US20210245779A1 - Vehicle and vehicle control interface - Google Patents
Vehicle and vehicle control interface Download PDFInfo
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Definitions
- the present disclosure relates to a vehicle and a vehicle control interface.
- Japanese Patent Laying-Open No. 2018-132015 discloses an autonomous driving system that conducts centralized autonomous driving control for a vehicle.
- This autonomous driving system includes a camera, a laser device, a radar device, an operation device, a gradient sensor, autonomous driving equipment, and an autonomous-driving ECU (Electronic Control Unit).
- Japanese Patent Laying-Open No. 2018-132015 discloses, in a second modification, that at least one of a motive power function, a braking function, and a steering function of the autonomous driving equipment is restricted (see FIGS. 7 and 8 ). Such a state where the autonomous control is inhibited is a state that can also be switched to driver's manual operation.
- the present disclosure is made to solve the above-described problem, and an object of the present disclosure is to provide an appropriate interface between the autonomous driving system and the vehicle platform.
- the vehicle platform has an NVO (Non Vehicle Operation) mode in which the vehicle is capable of completely unmanned driving.
- NVO Non Vehicle Operation
- the vehicle control interface does not output, to the autonomous driving system, the accelerator pedal intervention signal indicating the beyond autonomy acceleration.
- the accelerator pedal position signal indicates an accelerator position in accordance with the amount of depression of the accelerator pedal, while the vehicle is in a normal condition, and indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
- a vehicle control interface serves as an interface between an autonomous driving system and a vehicle platform that controls a vehicle in accordance with an instruction from the autonomous driving system.
- the vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the vehicle control interface.
- the vehicle control interface outputs the accelerator pedal position signal and the accelerator pedal intervention signal to the autonomous driving system.
- the accelerator pedal intervention signal indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value.
- the accelerator pedal intervention signal indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
- the accelerator pedal position signal indicates an accelerator position in accordance with the amount of depression, while the vehicle is in a normal condition, and indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
- FIG. 1 is a diagram schematically showing a MaaS system in which a vehicle according to an embodiment of the present disclosure is used.
- FIG. 2 is a diagram showing a configuration of the vehicle in more detail.
- FIG. 4 is a diagram illustrating an accelerator pedal intervention signal.
- FIG. 5 is a time chart showing an example of transition of an accelerator pedal intervention signal for a vehicle.
- FIG. 6 is a flowchart showing accelerator pedal control for a vehicle.
- 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. 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.
- an autonomous driving kit is mounted on a MaaS vehicle (Mobility as a Service vehicle).
- the autonomous driving kit is a tool into which hardware and software for implementing autonomous driving are integrated, and is one form that implements the autonomous driving system (ADS).
- ADS autonomous driving system
- the type of the vehicle on which the autonomous driving kit can be mounted is not limited to the MaaS vehicle.
- the autonomous driving kit is applicable to all types of vehicles for which autonomous driving can be implemented.
- FIG. 1 schematically shows a MaaS system in which a vehicle according to an embodiment of the present disclosure is used.
- this MaaS system includes a vehicle 1 .
- Vehicle 1 includes a vehicle main body 2 and an autonomous driving kit (ADK) 3 .
- Vehicle main body 2 includes a vehicle control interface 4 , a vehicle platform (VP) 5 , and a DCM (Data Communication Module) 6 .
- the MaaS system includes, in addition to vehicle 1 , a data server 7 , a mobility service platform (MSPF) 8 , and autonomous driving related mobility services 9 .
- MSPF mobility service platform
- Vehicle 1 is capable of autonomous driving in accordance with a command from ADK 3 attached to vehicle main body 2 .
- vehicle main body 2 is shown to be located separately from ADK 3 in FIG. 1 , actually ADK 3 is attached to a rooftop for example of vehicle main body 2 .
- vehicle control interface 4 receives a command from ADK 3 , vehicle control interface 4 outputs, to VP 5 , a control command corresponding to the received command. Vehicle control interface 4 also acquires various types of information about vehicle main body 2 from VP 5 and outputs the state of vehicle main body 2 to ADK 3 . A configuration of vehicle control interface 4 is detailed later herein.
- VP 5 includes various systems and various sensors for controlling vehicle main body 2 . In accordance with a command given from ADK 3 through vehicle control interface 4 , VP 5 conducts vehicle control. Specifically, in accordance with a command from ADK 3 , VP 5 conducts vehicle control to thereby implement autonomous driving of vehicle 1 . A configuration of VP 5 is also detailed later herein.
- ADK 3 is a kind of autonomous driving system (ADS) for implementing autonomous driving of vehicle 1 .
- ADK 3 prepares, for example, a driving plan for vehicle 1 , and outputs various commands for causing vehicle 1 to travel following the prepared driving plan, to vehicle control interface 4 in accordance with an API defined for each command.
- ADK 3 also receives various signals indicating the state of vehicle main body 2 , from vehicle control interface 4 in accordance with an API defined for each signal, and causes the received vehicle state to be reflected on preparation of the driving plan.
- a configuration of ADK 3 is also described later herein.
- DCM 6 includes a communication interface for vehicle main body 2 to communicate by radio with data server 7 .
- DCM 6 outputs, to data server 7 , various types of vehicle information such as speed, position, and state of autonomous driving, for example.
- DCM 6 also receives, from autonomous driving related mobility services 9 through MSPF 8 and data server 7 , various types of data for managing travel of autonomous vehicles including vehicle 1 for autonomous driving related mobility services 9 , for example.
- Data server 7 is configured to communicate by radio with various autonomous vehicles including vehicle 1 , and configured to communicate also with MSPF 8 .
- Data server 7 stores various types of data (data regarding the vehicle state and the vehicle control) for managing travel of the autonomous vehicle.
- MSPF 8 is an integrated platform to which various mobility services are connected.
- various mobility services that are not shown (for example, various mobility services provided by a ridesharing company, a car-sharing company, an insurance company, a rent-a-car company, a taxi company, and the like) may be connected to MSPF 8 .
- Various mobility services including mobility services 9 can use various functions provided by MSPF 8 appropriately for respective services, using an API published on MSPF 8 .
- MSPF 8 publishes APIs for using various types of data regarding the vehicle state and the vehicle control necessary for development of the ADS.
- ADS companies can use, as the API, data regarding the vehicle state and the vehicle control necessary for development of the ADS, stored in data server 7 .
- compute assembly 31 uses various sensors (described later herein) to obtain the environment around the vehicle, as well as pose, behavior, and position of vehicle 1 .
- Compute assembly 31 also obtains the state of vehicle 1 from VP 5 through vehicle control interface 4 , and determines the next operation (acceleration, deceleration, turn, or the like) of vehicle 1 .
- Compute assembly 31 outputs, to vehicle control interface 4 , a command for implementing the determined next operation.
- Sensors for perception 32 perceive the environment around the vehicle.
- sensors for perception 32 include at least one of a LIDAR (Light Detection and Ranging), a millimeter-wave radar, and a camera, for example.
- LIDAR Light Detection and Ranging
- millimeter-wave radar a millimeter-wave radar
- the LIDAR illuminates a target (human, another vehicle, or obstacle, for example) with infrared pulsed laser light, and measures the distance to the target based on the time taken for the light to be reflected from the target and return to the LIDAR.
- the millimeter-wave radar applies millimeter wave to the target and detects the millimeter wave reflected from the target to measure the distance to the target and/or the direction of the target.
- the camera is placed on the back side of a room mirror in the vehicle compartment, for example, to take a picture of an area located forward of vehicle 1 .
- the image taken by the camera can be subjected to image processing by an image processor equipped with artificial intelligence (AI).
- AI artificial intelligence
- the information obtained by sensors for perception 32 is output to compute assembly 31 .
- Sensors for pose 33 detect the pose, the behavior, and the position of vehicle 1 .
- sensors for pose 33 include an inertial measurement unit (IMU) and a GPS (Global Positioning System), for example.
- IMU inertial measurement unit
- GPS Global Positioning System
- the MU detects, for example, the acceleration of vehicle 1 in the longitudinal direction, the transverse direction, and the vertical direction, as well as the angular velocity of vehicle 1 in the roll direction, the pitch direction, and the yaw direction.
- the GPS uses information received from a plurality of GPS satellites orbiting around the earth to detect the position of vehicle 1 .
- the information acquired by sensors for pose 33 is also output to compute assembly 31 .
- HMI 34 includes, for example, a display device, an audio output device, and an operation device.
- HMI 34 may include a touch panel display and/or a smart speaker (AI speaker).
- AI speaker smart speaker
- Vehicle control interface 4 includes a vehicle control interface box (VCIB) 41 and a VCIB 42 .
- VCIBs 41 , 42 each include therein, a processor such as CPU (Central Processing Unit), and a memory such as ROM (Read Only Memory) and RAM (Random Access Memory).
- processor such as CPU (Central Processing Unit)
- memory such as ROM (Read Only Memory) and RAM (Random Access Memory).
- Each of VCIB 41 and VCIB 42 is connected communicatively to compute assembly 31 of ADK 3 .
- VCIB 41 and VCIB 42 are connected to be capable of communicating with each other.
- Each of VCIB 41 and VCIB 42 relays various commands from ADK 3 and outputs each relayed command as a control command to VP 5 . More specifically, each of VCIB 41 and VCIB 42 uses a program or the like stored in the memory to convert various commands that are output from ADK 3 into control commands to be used for controlling each system of VP 5 , and outputs the control commands to a system to which it is connected. Moreover, each of VCIB 41 and VCIB 42 performs appropriate processing (including relaying) on the vehicle information that is output from VP 5 , and outputs the resultant information as vehicle information to ADK 3 .
- VCIB 41 and VCIB 42 differ from each other in terms of some of constituent parts of VP 5 to which VCIB 41 and VCIB 42 are connected, basically they have equivalent functions.
- VCIB 41 and VCIB 42 have equivalent functions regarding operation of the brake system and operation of the steering system for example, so that the control system between ADK 3 and VP 5 is made redundant (duplicated). Therefore, even when some fault occurs to a part of the systems, the control system can be switched or the control system to which the fault has occurred can be interrupted, for example, to maintain the functions (such as steering and braking) of VP 5 .
- VCIB 41 is connected communicatively with brake system 512 , steering system 531 , and P lock system 552 , among a plurality of systems of VP 5 (namely EPB 551 , propulsion system 56 and body system 59 ), through a communication bus.
- VCIB 42 is connected communicatively with brake system 511 , steering system 532 , and P lock system 552 , through a communication bus.
- each of brake systems 511 , 512 generates a braking command for the braking device. Moreover, brake systems 511 , 512 control the braking device, using the braking command generated by one of brake systems 511 , 512 , for example. Further, when a failure occurs to one of brake systems 511 , 512 , the braking command generated by the other is used to control the braking device.
- Wheel speed sensor 52 is connected to brake system 512 in this example. Wheel speed sensor 52 is mounted on each wheel of vehicle 1 , for example. Wheel speed sensor 52 detects the rotational speed of the wheel and outputs the detected rotational speed to brake system 512 . Brake system 512 outputs, to VCIB 41 , the rotational speed of each wheel, as an information item among information items included in the vehicle information.
- Steering system 531 and steering system 532 have equivalent functions. Each of steering systems 531 , 532 generates a steering command for the steering device in accordance with a predetermined control command that is output from ADK 3 through vehicle control interface 4 . Using the steering command generated by one of steering systems 531 , 532 , for example, steering systems 531 , 532 control the steering device. When a failure occurs to one of steering systems 531 , 532 , the steering commend generated by the other steering system is used to control the steering device.
- Pinion angle sensor 541 is connected to steering system 531 .
- Pinion angle sensor 542 is connected to steering system 532 .
- Each of pinion angle sensors 541 , 542 detects the rotational angle (pinon angle) of a pinion gear coupled to the rotational shaft of the actuator, and outputs the detected pinion angle to the associated steering system 531 , 532 .
- Propulsion system 56 includes an accelerator pedal 560 receiving a user's operation (depression). Accelerator pedal 560 is equipped with an accelerator sensor (not shown) that detects the amount of depression by which accelerator pedal 560 is depressed. Further, propulsion system 56 is capable of switching the shift range using a shift device (not shown), and capable of controlling the driving force for vehicle 1 in the direction of travel, using a drive source (not shown).
- the shift device is configured to select a shift range from a plurality of shift ranges.
- the drive source may include a motor generator and an engine, for example.
- PCS system 57 conducts control for avoiding collision of vehicle 1 and/or reducing damages to vehicle 1 , using camera/radar 58 . More specifically, PCS system 57 is connected to brake system 512 . PCS system 57 uses camera/radar 58 to detect a forward object, and determines whether there is a possibility of collision of vehicle 1 against the object, based on the distance to the object. When PCS system 57 determines that there is a possibility of collision, PCS system 57 outputs a braking command to brake system 512 so as to increase the braking force.
- Body system 59 is configured to control various constituent parts (direction indicator, horn or wiper, for example), depending on the running state or the running environment of vehicle 1 , for example.
- an operation device that enables a user to perform manual operation may be provided separately.
- FIG. 3 is a functional block diagram regarding accelerator pedal control for vehicle 1 .
- propulsion system 56 includes a position calculator 561 , an acceleration arbitrator 562 , and an intervention determiner 563 .
- Position calculator 561 receives, from the accelerator sensor (not shown), a signal indicating an amount of depression by which accelerator pedal 560 is depressed by a driver, and outputs, to VCIB 41 and intervention determiner 563 , an accelerator pedal position signal indicating an accelerator position. Position calculator 561 also outputs, to acceleration arbitrator 562 , an acceleration request in accordance with the amount of depression of accelerator pedal 560 by the driver.
- the source of the system acceleration request is ADK 3 for example, the source is not limited to it but may be PCS system 57 , for example.
- acceleration arbitrator 562 receives the system acceleration request through vehicle control interface 4 .
- Intervention determiner 563 receives the accelerator pedal position signal from position calculator 561 and also receives the result of the arbitration from acceleration arbitrator 562 . Intervention determiner 563 generates an accelerator pedal intervention signal based on the accelerator pedal position signal and the result of the arbitration, and outputs the generated accelerator pedal intervention signal to VCIB 41 .
- VCIB 41 includes an accelerator pedal position processor 411 and an accelerator pedal intervention processor 412 . Although only VCIB 41 is shown in FIG. 3 , the other VCIB 42 provided for redundancy has similar functions as well.
- Accelerator pedal position processor 411 receives the accelerator pedal position signal from propulsion system 56 (position calculator 561 ), and performs predetermined processing on the accelerator pedal position signal. Accelerator pedal position processor 411 outputs the processed accelerator pedal position signal to ADK 3 .
