Patent Publication Number: US-2023139795-A1

Title: Vehicle platform

Description:
This nonprovisional application is based on Japanese Patent Application No. 2021-157663 filed with the Japan Patent Office on Sep. 28, 2021, the entire contents of which are hereby incorporated by reference. 
     BACKGROUND 
     Field 
     The present disclosure relates to a vehicle platform configured to allow autonomous driving. 
     Description of the Background Art 
     A technique for autonomous driving of a vehicle has recently been developed. For example, Japanese Patent Laying-Open No. 2018-132015 discloses a vehicle including a motive power system that manages motive power of a vehicle in a centralized manner, a power supply system that manages power supply to various vehicle-mounted devices in a centralized manner, and an autonomous driving system that carries out autonomous driving control of the vehicle in a centralized manner. 
     SUMMARY 
     During autonomous driving, an opening/closing action of a trunk door (back door) may automatically be taken in accordance with a command from an autonomous driving system. In this case, the action of the trunk door at timing unexpected by a user of a vehicle is undesirable. 
     The present disclosure was made to solve the problem above, and an object thereof is to suppress an action of a trunk door at timing unexpected by a user during autonomous driving. 
     A vehicle platform according to one aspect of this disclosure is a vehicle platform on which an autonomous driving system is mountable. The vehicle platform includes a vehicle and a vehicle control interface box that interfaces between the vehicle and the autonomous driving system. The vehicle includes an entrance door and a trunk door. While the entrance door is unlocked, the vehicle accepts a trunk operate command that requests an action of the trunk door received by the vehicle control interface box from the autonomous driving system. 
     A vehicle platform according to another aspect of this disclosure includes an autonomous driving system that creates a driving plan, a vehicle that carries out vehicle control in accordance with a command from the autonomous driving system, and a vehicle control interface box that interfaces between the vehicle and the autonomous driving system. The vehicle includes an entrance door and a trunk door. While the entrance door is unlocked, the vehicle accepts a trunk operate command that requests an action of the trunk door received by the vehicle control interface box from the autonomous driving system. 
     While the entrance door is unlocked, a user can anticipate that the trunk door may be activated. According to the configuration, while the entrance door is unlocked, the vehicle accepts the trunk operate command. Therefore, the trunk door can be activated at timing when the user can anticipate an action of the trunk door. 
     In one embodiment, while the entrance door of a rear seat is unlocked, the vehicle accepts the trunk operate command. 
     While the entrance door of the rear seat is unlocked, the user can further anticipate that the trunk door may be activated. According to the configuration, since the vehicle accepts the trunk operate command while the entrance door of the rear seat is unlocked, the trunk door can be activated at timing when the user can anticipate an action of the trunk door. 
     In one embodiment, the trunk operate command includes a first request that requests an opening/closing action of the trunk door. When the vehicle keeps accepting the first request for one second, the vehicle activates the trunk door. 
     According to the configuration, by setting continued acceptance of the first request for one second as a condition for the action of the trunk door, an erroneous action of the trunk door due to noise or the like can be suppressed. 
     In one embodiment, the trunk operate command includes a second request that indicates No request. When the vehicle accepts the second request while the trunk door is in action, the vehicle allows a continued action of the trunk door. 
     According to the configuration, the trunk door can appropriately be activated. 
     In one embodiment, when the vehicle accepts the first request after the vehicle accepts the second request while the trunk door is in action, the vehicle stops the action of the trunk door. 
     According to the configuration, the trunk door can appropriately be activated. 
     In one embodiment, when the vehicle stops the action of the trunk door and then when the vehicle activates again the trunk door in accordance with the trunk operate command, the vehicle controls the trunk door to take an action reverse to the action before stop. 
     When the stopped trunk door is activated again, an action reverse to the action before stop is highly likely desired. According to the configuration, when the trunk door is activated again, it is controlled to take an action reverse to the action before stop, and hence convenience of the user can be enhanced. 
     In one embodiment, the autonomous driving system transmits the first request until the trunk door is fully opened or closed. 
     According to the configuration, end of a process with the trunk door being in a state other than a fully opened or closed state can be suppressed. 
     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. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram showing overview of a vehicle according to an embodiment of the present disclosure. 
         FIG.  2    is a diagram showing in further detail, a configuration of an ADK (ADS) and a VP shown in  FIG.  1   . 
         FIG.  3    is a diagram schematically showing a side view of a base vehicle. 
         FIG.  4    is a diagram for illustrating a trunk operate command. 
         FIG.  5    is a flowchart showing a procedure in processing relating to an opening/closing action of a trunk door. 
         FIG.  6    is a flowchart showing a procedure in processing performed while the trunk door is in action. 
         FIG.  7    is a diagram showing an overall structure of an Autono-MaaS vehicle. 
         FIG.  8    is a diagram showing a system architecture of the Autono-MaaS vehicle. 
         FIG.  9    is a diagram showing a typical workflow in the ADS. 
         FIG.  10    is a diagram showing relation between a front wheel steer angle rate limitation and a velocity. 
         FIG.  11    is a state machine diagram of the power mode. 
         FIG.  12    is a diagram showing details of shift change sequences. 
         FIG.  13    is a diagram showing immobilization sequences. 
         FIG.  14    is a diagram showing standstill sequences. 
         FIG.  15    is a state machine diagram of an autonomy state. 
         FIG.  16    is a diagram showing an authentication process. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     An embodiment of the present disclosure will be described below in detail with reference to the drawings. The same or corresponding elements in the drawings have the same reference characters allotted and description thereof will not be repeated. 
     Overall Configuration 
       FIG.  1    is a diagram showing overview of a vehicle  10  according to an embodiment of the present disclosure. Referring to  FIG.  1   , vehicle  10  includes an autonomous driving kit (which is denoted as “ADK” below)  200  and a vehicle platform (which is denoted as “VP” below)  120 . ADK  200  is configured as being attachable to (mountable on) VP  120 . ADK  200  and VP  120  are configured to communicate with each other through a vehicle control interface box  111  (which will be described later) mounted on VP  120 . 
     VP  120  can carry out autonomous driving in accordance with control requests (commands) from ADK  200 . Though  FIG.  1    shows VP  120  and ADK  200  at positions distant from each other, ADK  200  is actually attached to a rooftop or the like of a base vehicle  100  (which will be described later) included in VP  120 . ADK  200  can also be removed from VP  120 . While ADK  200  is not attached, VP  120  can travel by driving by a user. In this case, VP  120  carries out travel control (travel control in accordance with an operation by a user) in a manual mode. 
     ADK  200  includes an autonomous driving system (which is denoted as “ADS” below)  202  for autonomous driving of vehicle  10 . For example, ADS  202  creates a driving plan of vehicle  10 . Then, ADS  202  outputs various commands (control requests) for travel of vehicle  10  in accordance with the created driving plan to VP  120  in accordance with an application program interface (API) defined for each command. ADS  202  receives various signals indicating statuses (vehicle statuses) of VP  120  from VP  120  in accordance with the API defined for each signal. Then, ADS  202  has the received vehicle status reflected on creation of the driving plan. A detailed configuration of ADS  202  will be described later. 
     VP  120  includes base vehicle  100  and vehicle control interface box (which is denoted as “VCIB” below)  111 . 
     Base vehicle  100  carries out various types of vehicle control in accordance with a control request from ADK  200  (ADS  202 ). Base vehicle  100  includes various systems and various sensors for controlling the vehicle. Specifically, base vehicle  100  includes an integrated control manager  115 , a brake system  121 , a steering system  122 , a powertrain system  123 , an active safety system  125 , a body system  126 , wheel speed sensors  127 A and  127 B, a pinion angle sensor  128 , a camera  129 A, and radar sensors  129 B and  129 C. 
     Integrated control manager  115  includes a processor and a memory, and integrally controls the systems (brake system  121 , steering system  122 , powertrain system  123 , active safety system  125 , and body system  126 ) involved with operations of the vehicle. 
     Brake system  121  is configured to control a braking apparatus provided in each wheel. The braking apparatus includes, for example, a disc brake system (not shown) that is operated with a hydraulic pressure regulated by an actuator. 
     Wheel speed sensors  127 A and  127 B are connected to brake system  121 . Wheel speed sensor  127 A detects a rotation speed of a front wheel and outputs a detection value thereof to brake system  121 . Wheel speed sensor  127 B detects a rotation speed of a rear wheel and outputs a detection value thereof to brake system  121 . 
     Brake system  121  generates a braking command to a braking apparatus in accordance with a prescribed control request outputted from ADK  200  through VCIB  111  and integrated control manager  115 . Brake system  121  then controls the braking apparatus based on the generated braking command. Integrated control manager  115  can calculate a speed of the vehicle (vehicle speed) based on the rotation speed of each wheel. 
     Steering system  122  is configured to control a steering angle of a steering wheel of the vehicle with a steering apparatus. The steering apparatus includes, for example, rack-and-pinion electric power steering (EPS) that allows adjustment of a steering angle by an actuator. 
     Pinion angle sensor  128  is connected to steering system  122 . Pinion angle sensor  128  detects an angle of rotation (a pinion angle) of a pinion gear coupled to a rotation shaft of the actuator included in the steering apparatus and outputs a detection value thereof to steering system  122 . 
     Steering system  122  generates a steering command to the steering apparatus in accordance with a prescribed control request outputted from ADK  200  through VCIB  111  and integrated control manager  115 . Then, steering system  122  controls the steering apparatus based on the generated steering command. 
     Powertrain system  123  controls an electric parking brake (EPB) system provided in at least one of a plurality of wheels, a parking lock (P-Lock) system provided in a transmission of base vehicle  100 , and a propulsion system including a shift apparatus for selecting a shift range. A detailed configuration of powertrain system  123  will be described later with reference to  FIG.  2   . 
     Active safety system  125  detects an obstacle (a pedestrian, a bicycle, a parked vehicle, a utility pole, or the like) in front or in the rear of the vehicle with the use of camera  129 A and radar sensors  129 B and  129 C. Active safety system  125  determines whether or not vehicle  10  may collide with the obstacle based on a distance between vehicle  10  and the obstacle and a direction of movement of vehicle  10 . Then, when active safety system  125  determines that there is possibility of collision, it outputs a braking command to brake system  121  through integrated control manager  115  so as to increase braking force of the vehicle. 
     Body system  126  is configured to control, for example, various devices such as a direction indicator, a headlight, a hazard light, a horn, a front wiper, and a rear wiper (none of which is shown), depending on a state or an environment of travel of vehicle  10 . Body system  126  controls the various devices above in accordance with a prescribed control request outputted from ADK  200  through VCIB  111  and integrated control manager  115 . Body system  126  is configured to control an opening and closing apparatus (which will be described later) that activates the trunk door (back door). Body system  126  controls the opening and closing apparatus to activate the trunk door in accordance with a prescribed control request outputted from ADK  200  through VCIB  111  and integrated control manager  115 . 
     VCIB  111  is configured to communicate with ADS  202  of ADK  200  over a controller area network (CAN). VCIB  111  receives various control requests from ADS  202  or outputs a status of VP  120  to ADS  202  by executing a prescribed API defined for each communicated signal. When VCIB  111  receives the control request from ADS  202 , it outputs a control command corresponding to the control request to a system corresponding to the control command through integrated control manager  115 . VCIB  111  obtains various types of information on base vehicle  100  from each system through integrated control manager  115  and outputs the status of base vehicle  100  as the vehicle status to ADS  202 . 
     Vehicle  10  may be adopted as one of features of a mobility as a service (MaaS) system. The MaaS system further includes, for example, a data server and a mobility service platform (MSPF) (neither of which is shown), in addition to vehicle  10 . 
     The MSPF is an integrated platform to which various mobility services are connected. Autonomous driving related mobility services are connected to the MSPF. In addition to the autonomous driving related mobility services, mobility services provided by a ride-share company, a car-sharing company, a rent-a-car company, a taxi company, and an insurance company may be connected to the MSPF. Various mobility services including mobility services can use various functions provided by the MSPF by using APIs published on the MSPF, depending on service contents. 
