MSPF 600 , depending on service contents.
  • Autonomous driving related mobility services 700 provide mobility services using an autonomous driving vehicle including vehicle 10 .
  • Mobility services 700 can obtain, for example, operation control data of vehicle 10 that communicates with data server 500 or information stored in data server 500 from MSPF 600 , by using the APIs published on MSPF 600 .
  • Mobility services 700 transmit, for example, data for managing an autonomous driving vehicle including vehicle 10 to MSPF 600 , by using the API.
  • MSPF 600 publishes APIs for using various types of data on vehicle states and vehicle control necessary for development of the ADS, and an ADS provider can use as the APIs, the data on the vehicle states and vehicle control necessary for development of the ADS stored in data server 500 .
  • FIG. 2 is a diagram for illustrating in detail a configuration of each of ADS 202 , vehicle control interface 110 , and VP 120 .
  • ADS 202 includes a compute assembly 210 , a human machine interface (HMI) 230 , sensors for perception 260 , sensors for pose 270 , and a sensor cleaning 290 .
  • HMI human machine interface
  • compute assembly 210 obtains an environment around the vehicle and a pose, a behavior, and a position of the vehicle from various sensors which will be described later as well as a state of the vehicle from VP 120 which will be described later through vehicle control interface 110 and sets a next operation (acceleration, deceleration, or turning) of the vehicle.
  • Compute assembly 210 outputs various instructions for realizing a set next operation of vehicle 10 to vehicle control interface 110 .
  • HMI 230 presents information to a user and accepts an operation during autonomous driving, during driving requiring an operation by a user, or at the time of transition between autonomous driving and driving requiring an operation by the user.
  • HMI 230 is implemented, for example, by a touch panel display, a display apparatus, and an operation apparatus.
  • Sensors for perception 260 include sensors that perceive an environment around the vehicle, and are implemented, for example, by at least any of laser imaging detection and ranging (LIDAR), a millimeter-wave radar, and a camera.
  • LIDAR laser imaging detection and ranging
  • millimeter-wave radar a millimeter-wave radar
  • the LIDAR refers to a distance measurement apparatus that measures a distance based on a time period from emission of pulsed laser beams (infrared rays) until return of the laser beams reflected by an object.
  • the millimeter-wave radar is a distance measurement apparatus that measures a distance or a direction to an object by emitting radio waves short in wavelength to the object and detecting radio waves that return from the object.
  • the camera is arranged, for example, on a rear side of a room mirror in a compartment and used for shooting an image of the front of the vehicle.
  • Information obtained by sensors for perception 260 is output to compute assembly 210 .
  • AI artificial intelligence
  • an image processing processor onto images or video images shot by the camera, another vehicle, an obstacle, or a human in front of the vehicle can be recognized.
  • Sensors for pose 270 include sensors that detect a pose, a behavior, or a position of the vehicle, and are implemented, for example, by an inertial measurement unit ° MU) or a global positioning system (GPS).
  • ° MU inertial measurement unit
  • GPS global positioning system
  • the MU detects, for example, an acceleration in a front-rear direction, a lateral direction, and a vertical direction of the vehicle and an angular speed in a roll direction, a pitch direction, and a yaw direction of the vehicle.
  • the GPS detects a position of vehicle 10 based on information received from a plurality of GPS satellites that orbit the Earth. Information obtained by sensors for pose 270 is output to compute assembly 210 .
  • Sensor cleaning 290 removes soiling attached to various sensors during travel of the vehicle.
  • Sensor cleaning 290 removes soiling on a lens of the camera or a portion from which laser beams or radio waves are emitted, for example, with a cleaning solution or a wiper.
  • Vehicle control interface 110 includes a vehicle control interface box (VCIB) 111 and a VCIB 112 .
  • VCIBs 111 and 112 each contain a central processing unit (CPU) and a memory (including, for example, a read only memory (ROM) and a random access memory (RAM)) neither of which is shown.
  • CPU central processing unit
  • ROM read only memory
  • RAM random access memory
  • VCIB 111 is equivalent in function to VCIB 112 , it is partially different in a plurality of systems connected thereto that make up VP 120 .
  • VCIBs 111 and 112 are each communicatively connected to compute assembly 210 of ADS 202 .
  • VCIB 111 and VCIB 112 are communicatively connected to each other.