- the accelerator pedal position signal which is output to ADK 3 provides an accelerator position in accordance with the detected value of the accelerator sensor (the amount of depression of accelerator pedal 560 ).
- the accelerator position is represented by a value in a range from 0% to 100%.
- the detected value of the accelerator sensor varies widely, and therefore, the accelerator position is preferably a value after zero-point (offset) correction.
- the accelerator pedal position signal which is output to ADK 3 provides a failsafe value.
- the failsafe value is a value defined as falling out of the range of the accelerator position (a value out of the range from 0% to 100%), and is 0xFF, for example.
- Accelerator pedal intervention processor 412 receives the accelerator pedal intervention signal from intervention determiner 563 , and performs predetermined processing on the accelerator pedal intervention signal. Accelerator pedal intervention processor 412 outputs the processed accelerator pedal intervention signal to ADK 3 . It should be noted that intervention determiner 563 may perform this processing, and accelerator pedal intervention processor 412 may only relay the accelerator pedal intervention signal from intervention determiner 563 to output the signal to ADK 3 . In the following, what is indicated by the accelerator pedal intervention signal is described.
- FIG. 4 is a diagram illustrating the accelerator pedal intervention signal. Referring to FIG. 4 , the accelerator pedal intervention signal assumes a value which is one of 0, 1, and 2.
- the accelerator pedal intervention signal assuming the value 0 indicates that accelerator pedal 560 is not depressed.
- the accelerator pedal intervention signal assuming the value 1 indicates that accelerator pedal 560 is depressed.
- the accelerator pedal intervention signal assuming the value 2 represents a condition where an acceleration request generated in accordance with depression of accelerator pedal 560 (driver acceleration request) is more than an acceleration request from ADK 3 for example (system acceleration request). This condition is herein referred to as “beyond autonomy acceleration.”
- FIG. 5 is a time chart showing an example of transition of the accelerator pedal intervention signal for vehicle 1 .
- the horizontal axis represents the elapsed time
- the vertical axis represents the acceleration request for the upper one and the accelerator position for the lower one.
- the accelerator position is 0% at initial time to.
- the value of the accelerator pedal intervention signal is 0, indicating that accelerator pedal 560 is not depressed.
- the accelerator position in accordance with the amount of depression of accelerator pedal 560 becomes higher than a system acceleration request. Then, the value of the accelerator pedal intervention signal changes from 1 to 2. The accelerator pedal intervention signal at this time indicates the beyond autonomy acceleration.
- FIG. 6 is a flowchart showing accelerator pedal control for vehicle 1 .
- the process of the flowchart is performed for each elapse of a predetermined control period, for example.
- each step included in this flowchart is implemented basically by software processing by vehicle 1 (VP 5 or vehicle control interface 4 ), it may also be implemented by dedicated hardware (electrical circuitry) fabricated in VP 5 or vehicle control interface 4 .
- the step is abbreviated as “S” herein.
- VP 5 and vehicle control interface 4 are referred to as vehicle 1 when they are not to be distinguished from each other. If the one that performs the process is described herein as vehicle 1 , the process may be performed by either VP 5 or vehicle control interface 4 .
- VP 5 has at least a VO (Vehicle Operation) mode and an NVO (Non Vehicle Operation) mode as autonomous modes.
- the VO mode refers to a control mode in a situation where a driver is aboard vehicle 1 although vehicle 1 is capable of autonomous driving.
- the NVO mode refers to a control mode in a situation where vehicle 1 is capable of completely unmanned driving.
- vehicle 1 determines whether VP 5 is in the NVO mode or not. Whether VP 5 is in the NVO mode or not can be determined by means of a camera (not shown) installed in the compartment of the vehicle, for example. If it is seen from a picture of the inside of the compartment taken by the camera that no one is onboard, it can be determined that VP 5 is in the NVO mode.
- vehicle 1 determines whether the accelerator position is more than threshold value ACCL_INTV or not. When the accelerator position is less than or equal to threshold value ACCL_INTV (NO in S 3 ), vehicle 1 sets the value of the accelerator pedal intervention signal to 0, so as to indicate that accelerator pedal 560 is not depressed (S 9 ). Vehicle 1 thereafter causes the process to proceed to S 7 .
- vehicle 1 sets the value of the accelerator pedal intervention signal to 1, so as to indicate that accelerator pedal 560 is depressed (S 4 ).
- vehicle 1 further determines whether the driver acceleration request in accordance with the accelerator position is more than the system acceleration request or not. When the driver acceleration request is more than the system acceleration request (YES in S 5 ), vehicle 1 sets the value of the accelerator pedal intervention signal to 2, so as to indicate that the beyond autonomy acceleration has occurred (S 6 ). Vehicle 1 thereafter causes the process to proceed to S 7 .
- vehicle 1 When the driver acceleration request is less than or equal to the system acceleration request (NO in S 5 ), vehicle 1 skips the operation in S 6 and causes the process to proceed to S 7 . In this case, the value of the accelerator pedal intervention signal remains 1 indicating that accelerator pedal 560 is depressed.
- vehicle 1 outputs, to ADK 3 , the accelerator pedal intervention signal that is set to one of 0, 1, and 2.
- the present embodiment provides vehicle control interface 4 that serves as an interface between ADK 3 and VP 5 .
- the accelerator pedal position signal and the accelerator pedal intervention signal are output from VP 5 to ADK 3 through vehicle control interface 4 .
- an appropriate interface can accordingly be provided between ADK 3 and VP 5 .
- This document is an API specification of Toyota Vehicle Platform and contains the outline, the usage and the caveats of the application interface.
- 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 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 ).
- 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 ).
- Acceleration Command requests deceleration and makes the vehicle stop.
- 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 steering wheel is turned by a driver (intervention).
- This signal shows whether the shift lever is controlled by a driver (intervention).
- VCIB achieves the following procedure after Ready-ON. (This functionality will be implemented from the CV.)
- 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.
- 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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Abstract
A vehicle is a vehicle on which an ADK is mountable. The vehicle includes: a VP that controls the vehicle in accordance with an instruction from the ADK; and a VCIB that serves as an interface between the ADK and the VP. The VP outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the ADK through the VCIB. The accelerator pedal intervention signal indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
Description
- This nonprovisional application is based on Japanese Patent Application No. 2020-015717 filed on Jan. 31, 2020 with the Japan Patent Office, the entire contents of which are hereby incorporated by reference.
- The present disclosure relates to a vehicle and a vehicle control interface.
- In recent years, development of the autonomous driving technology for vehicles is in progress. Japanese Patent Laying-Open No. 2018-132015 for example discloses an autonomous driving system that conducts centralized autonomous driving control for a vehicle. This autonomous driving system includes a camera, a laser device, a radar device, an operation device, a gradient sensor, autonomous driving equipment, and an autonomous-driving ECU (Electronic Control Unit).
- Japanese Patent Laying-Open No. 2018-132015 discloses, in a second modification, that at least one of a motive power function, a braking function, and a steering function of the autonomous driving equipment is restricted (see
FIGS. 7 and 8 ). Such a state where the autonomous control is inhibited is a state that can also be switched to driver's manual operation. - The autonomous driving system may be attached externally to the vehicle. In this case, a vehicle platform (described later herein) controls the vehicle in accordance with instructions from the autonomous driving system to thereby implement autonomous driving.
- In order for the autonomous driving system and the vehicle platform to work in cooperation with each other appropriately, it is preferable to provide an appropriate interface between the autonomous driving system and the vehicle platform. The importance of such an interface may particularly be high if the developer of the autonomous driving system is different from the developer of the vehicle platform, for example.
- The present disclosure is made to solve the above-described problem, and an object of the present disclosure is to provide an appropriate interface between the autonomous driving system and the vehicle platform.
- (1) A vehicle according to an aspect of the present disclosure is a vehicle on which an autonomous driving system is mountable. The vehicle includes: a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system; and a vehicle control interface that serves as an interface between the autonomous driving system and the vehicle platform. The vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the autonomous driving system through the vehicle control interface. The accelerator pedal intervention signal indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value. The accelerator pedal intervention signal indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
- (2) The vehicle platform has an NVO (Non Vehicle Operation) mode in which the vehicle is capable of completely unmanned driving. In the NVO mode, the vehicle control interface does not output, to the autonomous driving system, the accelerator pedal intervention signal indicating the beyond autonomy acceleration.
- (3) The accelerator pedal position signal indicates an accelerator position in accordance with the amount of depression of the accelerator pedal, while the vehicle is in a normal condition, and indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
- (4) A vehicle control interface according to another aspect of the present disclosure serves as an interface between an autonomous driving system and a vehicle platform that controls a vehicle in accordance with an instruction from the autonomous driving system. The vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the vehicle control interface. The vehicle control interface outputs the accelerator pedal position signal and the accelerator pedal intervention signal to the autonomous driving system. The accelerator pedal intervention signal indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value. The accelerator pedal intervention signal indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
- (5) The vehicle platform has an NVO (Non Vehicle Operation) mode in which the vehicle is capable of completely unmanned driving. In the NVO mode, the vehicle control interface does not output, to the autonomous driving system, the accelerator pedal intervention signal indicating the beyond autonomy acceleration.
- (6) The accelerator pedal position signal indicates an accelerator position in accordance with the amount of depression, while the vehicle is in a normal condition, and indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
- The foregoing and other objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description of the present disclosure when taken in conjunction with the accompanying drawings.
-
FIG. 1 is a diagram schematically showing a MaaS system in which a vehicle according to an embodiment of the present disclosure is used. -
FIG. 2 is a diagram showing a configuration of the vehicle in more detail. -
FIG. 3 is a functional block diagram regarding accelerator pedal control for a vehicle. -
FIG. 4 is a diagram illustrating an accelerator pedal intervention signal. -
FIG. 5 is a time chart showing an example of transition of an accelerator pedal intervention signal for a vehicle. -
FIG. 6 is a flowchart showing accelerator pedal control for a vehicle. -
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. - In the following, the present embodiment is described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference characters, and a description thereof is not repeated.
- In connection with the following embodiment, an example is described in which an autonomous driving kit (ADK) is mounted on a MaaS vehicle (Mobility as a Service vehicle). The autonomous driving kit is a tool into which hardware and software for implementing autonomous driving are integrated, and is one form that implements the autonomous driving system (ADS). The type of the vehicle on which the autonomous driving kit can be mounted is not limited to the MaaS vehicle. The autonomous driving kit is applicable to all types of vehicles for which autonomous driving can be implemented.
- <Overall Configuration>
-
FIG. 1 schematically shows a MaaS system in which a vehicle according to an embodiment of the present disclosure is used. Referring toFIG. 1 , this MaaS system includes avehicle 1.Vehicle 1 includes a vehiclemain body 2 and an autonomous driving kit (ADK) 3. Vehiclemain body 2 includes avehicle control interface 4, a vehicle platform (VP) 5, and a DCM (Data Communication Module) 6. The MaaS system includes, in addition tovehicle 1, adata server 7, a mobility service platform (MSPF) 8, and autonomous driving relatedmobility services 9. -
Vehicle 1 is capable of autonomous driving in accordance with a command fromADK 3 attached to vehiclemain body 2. Although vehiclemain body 2 is shown to be located separately fromADK 3 inFIG. 1 , actuallyADK 3 is attached to a rooftop for example of vehiclemain body 2. -
ADK 3 can also be detached from vehiclemain body 2. WhileADK 3 is not attached, vehiclemain body 2 can be driven by a driver to travel. In this case,VP 5 conducts travel control (travel control in accordance with driver's operation) in a manual mode. -
Vehicle control interface 4 can communicate withADK 3 through a CAN (Controller Area Network) for example.Vehicle control interface 4 executes a predetermined API (Application Program Interface) defined for each signal to be communicated, to thereby receive various commands fromADK 3 and output the state of vehiclemain body 2 toADK 3. - Receiving a command from
ADK 3,vehicle control interface 4 outputs, toVP 5, a control command corresponding to the received command.Vehicle control interface 4 also acquires various types of information about vehiclemain body 2 fromVP 5 and outputs the state of vehiclemain body 2 toADK 3. A configuration ofvehicle control interface 4 is detailed later herein. -
VP 5 includes various systems and various sensors for controlling vehiclemain body 2. In accordance with a command given fromADK 3 throughvehicle control interface 4,VP 5 conducts vehicle control. Specifically, in accordance with a command fromADK 3,VP 5 conducts vehicle control to thereby implement autonomous driving ofvehicle 1. A configuration ofVP 5 is also detailed later herein. -
ADK 3 is a kind of autonomous driving system (ADS) for implementing autonomous driving ofvehicle 1.ADK 3 prepares, for example, a driving plan forvehicle 1, and outputs various commands for causingvehicle 1 to travel following the prepared driving plan, tovehicle control interface 4 in accordance with an API defined for each command.ADK 3 also receives various signals indicating the state of vehiclemain body 2, fromvehicle control interface 4 in accordance with an API defined for each signal, and causes the received vehicle state to be reflected on preparation of the driving plan. A configuration ofADK 3 is also described later herein. -
DCM 6 includes a communication interface for vehiclemain body 2 to communicate by radio withdata server 7.DCM 6 outputs, todata server 7, various types of vehicle information such as speed, position, and state of autonomous driving, for example.DCM 6 also receives, from autonomous driving relatedmobility services 9 throughMSPF 8 anddata server 7, various types of data for managing travel of autonomousvehicles including vehicle 1 for autonomous driving relatedmobility services 9, for example. -
Data server 7 is configured to communicate by radio with various autonomousvehicles including vehicle 1, and configured to communicate also withMSPF 8.Data server 7 stores various types of data (data regarding the vehicle state and the vehicle control) for managing travel of the autonomous vehicle. -
MSPF 8 is an integrated platform to which various mobility services are connected. In addition to autonomous driving relatedmobility services 9, various mobility services that are not shown (for example, various mobility services provided by a ridesharing company, a car-sharing company, an insurance company, a rent-a-car company, a taxi company, and the like) may be connected toMSPF 8. Various mobility services includingmobility services 9 can use various functions provided byMSPF 8 appropriately for respective services, using an API published onMSPF 8. - Autonomous driving related
mobility services 9 provide mobility services using autonomousvehicles including vehicle 1. Using an API published onMSPF 8,mobility services 9 can acquire, fromMSPF 8, drive control data forvehicle 1 communicating withdata server 7 and/or information or the like stored indata server 7, for example. Using the above-described API,mobility services 9 also transmit, toMSPF 8, data or the like for managing autonomousvehicles including vehicle 1, for example. -
MSPF 8 publishes APIs for using various types of data regarding the vehicle state and the vehicle control necessary for development of the ADS. ADS companies can use, as the API, data regarding the vehicle state and the vehicle control necessary for development of the ADS, stored indata server 7. - <Vehicle Configuration>
-
FIG. 2 shows a configuration ofvehicle 1 in more detail. Referring toFIG. 2 ,ADK 3 includes acompute assembly 31, sensors forperception 32, sensors forpose 33, an HMI (Human Machine Interface) 34, and sensor cleaning 35. - During autonomous driving of
vehicle 1, computeassembly 31 uses various sensors (described later herein) to obtain the environment around the vehicle, as well as pose, behavior, and position ofvehicle 1.Compute assembly 31 also obtains the state ofvehicle 1 fromVP 5 throughvehicle control interface 4, and determines the next operation (acceleration, deceleration, turn, or the like) ofvehicle 1.Compute assembly 31 outputs, tovehicle control interface 4, a command for implementing the determined next operation. - Sensors for
perception 32 perceive the environment around the vehicle. Specifically, sensors forperception 32 include at least one of a LIDAR (Light Detection and Ranging), a millimeter-wave radar, and a camera, for example. - The LIDAR illuminates a target (human, another vehicle, or obstacle, for example) with infrared pulsed laser light, and measures the distance to the target based on the time taken for the light to be reflected from the target and return to the LIDAR. The millimeter-wave radar applies millimeter wave to the target and detects the millimeter wave reflected from the target to measure the distance to the target and/or the direction of the target. The camera is placed on the back side of a room mirror in the vehicle compartment, for example, to take a picture of an area located forward of
vehicle 1. The image taken by the camera can be subjected to image processing by an image processor equipped with artificial intelligence (AI). The information obtained by sensors forperception 32 is output to computeassembly 31. - Sensors for
pose 33 detect the pose, the behavior, and the position ofvehicle 1. Specifically, sensors forpose 33 include an inertial measurement unit (IMU) and a GPS (Global Positioning System), for example. - The MU detects, for example, the acceleration of
vehicle 1 in the longitudinal direction, the transverse direction, and the vertical direction, as well as the angular velocity ofvehicle 1 in the roll direction, the pitch direction, and the yaw direction. The GPS uses information received from a plurality of GPS satellites orbiting around the earth to detect the position ofvehicle 1. The information acquired by sensors forpose 33 is also output to computeassembly 31. -
HMI 34 includes, for example, a display device, an audio output device, and an operation device. Specifically,HMI 34 may include a touch panel display and/or a smart speaker (AI speaker). During autonomous driving ofvehicle 1, during driving in the manual mode, or during mode transition, for example,HMI 34 provides information to a user or receives user's operation. - Sensor cleaning 35 is configured to remove dirt stuck to each sensor. More specifically, sensor cleaning 35 removes dirt on a camera lens, a laser emission part or a millimeter-wave emission part, for example, with a cleaning liquid or wiper, for example.