     VP  120  further includes a data communication module (DCM) (not shown) as a communication interface (I/F) to wirelessly communicate with a data server of the MaaS system. The DCM outputs various types of vehicle information such as a speed, a position, or an autonomous driving state to the data server. The DCM receives from the autonomous driving related mobility services through the MSPF and the data server, various types of data for management of travel of an autonomous driving vehicle including vehicle  10  in the mobility services. 
     The MSPF publishes APIs for using various types of data on vehicle statuses and vehicle control necessary for development of the ADK. Various mobility services can use various functions provided by the MSPF depending on service contents, by using the APIs published on the MSPF. For example, the autonomous driving related mobility services can obtain operation control data of an autonomous driving vehicle that communicates with the data server or information stored in the data server from the MSPF by using the APIs published on the MSPF. The autonomous driving related mobility services can transmit data for managing an autonomous driving vehicle including vehicle  10  to the MSPF by using the API. 
       FIG.  2    is a diagram showing in further detail, a configuration of ADK  200  (ADS  202 ) and VP  120  shown in  FIG.  1   . Referring to  FIG.  2   , ADS  202  of ADK  200  includes a compute assembly  210 , a human machine interface (HMI)  230 , sensors for perception  260 , sensors for pose  270 , and a sensor cleaning  290 . 
     Compute assembly  210  includes communication modules  210 A and  210 B. Communication modules  210 A and  210 B are configured to communicate with VCIB  111 . During autonomous driving of vehicle  10 , compute assembly  210  obtains an environment around the vehicle and a pose, a behavior, and a position of vehicle  10  from various sensors (which will be described later), and obtains a vehicle status from VP  120  through VCIB  111  and sets a next operation (acceleration, deceleration, or turning) of vehicle  10 . Then, compute assembly  210  outputs various commands for realizing a set next operation to VCIB  111  in VP  120 . 
     HMI  230  presents information to a user and accepts an operation by the user during autonomous driving, during driving requiring an operation by a user, or at the time of transition between autonomous driving and driving requiring an operation by the user. HMI  230  is constructed to be connected to an input and output apparatus (not shown) such as a touch panel display provided in VP  120 . 
     Sensors for perception  260  are sensors that perceive an environment around the vehicle. Sensors for perception  260  include, for example, at least one of laser imaging detection and ranging (LIDAR), a millimeter-wave radar, and a camera. 
     The LIDAR refers to a distance measurement apparatus that measures a distance based on a time period from emission of pulsed laser beams (infrared rays) until return of the laser beams reflected by an object. The millimeter-wave radar is a distance measurement apparatus that measures a distance or a direction to an object by emitting radio waves short in wavelength to the object and detecting radio waves that return from the object. The camera is arranged, for example, on a rear side of a room mirror in a compartment and used for shooting the front of vehicle  10 . As a result of image processing by artificial intelligence (AI) or an image processing processor onto images or video images shot by the camera, another vehicle, an obstacle, or a human in front of vehicle  10  can be recognized. Information obtained by sensors for perception  260  is outputted to compute assembly  210 . 
     Sensors for pose  270  are sensors that detect a pose, a behavior, or a position of vehicle  10 . Sensors for pose  270  include, for example, an inertial measurement unit (IMU) and a global positioning system (GPS). 
     The IMU detects, for example, an acceleration in a front-rear direction, a lateral direction, and a vertical direction of vehicle  10  and an angular speed in a roll direction, a pitch direction, and a yaw direction of vehicle  10 . The GPS detects a position of vehicle  10  based on information received from a plurality of GPS satellites that orbit the Earth. Information obtained by sensors for pose  270  is outputted to compute assembly  210 . 
     Sensor cleaning  290  removes soiling attached to various sensors. Sensor cleaning  290  removes soiling attached to a lens of the camera or a portion from which laser beams or radio waves are emitted, for example, with a cleaning solution or a wiper. 
     VCIB  111  includes a VCIB  111 A and a VCIB  111 B. Each of VCIBs  111 A and  111 B includes an electronic control unit (ECU). The ECU includes a processor such as a not-shown central processing unit (CPU) and a memory (a read only memory (ROM) and a random access memory (RAM)). A program executable by the processor is stored in the ROM. The processor performs various types of processing in accordance with the program stored in the ROM. 
     VCIBs  111 A and  111 B are communicatively connected to communication modules  210 A and  210 B of ADS  202 , respectively. VCIB  111 A and VCIB  111 B are also communicatively connected to each other. Though VCIB  111 B is equivalent in function to VCIB  111 A, it is partially different in a plurality of systems connected thereto that make up VP  120 . 
     VCIBs  111 A and  111 B each relay control requests and vehicle statuses between ADS  202  and VP  120 . More specific description will be given representatively for VCIB  111 A. VCIB  111 A receives various control requests outputted from ADS  202  in accordance with an API defined for each control request. Then, VCIB  111 A generates a command corresponding to the received control request and outputs the command to a system of base vehicle  100  corresponding to the control request. In the present embodiment, the control request received from ADS  202  includes a trunk operate command indicating an opening/closing action of a trunk door (back door) of base vehicle  100 . 
     VCIB  111 A receives vehicle information provided from each system of VP  120  and transmits information indicating the vehicle status of VP  120  to ADS  202  in accordance with an API defined for each vehicle status. The information indicating the vehicle status to be transmitted to ADS  202  may be information identical to the vehicle information provided from each system of VP  120  or may be information extracted from the vehicle information to be used for processing performed by ADS  202 . 
     As VCIBs  111 A and  111 B equivalent in function relating to an operation of at least one of (for example, braking or steering) systems are provided, control systems between ADS  202  and VP  120  are redundant. Thus, when some kind of failure occurs in a part of the system, the function (turning or stopping) of VP  120  can be maintained by switching between the control systems as appropriate or disconnecting a control system where failure has occurred. 
     Brake system  121  includes brake systems  121 A and  121 B. Steering system  122  includes steering systems  122 A and  122 B. Powertrain system  123  includes an EPB system  123 A, a P-Lock system  123 B, and a propulsion system  124 . 
     VCIB  111 A is communicatively connected to brake system  121 A, steering system  122 A, EPB system  123 A, P-Lock system  123 B, propulsion system  124 , and body system  126  through a communication bus. VCIB  111 B is communicatively connected to brake system  121 B, steering system  122 B, and P-Lock system  123 B through a communication bus. 
     Brake systems  121 A and  121 B are configured to control a plurality of braking apparatuses provided in wheels. Brake system  121 B may be equivalent in function to brake system  121 A, or one of brake systems  121 A and  121 B may be configured to independently control braking force of each wheel during travel of the vehicle and the other thereof may be configured to control braking force such that equal braking force is generated in the wheels during travel of the vehicle. 
     Brake systems  121 A and  121 B each generate a braking command to the braking apparatus in accordance with a control request received from ADS  202  through VCIB  111 . For example, brake systems  121 A and  121 B control the braking apparatus based on a braking command generated in one of the brake systems, and when a failure occurs in that brake system, the braking apparatus is controlled based on a braking command generated in the other brake system. 
     Steering systems  122 A and  122 B are configured to control a steering angle of a steering wheel of vehicle  10  with a steering apparatus. Steering system  122 B is similar in function to steering system  122 A. 
     Steering systems  122 A and  122 B each generate a steering command to the steering apparatus in accordance with a control request received from ADS  202  through VCIB  111 . For example, steering systems  122 A and  122 B control the steering apparatus based on the steering command generated in one of the steering systems, and when a failure occurs in that steering system, the steering apparatus is controlled based on a steering command generated in the other steering system. 
     EPB system  123 A is configured to control the EPB. The EPB is provided separately from the braking apparatus, and fixes a wheel by an operation of an actuator. The EPB, for example, activates with an actuator, a drum brake for a parking brake provided in at least one of a plurality of wheels to fix the wheel, or activates a braking apparatus to fix a wheel with an actuator capable of regulating a hydraulic pressure to be supplied to the braking apparatus separately from brake systems  121 A and  121 B. 
     EPB system  123 A controls the EPB in accordance with a control request received from ADS  202  through VCIB  111 . 
     P-Lock system  123 B is configured to control a P-Lock apparatus. The P-Lock apparatus fits a protrusion provided at a tip end of a parking lock pawl, a position of which is adjusted by an actuator, into a tooth of a gear (locking gear) provided as being coupled to a rotational element in the transmission of base vehicle  100 . Rotation of an output shaft of the transmission is thus fixed and the wheel is fixed. 
     P-Lock system  123 B controls the P-Lock apparatus in accordance with a control request received from ADS  202  through VCIB  111 . When the control request from ADS  202  includes a request to set the shift range to a parking range (P range), P-Lock system  123 B activates the P-Lock apparatus, and when the control request includes a request to set the shift range to a shift range other than the P range, it deactivates the P-Lock apparatus. 
     Propulsion system  124  is configured to switch a shift range with the use of a shift apparatus and to control driving force of vehicle  10  in a direction of movement of vehicle  10  that is generated from a drive source. Switchable shift ranges include, for example, the P range, a neutral range (N range), a forward travel range (D range), and a rearward travel range (R range). The drive source includes, for example, a motor generator and an engine. 
     Propulsion system  124  controls the shift apparatus and the drive source in accordance with a control request received from ADS  202  through VCIB  111 . 
     Active safety system  125  is communicatively connected to brake system  121 A. As described above, active safety system  125  detects an obstacle (an obstacle or a human) in front of the vehicle by using camera  129 A and radar sensor  129 B, and when it determines that there is possibility of collision based on a distance to the obstacle, it outputs a braking command to brake system  121 A so as to increase braking force. 
     Body system  126  controls various devices in accordance with a control request (control command) received from ADS  202  through VCIB  111 . The various devices include, for example, a direction indicator, a headlight, a hazard light, a horn, a front wiper, and a rear wiper. In addition, the various devices include an opening and closing apparatus ( FIG.  3   ) for the trunk door. In other words, body system  126  controls the opening and closing apparatus for the trunk door in accordance with a control request received from ADS  202  through VCIB  111  and integrated control manager  115 . 
     For example, when an autonomous mode is selected as the autonomous state by an operation by the user onto HMI  230  in vehicle  10 , autonomous driving is carried out. During autonomous driving, ADS  202  initially creates a driving plan as described above. Examples of the driving plan include a plan to continue straight travel, a plan to turn left/right at a prescribed intersection on a predetermined travel path, and a plan to change a travel lane. 
     ADS  202  calculates a controllable physical quantity (an acceleration, a deceleration, and a wheel steer angle) necessary for operations of vehicle  10  in accordance with the created driving plan. ADS  202  splits the physical quantity for each execution cycle time of the API. ADS  202  outputs a control request representing the split physical quantity to VCIB  111  by means of the API. Furthermore, ADS  202  obtains a vehicle status (an actual direction of movement of the vehicle and a state of fixation of the vehicle) from VP  120  and creates again the driving plan on which the obtained vehicle status is reflected. ADS  202  thus allows autonomous driving of vehicle  10 . 
       FIG.  3    is a diagram schematically showing a side view of base vehicle  100 . Base vehicle  100  includes a front seat door  161 , a rear seat door  162 , a front seat door locking apparatus  165 , a rear seat door locking apparatus  166 , a trunk door (back door)  170 , and an opening and closing apparatus  175 . 
     Front seat door locking apparatus  165  is configured to switch front seat door  161  between a locked state and an unlocked state. Rear seat door locking apparatus  166  is configured to switch rear seat door  162  between the locked state and the unlocked state. Front seat door locking apparatus  165  and rear seat door locking apparatus  166  are activated in accordance with a control signal from body system  126 . 
     Trunk door (back door)  170  is provided as a back door of base vehicle  100 . Trunk door  170  is provided with opening and closing apparatus  175 . Opening and closing apparatus  175  includes, for example, an actuator, and opens and closes trunk door  170  in accordance with a control signal from body system  126 .  FIG.  3    shows a fully closed state of trunk door  170  with a solid line.  FIG.  3    shows a fully opened state of trunk door  170  with a dashed line. 
     Opening and Closing of Trunk Door 
     As described above, the control request received by VCIB  111  from ADS  202  includes a trunk operate command that requests an opening/closing action of trunk door  170  of base vehicle  100 . The trunk operate command is converted to a corresponding control command by VCIB  111  and sent to body system  126  through integrated control manager  115 . Body system  126  controls opening and closing apparatus  175  to activate trunk door  170  in accordance with the trunk operate command (control command). 