  • Each of VCIBs 111 and 112 relays various instructions from ADS 202 and provides them as control commands to VP 120 . More specifically, each of VCIBs 111 and 112 uses various command instructions provided from ADS 202 to generate control commands to be used for control of each system of VP 120 by using information such as a program (for example, an API) stored in a memory and provides the control commands to a destination system. Each of VCIBs 111 and 112 relays vehicle information output from VP 120 and provides the vehicle information as a vehicle state to ADS 202 . The information indicating the vehicle state may be identical to the vehicle information, or information to be used for processing performed in ADS 202 may be extracted from the vehicle information.
  • VCIB 111 and VCIB 112 equivalent in function relating to an operation of at least one of (for example, braking or steering) systems are provided, control systems between ADS 202 and VP 120 are redundant. Thus, when some kind of failure occurs in a part of the system, the function (turning or stopping) of VP 120 can be maintained by switching between the control systems as appropriate or disconnecting a control system where failure has occurred.
  • VP 120 includes brake systems 121 A and 121 B, steering systems 122 A and 122 B, an electric parking brake (EPB) system 123 A, a P-Lock system 123 B, a propulsion system 124 , a pre-crash safety (PCS) system 125 , and a body system 126 .
  • EPB electric parking brake
  • PCS pre-crash safety
  • VCIB 111 is communicatively connected to brake system 121 B, steering system 122 A, EPB system 123 A, P-Lock system 123 B, propulsion system 124 , and body system 126 of the plurality of systems of VP 120 , through a communication bus.
  • VCIB 112 is communicatively connected to brake system 121 A, steering system 122 B, and P-Lock 123 B of the plurality of systems of VP 120 , through a communication bus.
  • Brake systems 121 A and 121 B can control a plurality of braking apparatuses provided in wheels of the vehicle.
  • Brake system 121 A may be equivalent in function to brake system 121 B, or any one of them may be able to independently control braking force of each wheel during travel of the vehicle and the other thereof may be able to control braking force such that equal braking force is generated in the wheels during travel of the vehicle.
  • the braking apparatus includes, for example, a disc brake system that is operated with a hydraulic pressure regulated by an actuator.
  • a wheel speed sensor 127 is connected to brake system 121 B.
  • Wheel speed sensor 127 is provided, for example, in each wheel of the vehicle and detects a rotation speed of each wheel. Wheel speed sensor 127 outputs the detected rotation speed of each wheel to brake system 121 B.
  • Brake system 121 B outputs the rotation speed of each wheel to VCIB 111 as one of pieces of information included in vehicle information.
  • Each of brake systems 121 A and 121 B generates a braking instruction to a braking apparatus in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • brake systems 121 A and 121 B control the braking apparatus based on a braking instruction generated in any one of the brake systems, and when a failure occurs in any one of the brake systems, the braking apparatus is controlled based on a braking instruction generated in the other brake system.
  • Steering systems 122 A and 122 B can control a steering angle of a steering wheel of vehicle 10 with a steering apparatus.
  • Steering system 122 A is similar in function to steering system 122 B.
  • the steering apparatus includes, for example, rack-and-pinion electric power steering (EPS) that allows adjustment of a steering angle by an actuator.
  • EPS rack-and-pinion electric power steering
  • a pinion angle sensor 128 A is connected to steering system 122 A.
  • a pinion angle sensor 128 B provided separately from pinion angle sensor 128 A is connected to steering system 122 B.
  • Each of pinion angle sensors 128 A and 128 B detects an angle of rotation (a pinion angle) of a pinion gear coupled to a rotation shaft of the actuator that implements the steering apparatus.
  • Pinion angle sensors 128 A and 128 B output detected pinion angles to steering systems 122 A and 122 B, respectively.
  • Each of steering systems 122 A and 122 B generates a steering instruction to the steering apparatus in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • steering systems 122 A and 122 B control the steering apparatus based on the steering instruction generated in any one of the steering systems, and when a failure occurs in any one of the steering systems, the steering apparatus is controlled based on a steering instruction generated in the other steering system.
  • EPB system 123 A can control the EPB provided in at least any of a plurality of wheels provided in vehicle 10 .
  • the EPB is provided separately from the braking apparatus, and fixes a wheel by an operation of an actuator.
  • the EPB for example, activates a drum brake for a parking brake provided in at least one of the plurality of wheels provided in vehicle 10 to fix the wheel with an actuator, or activates a braking apparatus to fix a wheel with an actuator capable of regulating a hydraulic pressure to be supplied to the braking apparatus separately from brake systems 121 A and 121 B.
  • EPB system 123 A controls the EPB in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • P-Lock system 123 B can control a P-Lock apparatus provided in a transmission of vehicle 10 .