-
Vehicle control interface 4 includes a vehicle control interface box (VCIB) 41 and aVCIB 42.VCIBs VCIB 41 andVCIB 42 is connected communicatively to computeassembly 31 ofADK 3.VCIB 41 andVCIB 42 are connected to be capable of communicating with each other. - Each of
VCIB 41 andVCIB 42 relays various commands fromADK 3 and outputs each relayed command as a control command toVP 5. More specifically, each ofVCIB 41 andVCIB 42 uses a program or the like stored in the memory to convert various commands that are output fromADK 3 into control commands to be used for controlling each system ofVP 5, and outputs the control commands to a system to which it is connected. Moreover, each ofVCIB 41 andVCIB 42 performs appropriate processing (including relaying) on the vehicle information that is output fromVP 5, and outputs the resultant information as vehicle information toADK 3. - Although
VCIB 41 andVCIB 42 differ from each other in terms of some of constituent parts ofVP 5 to which VCIB 41 andVCIB 42 are connected, basically they have equivalent functions.VCIB 41 andVCIB 42 have equivalent functions regarding operation of the brake system and operation of the steering system for example, so that the control system betweenADK 3 andVP 5 is made redundant (duplicated). Therefore, even when some fault occurs to a part of the systems, the control system can be switched or the control system to which the fault has occurred can be interrupted, for example, to maintain the functions (such as steering and braking) ofVP 5. -
VP 5 includesbrake systems wheel speed sensor 52, steeringsystems pinion angle sensors system 551, a P (parking)lock system 552, a propulsion system 56, a PCS (Pre-Crash Safety) system 57, a camera/radar 58, and abody system 59. -
VCIB 41 is connected communicatively withbrake system 512,steering system 531, andP lock system 552, among a plurality of systems of VP 5 (namelyEPB 551, propulsion system 56 and body system 59), through a communication bus.VCIB 42 is connected communicatively withbrake system 511,steering system 532, andP lock system 552, through a communication bus. -
Brake systems vehicle 1. These braking devices may include a disc brake system that operates using hydraulic pressure regulated by an actuator.Brake system 511 andbrake system 512 may be configured to have equivalent functions. Alternatively, one ofbrake systems - In accordance with a predetermined control command transmitted from
ADK 3 throughvehicle control interface 4, each ofbrake systems brake systems brake systems brake systems -
Wheel speed sensor 52 is connected tobrake system 512 in this example.Wheel speed sensor 52 is mounted on each wheel ofvehicle 1, for example.Wheel speed sensor 52 detects the rotational speed of the wheel and outputs the detected rotational speed tobrake system 512.Brake system 512 outputs, toVCIB 41, the rotational speed of each wheel, as an information item among information items included in the vehicle information. - Steering
systems vehicle 1, using a steering device (not shown). The steering device includes, for example, a rack-and-pinion electric power steering (EPS) system capable of adjusting the steering angle by an actuator. -
Steering system 531 andsteering system 532 have equivalent functions. Each of steeringsystems ADK 3 throughvehicle control interface 4. Using the steering command generated by one ofsteering systems systems steering systems -
Pinion angle sensor 541 is connected to steeringsystem 531.Pinion angle sensor 542 is connected to steeringsystem 532. Each ofpinion angle sensors steering system -
EPB system 551 is configured to control an EPB provided in a wheel ofvehicle 1. The EPB is provided separately from the braking device ofbrake systems brake systems -
P lock system 552 is configured to control a P lock device (not shown) provided for the transmission ofvehicle 1. More specifically, a gear (lock gear) is provided to be coupled to a rotational element in the transmission. Further, a parking lock pole capable of adjusting the position by an actuator is also provided for a teeth portion of the lock gear. The P lock device fits a protrusion located on the head of the parking lock pole to thereby fix rotation of the output shaft of the transmission. - Propulsion system 56 includes an
accelerator pedal 560 receiving a user's operation (depression).Accelerator pedal 560 is equipped with an accelerator sensor (not shown) that detects the amount of depression by whichaccelerator pedal 560 is depressed. Further, propulsion system 56 is capable of switching the shift range using a shift device (not shown), and capable of controlling the driving force forvehicle 1 in the direction of travel, using a drive source (not shown). The shift device is configured to select a shift range from a plurality of shift ranges. The drive source may include a motor generator and an engine, for example. - PCS system 57 conducts control for avoiding collision of
vehicle 1 and/or reducing damages tovehicle 1, using camera/radar 58. More specifically, PCS system 57 is connected tobrake system 512. PCS system 57 uses camera/radar 58 to detect a forward object, and determines whether there is a possibility of collision ofvehicle 1 against the object, based on the distance to the object. When PCS system 57 determines that there is a possibility of collision, PCS system 57 outputs a braking command tobrake system 512 so as to increase the braking force. -
Body system 59 is configured to control various constituent parts (direction indicator, horn or wiper, for example), depending on the running state or the running environment ofvehicle 1, for example. - Systems other than
brake systems steering systems ADK 3 throughvehicle control interface 4. Specifically,EPB system 551 receives a control command fromADK 3 throughvehicle control interface 4, and controls the EPB in accordance with the control command.P lock system 552 receives a control command fromADK 3 throughvehicle control interface 4, and controls the P lock device in accordance with the control command. Propulsion system 56 receives a control command fromADK 3 throughvehicle control interface 4, and controls the shift device and the drive source, in accordance with the control command.Body system 59 receives a control command fromADK 3 throughvehicle control interface 4, and controls the aforementioned constituent parts in accordance with the control command. - For the above-described braking device, steering device, EPB, P lock, shift device, and drive source, for example, an operation device that enables a user to perform manual operation may be provided separately.
- <Accelerator Pedal Control>
-
FIG. 3 is a functional block diagram regarding accelerator pedal control forvehicle 1. Referring toFIGS. 2 and 3 , propulsion system 56 includes aposition calculator 561, anacceleration arbitrator 562, and anintervention determiner 563. -
Position calculator 561 receives, from the accelerator sensor (not shown), a signal indicating an amount of depression by whichaccelerator pedal 560 is depressed by a driver, and outputs, to VCIB 41 andintervention determiner 563, an accelerator pedal position signal indicating an accelerator position.Position calculator 561 also outputs, toacceleration arbitrator 562, an acceleration request in accordance with the amount of depression ofaccelerator pedal 560 by the driver. -
Acceleration arbitrator 562 receives the acceleration request fromposition calculator 561, also receives an acceleration request from any of various systems, and conducts arbitration between the two acceleration requests. More specifically,acceleration arbitrator 562 calculates the sum of the two accelerations.Acceleration arbitrator 562 outputs, tointervention determiner 563, the result of the arbitration between the two acceleration requests (the sum of the two accelerations in this example). - In the following, the acceleration request from
position calculator 561 is referred to as “driver acceleration request” and the acceleration request from any of various systems is referred to as “system acceleration request” in order to distinguish between them. - Although the source of the system acceleration request is
ADK 3 for example, the source is not limited to it but may be PCS system 57, for example. When the source of the system acceleration request isADK 3,acceleration arbitrator 562 receives the system acceleration request throughvehicle control interface 4. -
Intervention determiner 563 receives the accelerator pedal position signal fromposition calculator 561 and also receives the result of the arbitration fromacceleration arbitrator 562.Intervention determiner 563 generates an accelerator pedal intervention signal based on the accelerator pedal position signal and the result of the arbitration, and outputs the generated accelerator pedal intervention signal toVCIB 41. -
VCIB 41 includes an acceleratorpedal position processor 411 and an acceleratorpedal intervention processor 412. Although only VCIB 41 is shown in FIG. 3, theother VCIB 42 provided for redundancy has similar functions as well. - Accelerator
pedal position processor 411 receives the accelerator pedal position signal from propulsion system 56 (position calculator 561), and performs predetermined processing on the accelerator pedal position signal. Acceleratorpedal position processor 411 outputs the processed accelerator pedal position signal toADK 3. - While
vehicle 1 is in a normal condition, the accelerator pedal position signal which is output toADK 3 provides an accelerator position in accordance with the detected value of the accelerator sensor (the amount of depression of accelerator pedal 560). The accelerator position is represented by a value in a range from 0% to 100%. Generally, the detected value of the accelerator sensor varies widely, and therefore, the accelerator position is preferably a value after zero-point (offset) correction. - While
vehicle 1 is in a failure condition (when the accelerator sensor has failed, for example) or whilevehicle 1 is in a failure-treatment condition (whilevehicle 1 is in limp home mode, for example), the accelerator pedal position signal which is output toADK 3 provides a failsafe value. The failsafe value is a value defined as falling out of the range of the accelerator position (a value out of the range from 0% to 100%), and is 0xFF, for example. - In order to avoid a sudden change of the accelerator position which is output to
ADK 3, acceleratorpedal position processor 411 may perform a smoothing operation (operation such as weighted averaging or moving averaging) on the accelerator pedal position signal. The smoothing operation may be performed byposition calculator 561. - Accelerator
pedal intervention processor 412 receives the accelerator pedal intervention signal fromintervention determiner 563, and performs predetermined processing on the accelerator pedal intervention signal. Acceleratorpedal intervention processor 412 outputs the processed accelerator pedal intervention signal toADK 3. It should be noted thatintervention determiner 563 may perform this processing, and acceleratorpedal intervention processor 412 may only relay the accelerator pedal intervention signal fromintervention determiner 563 to output the signal toADK 3. In the following, what is indicated by the accelerator pedal intervention signal is described. - <Accelerator Pedal Intervention>
-
FIG. 4 is a diagram illustrating the accelerator pedal intervention signal. Referring toFIG. 4 , the accelerator pedal intervention signal assumes a value which is one of 0, 1, and 2. - The accelerator pedal intervention signal assuming the
value 0 indicates thataccelerator pedal 560 is not depressed. The accelerator pedal intervention signal assuming thevalue 1 indicates thataccelerator pedal 560 is depressed. The accelerator pedal intervention signal assuming thevalue 2 represents a condition where an acceleration request generated in accordance with depression of accelerator pedal 560 (driver acceleration request) is more than an acceleration request fromADK 3 for example (system acceleration request). This condition is herein referred to as “beyond autonomy acceleration.” -
FIG. 5 is a time chart showing an example of transition of the accelerator pedal intervention signal forvehicle 1. InFIG. 5 , the horizontal axis represents the elapsed time, and the vertical axis represents the acceleration request for the upper one and the accelerator position for the lower one. - Referring to
FIG. 5 , the accelerator position is 0% at initial time to. In this case, the value of the accelerator pedal intervention signal is 0, indicating thataccelerator pedal 560 is not depressed. - At time t1, a driver starts
depressing accelerator pedal 560. Subsequently, at time t2, the accelerator position becomes higher than a predetermined threshold value (ACCL_INTV). This threshold value is a value for the so-called play ofaccelerator pedal 560, and defined as a few percent, for example. When the accelerator position becomes higher than threshold value ACCL_INTV, the value of the accelerator pedal intervention signal changes from 0 to 1. The accelerator pedal intervention signal at this time indicates thataccelerator pedal 560 is depressed. - At time t3, the accelerator position in accordance with the amount of depression of accelerator pedal 560 (driver acceleration request) becomes higher than a system acceleration request. Then, the value of the accelerator pedal intervention signal changes from 1 to 2. The accelerator pedal intervention signal at this time indicates the beyond autonomy acceleration.