       FIG.  4    is a diagram for illustrating the trunk operate command.  FIG.  4    shows a value (Value) that the trunk operate command can take, description (Description) thereof, and remarks (Remarks). 
     The trunk operate command takes any one value among 0, 1, 2, and 3. The value 0 represents “No request.” Though detailed description will be given later, the value 0 is set when a current action is maintained (continued). The value 1 represents “Open/Close Request.” The Open/Close Request is a request for an action of trunk door  170  (opening and closing apparatus  175 ). The values 2 and 3 represent “Reserve”. Though the values 2 and 3 are not used in the present embodiment, they can also be set and used as appropriate. 
     When VCIB  111  receives the trunk operate command from ADK  200  (ADS  202 ), it generates a control command corresponding to the value indicated in the trunk operate command and outputs the control command to base vehicle  100 . Integrated control manager  115  of base vehicle  100  outputs the control command received from VCIB  111  to body system  126 . When the trunk operate command indicates the value 0, VCIB  111  generates the control command indicating “No request” and outputs the control command to body system  126 . When a trunk door request indicates the value 1, VCIB  111  generates a control command indicating “Open/Close Request” and outputs the control command to body system  126 . Specifically, the control command outputted from VCIB  111  is provided to body system  126  through integrated control manager  115 . 
     While doors of all seats of vehicle  10  are unlocked or the doors of rear seats of vehicle  10  are unlocked, body system  126  accepts the trunk operate command (control command). In other words, while at least the doors of the rear seats are unlocked, body system  126  accepts the trunk operate command (control command). Unless the doors of the rear seats are unlocked, body system  126  does not accept the trunk operate command (control command). 
     When the accepted trunk operate command indicates “No request,” body system  126  maintains (continues) a current action. Specifically, when body system  126  accepts the trunk operate command indicating “No request” while trunk door  170  is fully closed or opened, it maintains that state of trunk door  170  (the fully closed or opened state) without activating opening and closing apparatus  175 . 
     When body system  126  accepts the trunk operate command indicating “Open/Close Request” while trunk door  170  is fully closed or opened, it controls opening and closing apparatus  175  such that trunk door  170  makes transition to a state reverse to the current state thereof. Specifically, for example, when body system  126  accepts the trunk operate command indicating “Open/Close Request” while trunk door  170  is fully closed, it controls opening and closing apparatus  175  such that trunk door  170  makes transition to the fully opened state. For example, when body system  126  accepts the trunk operate command indicating “Open/Close Request” while trunk door  170  is fully opened, it controls opening and closing apparatus  175  such that trunk door  170  makes transition to the fully closed state. When body system  126  keeps receiving the trunk operate command indicating the open/close request (an action request) for one second, it starts an action of trunk door  170  (opening and closing apparatus  175 ). 
     When ADK  200  (ADS  202 ) outputs the trunk operate command for the first time, it keeps outputting the trunk operate command until trunk door  170  is fully opened or closed. 
     Even when ADK  200  requests the trunk operate command indicating “No request” while an action to open or close trunk door  170  is being taken, body system  126  controls opening and closing apparatus  175  to allow the action (an opening action or a closing action) of trunk door  170  to continue until trunk door  170  is fully opened or closed. In other words, even when the trunk operate command is changed from “Open/Close Request” to “No request” during an opening action or a closing action of trunk door  170 , body system  126  allows the action (the opening action or the closing action) of trunk door  170  to continue. More specifically, even when the trunk operate command is changed from “Open/Close Request” to “No request” during the opening action of trunk door  170 , body system  126  allows the opening action of trunk door  170  to continue. Even when the trunk operate command is changed from “Open/Close Request” to “No request” during the closing action of trunk door  170 , body system  126  allows the closing action of trunk door  170  to continue. 
     When the trunk operate command is changed from “Open/Close Request” to “No request” during the opening action or the closing action of trunk door  170  and thereafter the trunk operate command is further changed from “No request” to “Open/Close Request,” body system  126  controls opening and closing apparatus  175  to suspend the action of trunk door  170 . 
     When ADK  200  (ADS  202 ) suspends the action of trunk door  170 , it changes the trunk operate command, for example, to “No request.” 
     When body system  126  suspends the action of trunk door  170  and then it activates again trunk door  170 , it controls trunk door  170  to take a reverse action. Specifically, when body system  126  keeps accepting the trunk operate command indicating “Open/Close Request” for one second while the action of trunk door  170  remains stopped, body system  126  controls opening and closing apparatus  175  to take an action reverse to the action before the action of trunk door  170  is stopped (a reverse action). More specifically, when the action of trunk door  170  before stop of the action was the opening action, body system  126  controls opening and closing apparatus  175  such that trunk door  170  takes the closing action as the reverse action. When the action of trunk door  170  before stop of the action was the closing action, body system  126  controls opening and closing apparatus  175  such that trunk door  170  takes the opening action as the reverse action. 
       FIG.  5    is a flowchart showing a procedure in processing relating to an opening/closing action of trunk door  170 . Processing in the flowchart in  FIG.  5    is started by body system  126  when body system  126  receives a trunk operate command (control command) while trunk door  170  is fully closed or opened. Though processing in the flowchart in  FIG.  5    is described as being performed by software processing by body system  126 , a part or the entirety thereof may be performed by hardware (electric circuitry) made in body system  126 . 
     In S 1 , body system  126  determines whether or not doors of all seats or doors of the rear seats are unlocked. In other words, body system  126  determines whether or not at least the doors of the rear seats are unlocked. Unless the doors of the rear seats are unlocked (NO in S 1 ), body system  126  does not accept the trunk operate command and the process ends without activation of trunk door  170 . When at least the doors of the rear seats are unlocked (YES in S 1 ), body system  126  has the process proceed to S 3 . 
     In S 3 , body system  126  accepts the trunk operate command. Then, body system  126  determines whether or not the accepted trunk operate command indicates “Open/Close Request.” Specifically, body system  126  determines contents of the trunk operate command based on the control command from VCIB  111  received through integrated control manager  115 . In other words, body system  126  determines whether or not the trunk operate command received by VCIB  111  from ADS  202  indicates “Open/Close Request” based on the control command from VCIB  111 . Unless the trunk operate command is “Open/Close Request” (NO in S 3 ), body system  126  quits the process without activating trunk door  170  (opening and closing apparatus  175 ). In other words, when the trunk operate command indicates “No request,” body system  126  quits the process without activating trunk door  170 . When the trunk operate command indicates “Open/Close Request” (YES in S 3 ), body system  126  has the process proceed to S 5 . 
     In S 5 , body system  126  determines whether or not it keeps receiving “Open/Close Request” for one second. Unless body system  126  keeps receiving “Open/Close Request” for one second (NO in S 5 ), it waits for reception of “Open/Close Request” continuously for one second. When body system  126  keeps receiving “Open/Close Request” for one second (YES in S 5 ), body system  126  has the process proceed to S 7 . When the trunk operate command is lost before body system  126   keeps receiving “Open/Close Request” for one second, the process may end. 
     In S 7 , body system  126  controls opening and closing apparatus  175  in accordance with a state of trunk door  170 . Details of processing in S 7  will be described with reference to  FIG.  6   . 
       FIG.  6    is a flowchart showing a procedure in processing performed while trunk door  170  is in action. 
     In S 70 , body system  126  starts an action of trunk door  170 . Specifically, when trunk door  170  is in the fully closed state before start of the action, body system  126  controls opening and closing apparatus  175  to fully open trunk door  170 . When trunk door  170  is in the fully opened state before start of the action, body system  126  controls opening and closing apparatus  175  to fully close trunk door  170 . 
     In S 71 , body system  126  determines whether or not trunk door  170  has fully been opened or closed. Specifically, when body system  126  controls opening and closing apparatus  175  to fully open trunk door  170 , it determines whether or not trunk door  170  has fully been opened (opening and closing apparatus  175  has moved to a fully opened position). When body system  126  controls opening and closing apparatus  175  to fully close trunk door  170 , it determines whether or not trunk door  170  has fully been closed (opening and closing apparatus  175  has moved to a fully closed position). When body system  126  determines that trunk door  170  has not fully been opened or closed (NO in S 71 ), it has the process proceed to S 72 . When body system  126  determines that trunk door  170  has fully been opened or closed (YES in S 71 ), it has the process proceed to S 78 . 
     In S 72 , body system  126  controls opening and closing apparatus  175  to have the action of trunk door  170  continue. 
     In S 73 , body system  126  determines whether or not the trunk operate command has been changed from “Open/Close Request” to “No request.” Body system  126  determines contents in the trunk operate command based on the control command from VCIB  111  received through integrated control manager  115 . When body system  126  determines that the trunk operate command has been changed from “Open/Close Request” to “No request” (YES in S 73 ), body system  126  has the process return to S 71  and has the action of trunk door  170  continue. When body system  126  determines that the trunk operate command has not been changed from “Open/Close Request” to “No request” (NO in S 73 ), it has the process proceed to S 74 . 
     In S 74 , body system  126  determines whether or not the trunk operate command has been changed from “No request” to “Open/Close Request.” When body system  126  determines that the trunk operate command has not been changed from “No request” to “Open/Close Request” (NO in S 74 ), that is, when body system  126  keeps receiving “Open/Close Request,” it has the process return to S 71  and has the action of trunk door  170  continue. When body system  126  determines that the trunk operate command has been changed from “No request” to “Open/Close Request” (YES in S 74 ), it has the process proceed to S 75 . 
     In S 75 , body system  126  controls opening and closing apparatus  175  to suspend the action of trunk door  170 . When ADS  202  suspends the action of trunk door  170 , it outputs, for example, the trunk operate command indicating “No request.” 
     In S 76 , body system  126  determines whether or not it keeps receiving the trunk operate command indicating “Open/Close Request” for one second. When body system  126  does not keep receiving the trunk operate command indicating “Open/Close Request” for one second (NO in S 76 ), it continues suspension of trunk door  170 . When body system  126  keeps receiving the trunk operate command indicating “Open/Close Request” for one second (YES in S 76 ), it has the process proceed to S 77 . 
     In S 77 , body system  126  controls opening and closing apparatus  175  such that trunk door  170  takes an action (a reverse action) reverse to the action before stop of the action. Then, body system  126  has the process return to S 71 . 
     In S 78 , body system  126  quits control of opening and closing apparatus  175  as a result of trunk door  170  having been fully opened or closed, and completes the action of trunk door  170 . In this case, body system  126  or integrated control manager  115  may provide a signal indicating that trunk door  170  has fully been opened or closed to VCIB  111 . Then, VCIB  111  may notify ADK  200  (ADS  202 ) that trunk door  170  has fully been opened or closed so that ADS  202  may quit output of the trunk operate command. 
     As set forth above, in this embodiment, while at least the doors of the rear seats are unlocked, base vehicle  100  (body system  126 ) accepts the trunk operate command (control command) from ADK  200  (ADS  202 ). Unless the doors of the rear seats are unlocked, base vehicle  100  (body system  126 ) does not accept the trunk operate command (control command). By accepting the trunk operate command (control command) while at least the doors of the rear seats are unlocked, opening and closing of trunk door  170  at timing unexpected by the user of vehicle  10  can be suppressed. 
     When base vehicle  100  (body system  126 ) keeps receiving the trunk operate command (control command) indicating “Open/Close Request” for one second, it starts the action of trunk door  170  (opening and closing apparatus  175 ). By setting continued reception of “Open/Close Request” for one second as the condition for the action of trunk door  170 , an unintended action of trunk door  170  due to noise or the like can be suppressed. A duration of reception of “Open/Close Request” as the condition for the action of trunk door  170  is not limited to one second but can also be set as appropriate. The duration of reception of “Open/Close Request” may be set to a time period shorter than or equal to or longer than one second. 
     When base vehicle  100  (body system  126 ) activates again trunk door  170  after suspension thereof, it controls opening and closing apparatus  175  such that trunk door  170  takes an action (a reverse action) reverse to the action before suspension. When the action of trunk door  170  is suspended, an action reverse thereto is highly likely to be desired as a next action. By controlling trunk door  170  to perform a reverse operation after suspension, convenience of the user can be enhanced. 
     Example 
     API Specification for TOYOTA Vehicle Platform Ver. 1.1 
     Records of Revision 
     