  • the P-Lock apparatus fits a protrusion provided at a tip end of a parking lock pawl, a position of which is adjusted by an actuator, into a tooth of a gear (locking gear) provided as being coupled to a rotational element in the transmission. Rotation of an output shaft of the transmission is thus fixed and the wheels are fixed.
  • P-Lock system 123 B controls the P-Lock apparatus in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • P-Lock system 123 B activates the P-Lock apparatus, for example, when a control command provided from ADS 202 through vehicle control interface 110 includes a control command to set a shift range to a parking range (which is denoted as a P range below), and deactivates the P-Lock apparatus when the control command includes a control command to set the shift range to a range other than the P range.
  • Propulsion system 124 can switch a shift range with the use of a shift apparatus and can control driving force of vehicle 10 in a direction of movement of vehicle 10 that is generated from a drive source.
  • the shift apparatus can select any of a plurality of shift ranges.
  • the plurality of shift ranges include, for example, the P range, a neutral range, a forward travel range, and a rearward travel range.
  • the drive source includes, for example, a motor generator and an engine.
  • Propulsion system 124 controls the shift apparatus and the drive source in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • Propulsion system 124 controls the shift apparatus to set the shift range to the P range, for example, when a control command provided from ADS 202 through vehicle control interface 110 includes the control command for setting the shift range to the P range.
  • PCS system 125 controls the vehicle to avoid collision or to mitigate damage by using a camera/radar 129 .
  • PCS system 125 is communicatively connected to brake system 121 B.
  • PCS system 125 detects an obstacle (an obstacle or a human) in front by using, for example, camera/radar 129 , and when it determines that there is possibility of collision based on a distance to the obstacle, it outputs a braking instruction to brake system 121 B so as to increase braking force.
  • an obstacle an obstacle or a human
  • Body system 126 can control, for example, components such as a direction indicator, a horn, or a wiper, depending on a state or an environment of travel of vehicle 10 .
  • Body system 126 controls the above-described components in accordance with a prescribed control command provided from ADS 202 through vehicle control interface 110 .
  • An operation apparatus that can manually be operated by a user for the braking apparatus, the steering apparatus, the EPB, the P-Lock apparatus, the shift apparatus, and the drive source described above may separately be provided.
  • Various commands provided from ADS 202 to vehicle control interface 110 include a propulsion direction command that requests for switching of the shift range, an immobilization command that requests for activation or deactivation of the EPB or the P-Lock apparatus, an acceleration command that requests for acceleration or deceleration of vehicle 10 , a tire turning angle command that requests for a tire turning angle of the steering wheel, and an automating command that requests for switching of an autonomous state between an autonomous mode and a manual mode.
  • ADS 202 initially creates a driving plan during autonomous driving.
  • the driving plan includes a plurality of plans relating to operations by vehicle 10 such as a plan to continue straight-ahead travel, a plan to turn left or right at a prescribed intersection on the way on a predetermined travel path, or a plan to change a driving lane to a lane different from the lane on which the vehicle is currently traveling.
  • ADS 202 extracts a physical control quantity (for example, an acceleration or a deceleration or a tire turning angle) necessary for vehicle 10 to operate in accordance with the created driving plan.
  • ADS 202 splits the physical quantity for each API execution cycle.
  • ADS 202 executes the API based on the split physical quantity and provides various commands to vehicle control interface 110 .
  • ADS 202 obtains a vehicle state from VP 120 and creates again a driving plan on which the obtained vehicle state is reflected. ADS 202 thus allows autonomous driving of vehicle 10 .
  • deterioration over time for example, uneven wear of a tire
  • misalignment of vehicle 10 may cause deviation between an estimated wheel angle which is an estimated value of a steering angle based on information (for example, a pinion angle) obtained from VP 120 and a steering angle actually requested in a tire turning angle command. Therefore, elimination of deviation of the steering angle for improving accuracy in steering is required in order to appropriately control the vehicle.
  • VP 120 steers the vehicle in accordance with a tire turning angle command set based on a wheel estimation angle while vehicle 10 is in the straight-ahead travel state.
  • FIG. 3 is a flowchart showing exemplary processing for calculating a correction value performed in ADS 202 .
  • ADS 202 repeatedly performs processing as below, for example, each time a predetermined period elapses.