- <Control Flow>
-
FIG. 6 is a flowchart showing accelerator pedal control forvehicle 1. The process of the flowchart is performed for each elapse of a predetermined control period, for example. Although each step included in this flowchart is implemented basically by software processing by vehicle 1 (VP 5 or vehicle control interface 4), it may also be implemented by dedicated hardware (electrical circuitry) fabricated inVP 5 orvehicle control interface 4. The step is abbreviated as “S” herein. - In the following,
VP 5 andvehicle control interface 4 are referred to asvehicle 1 when they are not to be distinguished from each other. If the one that performs the process is described herein asvehicle 1, the process may be performed by eitherVP 5 orvehicle control interface 4. - In the present embodiment,
VP 5 has at least a VO (Vehicle Operation) mode and an NVO (Non Vehicle Operation) mode as autonomous modes. The VO mode refers to a control mode in a situation where a driver is aboardvehicle 1 althoughvehicle 1 is capable of autonomous driving. The NVO mode refers to a control mode in a situation wherevehicle 1 is capable of completely unmanned driving. - Referring to
FIG. 6 , in S1,vehicle 1 determines whetherVP 5 is in the NVO mode or not. WhetherVP 5 is in the NVO mode or not can be determined by means of a camera (not shown) installed in the compartment of the vehicle, for example. If it is seen from a picture of the inside of the compartment taken by the camera that no one is onboard, it can be determined thatVP 5 is in the NVO mode. - When
VP 5 is in the NVO mode (YES in S1), the driver acceleration request is rejected (S8), regardless of the amount of depression ofaccelerator pedal 560. Therefore, the value of the accelerator pedal intervention signal will never be 2. In this example, the process thereafter proceeds to S9. - When
VP 5 is not in the NVO mode (NO in S1), for example, whenVP 5 is in the VO mode,vehicle 1 acquires an accelerator position indicated by the accelerator pedal position signal (S2). - In S3,
vehicle 1 determines whether the accelerator position is more than threshold value ACCL_INTV or not. When the accelerator position is less than or equal to threshold value ACCL_INTV (NO in S3),vehicle 1 sets the value of the accelerator pedal intervention signal to 0, so as to indicate thataccelerator pedal 560 is not depressed (S9).Vehicle 1 thereafter causes the process to proceed to S7. - In contrast, when the accelerator position is more than threshold value ACCL_INTV (YES in S3),
vehicle 1 sets the value of the accelerator pedal intervention signal to 1, so as to indicate thataccelerator pedal 560 is depressed (S4). - In S5,
vehicle 1 further determines whether the driver acceleration request in accordance with the accelerator position is more than the system acceleration request or not. When the driver acceleration request is more than the system acceleration request (YES in S5),vehicle 1 sets the value of the accelerator pedal intervention signal to 2, so as to indicate that the beyond autonomy acceleration has occurred (S6).Vehicle 1 thereafter causes the process to proceed to S7. - When the driver acceleration request is less than or equal to the system acceleration request (NO in S5),
vehicle 1 skips the operation in S6 and causes the process to proceed to S7. In this case, the value of the accelerator pedal intervention signal remains 1 indicating thataccelerator pedal 560 is depressed. - In S7,
vehicle 1 outputs, toADK 3, the accelerator pedal intervention signal that is set to one of 0, 1, and 2. - As seen from the foregoing, the present embodiment provides
vehicle control interface 4 that serves as an interface betweenADK 3 andVP 5. Thus, the accelerator pedal position signal and the accelerator pedal intervention signal are output fromVP 5 toADK 3 throughvehicle control interface 4. It is therefore possible for the developer ofADK 3 to causeADK 3 to perform communication following a procedure and a data format (API) for example that are defined forvehicle control interface 4, so thatADK 3 andVP 5 work in cooperation with each other, even when the developer does not have knowledge about details of the specification ofVP 5. According to the present embodiment, an appropriate interface can accordingly be provided betweenADK 3 andVP 5. - Toyota's MaaS Vehicle Platform
- API Specification
- for ADS Developers
- [Standard Edition #0.1]
- History of Revision
-
TABLE 1 Date of Revision ver. Summary of Revision Reviser 2019 May 4 0.1 Creating a new material MaaS Business Div. - Index
- 1.
Outline 4 -
- 1.1. Purpose of this
Specification 4 - 1.2.
Target Vehicle 4 - 1.3. Definition of
Term 4 - 1.4. Precaution for
Handling 4
- 1.1. Purpose of this
- 2.
Structure 5 -
- 2.1. Overall Structure of
MaaS 5 - 2.2. System structure of
MaaS vehicle 6
- 2.1. Overall Structure of
- 3. Application Interfaces 7
-
- 3.1. Responsibility sharing of when using
APIs 7 - 3.2. Typical usage of
APIs 7 - 3.3. APIs for
vehicle motion control 9- 3.3.1.
Functions 9 - 3.3.2. Inputs 16
- 3.3.3. Outputs 23
- 3.3.1.
- 3.4. APIs for BODY control 45
- 3.4.1. Functions 45
- 3.4.2. Inputs 45
- 3.4.3. Outputs 56
- 3.5. APIs for Power control 68
- 3.5.1. Functions 68
- 3.5.2. Inputs 68
- 3.5.3. Outputs 69
- 3.6. APIs for Safety 70
- 3.6.1. Functions 70
- 3.6.2. Inputs 70
- 3.6.3. Outputs 70
- 3.7. APIs for Security 74
- 3.7.1. Functions 74
- 3.7.2. Inputs 74
- 3.7.3. Outputs 76
- 3.8. APIs for
MaaS Service 80- 3.8.1.
Functions 80 - 3.8.2.
Inputs 80 - 3.8.3.
Outputs 80
- 3.8.1.
- 3.1. Responsibility sharing of when using
- 1. Outline
- 1.1. Purpose of this Specification
- This document is an API specification of Toyota Vehicle Platform and contains the outline, the usage and the caveats of the application interface.
- 1.2. Target Vehicle
- e-Palette, MaaS vehicle based on the POV (Privately Owned Vehicle) manufactured by Toyota
- 1.3. Definition of Term
-
TABLE 2 Term Definition 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. - 1.4. Precaution for Handling
- This is an early draft of the document.
- All the contents are subject to change. Such changes are notified to the users. Please note that some parts are still T.B.D. will be updated in the future.
- 2. Structure
- 2.1. Overall Structure of MaaS
- The overall structure of MaaS with the target vehicle is shown (
FIG. 7 ). - Vehicle control technology is being used as an interface for technology providers.
- Technology providers can receive open API such as vehicle state and vehicle control, necessary for development of automated driving systems.
- 2.2. System Structure of MaaS Vehicle
- 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. In order to realize each API in this document, the CAN frames and the bit assignments are shown in the form of “bit assignment table” as a separate document.
- 3. Application Interfaces
- 3.1. Responsibility Sharing of when Using APIs
- Basic responsibility sharing between ADS and vehicle VP is as follows when using APIs.
- [ADS]
- The ADS should create the driving plan, and should indicate vehicle control values to the VP.
- [VP]
- The Toyota VP should control each system of the VP based on indications from an ADS.
- 3.2. Typical Usage of APIs
- In this section, typical usage of APIs is described.
- 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 ). - 3.3. APIs for Vehicle Motion Control
- In this section, the APIs for vehicle motion control which is controllable in the MaaS vehicle is described.
- 3.3.1. Functions
- 3.3.1.1. Standstill, Start Sequence
- The transition to the standstill (immobility) mode and the vehicle start sequence are described. This function presupposes the vehicle is in Autonomy_State=Autonomous Mode. The request is rejected in other modes.
- The below diagram shows an example.
- Acceleration Command requests deceleration and stops the vehicle. Then, when Longitudinal Velocity is confirmed as 0 [km/h], Standstill Command=“Applied” is sent. After the brake hold control is finished, Standstill Status becomes “Applied”. Until then, Acceleration Command has to continue deceleration request. Either Standstill Command=“Applied” or Acceleration Command's deceleration request were canceled, the transition to the brake hold control will not happen. After that, the vehicle continues to be standstill as far as Standstill Command=“Applied” is being sent. Acceleration Command can be set to 0 (zero) during this period.
- If the vehicle needs to start, the brake hold control is cancelled by setting Standstill Command to “Released”. At the same time, acceleration/deceleration is controlled based on Acceleration Command (
FIG. 10 ). - EPB is engaged when Standstill Status=“Applied” continues for 3 minutes.
- 3.3.1.2. Direction Request Sequence
- The shift change sequence is described. This function presupposes that Autonomy_State=Autonomous Mode. Otherwise, the request is rejected.
- Shift change happens only during Actual_Moving_Direction=“standstill”). Otherwise, the request is rejected.
- In the following 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”).
- During shift change, Acceleration Command has to request deceleration.
- After the shift change, acceleration/deceleration is controlled based on Acceleration Command value (
FIG. 11 ). - 3.3.1.3. WheelLock Sequence
- The engagement and release of wheel lock is described. This function presupposes Autonomy_State=Autonomous Mode, otherwise the request is rejected.
- This function is conductible only during vehicle is stopped. Acceleration Command requests deceleration and makes the vehicle stop. After
- Actual_Moving_Direction is set to “standstill”, WheelLock is engaged by Immobilization Command=“Applied”. Acceleration Command is set to Deceleration until Immobilization Status is set to “Applied”.
- If release is desired, Immobilization Command=“Release” is requested when the vehicle is stationary. Acceleration Command is set to Deceleration at that time.
- After this, the vehicle is accelerated/decelerated based on Acceleration Command value (
FIG. 12 ). - 3.3.1.4. Road_Wheel_Angle Request
- This function presupposes Autonomy_State=“Autonomous Mode”, and the request is rejected otherwise.
- Tire Turning Angle Command is the relative value from Estimated_Road_Wheel_Angle Actual.
- For example, in case that Estimated_Road_Wheel_Angle Actual=0.1 [rad] while the vehicle is going straight;
- If ADS requests to go straight ahead, Tire Turning Angle Command should be set to 0+0.1=0.1 [rad].
- If ADS requests to steer by −0.3 [rad], Tire Turning Angle Command should be set to −0.3+0.1=−0.2 [rad].
- 3.3.1.5. Rider Operation
- 3.3.1.5.1. Acceleration Pedal Operation
- While in Autonomous driving mode, accelerator pedal stroke is eliminated from the vehicle acceleration demand selection.
- 3.3.1.5.2. Brake Pedal Operation
- The action when the brake pedal is operated. In the autonomy mode, target vehicle deceleration is the sum of 1) estimated deceleration from the brake pedal stroke and 2) deceleration request from AD system.
- 3.3.1.5.3. Shift_Lever_Operation
- In Autonomous driving mode, driver operation of the shift lever is not reflected in Propulsion Direction Status.
- If necessary, ADS confirms Propulsion Direction by Driver and changes shift position by using Propulsion Direction Command.
- 3.3.1.5.4. Steering Operation
- When the driver (rider) operates the steering, the maximum is selected from
- 1) the torque value estimated from driver operation angle, and
- 2) the torque value calculated from requested wheel angle.
- Note that 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.
- 3.3.2. Inputs
-
TABLE 3 Signal Name Description Redundancy Propulsion Request to switch between forward N/A Direction (D range) and back (R range) Command Immobilization Request to engage/release Applied Command WheelLock Standstill Request to maintain stationary Applied Command Acceleration Request to accelerate/decelerate Applied Command Tire Turning Request front wheel angle Applied Angle Command Autonomization Request to transition between Applied Command manual mode and autonomy mode - 3.3.2.1. Propulsion Direction Command
- Request to switch between forward (D range) and back (R range)
- Values
-
TABLE 4 value Description Remarks 0 No Request 2 R Shift to R range 4 D Shift to D range other Reserved - Remarks
-
- Only available when Autonomy_State=“Autonomous Mode”
- D/R is changeable only the vehicle is stationary (Actual_Moving_Direction=“standstill”).
- The request while driving (moving) is rejected.
- When system requests D/R shifting, Acceleration Command is sent deceleration (−0.4 m/s2) simultaneously. (Only while brake is applied.)
- The request may not be accepted in following cases.
- Direction_Control_Degradation_Modes=“Failure detected”
- 3.3.2.2. Immobilization Command
- Request to engage/release WheelLock
- Values
-
TABLE 5 value Description Remarks 0 No Request 1 Applied EPB is turned on and TM shifts to P range 2 Released EPB is turned off and TM shifts to the value of Propulsion Direction Command - Remarks
-
- Available only when Autonomy_State=“Autonomous Mode”
- Changeable only when the vehicle is stationary (Actual_Moving_Direction=“standstill”)
- The request is rejected when vehicle is running.
- When Apply/Release mode change is requested, Acceleration Command is set to deceleration (−0.4 m/s2). (Only while brake is applied.)
- 3.3.2.3. Standstill Command
- Request the vehicle to be stationary
- Values
-
TABLE 6 value Description Remarks 0 No Request 1 Applied Standstill is requested 2 Released - Remarks
-
- Only available when Autonomy_State=“Autonomous Mode”
- Confirmed by Standstill Status=“Applied”
- When the vehicle is stationary (Actual_Moving_Direction=“standstill”), transition to Stand Still is enabled.
- Acceleration Command has to be continued until Standstill Status becomes “Applied” and Acceleration Command's deceleration request (−0.4 m/s2) should be continued.
- There are more cases where the request is not accepted. Details are T.B.D.
- 3.3.2.4. Acceleration Command
- Command vehicle acceleration
- Values
- Estimated_Max_Decel_Capability to Estimated_Max_Accel_Capability [m/s2]
- Remarks
-
- Only available when Autonomy_State=“Autonomous Mode”
- Acceleration (+) and deceleration (−) request based on Propulsion Direction Status direction
- The upper/lower limit will vary based on Estimated_Max_Decel_Capability and Estimated_Max_Accel_Capability.
- When acceleration more than Estimated_Max_Accel_Capability is requested, the request is set to Estimated_Max_Accel_Capability.
- When deceleration more than Estimated_Max_Decel_Capability is requested, the request is set to Estimated_Max_Decel_Capability.
- Depending on the accel/brake pedal stroke, the requested acceleration may not be met. See 3.4.1.4 for more detail.
- When Pre-Collision system is activated simultaneously, minimum acceleration (maximum deceleration) is selected.
- 3.3.2.5. Tire Turning Angle Command
- Command tire turning angle
- Values
-
TABLE 7 value Description Remarks — [unit: rad] - Remarks
-
- Left is positive value (+). Right is negative value (−).
- Available only when Autonomy_State=“Autonomous Mode”
- The output of Estimated_Road_Wheel_Angle_Actual when the vehicle is going straight, is set to the reference value (0).
- This requests relative value of Estimated_Road_Wheel_Angle_Actual. (See 3.4.1.1 for details)
- The requested value is within Current_Road_Wheel_Angle_Rate_Limit.
- The requested value may not be fulfilled depending on the steer angle by the driver.
- 3.3.2.6. Autonomization Command
- Request to transition between manual mode and autonomy mode
- Values
-
TABLE 8 value Description Remarks 00b No Request For Autonomy 01b Request For Autonomy 10b Deactivation Request means transition request to manual mode -
- The mode may be able not to be transitioned to Autonomy mode. (e.g. In case that a failure occurs in the vehicle platform.)