       
         
           
               
               
               
               
             
               
                 Date of Revision 
                 ver. 
                 Overview of Revision 
                 Reviser 
               
             
            
               
                 2020/05/23 
                 1.0 
                 Creating a new material 
                 TOYOTA MOTOR Corp. 
               
               
                 2021/04/14 
                 1.1 
                 The figure of Front Wheel Steer Angle Rate Limitation is updated. Explanation of Standstill Status is added. 
                 TOYOTA MOTOR Corp. 
               
            
           
         
       
     
     Table of Contents
     1. Introduction 
   1.1. Purpose of this Specification   1.2. Target Vehicle   1.3. Definition of Term   
   2. Structure 
   2.1. Overall Structure of Autono-MaaS Vehicle   2.2. System Structure of Autono-MaaS Vehicle   
   3. Application Interfaces 
   3.1. Typical Usage of APIs   3.2. APIs for Vehicle Motion Control 
   3.2.1. API List for Vehicle Motion Control   3.2.2. Details of Each API for Vehicle Motion Control   
   3.3. APIs for BODY Control
   3.3.1. API List for BODY Control   3.3.2. Details of Each API for BODY Control   
   3.4. APIs for Power Control
   3.4.1. API List for Power Control   3.4.2. Details of Each API for Power Control   
   3.5. APIs for Failure Notification 
   3.5.1. API List for Failure Notification   3.5.2. Details of Each API for Failure Notification   
   3.6. APIs for Security
   3.6.1. API List for Security   3.6.2. Details of Each API for Security   
   
   4. API Guides to Control Toyota Vehicles
   4.1. APIs for Vehicle Motion Control
   4.1.1. API List for Vehicle Motion Control   4.1.2. API Guides in Details for Vehicle Motion Control   
   4.2. APIs for BODY Control
   4.2.1. API List for BODY Control   
   4.3. APIs for Power Control
   4.3.1. API List for Power Control   
   4.4. APIs for Failure Notification
   4.4.1. API List for Failure Notification   
   4.5. APIs for Security
   4.5.1. API List for Security   4.5.2. API Guides in Details for Security   
   
   
   1. Introduction
   1.1. Purpose of this Specification   This document is an API specification of vehicle control interface for Autono-MaaS vehicles and contains outline, the way to use and note of APIs.   1.2. Target Vehicle   This specification is applied to the Autono-MaaS vehicles defined by [Architecture Specification for TOYOTA Vehicle Platform attached with Automated Driving System].   1.3. Definition of Term   
   

     
       
         
          TABLE 1
           
               
               
             
               
                 Definition of Term 
               
               
                 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 VP’s sub systems. 
               
               
                 PCS 
                 Pre-Collision Safety 
               
            
           
         
       
     
     
         
         2. Structure
   2.1. Overall Structure of Autono-MaaS Vehicle   The overall structure of Autono-MaaS is shown ( FIG.  7   ).   2.2. System Structure of Autono-MaaS Vehicle   System Architecture is shown in  FIG.  8   .   
 
         3. Application Interfaces
   3.1. Typical Usage of APIs   In this section, Typical Usage of APIs is described.   A typical workflow of APIs is as follows ( FIG.  9   ). The following example assumes CAN for physical communication.   3.2. APIs for vehicle motion control   In this section, the APIs for vehicle motion control are described.
   3.2.1. API List for Vehicle Motion Control
   3.2.1.1. Inputs   
   
   
 
       
    
     
       
         
          TABLE 3
           
               
               
               
             
               
                 Input APIs for vehicle motion control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Propulsion Direction Command 
                 Request for shift change from/to forward (D range) to/from back (R range) 
                 N/A 
               
               
                 Immobilization Command 
                 Request for turning on/off WheelLock 
                 Applied 
               
               
                 Standstill Command 
                 Request for keeping on/off stationary 
                 Applied 
               
               
                 Acceleration Command 
                 Request for acceleration/deceleration 
                 Applied 
               
               
                 Front Wheel Steer Angle Command 
                 Request for front wheel steer angle 
                 Applied 
               
               
                 Vehicle Mode Command 
                 Request for changing from/to manual mode to/from Autonomous Mode 
                 Applied 
               
               
                 High Dynamics Command 
                 Request for increasing braking response performance* 
                 Applied 
               
               
                 * Reaction time in VP upon a request from ADK 
               
            
           
         
       
     
     
         
         3.2.1.2. Outputs 
       
    
     
       
         
          TABLE 4
           
               
               
               
             
               
                 Output APIs for vehicle motion control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Propulsion Direction Status 
                 Current shift status 
                 N/A 
               
               
                 Immobilization Status 
                 Status of immobilization (i.e. EPB and Shift P) 
                 Applied 
               
               
                 Standstill Status 
                 Standstill status 
                 N/A 
               
               
                 Estimated Gliding Acceleration 
                 Estimated vehicle acceleration/deceleration when throttle is fully closed 
                 N/A 
               
               
                 Estimated maximum acceleration 
                 Estimated maximum acceleration 
                 Applied 
               
               
                 Estimated maximum deceleration 
                 Estimated maximum deceleration 
                 Applied 
               
               
                 Front wheel steer angle 
                 Front wheel steer angle 
                 Applied 
               
               
                 Front wheel steer angle rate 
                 Front wheel steer angle rate 
                 Applied 
               
               
                 Front wheel steer angle rate limitation 
                 Road wheel angle rate limit 
                 Applied 
               
               
                 Estimated maximum lateral acceleration 
                 Estimated max lateral acceleration 
                 Applied 
               
               
                 Estimated maximum lateral acceleration rate 
                 Estimated max lateral acceleration rate 
                 Applied 
               
               
                 Intervention of accelerator pedal 
                 This signal shows whether the accelerator pedal is depressed by a driver (intervention) 
                 N/A 
               
               
                 Intervention of brake pedal 
                 This signal shows whether the brake pedal is depressed by a driver (intervention) 
                 N/A 
               
               
                 Intervention of steering wheel 
                 This signal shows whether the steering wheel is turned by a driver (intervention) 
                 N/A 
               
               
                 Intervention of shift lever 
                 This signal shows whether the shift lever is controlled by a driver (intervention) 
                 N/A 
               
               
                 Wheel speed pulse (front left) 
                 Pulse from wheel speed sensor (Front Left Wheel) 
                 N/A 
               
               
                 Wheel rotation direction (front left) 
                 Rotation direction of wheel (Front Left) 
                 N/A 
               
               
                 Wheel speed pulse (front right) 
                 Pulse from wheel speed sensor (Front Right Wheel) 
                 N/A 
               
               
                 Wheel rotation direction (front right) 
                 Rotation direction of wheel (Front Right) 
                 N/A 
               
               
                 Wheel speed pulse (rear left) 
                 Pulse from wheel speed sensor (Rear Left Wheel) 
                 Applied 
               
               
                 Wheel rotation direction (Rear left) 
                 Rotation direction of wheel (Rear Left) 
                 Applied 
               
               
                 Wheel speed pulse (rear right) 
                 Pulse from wheel speed sensor (Rear Right Wheel) 
                 Applied 
               
               
                 Wheel rotation direction (Rear right) 
                 Rotation direction of wheel (Rear Right) 
                 Applied 
               
               
                 Traveling direction 
                 Moving direction of vehicle 
                 Applied 
               
               
                 Vehicle 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 
               
               
                 Slipping Detection 
                 Detection of tire glide/spin/skid 
                 Applied 
               
               
                 Vehicle mode state 
                 State of whether Autonomous Mode, manual mode 
                 Applied 
               
               
                 Readiness for autonomization 
                 Situation of whether the vehicle can transition to Autonomous Mode or not 
                 Applied 
               
               
                 Failure status of VP functions for Autonomous Mode 
                 This signal is used to show whether VP functions have some failures mode when a vehicle works as Autonomous Mode. 
                 Applied 
               
               
                 PCS Alert Status 
                 Status of PCS (Alert) 
                 N/A 
               
               
                 PCS Preparation Status 
                 Status of PCS (Prefill) 
                 N/A 
               
               
                 PCS Brake/PCS Brake Hold Status 
                 Status of PCS (PB/PBH) 
                 N/A 
               
               
                 ADS/PCS arbitration status 
                 ADS/PCS arbitration status 
                 N/A 
               
            
           
         
       
     
     
         
         3.2.2. Details of Each API for Vehicle Motion Control 
   3.2.2.1. Propulsion Direction Command   Request for shift change from/to forward (D range) to/from back (R range)   
 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 2 
                 R 
                 Shift to R range 
               
               
                 4 
                 D 
                 Shift to D range 
               
               
                 other 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   Available only when Vehicle mode state = “Autonomous Mode.”   Available only when a vehicle is stationary (Traveling direction=“standstill”).   Available only when brake is applied.   
 