  • ADS 202 determines whether or not vehicle 10 is in the straight-ahead travel state. For example, when a white line indicating a driving lane on which vehicle 10 travels exhibits a straight line equal to or longer than a prescribed length or when a record of movement of vehicle 10 based on the GPS shows a straight line equal to or longer than a prescribed length, ADS 202 may determine vehicle 10 as being in the straight-ahead travel state. When vehicle 10 is determined as being in the straight-ahead travel state (YES in S 11 ), the process makes transition to S 12 .
  • ADS 202 obtains an estimated wheel angle.
  • ADS 202 obtains the estimated wheel angle based on the vehicle state provided from VP 120 through vehicle control interface 110 .
  • VP 120 obtains a pinion angle based on a result of detection by pinion angle sensor 128 A or 128 B and calculates the estimated wheel angle based on the obtained pinion angle.
  • VP 120 calculates the estimated wheel angle each time a predetermined period elapses and provides the calculated estimated wheel angle as one of pieces of information included in the vehicle state to ADS 202 through vehicle control interface 110 .
  • ADS 202 calculates a relative value.
  • ADS 202 calculates as a relative value, a difference between a value of the estimated wheel angle while vehicle 10 is in the straight-ahead travel state and a reference value of the tire turning angle while the vehicle is in the straight-ahead travel state.
  • the reference value of the tire turning angle while the vehicle is in the straight-ahead travel state is a value that represents a state that the vehicle is not steered, and it is, for example, a value indicating zero.
  • ADS 202 determines whether or not the autonomous state has been set to the manual mode.
  • ADS 202 determines whether or not the autonomous state has been set to the manual mode, for example, based on a state of a flag that indicates the autonomous mode.
  • the flag indicating the autonomous mode is turned on, for example, when an operation by a user onto HMI 230 for carrying out autonomous driving is accepted, and the flag is turned off when the autonomous mode is canceled by the operation performed by the user or in accordance with a driving condition and switching to the manual mode is made.
  • the process makes transition to S 15 .
  • ADS 202 updates the correction value. Specifically, ADS 202 updates the value stored as the correction value to the relative value calculated in S 13 .
  • ADS 202 sets as the tire turning angle command, a value calculated by adding the correction value to the initial value of the tire turning angle command corresponding to the steering angle set in accordance with the driving plan.
  • FIG. 4 is a flowchart showing exemplary processing performed in ADS 202 in the autonomous mode.
  • ADS 202 determines whether or not the autonomous state has been set to the autonomous mode. For example, when the flag indicating the autonomous mode described above is on, ADS 202 determines the autonomous state as having been set to the autonomous mode. When the autonomous state is determined as having been set to the autonomous mode (YES in S 21 ), the process makes transition to S 22 .
  • ADS 202 sets the initial value of the tire turning angle command.
  • ADS 202 sets the initial value of the tire turning angle command in accordance with the driving plan. For example, when the driving plan indicates straight-ahead travel, ADS 202 sets the initial value of the tire turning angle command to zero.
  • ADS 202 corrects the tire turning angle command.
  • ADS 202 corrects the tire turning angle command with the correction value stored in a storage. Specifically, ADS 202 sets as the tire turning angle command, a value calculated by adding the correction value to the initial value of the tire turning angle command.
  • ADS 202 transmits the corrected tire turning angle command to vehicle control interface 110 .
  • FIG. 5 is a flowchart showing exemplary processing performed in vehicle control interface 110 .
  • vehicle control interface 110 determines whether or not it has received the tire turning angle command from ADS 202 .
  • the process makes transition to S 32 .
  • vehicle control interface 110 controls the steering apparatus.
  • Vehicle control interface 110 controls the steering apparatus in accordance with the received tire turning angle command.
  • vehicle control interface 110 obtains the estimated wheel angle.
  • vehicle control interface 110 transmits the obtained estimated wheel angle to ADS 202 as one of pieces of information of the vehicle state.
  • FIG. 6 is a timing chart for illustrating operations by ADS 202 , vehicle control interface 110 , and VP 120 .
  • the abscissa in FIG. 6 represents time.
  • LN 1 in FIG. 6 represents variation in autonomous state.
  • LN 2 in FIG. 6 represents variation in relative value.
  • LN 3 in FIG. 6 represents variation in correction value.
  • the initial value of the tire turning angle command is set in accordance with the driving plan (S 22 ) and the correction value is added to the set initial value to correct the tire turning angle command (S 23 ).
  • the corrected tire turning angle command is transmitted to vehicle control interface 110 (S 24 ).