- 3.3.3. Outputs
-
TABLE 9 Signal Name Description Redundancy Propulsion Direction Status Current shift range N/A Propulsion Direction by Driver Shift lever position by driver N/A Immobilization Status Output of EPB and Shift P Applied Immobilization Request by Driver EPB switch status by driver N/A Standstill Status Stand still status N/A Estimated_Coasting_Rate Estimated vehicle deceleration when throttle is closed N/A Estimated_Max_Accel_Capability Estimated maximum acceleration Applied Estimated_Max_Decel_Capability Estimated maximum deceleration Applied Estimated_Road_Wheel_Angle_ Front wheel steer angle Applied Actual Estimated_Road_Wheel_Angle_ Front wheel steer angle rate Applied Rate_Actual Steering_Wheel_Angle_Actual Steering wheel angle N/A Steering_Wheel_Angle_Rate_ Steering wheel angle rate N/A Actual Current_Road_Wheel_Angle_ Road wheel angle rate limit Applied Rate_Limit Estimated_Max_Lateral_ Estimated max lateral acceleration Applied Acceleration_Capability Estimated_Max_Lateral_ Estimated max lateral acceleration rate Applied Acceleration_Rate_Capability Accelerator_Pedal_Position Position of the accelerator pedal N/A (How much is the pedal depressed?) Accelerator_Pedal_Intervention This signal shows whether the accelerator pedal is N/A depressed by a driver (intervention) Brake_Pedal_Position Position of the brake pedal T.B.D. (How much is the pedal depressed?) 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. by a driver (intervention) WheelSpeed_FL wheel speed value (Front Left Wheel) N/A WheelSpeed_FL_Rotation Rotation direction of wheel (Front Left) N/A WheelSpeed_FR wheel speed value (Front Right Wheel) N/A WheelSpeed_FR_Rotation Rotation direction of wheel (Front Right) N/A WheelSpeed_RL wheel speed value (Rear Left Wheel) Applied WheelSpeed_RL_Rotation Rotation direction of wheel (Rear Left) Applied WheelSpeed_RR wheel speed value (Rear Right Wheel) Applied WheelSpeed_RR_Rotation Rotation direction of wheel (Rear Right) Applied Actual_Moving_Direction Moving direction of vehicle Applied Longitudinal_Velocity Estimated longitudinal velocity of vehicle Applied Longitudinal_Acceleration Estimated longitudinal acceleration of vehicle Applied Lateral_Acceleration Sensor value of lateral acceleration of vehicle Applied Yawrate Sensor value of Yaw rate Applied Autonomy_State State of whether autonomy mode or manual mode Applied Autonomy_Ready Situation of whether the vehicle can transition to Applied autonomy mode or not Autonomy_Fault Status of whether the fault regarding a functionality in Applied autonomy mode occurs or not - 3.3.3.1. Propulsion Direction Status
- Current shift range
- Values
-
TABLE 10 value Description remarks 0 Reserved 1 P 2 R 3 N 4 D 5 B 6 Reserved 7 Invalid value - Remarks
-
- When the shift range is indeterminate, this output is set to “Invalid Value”.
- When the vehicle becomes the following status during VO mode, [Propulsion Direction Status] will turn to “P”.
- [Longitudinal_Velocity]=0 [km/h]
- [Brake_Pedal_Position]<Threshold value (T.B.D.) (in case of being determined that the pedal isn't depressed)
- [1st_Left_Seat_Belt_Status]=Unbuckled
- [1st_Left_Door_Open_Status]=Opened
- 3.3.3.2. Propulsion Direction by Driver
- Shift lever position by driver operation
- Value
-
TABLE 11 value Description remarks 0 No Request 1 P 2 R 3 N 4 D 5 B 6 Reserved 7 Invalid value - Remarks
-
- Output based on the lever position operated by driver
- If the driver releases his hand of the shift lever, the lever returns to the central position and the output is set as “No Request”.
- When the vehicle becomes the following status during NVO mode, [Propulsion Direction by Driver] will turn to “1(P)”.
- [Longitudinal_Velocity]=0 [km/h]
- [Brake_Pedal_Position]<Threshold value (T.B.D.) (in case of being determined that the pedal isn't depressed)
- [1st_Left_Seat_Belt_Status]=Unbuckled
- [1st_Left_Door_Open_Status]=Opened
- 3.3.3.3. Immobilization Status
- Output EPB and Shift-P status
- Values
- <Primary>
-
TABLE 12 Value Shift EPB Description Remarks 0 0 Shift set to other than P, and EPB Released 1 0 Shift set to P and EPB Released 0 1 Shift set to other than P, and EPB applied 1 1 Shift set to P and EPB Applied - <Secondary>
-
TABLE 13 Value Shift Description Remarks 0 0 Other than Shift P 1 0 Shift P 0 1 Reserved 1 1 Reserved - Remarks
-
- Secondary signal does not include EPB lock status.
- 3.3.3.4. Immobilization Request by Driver
- Driver operation of EPB switch
- Values
-
TABLE 14 value Description remarks 0 No Request 1 Engaged 2 Released 3 Invalid value - Remarks
-
- “Engaged” is outputted while the EPB switch is being pressed.
- “Released” is outputted while the EPB switch is being pulled.
- 3.3.3.5. Standstill Status
- Vehicle stationary status
- Values
-
TABLE 15 Value Description remarks 0 Released 1 Applied 2 Reserved 3 Invalid value - Remarks
-
- When Standstill Status=Applied continues for 3 minutes, EPB is activated.
- If the vehicle is desired to start, ADS requests Standstill Command=“Released”.
- 3.3.3.6. Estimated Coasting Rate
- Estimated vehicle deceleration when throttle is closed
- Values
- [unit: m/s2]
- Remarks
-
- Estimated acceleration at WOT is calculated.
- Slope and road load etc. are taken into estimation.
- When the Propulsion Direction Status is “D”, the acceleration to the forward direction shows a positive value.
- When the Propulsion Direction Status is “R”, the acceleration to the reverse direction shows a positive value.
- 3.3.3.7. Estimated_Max_Accel_Capability
- Estimated maximum acceleration
- Values
- [unit: m/s2]
- Remarks
-
- The acceleration at WOT is calculated.
- Slope and road load etc. are taken into estimation.
- The direction decided by the shift position is considered to be plus.
- 3.3.3.8. Estimated_Max_Decel_Capability
- Estimated maximum deceleration
- Values
- −9.8 to 0 [unit: m/s2]
- Remarks
-
- Affected by Brake_System_Degradation_Modes. Details are T.B.D.
- Based on vehicle state or road condition, cannot output in some cases
- 3.3.3.9. Estimated_Road_Wheel_Angle_Actual
- Front wheel steer angle
- Values
-
TABLE 16 value Description Remarks others [unit: rad] Minimum Value Invalid value The sensor is invalid. - Remarks
-
- Left is positive value (+). Right is negative value (−).
- Before “the wheel angle when the vehicle is going straight” becomes available, this signal is Invalid value.
- 3.3.3.10. Estimated_Road_Wheel_Angle_Rate_Actual
- Front wheel steer angle rate
- Values
-
TABLE 17 value Description Remarks others [unit: rad/s] Minimum Value Invalid value - Remarks
-
- Left is positive value (+). Right is negative value (−).
- 3.3.3.11. Steering Wheel Angle Actual
- Steering wheel angle
- Values
-
TABLE 18 Value Description Remarks others [unit: rad] Minimum Value Invalid value - Remarks
-
- Left is positive value (+). Right is negative value (−).
- The steering angle converted from the steering assist motor angle
- Before “the wheel angle when the vehicle is going straight” becomes available, this signal is Invalid value.
- 3.3.3.12. Steering_Wheel_Angle_Rate_Actual
- Steering wheel angle rate
- Values
-
TABLE 19 Value Description Remarks others [unit: rad/s] Minimum Value Invalid value - Remarks
-
- Left is positive value (+). Right is negative value (−).
- The steering angle rate converted from the steering assist motor angle rate
- 3.3.3.13. Current_Road_Wheel_Angle_Rate_Limit
- Road wheel angle rate limit
- Values
-
- When stopped: 0.4 [rad/s]
- While running: Show “Remarks”
- Remarks
- Calculated from the “vehicle speed−steering angle rate” chart like below
- A) At a very low speed or stopped situation, use fixed value of 0.4 [rad/s]
- B) At a higher speed, the steering angle rate is calculated from the vehicle speed using 2.94 m/s3
- The threshold speed between A and B is 10 [km/h] (
FIG. 13 ). - 3.3.3.14. Estimated_Max_Lateral_Acceleration_Capability
- Estimated max lateral acceleration
- Values
- 2.94 [unit: m/s2] fixed value
- Remarks
-
- Wheel Angle controller is designed within the acceleration range up to 2.94 m/s2.
- 3.3.3.15. Estimated_Max_Lateral_Acceleration_Rate_Capability
- Estimated max lateral acceleration rate
- Values
- 2.94 [unit: m/s3] fixed value
- Remarks
-
- Wheel Angle controller is designed within the acceleration range up to 2.94 m/s3.
- 3.3.3.16. Accelerator Pedal Position
- Position of the accelerator pedal (How much is the pedal depressed?)
- Values
- 0 to 100 [unit: %]
- Remarks
-
- In order not to change the acceleration openness suddenly, this signal is filtered by smoothing process.
- In normal condition
- The accelerator position signal after zero point calibration is transmitted.
- In failure condition
- Transmitted failsafe value (0xFF)
- 3.3.3.17. Accelerator Pedal Intervention
- This signal shows whether the accelerator pedal is depressed by a driver (intervention).
- Values
-
TABLE 20 Value Description Remarks 0 Not depressed 1 depressed 2 Beyond autonomy acceleration - Remarks
-
- When Accelerator_Pedal_Position is higher than the defined threshold value (ACCL_INTV), this signal [Accelerator_Pedal_Intervention] will turn to “depressed”.
- When the requested acceleration from depressed acceleration pedal is higher than the requested acceleration from system (ADS, PCS etc.), this signal will turn to “Beyond autonomy acceleration”.
-
- During NVO mode, accelerator request will be rejected. Therefore, this signal will not turn to “2”.
- Detail design (
FIG. 14 ) - 3.3.3.18. Brake_Pedal_Position
- Position of the brake pedal (How much is the pedal depressed?)
- Values
- 0 to 100 [unit: %]
- Remarks
-
- In the brake pedal position sensor failure:
- Transmitted failsafe value (0xFF)
- Due to assembling error, this value might be beyond 100%.
- In the brake pedal position sensor failure:
- 3.3.3.19. Brake Pedal Intervention
- This signal shows whether the brake pedal is depressed by a driver (intervention).
- Values
-
TABLE 21 Value Description Remarks 0 Not depressed 1 depressed 2 Beyond autonomy deceleration - Remarks
-
- When Brake_Pedal_Position is higher than the defined threshold value (BRK_INTV), this signal [Brake Pedal Intervention] will turn to “depressed”.
- When the requested deceleration from depressed brake pedal is higher than the requested deceleration from system (ADS, PCS etc.), this signal will turn to “Beyond autonomy deceleration”.
- Detail design (
FIG. 15 ) - 3.3.3.20. Steering Wheel Intervention
- This signal shows whether the steering wheel is turned by a driver (intervention).
- Values
-
TABLE 22 Value Description Remarks 0 Not turned 1 Turned collaboratively Driver steering torque + steering motor torque 2 Turned by human driver - Remarks
-
- In “Steering Wheel Intervention=1”, considering the human driver's intent, EPS system will drive the steering with the Human driver collaboratively.
- In “Steering Wheel Intervention=2”, considering the human driver's intent, EPS system will reject the steering requirement from autonomous driving kit. (The steering will be driven the human driver.)
- 3.3.3.21. Shift Lever Intervention
- This signal shows whether the shift lever is controlled by a driver (intervention).
- Values
-
TABLE 23 Value Description Remarks 0 OFF 1 ON Controlled (moved to any shift position) - Remarks
-
- N/A
- 3.3.3.22. WheelSpeed_FL, WheelSpeed_FR, WheelSpeed_RL, WheelSpeed_RR
- wheel speed value
- Values
-
TABLE 24 Value Description Remarks others Velocity [unit: m/s] Maximum Value Invalid value The sensor is invalid. - Remarks
-
- T.B.D.
- 3.3.3.23. WheelSpeed_FL_Rotation, WheelSpeed_FR_Rotation, WheelSpeed_RL_Rotation, WheelSpeed_RR_Rotation
- Rotation direction of each wheel
- Values
-
TABLE 25 value Description remarks 0 Forward 1 Reverse 2 Reserved 3 Invalid value The sensor is invalid. - Remarks
-
- After activation of ECU, until the rotation direction is fixed, “Forward” is set to this signal.
- When detected continuously 2 (two) pulses with the same direction, the rotation direction will be fixed.
- 3.3.3.24. Actual_Moving_Direction
- Rotation direction of wheel
- Values
-
TABLE 26 value Description remarks 0 Forward 1 Reverse 2 Standstill 3 Undefined - Remarks
-
- This signal shows “Standstill” when four wheel speed values are “0” during a constant time.
- When other than above, this signal will be determined by the majority rule of four WheelSpeed_Rotations.
- When more than two WheelSpeed_Rotations are “Reverse”, this signal shows “Reverse”.
- When more than two WheelSpeed_Rotations are “Forward”, this signal shows “Forward”.
- When “Forward” and “Reverse” are the same counts, this signal shows “Undefined”.
- 3.3.3.25. Longitudinal_Velocity
- Estimated longitudinal velocity of vehicle
- Values
-
TABLE 27 Value Description Remarks others Velocity [unit: m/s] Maximum Value Invalid value The sensor is invalid. - Remarks
-
- This signal is output as the absolute value.
- 3.3.3.26. Longitudinal_Acceleration
- Estimated longitudinal acceleration of vehicle
- Values
-
TABLE 28 value Description Remarks others Acceleration [unit: m/s2] Minimum Value Invalid value The sensor is invalid. - Remarks
-
- This signal will be calculated with wheel speed sensor and acceleration sensor.
- When the vehicle is driven at a constant velocity on the flat road, this signal shows “0”.
- 3.3.3.27. Lateral Acceleration
- Sensor value of lateral acceleration of vehicle
- Values
-
TABLE 29 Value Description Remarks others Acceleration [unit: m/s2] Minimum Value Invalid value The sensor is invalid. - Remarks
-
- The positive value means counterclockwise. The negative value means clockwise.
- 3.3.3.28. Yawrate
- Sensor value of Yaw rate
- Values
-
TABLE 30 Value Description Remarks others Yaw rate [unit: deg/s] Minimum Value Invalid value The sensor is invalid. - Remarks
-
- The positive value means counterclockwise. The negative value means clockwise.