         3.2.2.2.Immobilization Command 
         Request for turning on/off WheelLock 
         Values 
         The following table shows a case where EPB and Shift P are used for immobilization. 
       
    
     
       
         
           
               
               
               
             
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Applied 
                 EPB is turned on and shift position is changed to “P” 
               
               
                 2 
                 Released 
                 EPB is turned off and shift position is changed to the value of Propulsion Direction Command 
               
            
           
         
       
     
     
         
         Remarks
   This API is used for parking a vehicle.   Available only when Vehicle mode state = “Autonomous Mode.”   Changeable only when the vehicle is stationary (Traveling direction=“standstill”).   Changeable only while brake is applied.   
 
         3.2.2.3.Standstill Command 
         Request for applying/releasing brake holding function 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Applied 
                 Brake holding function is allowed. 
               
               
                 2 
                 Released 
                   
               
            
           
         
       
     
     
         
         Remarks 
         
           
             This API is used for choosing a status of whether the brake holding function is allowed. 
             Available only when Vehicle mode state = “Autonomous Mode.” 
             Acceleration Command (deceleration request) has to be continued until Standstill Status becomes “Applied”. 
           
         
         3.2.2.4.Acceleration Command 
         Request for acceleration 
         Values 
         Estimated maximum deceleration to Estimated maximum acceleration [m/s 2 ] 
         Remarks
   Available only when Vehicle mode state = “Autonomous Mode.”   Acceleration (+) and deceleration (-) request based on Propulsion Direction Status direction.   The upper/lower limit will vary based on Estimated maximum deceleration and Estimated maximum acceleration.   When acceleration more than Estimated maximum acceleration is requested, the request is set to Estimated maximum acceleration.   When deceleration more than Estimated maximum deceleration is requested, the request is set to Estimated maximum deceleration.   In case where a driver operates a vehicle (over-ride), the requested acceleration may not be achieved.   When PCS simultaneously works, VP should choose minimum acceleration (maximum deceleration).   
 
         3.2.2.5. Front Wheel Steer Angle Command 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 - 
                 [unit: rad] 
                   
               
            
           
         
       
     
     
         
         Remarks
   Available only when Vehicle mode state = “Autonomous Mode”   Left is positive value (+). Right is negative value (-).   Front wheel steer angle is set to value (0) when the vehicle is going straight.   This request is set as a relative value from the current one to prevent misalignment of “Front Wheel Steer Angle” from being accumulated.   The request value should be set within Front wheel steer angle rate limitation.   In case where a driver operates a vehicle (over-ride), the requested Front Wheel Steer Angle may not be achieved.   
 
         3.2.2.6. Vehicle Mode Command 
         Request for changing from/to manual mode to/from Autonomous Mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Request For Autonomy 
                   
               
               
                 2 
                 Deactivation Request 
                 means transition request to manual mode 
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.7.High Dynamics Command 
         If ADK would like to increase braking response performance* of VP, High Dynamics Command should be set to “High”. 
         *Reaction time in VP upon a request from ADK 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 High 
                   
               
               
                 2-3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.8.Propulsion Direction Status 
         Current shift Status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 P 
                   
               
               
                 2 
                 R 
                   
               
               
                 3 
                 N 
                   
               
               
                 4 
                 D 
                   
               
               
                 5 
                 Reserved 
                   
               
               
                 6 
                 Invalid value 
                   
               
            
           
         
       
     
     
         
         Remarks
   If VP does not know the current shift status, this output is set to “Invalid Value.”   
 
         3.2.2.9.Immobilization Status 
         Each immobilization system status 
         Values 
         The following table shows a case where EPB and Shift P are used for immobilization. 
       
    
     
       
         
           
               
               
               
               
             
               
                 Value 
                 Description 
                 Remarks 
               
               
                 Shift 
                 EPB 
               
             
            
               
                 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 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.10. Standstill Status 
         Status of Standstill 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Released 
                   
               
               
                 1 
                 Applied 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid value 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.11.Estimated Gliding Acceleration 
         Acceleration calculated in VP in case that throttle is closed, considering slope, road load and etc. 
         Values 
         [unit: m/s 2 ] 
         Remarks
   When the Propulsion Direction Status is “D”, acceleration for forward direction shows a positive value.   When the Propulsion Direction Status is “R”, acceleration for reverse direction shows a positive value.   
 
         3.2.2.12. Estimated Maximum Acceleration 
         Acceleration calculated in VP in case that throttle is fully open, considering slope, road load and etc. 
         Values 
         [unit: m/s 2 ] 
         Remarks
   When the Propulsion Direction Status is “D”, acceleration for forward direction shows a positive value.   When the Propulsion Direction Status is “R”, acceleration for reverse direction shows a positive value.   
 
         3.2.2.13.Estimated Maximum Deceleration 
         Maximum deceleration calculated in VP in case that brake in VP is requested as maximum, considering slope, road load and etc. 
         Values 
         [unit: m/s 2 ] 
         Remarks
   When the Propulsion Direction Status is “D”, deceleration for forward direction shows a negative value.   When the Propulsion Direction Status is “R”, deceleration for reverse direction shows a negative value.   
 
         3.2.2.14.Front wheel steer angle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Minimum Value 
                 Invalid value 
                   
               
               
                 others 
                 [unit: rad] 
                   
               
            
           
         
       
     
     
         
         Remarks
   Left is positive value (+). Right is negative value (-).   This signal should show invalid value until VP can calculate correct value or when the sensor is invalid/failed.   
 
         3.2.2.15.Front wheel steer angle rate 
         Front wheel steer angle rate 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Minimum Value 
                 Invalid value 
                   
               
               
                 others 
                 [unit: rad/s] 
                   
               
            
           
         
       
     
     
         
         Remarks
   Left is positive value (+). Right is negative value (-).   This signal should show invalid value until VP can calculate correct value or when Front wheel steer angle shows the minimum value.   
 
         3.2.2.16.Front wheel steer angle rate limitation 
         The limit of the Front wheel steer angle rate 
         Values 
         [unit: rad/s] 
         Remarks 
         The limitation is calculated from the “vehicle speed - steering angle rate” map as shown in following Table 5 and  FIG.  10   .
   A) At a low speed or stopped situation, use fixed value (0.751 [rad/s]).   B) At a higher speed, the steering angle rate is calculated from the vehicle speed using 3.432 m/s 3 .   
 
       
    
     
       
         
          TABLE 5
           
               
               
               
               
               
               
             
               
                 “vehicle speed - steering angle rate” map 
               
             
            
               
                 Velocity [km/h] 
                 0.0 
                 36.0 
                 40.0 
                 67.0 
                 84.0 
               
               
                 Front Wheel Steer Angle Rate Limitation [rad/s] 
                 0.751 
                 0.751 
                 0.469 
                 0.287 
                 0.253 
               
            
           
         
       
     
     
         
         3.2.2.17.Estimated maximum lateral acceleration 
         Values 
         [unit: m/s 2 ] (fixed value: 3.432) 
         Remarks
   Maximum lateral acceleration defined for VP.   
 
         3.2.2.18.Estimated maximum lateral acceleration rate 
         Values 
         [unit: m/s 3 ] (fixed value: 3.432) 
         Remarks
   Maximum lateral acceleration rate defined for VP.   
 
         3.2.2.19.Intervention of accelerator pedal 
         This signal shows whether the accelerator pedal is depressed by a driver (intervention). 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not depressed 
                   
               
               
                 1 
                 depressed 
                   
               
               
                 2 
                 Beyond autonomy acceleration 
                   
               
            
           
         
       
     
     
         
         Remarks
   When a position of accelerator pedal is higher than a defined threshold, this signal is set to “depressed”.   When the requested acceleration calculated from a position of accelerator pedal is higher than the requested acceleration from ADS, this signal is set as “Beyond autonomy acceleration.”   
 
         3.2.2.20.Intervention of brake pedal 
         This signal shows whether the brake pedal is depressed by a driver (intervention). 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not depressed 
                   
               
               
                 1 
                 depressed 
                   
               
               
                 2 
                 Beyond autonomy deceleration 
                   
               
            
           
         
       
     
     
         
         Remarks
   When a position of brake pedal is higher than the defined threshold value, this signal is set to “depressed”.   When the requested deceleration calculated from a position of brake pedal is higher than the requested deceleration from ADS, this signal is set as “Beyond autonomy deceleration”.   
 
         3.2.2.21. Intervention of steering wheel 
         This signal shows whether the steering wheel is operated by a driver (intervention). 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not turned 
                   
               
               
                 1 
                 ADS and driver collaboratively work 
                   
               
               
                 2 
                 Only by human driver 
                   
               
            
           
         
       
     
     
         
         Remarks
   In “Intervention of steering wheel =1”, considering the human driver’s intent, EPS system drives the steering with the Human driver collaboratively.   In “Intervention of steering wheel =2”, considering the human driver’s intent, the steering request from ADS is not achieved. (The steering will be driven by human driver.)   
 
         3.2.2.22. Intervention of shift lever 
         This signal shows whether the shift lever is controlled by a driver (intervention) 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                 Controlled (moved to any shift position) 
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.23. Wheel speed pulse (front left), Wheel speed pulse (front right), Wheel speed pulse (rear left), Wheel speed pulse (rear right) 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Maximum Value in transmission bits 
                 Invalid value 
                 The sensor is invalid. 
               
               
                 others 
                 ticks [unit: -] 
                 The number of pulses per one round wheel depends on VP. 
               
            
           
         
       
     
     
         
         Remarks 
   A pulse value is integrated at the pulse falling timing. This wheel speed sensor outputs  96  pulses with a single rotation.   Regardless of invalid/failure of wheel speed sensor, wheel speed pulse will be updated.   When “1” is subtracted from a pulse value which shows “0”, the value changes to “0×FF”. When “ 1” is added to a pulse value which shows “0×FF”, the value changes to “0”.   Until the rotation direction is determined just after ECU is activated, a pulse value will be added as the rotation direction is “Forward”.   When detected forward rotation, a pulse value will be added.   When detected reverse rotation, a pulse value will be subtracted.   
 