  • vehicle control interface 110 When vehicle control interface 110 receives the tire turning angle command (YES in S 31 ), the steering apparatus is controlled (S 32 ). Thereafter, the estimated wheel angle is obtained (S 33 ) and the estimated wheel angle is transmitted to ADS 202 (S 34 ).
  • the estimated wheel angle is obtained from VP 120 (S 12 ). Then, the calculated estimated wheel angle is calculated as the estimated value (S 13 ). As shown with LN 2 in FIG. 6 , even though the estimated value calculated at time t 1 is different from a previous value indicated immediately before time t 1 , the correction value is not updated as shown with LN 3 in FIG. 6 while the autonomous mode is set as the autonomous state (NO in S 14 ).
  • the autonomous mode is then set (YES in S 21 ) and the initial value of the tire turning angle command is set in accordance with the driving plan (S 22 )
  • the updated correction value is added to the set initial value to correct the tire turning angle command (S 23 ), and the corrected tire turning angle command is transmitted to vehicle control interface 110 (S 24 ).
  • the vehicle is steered in accordance with the tire turning angle command set based on the wheel estimation angle while vehicle 10 is in the straight-ahead travel state. Therefore, deviation of the steering angle can be eliminated and accuracy in steering during autonomous driving can be improved. Therefore, a vehicle on which the autonomous driving system can be mounted, the vehicle achieving improved accuracy in steering during autonomous driving, can be provided.
  • the tire turning angle command is set based on a relative value relative to the estimated wheel angle, deviation of the steering angle can be eliminated and accuracy in steering during autonomous driving can be improved when vehicle 10 travels straight or makes a turn.
  • the estimated wheel angle while vehicle 10 is in the straight-ahead travel state is set as the correction value for the tire turning angle command, accuracy in steering can be improved.
  • the correction value is updated while the autonomous mode is not set. Therefore, for example, great change in behavior of the vehicle during autonomous driving in case of great change in correction value can be suppressed.
  • VCIB 111 or 112 is described as performing the processing shown in the flowchart in FIG. 5 , for example, VCIBs 111 and 112 may perform the processing described above in coordination.
  • vehicle control interface 110 is described as performing the processing shown in the flowchart in FIG. 5 , for example, a system (specifically, steering system 122 A or 122 B) to be controlled by VP 120 may perform a part or the entirety of the processing described above.
  • the relative value is described as being calculated each time a predetermined period elapses and the correction value is described as being updated with the calculated relative value while the autonomous state is set to the manual mode.
  • the correction value may be updated with the relative value calculated while the autonomous state is set to the manual mode.
  • This document is an API specification of Toyota Vehicle Platform and contains the outline, the usage and the caveats of the application interface.
  • ADS Autonomous Driving System ADK Autonomous Driving Kit VP Vehicle Platform. VCIB Vehicle Control Interface Box. This is an ECU for the interface and the signal converter between ADS and Toyota VP’s sub systems.
  • Vehicle control technology is being used as an interface for technology providers.
  • the system architecture as a premise is shown ( FIG. 8 ).
  • the target vehicle will adopt the physical architecture of using CAN for the bus between ADS and VCIB.
  • the CAN frames and the bit assignments are shown in the form of “bit assignment table” as a separate document.
  • the ADS should create the driving plan, and should indicate vehicle control values to the VP.
  • the Toyota VP should control each system of the VP based on indications from an ADS.
  • CAN will be adopted as a communication line between ADS and VP. Therefore, basically, APIs should be executed every defined cycle time of each API by ADS.
  • a typical workflow of ADS of when executing APIs is as follows ( FIG. 9 ).
  • the below diagram shows an example.
  • Acceleration Command requests deceleration and makes the vehicle stop. After Actual_Moving_Direction is set to “standstill”, any shift position can be requested by Propulsion Direction Command. (In the example below, “D” “R”).
  • Acceleration Command has to request deceleration.
  • acceleration/deceleration is controlled based on Acceleration Command value ( FIG. 11 ).
  • Immobilization Command “Release” is requested when the vehicle is stationary. Acceleration Command is set to Deceleration at that time.
  • the vehicle is accelerated/decelerated based on Acceleration Command value ( FIG. 12 ).
  • Tire Turning Angle Command is the relative value from Estimated_Road_Wheel_Angle_Actual.
  • target vehicle deceleration is the sum of 1) estimated deceleration from the brake pedal stroke and 2) deceleration request from AD system.
  • ADS confirms Propulsion Direction by Driver and changes shift position by using Propulsion Direction Command.
  • the maximum is selected from
  • Tire Turning Angle Command is not accepted if the driver strongly turns the steering wheel.