- 3.3.3.29. Autonomy_State
- State of whether autonomy mode or manual mode
- Values
-
TABLE 31 value Description Remarks 00 Manual Mode The mode starts from Manual mode. 01 Autonomous Mode - Remarks
-
- The initial state is the Manual mode. (When Ready ON, the vehicle will start from the Manual mode.)
- 3.3.3.30. Autonomy_Ready
- Situation of whether the vehicle can transition to autonomy mode or not
- Values
-
TABLE 32 value Description Remarks 00b Not Ready For Autonomy 01b Ready For Autonomy 11b Invalid means the status is not determined. - Remarks
-
- This signal is a part of transition conditions toward the Autonomy mode.
- Please see the summary of conditions.
- 3.3.3.31. Autonomy_Fault
- Status of whether the fault regarding a functionality in autonomy mode occurs or not
- Values
-
TABLE 33 value Description Remarks 00b No fault 01b Fault 11b Invalid means the status is not determined. - Remarks
-
- [T.B.D.] Please see the other material regarding the fault codes of a functionality in autonomy mode.
- [T.B.D.] Need to consider the condition to release the status of “fault”.
- 3.4. APIs for BODY Control
- 3.4.1. Functions
- T.B.D.
- 3.4.2. Inputs
-
TABLE 34 Signal Name Description Redundancy Tumsignallight_Mode_Command Command to control the turnsignallight N/A mode of the vehicle platform Headlight_Mode_Command Command to control the headlight mode of N/A the vehicle platform Hazardlight_Mode_Command Command to control the hazardlight mode of N/A the vehicle platform Horn_Pattem_Command Command to control the pattern of horn N/A ON-time and OFF-time per cycle of the vehicle platform Horn_Number_of_Cycle_Command Command to control the Number of horn N/A ON/OFF cycle of the vehicle platform Horn_Continuous_Command Commandto control of horn ON of the N/A vehicle platform Windshieldwiper_Mode_Front_ Command to control the front windshield N/A Command wiper of the vehicle platform Windshieldwiper_Intermittent_ Command to control the Windshield wiper N/A Wiping_Speed_Command actuation interval at the Intermittent mode Windshieldwiper_Mode_Rear_ Command to control the rear windshield N/A Command wiper mode of the vehicle platform Hvac_lst_Command Command to start/stop 1st row air N/A conditioning control Hvac_2nd_Command Command to start/stop 2nd row air N/A conditioning control Hvac_TargetTemperature_ Command to set the target temperature N/A 1st_Left_Command around front left area Hvac_TargetTemperature_ Command to set the target temperature N/A 1st_Right_Command around front right area Hvac_TargetTemperature_ Command to set the target temperature N/A 2nd_Left_Command around rear left area Hvac_TargetTemperature_ Command to set the target temperature N/A 2nd_Right_Command around rear right area Hvac_Fan_Level_1st_Row_ Command to set the fan level on the front N/A Hvac_Fan_Level_1st_Row_ Command to set the fan level on the front N/A Command AC Hvac_Fan_Level_2nd_Row_ Command to set the fan level on the rear N/A Command AC Hvac_1st_Row_AirOutlet_Mode_ Command to set the mode of 1st row air N/A Command outlet Hvac_2nd_Row_AirOutlet_Mode_ Command to set the mode of 2nd row air N/A Command outlet Hvac_Recirculate_Command Command to set the air recirculation mode N/A Hvac_AC_Command Command to set the AC mode N/A - 3.4.2.1. Turnsignallight_Mode_Command
- Command to control the turnsignallight mode of the vehicle platform
- Values
-
TABLE 35 value Description remarks 0 OFF Blinker OFF 1 Right Right blinker ON 2 Left Left blinker ON 3 reserved - Remarks
- T.B.D.
- Detailed Design
- When Turnsignallight_Mode_Command=1, vehicle platform sends left blinker on request.
- When Turnsignallight_Mode_Command=2, vehicle platform sends right blinker on request.
- 3.4.2.2. Headlight_Mode_Command
- Command to control the headlight mode of the vehicle platform
- Values
-
TABLE 36 Value Description remarks 0 No Request Keep current mode 1 TAIL mode request side lamp mode 2 HEAD mode request Lo mode 3 AUTO mode request 4 HI mode request 5 OFF Mode Request 6-7 reserved - Remarks
-
- This command is valid when Headlight_Driver_Input=OFF or Auto mode ON.
- Driver input overrides this command.
- Headlight mode changes when Vehicle platform receives once this command.
- 3.4.2.3. Hazardlight_Mode_Command
- Command to control the hazardlight mode of the vehicle platform
- Values
-
TABLE 37 value Description remarks 0 OFF command for hazardlight OFF 1 ON command for hazardlight ON - Remarks
-
- Driver input overrides this command.
- Hazardlight is active during Vehicle Platform receives ON command.
- 3.4.2.4. Horn Pattern Command
- Command to control the pattern of horn ON-time and OFF-time per cycle of the vehicle platform
- Values
-
TABLE 38 value Description remarks 0 No request 1 Pattern 1ON-time: 250ms OFF-time: 750ms 2 Pattern 2ON-time: 500ms OFF-time: 500ms 3 Pattern 3reserved 4 Pattern 4reserved 5 Pattern 5reserved 6 Pattern 6reserved 7 Pattern 7Reserved - Remarks
-
-
Pattern 1 is assumed to use single short ON,Pattern 2 is assumed to use ON-OFF repeating. - Detail is under internal discussion.
-
- 3.4.2.5. Horn_Number_of_Cycle_Command
- Command to control the Number of horn ON/OFF cycle of the vehicle platform
- Values
- 0-7 [−]
- Remarks
-
- Detail is under internal discussion.
- 3.4.2.6. Horn_Continuous_Command
- Command to control of horn ON of the vehicle platform
- Values
-
TABLE 39 value Description remarks 0 No request 1 ON request - Remarks
-
- This command overrides Horn Pattern Command, Horn_Number_of_Cycle_Command.
- Horn is active during Vehicle Platform receives ON command.
- Detail is under internal discussion.
- 3.4.2.7. Windshieldwiper_Mode_Front_Command
- Command to control the front windshield wiper of the vehicle platform
- Values
-
TABLE 40 value Description remarks 0 OFF mode request 1 Lo mode request 2 Hi mode request 3 Intermittent mode request 4 Auto mode request 5 Mist mode request One- Time 6, 7 Reserved Wiping - Remarks
-
- This command is under internal discussion the timing of valid.
- This command is valid when Windshieldwiper_Front_Driver_Input=OFF or Auto mode ON.
- Driver input overrides this command.
- Windshieldwiper mode is kept during Vehicle platform is receiving the command.
- 3.4.2.8. Windshieldwiper_Intermittent_Wiping_Speed_Command
- Command to control the Windshield wiper actuation interval at the Intermittent mode
- Values
-
TABLE 41 value Description remarks 0 FAST 1 SECOND FAST 2 THIRD FAST 3 SLOW - Remarks
-
- This command is valid when Windshieldwiper_Mode_Front_Status=INT.
- Driver input overrides this command.
- Windshieldwiper intermittent mode changes when Vehicle platform receives once this command.
- 3.4.2.9. Windshieldwiper_Mode_Rear_Command
- Command to control the rear windshield wiper mode of the vehicle platform
- Values
-
TABLE 42 value Description Remarks 0 OFF mode request 1 Lo mode request 2 reserved 3 Intermittent mode request 4-7 reserved - Remarks
-
- Driver input overrides this command.
- Windshieldwiper mode is kept during Vehicle platform is receiving the command.
- Wiping speed of intermittent mode is not variable.
- 3.4.2.10. Hvac_1st_Command
- Command to start/stop 1st row air conditioning control
- Values
-
TABLE 43 Descrip- value tion Remarks 00 No request 01 ON means turning the 1st air conditioning control to ON 02 OFF means turning the 1st air conditioning control to OFF - Remarks
-
- The hvac of S-AM has a synchronization functionality.
- Therefore, in order to control 4 (four) hvacs (1st_left/right, 2nd_left/right) individually, VCIB achieves the following procedure after Ready-ON. (This functionality will be implemented from the CV.)
- #1: Hvac_1st_Command=ON
- #2: Hvac_2nd_Command=ON
- #3: Hvac_TargetTemperature_2nd_Left_Command
- #4: Hvac_TargetTemperature_2nd_Right_Command
- #5: Hvac_Fan_Level_2nd_Row_Command
- #6: Hvac_2nd_Row_AirOutlet_Mode_Command
- #7: Hvac_TargetTemperature_1st_Left_Command
- #8: Hvac_TargetTemperature_1st_Right_Command
- #9: Hvac_Fan_Level_1st_Row_Command
- #10: Hvac_1st_Row_AirOutlet_Mode_Command
- * The interval between each command needs 200 ms or more.
- * Other commands are able to be executed after #1.
- 3.4.2.11. Hvac_2nd_Command
- Command to start/stop 2nd row air conditioning control
- Values
-
TABLE 44 Descrip- value tion Remarks 00 No request 01 ON means turning the 2nd air conditioning control to ON 02 OFF means turning the 2nd air conditioning control to OFF - Remarks
-
- N/A
- 3.4.2.12. Hvac_TargetTemperature_1st_Left_Command
- Command to set the target temperature around front left area
- Values
-
TABLE 45 value Description Remarks 0 No request 60 to 85 Temperature [unit: ° F.] (by 1.0° F.) direction - Remarks
-
- N/A
- 3.4.2.13. Hvac_TargetTemperature_1st_Right_Command
- Command to set the target temperature around front right area
- Values
-
TABLE 46 value Description Remarks 0 No request 60 to 85 Temperature [unit: ° F.] (by 1.0° F.) direction - Remarks
-
- N/A
- 3.4.2.14. Hvac_TargetTemperature_2nd_Left_Command
- Command to set the target temperature around rear left area
- Values
-
TABLE 47 value Description Remarks 0 No request 60 to 85 Temperature [unit: ° F.] (by 1.0° F.) direction - Remarks
-
- N/A
- 3.4.2.15. Hvac_TargetTemperature_2nd_Right_Command
- Command to set the target temperature around rear right area
- Values
-
TABLE 48 value Description Remarks 0 No request 60 to 85 Temperature [unit: ° F.] (by 1.0° F.) direction - Remarks
-
- N/A
- 3.4.2.16. Hvac_Fan_Level_1st_Row_Command
- Command to set the fan level on the front AC
- Values
-
TABLE 49 value Description Remarks 0 No request 1 to 7 (Maximum) Fan level direction - Remarks
-
- If you would like to turn the fan level to 0 (OFF), you should transmit “Hvac_1st_Command=OFF”.
- If you would like to turn the fan level to AUTO, you should transmit “Hvac_1st_Command=ON”.
- 3.4.2.17. Hvac_Fan_Level_2nd_Row_Command
- Command to set the fan level on the rear AC
- Values
-
TABLE 50 value Description Remarks 0 No request 1 to 7 (Maximum) Fan level direction - Remarks
-
- If you would like to turn the fan level to 0 (OFF), you should transmit “Hvac_2nd_Command=OFF”.
- If you would like to turn the fan level to AUTO, you should transmit “Hvac_2nd_Command=ON”.
- 3.4.2.18. Hvac_1st_Row_AirOutlet_Mode_Command
- Command to set the mode of 1st row air outlet
- Values
-
TABLE 51 value Description Remarks 000b No Operation 001b UPPER Air flows to the upper body 010b U/F Air flows to the upper body and feet 011b FEET Air flows to the feet. 100b F/D Air flows to the feet and the windshield defogger operates - Remarks
-
- N/A
- 3.4.2.19. Hvac_2nd_Row_AirOutlet_Mode_CommandCommand to set the mode of 2nd row air outlet
- Values
-
TABLE 52 value Description Remarks 000b No Operation 001b UPPER Air flows to the upper body 010b U/F Air flows to the upper body and feet 011b FEET Air flows to the feet. - Remarks
-
- N/A
- 3.4.2.20. Hvac_Recirculate_Command
- Command to set the air recirculation mode
- Values
-
TABLE 53 value Description Remarks 00 No request 01 ON means turning the air recirculation mode ON 02 OFF means turning the air recirculation mode OFF - Remarks
-
- N/A
- 3.4.2.21. Hvac AC Command
- Command to set the AC mode
- Values
-
TABLE 54 value Description remarks 00 No request 01 ON means turning the AC mode ON 02 OFF means turning the AC mode OFF - Remarks
-
- N/A
- 3.4.3. Outputs
-
TABLE 55 Redun- Signal Name Description dancy Turnsignallight_Mode_Status Status of the N/A current turnsignallight mode of the vehicle platform Headlight_Mode_Status Status of the current N/A headlight mode of the vehicle platform Hazardlight_Mode_Status Status of the current N/A hazardlight mode of the vehicle platform Horn_Status Status of the N/A current horn of the vehicle platform Windshieldwiper_Mode_Front_Status Status of the current N/A front windshield wiper mode of the vehicle platform Windshieldwiper_Mode_Rear_Status Status of the current rear N/A windshield wiper mode of the vehicle platform Hvac_1st_Status Status of activation of N/A the 1st row HVAC Hvac_2nd_Status Status of activation of N/A the 2nd row HVAC Hvac_Temperature_1st_Left_Status Status of set temperature N/A of 1st row left Hvac_Temperature_1st_Right_Status Status of set temperature N/A of 1st row right Hvac_Temperature_2nd_Left_Status Status of set temperature N/A of 2nd row left Hvac_Temperature_2nd_Right_Status Status of set temperature N/A of 2nd row right Hvac_Fan_Level_1st_Row_Status Status of set fan level N/A of 1st row Hvac_Fan_Level_2nd_Row_Status Status of set fan level N/A of 2nd row Hvac_1st_Row_AirOutlet_Mode_Status Status of mode of 1st N/A row air outlet Hvac_2nd_Row_AirOutlet_Mode_Status Status of mode of 2nd N/A row air outlet Hvac_Recirculate_Status Status of set air N/A recirculation mode Hvac_AC_Status Status of set AC mode N/A 1st_Right_Seat_Occupancy_Status Seat occupancy status in — 1st left seat 1st_Left_Seat_Belt_Status Status of driver's seat — belt buckle switch 1st_Right_Seat_Belt_Status Status of passenger's seat — belt buckle switch 2nd_Left_Seat_Belt_Status Seat belt buckle switch — status in 2nd left seat 2nd_Right_Seat_Belt_Status Seat belt buckle switch — status in 2nd right seat - 3.4.3.1. Turnsignallight_Mode_Status
- Status of the current turnsignallight mode of the vehicle platform
- Values
-
TABLE 56 value Description Remarks 0 OFF Turn lamp = OFF 1 Left Turn lamp L = ON (flashing) 2 Right Turn lamp R = ON (flashing) 3 invalid - Remarks
-
- At the time of the disconnection detection of the turn lamp, state is ON.