         3.2.2.24. Wheel rotation direction (front left), Wheel rotation direction (front right), Wheel rotation direction (Rear left), Wheel rotation direction (Rear right) 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Forward 
                   
               
               
                 1 
                 Reverse 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid value 
                 The sensor is invalid. 
               
            
           
         
       
     
     
         
         Remarks
   “Forward” is set until the rotation direction is determined after VP is turned on.   
 
         3.2.2.25. Traveling direction 
         Moving direction of vehicle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 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 shift is changed right after vehicle starts, it is possible to be “Undefined”.   
 
         3.2.2.26. Vehicle velocity 
         Estimated longitudinal velocity of vehicle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Maximum Value in transmission bits 
                 Invalid value 
                 The sensor is invalid. 
               
               
                 others 
                 Velocity [unit: m/s] 
                   
               
            
           
         
       
     
     
         
         Remarks
   The value of this signal is a positive value when both forward direction and reverse direction.   
 
         3.22.27.. Longitudinal acceleration 
         Estimated longitudinal acceleration of vehicle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Minimum Value in transmission bits 
                 Invalid value 
                 The sensor is invalid. 
               
               
                 others 
                 Acceleration [unit: m/s 2 ] 
                   
               
            
           
         
       
     
     
         
         Remarks
   Acceleration (+) and deceleration (-) value based on Propulsion Direction Status direction.   
 
         3.2.2.28. Lateral acceleration 
         lateral acceleration of vehicle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Minimum Value in transmission bits 
                 Invalid value 
                 The sensor is invalid. 
               
               
                 others 
                 Acceleration [unit: m/s 2 ] 
                   
               
            
           
         
       
     
     
         
         Remarks
   A positive value shows counterclockwise. A negative value shows clockwise.   
 
         3.2.2.29. Yaw rate 
         Sensor value of yaw rate 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 Minimum Value in transmission bits 
                 Invalid value 
                 The sensor is invalid. 
               
               
                 others 
                 Yaw rate [unit: deg/s] 
                   
               
            
           
         
       
     
     
         
         Remarks
   A positive value shows counterclockwise. A negative value shows clockwise.   
 
         3.2.2.30. Slipping Detection 
         Detection of tire glide/spin/skid 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not Slipping 
                   
               
               
                 1 
                 Slipping 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid value 
                   
               
            
           
         
       
     
     
         
         Remarks
   This signal is determined as “Slipping” when any of the following systems has been activated.
   ABS (Anti-lock Braking System)   TRC (TRaction Control)   VSC (Vehicle Stability Control)   VDIM (Vehicle Dynamics Integrated Management)   
   
 
         3.2.2.31. Vehicle mode state 
         Autonomous or manual mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Manual Mode 
                 The mode starts from Manual mode. 
               
               
                 1 
                 Autonomous Mode 
                   
               
            
           
         
       
     
     
         
         Remarks
   The initial state is set to “Manual Mode.”   
 
         3..2.32.2Readiness for autonomization 
         This signal shows whether a vehicle can change to Autonomous Mode or not 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not Ready For Autonomous Mode 
                   
               
               
                 1 
                 Ready For Autonomous Mode 
                   
               
               
                 3 
                 Invalid 
                 The status is not determined yet. 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.2.2.33.Failure status of VP functions for Autonomous Mode 
         This signal is used to show whether VP functions have some failures mode when a vehicle works as Autonomous Mode. 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No fault 
                   
               
               
                 1 
                 Fault 
                   
               
               
                 3 
                 Invalid 
                 The status is not determined yet. 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.2.2.34.PCS Alert Status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                   
               
               
                 1 
                 Alert 
                 Request alert from PCS system 
               
               
                 3 
                 Unavailable 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.35.PCS Preparation Status 
         Prefill Status as the preparation of PCS Brake 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                   
               
               
                 1 
                 Active 
                   
               
               
                 3 
                 Unavailable 
                   
               
            
           
         
       
     
     
         
         Remarks
   “Active” is a status in which PCS prepares brake actuator to shorten the latency from a deceleration request issued by PCS.   When a value turns to “Active” during Vehicle mode state = “Autonomous Mode,” “ADS/PCS arbitration status” shows “ADS”.   
 
         3.2.2.36.PCS Brake/PCS Brake Hold Status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                   
               
               
                 1 
                 PCS Brake 
                   
               
               
                 2 
                 PCS Brake Hold 
                   
               
               
                 7 
                 Unavailable 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.2.2.37. ADS/PCS arbitration status 
         Arbitration status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 ADS 
                 ADS 
               
               
                 2 
                 PCS 
                 PCS Brake or PCS Brake Hold 
               
               
                 3 
                 Invalid value 
                   
               
            
           
         
       
     
     
         
         Remarks
   When acceleration requested by PCS system in VP is smaller than one requested by ADS, the status is set as “PCS”.   When acceleration requested by PCS system in VP is larger than one requested by ADS, the status is set as “ADS”.   
 
         3.3. APIs for BODY control
   3.3.1.API List for BODY control   3.3.1.1.Inputs   
 
       
    
     
       
         
          TABLE 6
           
               
               
               
             
               
                 Input APIs for BODY Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Turnsignal command 
                 Command to control the turnsignallight mode of the vehicle platform 
                 N/A 
               
               
                 Headlight command 
                 Command to control the headlight mode of the vehicle platform 
                 N/A 
               
               
                 Hazardlight command 
                 Command to control the hazardlight mode of the vehicle platform 
                 N/A 
               
               
                 Horn pattern command 
                 Command to control the pattern of horn ON-time and OFF-time per cycle of the vehicle platform 
                 N/A 
               
               
                 Horn cycle command 
                 Command to control the number of horn ON/OFF cycles of the vehicle platform 
                 N/A 
               
               
                 Continuous horn command 
                 Command to control of horn ON of the vehicle platform 
                 N/A 
               
               
                 Front windshield wiper command 
                 Command to control the front windshield wiper of the vehicle platform 
                 N/A 
               
               
                 Rear windshield wiper command 
                 Command to control the rear windshield wiper mode of the vehicle platform 
                 N/A 
               
               
                 HVAC (1st row) operation command 
                 Command to start/stop 1st row air conditioning control 
                 N/A 
               
               
                 HVAC (2nd row) operation command 
                 Command to start/stop 2nd row air conditioning control 
                 N/A 
               
               
                 Target temperature (1st left) command 
                 Command to set the target temperature around front left area 
                 N/A 
               
               
                 Target temperature (1st right) command 
                 Command to set the target temperature around front right area 
                 N/A 
               
               
                 Target temperature (2nd left) command 
                 Command to set the target temperature around rear left area 
                 N/A 
               
               
                 Target temperature (2nd right) command 
                 Command to set the target temperature around rear right area 
                 N/A 
               
               
                 HVAC fan (1st row) command 
                 Command to set the fan level on the front AC 
                 N/A 
               
               
                 HVAC fan (2nd row) command 
                 Command to set the fan level on the rear AC 
                 N/A 
               
               
                 Air outlet (1st row) command 
                 Command to set the mode of 1st row air outlet 
                 N/A 
               
               
                 Air outlet (2nd row) command 
                 Command to set the mode of 2nd row air outlet 
                 N/A 
               
               
                 Air recirculation command 
                 Command to set the air recirculation mode 
                 N/A 
               
               
                 AC mode command 
                 Command to set the AC mode 
                 N/A 
               
            
           
         
       
     
     
         
         3.3.1.2.Outputs 
       
    
     
       
         
          TABLE 7
           
               
               
               
             
               
                 Output APIs for BODY Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Turnsignal status 
                 Status of the current turnsignallight mode of the vehicle platform 
                 N/A 
               
               
                 Headlight status 
                 Status of the current headlight mode of the vehicle platform 
                 N/A 
               
               
                 Hazardlight status 
                 Status of the current hazardlight mode of the vehicle platform 
                 N/A 
               
               
                 Horn status 
                 Status of the current horn of the vehicle platform 
                 N/A 
               
               
                 Front windshield wiper status 
                 Status of the current front windshield wiper mode of the vehicle platform 
                 N/A 
               
               
                 Rear windshield wiper status 
                 Status of the current rear windshield wiper mode of the vehicle platform 
                 N/A 
               
               
                 HVAC (1st row) status 
                 Status of activation of the 1 st  row HVAC 
                 N/A 
               
               
                 HVAC (2nd row) status 
                 Status of activation of the 2 nd  row HVAC 
                 N/A 
               
               
                 Target temperature (1st left) status 
                 Status of set temperature of 1 st  row left 
                 N/A 
               
               
                 Target temperature (1st right) status 
                 Status of set temperature of 1 st  row right 
                 N/A 
               
               
                 Target temperature (2nd left) status 
                 Status of set temperature of 2 nd  row left 
                 N/A 
               
               
                 Target temperature (2nd right) status 
                 Status of set temperature of 2 nd  row right 
                 N/A 
               
               
                 HVAC fan (1st row) status 
                 Status of set fan level of 1st row 
                 N/A 
               
               
                 HVAC fan (2nd row) status 
                 Status of set fan level of 2 nd  row 
                 N/A 
               
               
                 Air outlet (1st row) status 
                 Status of mode of 1 st row air outlet 
                 N/A 
               
               
                 Air outlet (2nd row) status 
                 Status of mode of 2nd row air outlet 
                 N/A 
               
               
                 Air recirculation status 
                 Status of set air recirculation mode 
                 N/A 
               
               
                 AC mode status 
                 Status of set AC mode 
                 N/A 
               
               
                 Seat occupancy (1st right) status 
                 Seat occupancy status in 1st right seat 
                 N/A 
               
               
                 Seat belt (1st left) status 
                 Status of driver’s seat belt buckle switch 
                 N/A 
               
               
                 Seat belt (1st right) status 
                 Status of passenger’s seat belt buckle switch 
                 N/A 
               
               
                 Seat belt (2nd left) status 
                 Seat belt buckle switch status in 2nd left seat 
                 N/A 
               
               
                 Seat belt (2nd right) status 
                 Seat belt buckle switch status in 2nd right seat 
                 N/A 
               
               
                 Seat belt (3rd left) status 
                 Seat belt buckle switch status in 3rd left seat 
                 N/A 
               
               
                 Seat belt (3rd center) status 
                 Seat belt buckle switch status in 3rd center seat 
                 N/A 
               
               
                 Seat belt (3rd right) status 
                 Seat belt buckle switch status in 3rd right seat 
                 N/A 
               
            
           
         
       
     
     
         
         3.3.2.Details of Each API for BODY Control 
   3.3.2.1.Turnsignal command   Request to control turn-signal   
 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 Right 
                 Right blinker ON 
               
               
                 2 
                 Left 
                 Left blinker ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.2.Headlight command 
         Request to control headlight 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 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 
                 Auto mode 
               
               
                 4 
                 HI mode request 
                 Hi mode 
               
               
                 5 
                 OFF Mode Request 
                   
               
               
                 6-7 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   This command is valid when headlight mode on the combination switch = “OFF” or “Auto mode = ON.”   Driver operation overrides this command.   
 