  • the above-mentioned is determined by Steering_Wheel_Intervention flag.
  • Brake_Pedal_Intervention This signal shows whether the brake pedal is T.B.D. depressed by a driver (intervention) Steering_Wheel_Intervention This signal shows whether the steering wheel is T.B.D. turned by a driver (intervention) Shift_Lever_Intervention This signal shows whether the shift lever is controlled T.B.D.
  • the steering angle rate is calculated from the vehicle speed using 2.94 m/s 3
  • the threshold speed between A and B is 10 [km/h] ( FIG. 13 ).
  • This signal shows whether the accelerator pedal is depressed by a driver (intervention).
  • This signal shows whether the brake pedal is depressed by a driver (intervention).
  • This signal shows whether the steering wheel is turned by a driver (intervention).
  • This signal shows whether the shift lever is controlled by a driver (intervention).
  • This signal is output as the absolute value.
  • VCIB achieves the following procedure after Ready-ON. (This functionality will be implemented from the CV.)
  • this signal may be set to “Occupied”.
  • Vehicle power off condition In this mode, the high voltage battery does not supply power, and neither VCIB nor other VP ECUs are activated.
  • VCIB is awake by the low voltage battery. In this mode, ECUs other than VCIB are not awake except for some of the body electrical ECUs.
  • the high voltage battery supplies power to the whole VP and all the VP ECUs including VCIB are awake.
  • Transmission interval is 100 ms within fuel cutoff motion delay allowance time (1 s) so that data can be transmitted more than 5 times. In this case, an instantaneous power interruption is taken into account.
  • This document is an architecture specification of Toyota's MaaS Vehicle Platform and contains the outline of system in vehicle level.
  • the representative vehicle with 19ePF is shown as follows.
  • ADS Autonomous Driving System ADK Autonomous Driving Kit VP Vehicle Platform. VCIB Vehicle Control Interface Box. This is an ECU for the interface and the signal converter between ADS and Toyota VP’s sub systems.
  • the overall structure of MaaS with the target vehicle is shown ( FIG. 16 ).
  • Vehicle control technology is being used as an interface for technology providers.
  • the system architecture on the vehicle as a premise is shown ( FIG. 17 ).
  • the target vehicle of this document will adopt the physical architecture of using CAN for the bus between ADS and VCIB.
  • the CAN frames and the bit assignments are shown in the form of “bit assignment chart” as a separate document.
  • the power supply architecture as a premise is shown as follows ( FIG. 18 ).
  • the blue colored parts are provided from an ADS provider. And the orange colored parts are provided from the VP.
  • the power structure for ADS is isolate from the power structure for VP. Also, the ADS provider should install a redundant power structure isolated from the VP.
  • the basic safety concept is shown as follows.
  • the entire vehicle achieves the safety state 2 by activating the immobilization system.
  • the Braking System is designed to prevent the capability from becoming 0.3 G or less.
  • the Steering System is designed to prevent the capability from becoming 0.3 G or less.
  • any single failure on the Power Supply System doesn't cause loss of power supply functionality. However, in case of the primary power failure, the secondary power supply system keeps supplying power to the limited systems for a certain time.
  • Toyota's MaaS vehicle adopts the security document issued by Toyota as an upper document.
  • the entire risk includes not only the risks assumed on the base e-PF but also the risks assumed for the Autono-MaaS vehicle.
  • the countermeasure for a remote attack is shown as follows.
  • the autonomous driving kit communicates with the center of the operation entity, end-to-end security should be ensured. Since a function to provide a travel control instruction is performed, multi-layered protection in the autonomous driving kit is required. Use a secure microcomputer or a security chip in the autonomous driving kit and provide sufficient security measures as the first layer against access from the outside. Use another secure microcomputer and another security chip to provide security as the second layer. (Multi-layered protection in the autonomous driving kit including protection as the first layer to prevent direct entry from the outside and protection as the second layer as the layer below the former)
  • the countermeasure for a modification is shown as follows.
  • measures against a counterfeit autonomous driving kit For measures against a counterfeit autonomous driving kit, device authentication and message authentication are carried out. In storing a key, measures against tampering should be provided and a key set is changed for each pair of a vehicle and an autonomous driving kit. Alternatively, the contract should stipulate that the operation entity exercise sufficient management so as not to allow attachment of an unauthorized kit. For measures against attachment of an unauthorized product by an Autono-MaaS vehicle user, the contract should stipulate that the operation entity exercise management not to allow attachment of an unauthorized kit.

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