- At the time of the short detection of the turn lamp, State is OFF.
- 3.4.3.2. Headlight_Mode_Status
- Status of the current headlight mode of the vehicle platform
- Values
-
TABLE 57 Value Description Remarks 0 OFF 1 TAIL 2 Lo 3 reserved 4 Hi 5-6 reserved 7 invalid - Remarks
- N/A
- Detailed Design
-
- At the time of tail signal ON, Vehicle Platform sends 1.
- At the time of Lo signal ON, Vehicle Platform sends 2.
- At the time of Hi signal ON, Vehicle Platform sends 4.
- At the time of any signal above OFF, Vehicle Platform sends 0.
- 3.4.3.3. Hazardlight_Mode_Status
- Status of the current hazard lamp mode of the vehicle platform
- Values
-
TABLE 58 Value Description Remarks 0 OFF Hazard lamp = OFF 1 Hazard Hazard lamp = ON (flashing) 2 reserved 3 invalid - Remarks
- N/A
- 3.4.3.4. Horn_Status
- Status of the current horn of the vehicle platform
- Values
-
TABLE 59 Value Description Remarks 0 OFF 1 ON 2 reserved (unsupport) 3 invalid (unsupport) - Remarks
-
- cannot detect any failure.
- Vehicle platform sends “1” during Horn Pattern Command is active, if the horn is OFF.
- 3.4.3.5. Windshieldwiper_Mode_Front_Status
- Status of the current front windshield wiper mode of the vehicle platform
- Values
-
TABLE 60 Value Description Remarks 0 OFF Front wiper stopped 1 Lo Front wiper being active in LO mode (also including being active in MIST, being active in coordination with washer, and being wiping at speed other than HI) 2 Hi Front wiper being active in HI mode 3 INT Front wiper being active in INT mode (also including motor stop while being active in INT mode and being active in INT mode owing to vehicle speed change function) 4-5 reserved 6 fail Front wiper failed 7 invalid -
TABLE 61 Value Description Remarks 0 OFF Front wiper is stopped. 1 Lo Front wiper is in LO mode (include in MIST mode, operation with washer, Medium speed). 2 Hi Front wiper is in HI mode. 3 INT Front wiper is in INT mode (include motor stopped between INT mode, INT operation of vehicle speed change function). 4-5 reserved 6 fail Front wiper is fail. 7 invalid - Remarks
- Fail Mode Conditions
-
- detect signal discontinuity
- cannot detect except the above failure.
- 3.4.3.6. Windshieldwiper_Mode_Rear_Status
- Status of the current rear windshield wiper mode of the vehicle platform
- Values
-
TABLE 62 Value Description Remarks 0 OFF Rear wiper stopped 1 Lo Rear wiper being in LO mode 2 reserved 3 INT Rear wiper being in INT mode 4-5 reserved 6 fail Rear wiper failed 7 invalid - Remarks
-
- cannot detect any failure.
- 3.4.3.7. Hvac_1st Status
- Status of activation of the 1st row HVAC
- Values
-
TABLE 63 value Description remarks 0b OFF 1b ON - Remarks
-
- N/A
- 3.4.3.8. Hvac_2nd_Status
- Status of activation of the 2nd row HVAC
- Values
-
TABLE 64 value Description remarks 0b OFF 1b ON - Remarks
-
- N/A
- 3.4.3.9. Hvac_Temperature_1st_Left_Status
- Status of set temperature of 1st row left
- Values
-
TABLE 65 value Description remarks 0 Lo Max cold 60 to 85 [unit: ° F.] Target temperature 100 Hi Max hot FFh Unknown - Remarks
-
- N/A
- 3.4.3.10. Hvac_Temperature_1st_Right_Status
- Status of set temperature of 1st row right
- Values
-
TABLE 66 value Description remarks 0 Lo Max cold 60 to 85 [unit: ° F.] Target temperature 100 Hi Max hot FFh Unknown - Remarks
-
- N/A
- 3.4.3.11. Hvac_Temperature_2nd_Left_Status
- Status of set temperature of 2nd row left
- Values
-
TABLE 67 value Description remarks 0 Lo Max cold 60 to 85 [unit: ° F.] Target temperature 100 Hi Max hot FFh Unknown - Remarks
-
- N/A
- 3.4.3.12. Hvac_Temperature_2nd_Right_Status
- Status of set temperature of 2nd row right
- Values
-
TABLE 68 value Description remarks 0 Lo Max cold 60 to 85 [unit: ° F.] Target temperature 100 Hi Max hot FFh Unknown - Remarks
-
- N/A
- 3.4.3.13. Hvac_Fan_Level_1st_Row_Status
- Status of set fan level of 1st row
- Values
-
TABLE 69 value Description remarks 0 OFF 1-7 Fan Level 8 Undefined - Remarks
-
- N/A
- 3.4.3.14. Hvac_Fan_Level_2nd_Row_Status
- Status of set fan level of 2nd row
- Values
-
TABLE 70 value Description remarks 0 OFF 1-7 Fan Level 8 Undefined - Remarks
-
- N/A
- 3.4.3.15. Hvac_1st_Row_AirOutlet_Mode_Status
- Status of mode of 1st row air outlet
- Values
-
TABLE 71 value Description remarks 000b ALL OFF when Auto mode is set 001b UPPER Air flows to the upper body 010b U/F Air flows to the upper body and feet 011b FEET Air flows to the feet. 100b F/D Air flows to the feet and the windshield defogger operates 101b DEF The windshield defogger operates 111b Undefined - Remarks
-
- N/A
- 3.4.3.16. Hvac_2nd_Row_AirOutlet_Mode_Status
- Status of mode of 2nd row air outlet
- Values
-
TABLE 72 value Description remarks 000b ALL OFF when Auto mode is set 001b UPPER Air flows to the upper body 010b U/F Air flows to the upper body and feet 011b FEET Air flows to the feet. 111b Undefined - Remarks
-
- N/A
- 3.4.3.17. Hvac Recirculate Status
- Status of set air recirculation mode
- Values
-
TABLE 73 value Description remarks 00 OFF means that the air recirculation mode is OFF 01 ON means that the air recirculation mode is ON - Remarks
-
- N/A
- 3.4.3.18. Hvac_AC_Status
- Status of set AC mode
- Values
-
TABLE 74 value Description remarks 00 OFF means that the AC mode is OFF 01 ON means that the AC mode is ON - Remarks
-
- N/A
- 3.4.3.19. 1st_Right_Seat_Occupancy_Status
- Seat occupancy status in 1st left seat
- Values
-
TABLE 75 value Description remarks 0 Not occupied 1 Occupied 2 Undecided IG OFF or signal from sensor being lost 3 Failed - Remarks
- When there is luggage on the seat, this signal may be set to “Occupied”.
- 3.4.3.20. 1st_Left_Seat_Belt_Status
- Status of driver's seat belt buckle switch
- Values
-
TABLE 76 value Description remarks 0 Buckled 1 Unbuckled 2 Undetermined 3 Fault of a switch - Remarks
-
- When Driver's seat belt buckle switch status signal is not set, [undetermined] is transmitted.
- It is checking to a person in charge, when using it. (Outputs “undetermined=10” as an initial value.)
- The judgement result of buckling/unbuckling shall be transferred to CAN transmission buffer within 1.3 s after IG_ON or before allowing firing, whichever is earlier.
- 3.4.3.21. 1st Right Seat Belt Status
- Status of passenger's seat belt buckle switch
- Values
-
TABLE 77 value Description remarks 0 Buckled 1 Unbuckled 2 Undetermined 3 Fault of a switch - Remarks
-
- When Passenger's seat belt buckle switch status signal is not set, [undetermined] is transmitted.
- It is checking to a person in charge, when using it. (Outputs “undetermined=10” as an initial value.)
-
- The judgement result of buckling/unbuckling shall be transferred to CAN transmission buffer within 1.3 s after IG_ON or before allowing firing, whichever is earlier.
- 3.4.3.22. 2nd_Left_Seat_Belt_Status
- Seat belt buckle switch status in 2nd left seat
- Values
-
TABLE 78 value Description remarks 0 Buckled 1 Unbuckled 2 Undetermined 3 Reserved - Remarks
-
- cannot detect sensor failure.
- 3.4.3.23. 2nd_Right_Seat_Belt_Status
- Seat belt buckle switch status in 2nd right seat
- Values
-
TABLE 79 value Description remarks 0 Buckled 1 Unbuckled 2 Undetermined 3 Reserved - Remarks
-
- cannot detect any failure.
- 3.5. APIs for Power control
- 3.5.1. Functions
- T.B.D.
- 3.5.2. Inputs
-
TABLE 80 Signal Name Description Redundancy Power_Mode_Request Command to control the N/A power mode of the vehicle platform - 3.5.2.1. Power_Mode_Request
- Command to control the power mode of the vehicle platform
- Values
-
TABLE 81 Value Description Remarks 00 No request 01 Sleep means “Ready OFF” 02 Wake means that VCIB turns ON 03 Resd Reserved for data expansion 04 Resd Reserved for data expansion 05 Resd Reserved for data expansion 06 Driving Mode means “Ready ON” - Remarks
-
- Regarding “wake”, let us share how to achieve this signal on the CAN. (See the other material) Basically, it is based on “ISO11989-2:2016”. Also, this signal should not be a simple value. Anyway, please see the other material.
- This API will reject the next request for a certain time [4000 ms] after receiving a request.
- The followings are the explanation of the three power modes, i.e. [Sleep][Wake][Driving Mode], which are controllable via API.
- [Sleep]
- Vehicle power off condition. In this mode, the high voltage battery does not supply power, and neither VCIB nor other VP ECUs are activated.
- [Wake]
- 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.
- [Driving Mode]
- Ready ON mode. In this mode, the high voltage battery supplies power to the whole VP and all the VP ECUs including VCIB are awake.
- 3.5.3. Outputs
-
TABLE 82 Signal Name Description Redundancy Power_Mode_Status Status of the current power N/A mode of the vehicle platform - 3.5.3.1. Power_Mode_Status
- Status of the current power mode of the vehicle platform
- Values
-
TABLE 83 Value Description Remarks 00 Resd Reserved for same data align as mode request 01 Sleep means “Ready OFF” 02 Wake means that the only VCIB turns ON 03 Resd Reserved for data expansion 04 Resd Reserved for data expansion 05 Resd Reserved for data expansion 06 Driving Mode means “Ready ON” 07 unknown means unhealthy situation would occur - Remarks
-
- VCIB will transmit [Sleep] as Power_Mode_Status continuously for 3000 [ms] after executing the sleep sequence. And then, VCIB will be shutdown.
- 3.6. APIs for Safety
- 3.6.1. Functions
- T.B.D.
- 3.6.2. Inputs
-
TABLE 84 Signal Name Description Redundancy T.B.D. - 3.6.3. Outputs
-
TABLE 85 Signal Name Description Redundancy Request for Operation Request for operation according to status of vehicle platform toward ADS Passive_Safety_Functions_Triggered Collision detection signal — Brake_System_Degradation_Modes Indicates Applied Brake_System_Degradation_Modes Propulsive_System_Degradation_Modes Indicates N/A Propulsive_System_Degradation_Modes Direction_Control_Degradation_Modes Indicates N/A Direction_Control_Degradation_Modes WheelLock_Control_Degradation_Modes Indicates Applied WheelLock_Control_Degradation_Modes Steering_System_Degradation_Modes Indicates Applied Steering_System_Degradation_Modes Power_System_Degradation_Modes Indicates Applied Power_System_Degradation_Modes Communication_Degradation_Modes - 3.6.3.1. Request for Operation
- Request for operation according to status of vehicle platform toward ADS
- Values
-
TABLE 86 value Description remarks 0 No request 1 Need maintenance 2 Need back to garage 3 Need stopping safely immediately Others Reserved - Remarks
-
- T.B.D.
- 3.6.3.2. Passive_Safety_Functions_Triggered
- Crash detection Signal
- Values
-
TABLE 87 value Description remarks 0 Normal 5 Crash Detection (airbag) 6 Crash Detection (high voltage circuit is shut off) 7 Invalid Value Others Reserved - Remarks
-
- When the event of crash detection is generated, the signal is transmitted 50 consecutive times every 100 [ms]. If the crash detection state changes before the signal transmission is completed, the high signal of priority is transmitted.
- Priority: crash detection>normal
-
- Transmits for 5 s regardless of ordinary response at crash, because the vehicle breakdown judgment system shall send a voltage OFF request for 5 s or less after crash in HV vehicle.
- 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.
- 3.6.3.3. Brake_System_Degradation_Modes
- Indicate Brake_System status
- Values
-
TABLE 88 value Description remarks 0 Normal — 1 Failure detected — - Remarks
-
- When the Failure is detected, Safe stop is moved.
- 3.6.3.4. Propulsive System Degradation Modes
- Indicate Powertrain System status
- Values
-
TABLE 89 value Description remarks 0 Normal — 1 Failure detected — - Remarks
-
- When the Failure is detected, Safe stop is moved.
- 3.6.3.5. Direction_Control_Degradation_Modes
- Indicate Direction_Control status
- Values
-
TABLE 90 value Description remarks 0 Normal — 1 Failure detected — - Remarks
-
- When the Failure is detected, Safe stop is moved.
- When the Failure is detected, Propulsion Direction Command is refused.
- 3.6.3.6. WheelLock_Control_Degradation_Modes
- Indicate WheelLock_Control status
- Values
-
TABLE 91 value Description remarks 0 Normal — 1 Failure detected — - Remarks
-
- Primary indicates EPB status, and Secondary indicates SBW indicates.
- When the Failure is detected, Safe stop is moved.
- 3.6.3.7. Steering_System_Degradation_Modes
- Indicate Steering_System status
- Values
-
TABLE 92 value Description remarks 0 Normal — 1 Failure detected — 2 Stationary steering Temporary lowering in not possible performance due to high temperature or the like - Remarks
-
- When the Failure are detected, Safe stop is moved.
- 3.6.3.8. Power_System_Degradation_Modes
- [T.B.D]
- 3.6.3.9. Communication_Degradation_Modes
- [T.B.D]
- 3.7. APIs for Security
- 3.7.1. Functions
- T.B.D.