         3.3.2.3.Hazardlight command 
         Request to control hazardlight 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   Driver operation overrides this command.   Hazardlight is ON while receiving “ON” command.   
 
         3.3.2.4.Horn pattern command 
         Request to choose a pattern of ON-time and OFF-time per cycle 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 Pattern 1 
                 ON-time: 250 ms OFF-time: 750 ms 
               
               
                 2 
                 Pattern 2 
                 ON-time: 500 ms OFF-time: 500 ms 
               
               
                 3 
                 Pattern 3 
                 Reserved 
               
               
                 4 
                 Pattern 4 
                 Reserved 
               
               
                 5 
                 Pattern 5 
                 Reserved 
               
               
                 6 
                 Pattern 6 
                 Reserved 
               
               
                 7 
                 Pattern 7 
                 Reserved 
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.5.Horn cycle command 
         Request to choose the number of ON and OFF cycles 
         Values 
         0 to 7 [-] 
         Remarks 
         N/A 
         3.3.2.6.Continuous horn command 
         Request to turn on/off horn 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   This command’s priority is higher than 3.3.2.4Horn pattern and 3.3.2.5Horn cycle command.   Horn is “ON” while receiving “ON” command.   
 
         3.3.2.7.Front windshield wiper command 
         Request to control front windshield wiper 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 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 wiping 
               
               
                 6,7 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   This command is valid when front windshield wiper mode on a combination switch is “OFF” or “AUTO”.   Driver input overrides this command.   Windshieldwiper mode is kept while receiving a command.   Wiping speed of intermittent mode is fixed.   
 
         3.3.2.8.Rear windshield wiper command 
         Request to control rear windshield wiper 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 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 while receiving a command.   Wiping speed of intermittent mode is fixed.   
 
         3.3.2.9.HVAC (1st row) operation command 
         Request to start/stop 1st row air conditioning control 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 OFF 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.10.HVAC (2nd row) operation command 
         Request to start/stop 2nd row air conditioning control 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 OFF 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.11.Target temperature (1st left) command 
         Request to set target temperature in front left area 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: °F] (by 1.0° F.) 
                 Target temperature 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.12.Target temperature (1st right) command 
         Request to set target temperature in front right area 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: °F] (by 1.0° F.) 
                 Target temperature 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.13.Target temperature (2nd left) command 
         Request to set target temperature in rear left area 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 unit: °F] (by 1.0° F.) 
                 Target temperature 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.14.Target temperature (2nd right) command 
         Request to set target temperature in rear right area 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: °F] (by 1.0° F.) 
                 Target temperature 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.15. HVAC fan (1st row) command 
         Request to set fan level of front AC 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 to 7 (Maximum) 
                 Fan level 
                   
               
            
           
         
       
     
     
         
         Remarks
   If you would like to turn the fan level to 0 (OFF), you should transmit “HVAC  (1st row) operation command = OFF.”   
   If you would like to turn the fan level to AUTO, you should transmit “HVAC (1st row) operation command = ON.”   
 
         3.3.2.16. HVAC fan (2nd row) command 
         Request to set fan level of rear AC 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 to 7 (Maximum) 
                 Fan level 
                   
               
            
           
         
       
     
     
         
         Remarks
   If you would like to turn the fan level to 0 (OFF), you should transmit “HVAC (2nd row) operation command = OFF.”   If you would like to turn the fan level to AUTO, you should transmit “HVAC (2nd row) operation command = ON.”   
 
         3.3.2.17. Air outlet (1st row) command 
         Request to set 1st row air outlet mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Operation 
                   
               
               
                 1 
                 UPPER 
                 Air flows to upper body 
               
               
                 2 
                 U/F 
                 Air flows to upper body and feet 
               
               
                 3 
                 FEET 
                 Air flows to feet 
               
               
                 4 
                 F/D 
                 Air flows to feet and windshield defogger 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.18.Air outlet (2nd row) command 
         Request to set 2nd row air outlet mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Operation 
                   
               
               
                 1 
                 UPPER 
                 Air flows to upper body 
               
               
                 2 
                 U/F 
                 Air flows to the upper body and feet 
               
               
                 3 
                 FEET 
                 Air flows to feet. 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.19. Air recirculation command 
         Request to set air recirculation mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 OFF 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.20. AC mode command 
         Request to set AC mode 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 OFF 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.21. Turnsignal status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 Left 
                   
               
               
                 2 
                 Right 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.22. Headlight status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 TAIL 
                   
               
               
                 2 
                 Lo 
                   
               
               
                 3 
                 Reserved 
                   
               
               
                 4 
                 Hi 
                   
               
               
                 5-6 
                 Reserved 
                   
               
               
                 7 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.23. Hazardlight status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 Hazard 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.24. Horn status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         In the case that 3.3.2.4the Horn Pattern Command is active, the Horn status is “1” even if there are OFF periods in some patterns. 
         3.3.2.25. Front windshield wiper status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 Lo 
                   
               
               
                 2 
                 Hi 
                   
               
               
                 3 
                 INT 
                   
               
               
                 4-5 
                 Reserved 
                   
               
               
                 6 
                 Fail 
                   
               
               
                 7 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.26. Rear windshield wiper status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 Lo 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 INT 
                   
               
               
                 4-5 
                 Reserved 
                   
               
               
                 6 
                 Fail 
                   
               
               
                 7 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.27. HVAC (1st row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.28. HVAC (2nd row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.29. Target Temperature (1st left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 unit: °F1 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.30. Target Temperature (1st right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: °F] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.31. Target Temperature (2nd left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 unit: °F1 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.32. Target Temperature (2nd right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: °F] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case °C is used in VP, value should be set as °C   
 
         3.3.2.33. HVAC fan (1st row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 to 7 
                 Fan Level 
                   
               
               
                 8 
                 Undefined 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.34. HVAC fan (2nd row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 to 7 
                 Fan Level 
                   
               
               
                 8 
                 Undefined 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.35. Air outlet (1st row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 ALL OFF 
                   
               
               
                 1 
                 UPPER 
                 Air flows to upper body 
               
               
                 2 
                 U/F 
                 Air flows to upper body and feet 
               
               
                 3 
                 FEET 
                 Air flows to feet. 
               
               
                 4 
                 F/D 
                 Air flows to feet and windshield defogger operates 
               
               
                 5 
                 DEF 
                 Windshield defogger 
               
               
                 7 
                 Undefined 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.36. Air outlet (2nd row) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 ALL OFF 
                   
               
               
                 1 
                 UPPER 
                 Air flows to upper body 
               
               
                 2 
                 U/F 
                 Air flows to upper body and feet 
               
               
                 3 
                 FEET 
                 Air flows to feet. 
               
               
                 7 
                 Undefined 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.37. Air recirculation status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.38. AC mode status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.3.2.39. Seat occupancy (1st right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Not occupied 
                   
               
               
                 1 
                 Occupied 
                   
               
               
                 2 
                 Undecided 
                 In case of IG OFF or communication disruption to seat sensor 
               
               
                 3 
                 Failed 
                   
               
            
           
         
       
     
     
         
         Remarks
   When there is luggage on the seat, this signal may be set as “Occupied”.   
 
         3.3.2.40. Seat belt (1st left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Fault of a switch 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.41. Seat belt (1st right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Fault of a switch 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.3.2.42. Seat belt (2nd left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   cannot detect sensor failure   
 
         3.3.2.43. Seat belt (2nd right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   cannot detect sensor failure   
 
         3.3.2.44. Seat belt (3rd left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   cannot detect sensor failure   
 
         3.3.2.45. Seat belt (3rd center) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   cannot detect sensor failure   
 
         3.3.2.46. Seat belt (3rd right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                 In case where sensor does not work just after IG-ON 
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   cannot detect sensor failure   
 
         3.4. APIs for Power control 
   3.4.1. API List for Power control
   3.4.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 8
           
               
               
               
             
               
                 Input APIs for Power control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Power mode command 
                 Command to control the power mode of VP 
                 N/A 
               
            
           
         
       
     
     
         
         3.4.1.2.Outputs 
       
    
     
       
         
          TABLE 9
           
               
               
               
             
               
                 Output APIs for Power control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Power mode status 
                 Status of the current power mode of VP 
                 N/A 
               
            
           
         
       
     
     
         
         3.4.2.Details of each API for Power control
   3.4.2.1. Power mode command   Request to control power mode   
 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 Sleep 
                 Turns OFF the vehicle 
               
               
                 2 
                 Wake 
                 Turns ON VCIB 
               
               
                 3 
                 Reserved 
                 Reserved for data expansion 
               
               
                 4 
                 Reserved 
                 Reserved for data expansion 
               
               
                 5 
                 Reserved 
                 Reserved for data expansion 
               
               
                 6 
                 Drive 
                 Turns ON the vehicle 
               
            
           
         
       
     
     
         
         Remarks
   The state machine diagram of the power modes is shown in  FIG.  11   .   
 
         [Sleep] 
         Vehicle power off condition. In this mode, the main battery does not supply power to each system, and neither VCIB nor other VP ECUs are activated. 
         [Wake] 
         VCIB is awake by the auxiliary battery. In this mode, ECUs other than VCIB are not awake except for some of the body electrical ECUs. 
         [Driving Mode] 
         Vehicle power on condition. In this mode, the main battery supplies power to the whole VP and all the VP ECUs including VCIB are awake. 
         3.4.2.2. Power mode status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Sleep 
                   
               
               
                 2 
                 Wake 
                   
               
               
                 3 
                 Reserved 
                   
               
               
                 4 
                 Reserved 
                   
               
               
                 5 
                 Reserved 
                   
               
               
                 6 
                 Drive 
                   
               
               
                 7 
                 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 shut down.   ADS should stop transmitting signals to VCIB while VCIB is transmitting [Sleep].   
 
         3.5. APIs for Failure Notification
   3.5.1. API List for Failure Notification
   3.5.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 10
           
               
               
               
             
               
                 Input APIs for Failure Notification 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 N/A 
                 N/A 
                 N/A 
               
            
           
         
       
     
     
         
         3.5.1.2. Outputs 
       
    
     
       
         
          TABLE 11
           
               
               
               
             
               
                 Output APIs for Failure Notification 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Request for ADS operation 
                   
                 Applied 
               
               
                 Impact detection signal 
                   
                 N/A 
               
               
                 Performance deterioration of brake system 
                   
                 Applied 
               
               
                 Performance deterioration of propulsion system 
                   
                 N/A 
               
               
                 Performance deterioration of shift control system 
                   
                 N/A 
               
               
                 Performance deterioration of immobilization system 
                   
                 Applied 
               
               
                 Performance deterioration of steering system 
                   
                 Applied 
               
               
                 Performance deterioration of power supply system 
                   
                 Applied 
               
               
                 Performance deterioration of communication system 
                   
                 Applied 
               
            
           
         
       
     
     
         
         3.5.2. Details of each API for Failure Notification 
   3.5.2.1. Request for ADS Operation   
 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 Need maintenance 
                   
               
               
                 2 
                 Need to be back to garage 
                   
               
               
                 3 
                 Need to stop immediately 
                   
               
               
                 Others 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   This signal shows a behavior which the ADS is expected to do according to a failure which happened in the VP.   
 