- 3.7.2. Inputs
-
TABLE 93 Signal Name Description Redundancy 1st_Left_Door_Lock_Command Command to control each door N/A 1st_Right_Door_Lock_Command lock of the vehicle platform N/A 2nd_Left_Door_Lock_Command Lock command supports only N/A 2nd_Right_Door_Lock_Command ALL Door Lock. N/A Unlock command supports 1st-left Door unlock only, and ALL Door unlock. Trunk Door Lock/unlock command include in ALL Door lock/unlock Central_Vehicle_Lock_Exterior_Command Command to control the all door N/A lock of the vehicle platform - 3.7.2.1. 1st Left Door Lock Command, 1st Right Door Lock Command, 2nd Left Door Lock Command, 2nd Right Door Lock Command
- Command to control each door lock of the vehicle platform
- Values
-
TABLE 94 Value Description Remarks 0 No Request 1 Lock (unsupported) 2 Unlock 3 reserved - Remarks
-
- Lock command supports only ALL Door Lock.
- Unlock command supports 1st-left Door unlock only, and ALL Door unlock.
- 3.7.2.2. Central_Vehicle_Lock_Exterior_Command
- Command to control the all door lock of the vehicle platform.
- Values
-
TABLE 95 Value Description Remarks 0 No Request 1 Lock (all) include trunk lock 2 Unlock (all) include trunk unlock 3 reserved - Remarks
-
- Lock command supports only ALL Door Lock.
- Unlock command supports 1st-left Door unlock only, and ALL Door unlock.
- 3.7.3. Outputs
-
TABLE 96 Signal Name Description Redundancy lst_Left_Door_Lock_Status Status of the current N/A 1st-left door lock mode of the vehicle platform 1st_Right_Door_Lock_Status Status of the current N/A 1st-right door lock mode of the vehicle platform 2nd_Left_Door_Lock_Status Status of the current N/A 2nd-left door lock mode of the vehicle platform 2nd_Right_Door_Lock_Status Status of the current N/A 2nd-right door lock mode of the vehicle platform Central_Vehicle_Exterior_ Status of the current N/A Locked_Status all door lock mode of the vehicle platform Vehicle_Alarm_Status Status of the current N/A vehicle alarm of the vehicle platform - 3.7.3.1. 1st_Left_Door_Lock_Status
- Status of the current 1st-left door lock mode of the vehicle platform
- Values
-
TABLE 97 value Description Remarks 0 reserved 1 Locked D seat locked 2 Unlocked D seat unlocked 3 invalid - Remarks
-
- cannot detect any failure.
- 3.7.3.2. 1st_Right_Door_Lock_Status
- Status of the current 1st-right door lock mode of the vehicle platform
- Values
-
TABLE 98 value Description remarks 0 reserved 1 Locked P seat locked 2 Unlocked P seat unlocked 3 invalid - Remarks
-
- cannot detect any failure.
- 3.7.3.3. 2nd_Left_Door_Lock_Status
- Status of the current 2nd-left door lock mode of the vehicle platform
- Values
-
TABLE 99 Value Description remarks 0 Reserved 1 Locked RL seat locked 2 Unlocked RL seat unlocked 3 invalid - Remarks
-
- cannot detect any failure.
- 3.7.3.4. 2nd_Right_Door_Lock_Status
- Status of the current 2nd-right door lock mode of the vehicle platform
- Values
-
TABLE 100 value Description remarks 0 reserved 1 Locked RR seat locked 2 Unlocked RR seat unlocked 3 invalid - Remarks
-
- cannot detect any failure.
- 3.7.3.5. Central_Vehicle_Exterior_Locked_Status
- Status of the current all door lock mode of the vehicle platform
- Values
-
TABLE 101 value Description remarks 0 Reserved (unsupport) 1 All Locked (unsupport) 2 Anything Unlocked (unsupport) 3 invalid (unsupport) - Remarks
-
- Vehicle platform refers to each door lock status,
- in case any door unlocked, sends 0.
- in case all door locked, sends 1.
- 3.7.3.6. Vehicle_Alarm_Status
- Status of the current vehicle alarm of the vehicle platform
- Values
-
TABLE 102 Value Description remarks 0 Disarmed Auto alarm system not active 1 Armed Auto alarm system active•not on alert 2 Active Auto alarm system active•on alert 3 invalid - Remarks
- N/A
- 3.8. APIs for MaaS Service
- 3.8.1. Functions
- T.B.D.
- 3.8.2. Inputs
-
TABLE 103 Signal Name Description Redundancy T.B.D. - 3.8.3. Outputs
-
TABLE 104 Signal Name Description Redundancy T.B.D. - Toyota's MaaS Vehicle Platform
- Architecture Specification
- [Standard Edition #0.1]
- History of Revision
-
TABLE 105 Date of Revision ver. Summary of Revision Reviser 2019 Nov. 4 0.1 Creating a new material MaaS Business Div. - Index
- 1.
General Concept 4 -
- 1.1. Purpose of this
Specification 4 - 1.2.
Target Vehicle Type 4 - 1.3.
Target Electronic Platform 4 - 1.4. Definition of
Term 4 - 1.5. Precaution for
Handling 4 - 1.6. Overall Structure of
MaaS 4 - 1.7. Adopted
Development Process 6 - 1.8. ODD (Operational Design Domain) 6
- 1.1. Purpose of this
- 2.
Safety Concept 7 -
- 2.1.
Outline 7 - 2.2. Hazard analysis and
risk assessment 7 - 2.3. Allocation of
safety requirements 8 - 2.4.
Redundancy 8
- 2.1.
- 3.
Security Concept 10 -
- 3.1.
Outline 10 - 3.2.
Assumed Risks 10 - 3.3. Countermeasure for the
risks 10- 3.3.1. The countermeasure for a remote attack 11
- 3.3.2. The countermeasure for a modification 11
- 3.4. Addressing Held Data Information 11
- 3.5. Addressing Vulnerability 11
- 3.6. Contract with Operation Entity 11
- 3.1.
- 4.
System Architecture 12 -
- 4.1.
Outline 12 - 4.2. Physical LAN architecture (in-Vehicle) 12
- 4.3. Power Supply Structure 14
- 4.1.
- 5. Function Allocation 15
-
- 5.1. in a healthy situation 15
- 5.2. in a single failure 16
- 6.
Data Collection 18 -
- 6.1. At
event 18 - 6.2. Constantly 18
- 6.1. At
- 1. General Concept
- 1.1. Purpose of this Specification
- This document is an architecture specification of Toyota's MaaS Vehicle Platform and contains the outline of system in vehicle level.
- 1.2. Target Vehicle Type
- This specification is applied to the Toyota vehicles with the electronic platform called 19ePF [ver.1 and ver.2].
- The representative vehicle with 19ePF is shown as follows.
- e-Palette, Sienna, RAV4, and so on.
- 1.3. Definition of Term
-
TABLE 106 Term Definition 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. - 1.4. Precaution for Handling
- This is an early draft of the document.
- All the contents are subject to change. Such changes are notified to the users. Please note that some parts are still T.B.D. will be updated in the future.
- 2. Architectural Concept
- 2.1. Overall Structure of MaaS
- 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.
- Technology providers can receive open API such as vehicle state and vehicle control, necessary for development of automated driving systems.
- 2.2. Outline of System Architecture on the Vehicle
- 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. In order to realize each API in this document, the CAN frames and the bit assignments are shown in the form of “bit assignment chart” as a separate document.
- 2.3. Outline of Power Supply Architecture on the Vehicle
- 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.
- 3. Safety Concept
- 3.1. Overall Safety Concept
- The basic safety concept is shown as follows.
- The strategy of bringing the vehicle to a safe stop when a failure occurs is shown as follows (
FIG. 19 ). - 1. After occurrence of a failure, the entire vehicle executes “detecting a failure” and “correcting an impact of failure” and then achieves the
safety state 1. - 2. Obeying the instructions from the ADS, the entire vehicle stops in a safe space at a safe speed (assumed less than 0.2 G).
- However, depending on a situation, the entire vehicle should happen a deceleration more than the above deceleration if needed.
- 3. After stopping, in order to prevent slipping down, the entire vehicle achieves the
safety state 2 by activating the immobilization system. -
TABLE 107 category content Precondition Only one single failure at a time across the entire integrated vehicle. (Multiple failures are not covered) After the initial single failure, no other failure is anticipated in the duration in which the functionality is maintained. Responsibility In case of a single failure, the integrated vehicle for the vehicle should maintain the necessary functionality for platform until safety stop. safety state 2The functionality should be maintained for 15 (fifteen) seconds. Basic [For ADS] Responsibility The ADS should create the driving plan, and should Sharing indicate vehicle control values to the VP. [For Toyota vehicle platform] The Toyota VP should control each system of the VP based on indications from the ADS. - See the separated document called “Fault Management” regarding notifiable single failure and expected behavior for the ADS.
- 3.2. Redundancy
- The redundant functionalities with Toyota's MaaS vehicle are shown.
- Toyota's Vehicle Platform has the following redundant functionalities to meet the safety goals led from the functional safety analysis.
- Redundant Braking
- Any single failure on the Braking System doesn't cause loss of braking functionality. However, depending on where the failure occurred, the capability left might not be equivalent to the primary system's capability. In this case, the braking system is designed to prevent the capability from becoming 0.3 G or less.
- Redundant Steering
- Any single failure on the Steering System doesn't cause loss of steering functionality. However, depending on where the failure occurred, the capability left might not be equivalent to the primary system's capability. In this case, the steering system is designed to prevent the capability from becoming 0.3 G or less.
- Redundant Immobilization
- Toyota's MaaS vehicle has 2 immobilization systems, i.e. P lock and EPB. Therefore, any single failure of immobilization system doesn't cause loss of the immobilization capability. However, in the case of failure, maximum stationary slope angle is less steep than when the systems are healthy.
- Redundant Power
- 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.
- Redundant Communication
- Any single failure on the Communication System doesn't cause loss of all the communication functionality. System which needs redundancy has physical redundant communication lines. For more detail information, see the chapter “Physical LAN architecture (in-Vehicle)”.
- 4. Security Concept
- 4.1. Outline
- Regarding security, Toyota's MaaS vehicle adopts the security document issued by Toyota as an upper document.
- 4.2. Assumed Risks
- 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 entire risk is shown as follows.
- [Remote Attack]
-
- To vehicle
- Spoofing the center
- ECU Software Alternation
- DoS Attack
- Sniffering
- From vehicle
- Spoofing the other vehicle
- Software Alternation for a center or an ECU on the other vehicle
- DoS Attack to a center or other vehicle
- Uploading illegal data
- To vehicle
- [Modification]
-
- Illegal Reprogramming
- Setting up an illegal ADK
- Installation of an unauthenticated product by a customer
- 4.3. Countermeasure for the Risks
- The countermeasure of the above assumed risks is shown as follows.
- 4.3.1. The Countermeasure for a Remote Attack
- The countermeasure for a remote attack is shown as follows.
- Since 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)
- 4.3.2. The Countermeasure for a Modification
- The countermeasure for a modification is shown as follows.
- 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.
- In application to actual vehicles, conduct credible threat analysis together, and measures for addressing most recent vulnerability of the autonomous driving kit at the time of LO should be completed.
- 5. Function Allocation
- 5.1. In a Healthy Situation
- The allocation of representative functionalities is shown as below (
FIG. 20 ). - [Function allocation]
-
TABLE 108 Function Related category Function name to # remarks Planning Plan for driving path 0 Calculating control 0 e.g. longitudinal G indications Overall API Pub/ Sub 1 One system with redundancy Security Autonomy Driving Kit 1 One system with Authentication redundancy Message 1 One system with Authentication redundancy Door locking control 8 Longitudinal/ Motion control 2 Lateral (Primary), 3 (Secondary) Propulsion control 4 Braking control 2, 3 Two units controlled according to deceleration requirement Steering control 5 One system with redundancy Immobilization control 2 (EPB), 6 (P Lock) Shift control 6 Power supply Secondary battery 7 control Vehicle power control 10 For more information, see the API specification. Access/ Body control 8 Turn signal, Comfort Headlight, Window, etc. HVAC control 9 Data Data logging (at event) 1 Data logging 1 (constantly) - 5.2. In a Single Failure
- See the separated document called “Fault Management” regarding notifiable single failure and expected behavior for the ADS.
- Though embodiments of the present disclosure have been described above, it should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is defined by the terms of the claims and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
Claims (6)
1. A vehicle on which an autonomous driving system is mountable, the vehicle comprising:
a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system; and
a vehicle control interface that serves as an interface between the autonomous driving system and the vehicle platform, wherein
the vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the autonomous driving system through the vehicle control interface, and
the accelerator pedal intervention signal
indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and
indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
2. The vehicle according to claim 1 , wherein
the vehicle platform has an NVO (Non Vehicle Operation) mode in which the vehicle is capable of completely unmanned driving, and
in the NVO mode, the vehicle control interface does not output, to the autonomous driving system, the accelerator pedal intervention signal indicating the beyond autonomy acceleration.
3. The vehicle according to claim 1 , wherein
the accelerator pedal position signal
indicates an accelerator position in accordance with the amount of depression, while the vehicle is in a normal condition, and
indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
4. A vehicle control interface serving as an interface between an autonomous driving system and a vehicle platform, the vehicle platform controlling a vehicle in accordance with an instruction from the autonomous driving system, wherein
the vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the vehicle control interface,
the vehicle control interface outputs the accelerator pedal position signal and the accelerator pedal intervention signal to the autonomous driving system, and
the accelerator pedal intervention signal
indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and
indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request.
5. The vehicle control interface according to claim 4 , wherein
the vehicle platform has an NVO (Non Vehicle Operation) mode in which the vehicle is capable of completely unmanned driving, and
in the NVO mode, the vehicle control interface does not output, to the autonomous driving system, the accelerator pedal intervention signal indicating the beyond autonomy acceleration.
6. The vehicle control interface according to claim 4 , wherein
the accelerator pedal position signal
indicates an accelerator position in accordance with the amount of depression, while the vehicle is in a normal condition, and
indicates a failsafe value different from the accelerator position, while the vehicle is in a failure condition.
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JP7306284B2 (en) | 2023-07-11 |
US20220234611A1 (en) | 2022-07-28 |
EP3875329A1 (en) | 2021-09-08 |
CN113276872B (en) | 2024-06-18 |
KR102594571B1 (en) | 2023-10-26 |
BR102021001768A2 (en) | 2021-08-17 |
RU2754019C1 (en) | 2021-08-25 |
JP2021123137A (en) | 2021-08-30 |
US20230271631A1 (en) | 2023-08-31 |
JP2023123628A (en) | 2023-09-05 |
JP7501742B2 (en) | 2024-06-18 |
US11673573B2 (en) | 2023-06-13 |
CN113276872A (en) | 2021-08-20 |
KR20210098362A (en) | 2021-08-10 |
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