         3.5.2.2. Impact detection signal 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                   
               
               
                 5 
                 Crash detection with activated airbag 
                   
               
               
                 6 
                 Crash detection with shut off high voltage circuit 
                   
               
               
                 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 &gt; normal
   Transmits for 5 s regardless of ordinary response at crash, because the vehicle breakdown judgment system shall be sent 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. 
         3.5.2.3. Performance deterioration of brake system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.4. Performance deterioration of propulsion system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.5. Performance deterioration of shift control system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.6. Performance deterioration of immobilization system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.7. Performance deterioration of Steering system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.8. Performance deterioration of power supply system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.5.2.9. Performance deterioration of communication system 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Normal 
                 - 
               
               
                 1 
                 Deterioration detected 
                 - 
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6. APIs for Security 
   3.6.1. API List for Security 
   3.6.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 12
           
               
               
               
             
               
                 Input APIs for Security 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Door Lock (front) command 
                 Command to control both 1st doors lock 
                 N/A 
               
               
                 Door Lock (rear) command 
                 Command to control both 2nd doors and trunk lock 
                 N/A 
               
               
                 Central door lock command 
                 Command to control the all door lock 
                 N/A 
               
               
                 Device Authentication Signature the 1st word 
                 This is the 8th byte from the 1st byte of the Signature value. 
                 N/A 
               
               
                 Device Authentication Signature the 2nd word 
                 This is the 16th byte from the 9th byte of the Signature value. 
                 N/A 
               
               
                 Device Authentication Signature the 3rd word 
                 This is the 24th byte from the 17th byte of the Signature value. 
                 N/A 
               
               
                 Device Authentication Signature the 4th word 
                 This is the 32th byte from the 25th byte of the Signature value. 
                 N/A 
               
            
           
         
       
     
     
         
         3.6.1.2.Outputs 
       
    
     
       
         
          TABLE 13
           
               
               
               
             
               
                 Output APIs for Security 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
             
            
               
                 Door lock (1st left) status 
                 Status of the current 1 st-left door lock 
                 N/A 
               
               
                 Door lock (1st right) status 
                 Status of the current 1st-right door lock 
                 N/A 
               
               
                 Door lock (2nd left) status 
                 Status of the current 2nd-left door lock 
                 N/A 
               
               
                 Door lock (2nd right) status 
                 Status of the current 2nd-right door lock 
                 N/A 
               
               
                 Trunk Lock status 
                 Status of the current trunk (back door) lock 
                 N/A 
               
               
                 Central door lock status 
                 Status of the current all door lock 
                 N/A 
               
               
                 Alarm system status 
                 Status of the current vehicle alarm 
                 N/A 
               
               
                 Device Authentication Seed the 1st word 
                 This is the 8th byte from the 1st byte of the Seed value. 
                 N/A 
               
               
                 Device Authentication Seed the 2nd word 
                 This is the 16th byte from the 9th byte of the Seed value. 
                 N/A 
               
               
                 Trip Counter 
                 This counter is incremented in units of trips by the Freshness Value management master ECU. 
                 N/A 
               
               
                 Reset Counter 
                 This counter is incremented periodically by the Freshness Value management master ECU. 
                 N/A 
               
               
                 1st Left Door Open Status 
                 Status of the current 1st-left door open/close of the vehicle platform 
                 N/A 
               
               
                 1st Right Door Open Status 
                 Status of the current 1st-right door open/close of the vehicle platform 
                 N/A 
               
               
                 2nd Left Door Open Status 
                 Status of the current 2nd-left door open/close of the vehicle platform 
                 N/A 
               
               
                 2nd Right Door Open Status 
                 Status of the current 2nd-right door open/close of the vehicle platform 
                 N/A 
               
               
                 Trunk Status 
                 Status of the current trunk door open of the vehicle platform 
                 N/A 
               
               
                 Hood Open Status 
                 Status of the current hood open/close of the vehicle platform 
                 N/A 
               
            
           
         
       
     
     
         
         3.6.2. Details of Each API for Security
   3.6.2.1. Door Lock (front) command, Door Lock (rear) command   
 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Lock 
                 Not supported in Toyota VP 
               
               
                 2 
                 Unlock 
                   
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   If ADK requests for unlocking front side, both front doors are unlocked.   If ADK requests for unlocking rear side, both 2nd row and trunk doors are unlocked.   If ADK requests for locking any door, it should use “Central door lock command.”   
 
         (The functionality for individual locking is not supported in Toyota VP.) 
         3.6.2.2. Central door lock command 
         Request to control all doors&#39; lock 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Lock (all) 
                   
               
               
                 2 
                 Unlock (all) 
                   
               
               
                 3 
                 Reserved 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6.2.3. Device Authentication Signature the 1st word, Device Authentication Signature the 2nd word, Device Authentication Signature the 3rd word, Device Authentication Signature the 4th word, Device Authentication Seed the 1st word, Device Authentication Seed the 2nd word 
         Device Authentication Signature the 1st word is presented in from 1st to 8th bytes of the signature. 
         Device Authentication Signature the 2nd word is presented in from 9th to 16th bytes of the signature. 
         Device Authentication Signature the 3rd word is presented in from 17th to 24th bytes of the signature. 
         Device Authentication Signature the 4th word is presented in from 25th to 32nd bytes of the signature. 
         Device Authentication Seed the 1st word is presented in from 1st to 8th bytes of the seed. 
         Device Authentication Seed the 2nd word is presented in from 9th to 16th bytes of the seed. 
         3.6.2.4. Door lock (1st left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Locked 
                   
               
               
                 2 
                 Unlocked 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6.2.5. Door lock (1st right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Locked 
                   
               
               
                 2 
                 Unlocked 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6.2.6. Door lock (2nd left) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Locked 
                   
               
               
                 2 
                 Unlocked 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6.2.7. Door lock (2nd right) status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Locked 
                   
               
               
                 2 
                 Unlocked 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks
   N/A   
 
         3.6.2.8. Door lock status of all doors 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 All Locked 
                   
               
               
                 2 
                 Anything Unlocked 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks
   In case any doors are unlocked, “Anything Unlocked.”   In case all doors are locked, “All Locked.”   
 
         3.6.2.9. Alarm system status 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Disarmed 
                 Alarm System is not activated. 
               
               
                 1 
                 Armed 
                 Alarm System is activated without alarming. 
               
               
                 2 
                 Active 
                 Alarm System is activated, and the alarm is beeping. 
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.9.1. Trip Counter 
         This counter is incremented in a unit of trips by the Freshness Value management master ECU. 
         Values 
         0 - FFFFh 
         Remarks
   This value is used to create a Freshness value.   For details, please refer to the other material [the specification of Toyota’s MAC module].   
 
         3.6.2.9.2. Reset Counter 
         This counter is incremented periodically by the Freshness Value management master ECU. 
         Values 
         0 - FFFFFh 
         Remarks
   This value is used to create a Freshness value.   For details, please refer to the other material [the specification of Toyota’s MAC module].   
 
         3.6.2.10. 1st Left Door Open Status 
         Status of the current 1st-left door open/close of the vehicle platform 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Closes 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.11. 1st Right Door Open Status 
         Status of the current 1st-right door open/close 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Close 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.12. 2nd Left Door Open Status 
         Status of the current 2nd-left door open/close 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Close 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.13. 2nd Right Door Open Status 
         Status of the current 2nd-right door open/close 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Close 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.14. Trunk Status 
         Status of the current trunk door open/close 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Close 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         3.6.2.15. Hood Open Status 
         Status of the current hood open/close 
       
    
     
       
         
           
               
               
               
             
               
                 Values 
               
               
                 Value 
                 Description 
                 Remarks 
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Open 
                   
               
               
                 2 
                 Close 
                   
               
               
                 3 
                 Invalid 
                   
               
            
           
         
       
     
     
         
         Remarks 
         N/A 
         4. API Guides to control Toyota Vehicles 
         This section shows in detail the way of using APIs for Toyota vehicles.
   4.1. APIs for Vehicle Motion Control
   4.1.1. API List for Vehicle Motion Control   Input and output APIs for vehicle motion control are shown in Table 14 and Table 15, respectively. Usage guides of some APIs are presented in the following sections as indicated in each table.
   4.1.1.1. Inputs   
   
   
 
       
    
     
       
         
          TABLE 14
           
               
               
               
               
             
               
                 Input APIs for Vehicle Motion Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Propulsion Direction Command 
                 Request for shift change from/to forward (D range) to/from back (R range) 
                 N/A 
                 4.1.2.1 
               
               
                 Immobilization Command 
                 Request for turning on/off Wheel Lock 
                 Applied 
                 4.1.2.2 
               
               
                 Standstill Command 
                 Request for keeping on/off stationary 
                 Applied 
                 4.1.2.3 
               
               
                 Acceleration Command 
                 Request for acceleration/deceleration 
                 Applied 
                 4.1.2.1 
               
               
                 4.1.2.2 
               
               
                 4.1.2.3 
               
               
                 4.1.2.4 
               
               
                 Front Wheel Steer Angle Command 
                 Request for front wheel steer angle 
                 Applied 
                 4.1.2.5 
               
               
                 Vehicle Mode Command 
                 Request for changing from/to manual mode to/from Autonomous Mode 
                 Applied 
                 4.1.2.6 
               
               
                 High Dynamics Command 
                 Request for increasing braking response performance* 
                 Applied 
                 - 
               
               
                 * Reaction time in VP upon a request from ADK 
               
            
           
         
       
     
     
         
         4.1.1.2. Outputs 
       
    
     
       
         
          TABLE 15
           
               
               
               
               
             
               
                 Output APIs for Vehicle Motion Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Propulsion Direction Status 
                 Current shift status 
                 N/A 
                 - 
               
               
                 Immobilization Status 
                 Status of immobilization (e.g. EPB and Shift P) 
                 Applied 
                 4.1.2.2 
               
               
                 4.1.2.3 
               
               
                 Standstill Status 
                 Standstill status 
                 N/A 
                 4.1.2.3 
               
               
                 Estimated Gliding Acceleration 
                 Estimated vehicle acceleration/deceleration when throttle is fully closed 
                 N/A 
                 - 
               
               
                 Estimated maximum acceleration 
                 Estimated maximum acceleration 
                 Applied 
                 - 
               
               
                 Estimated maximum deceleration 
                 Estimated maximum deceleration 
                 Applied 
                 - 
               
               
                 Front wheel steer angle 
                 Front wheel steer angle 
                 Applied 
                 4.1.2.5 
               
               
                 Front wheel steer angle rate 
                 Front wheel steer angle rate 
                 Applied 
                 - 
               
               
                 Front wheel steer angle rate limitation 
                 Road wheel angle rate limit 
                 Applied 
                 - 
               
               
                 Estimated maximum lateral acceleration 
                 Estimated max lateral acceleration 
                 Applied 
                 - 
               
               
                 Estimated maximum lateral acceleration rate 
                 Estimated max lateral acceleration rate 
                 Applied 
                 - 
               
               
                 Intervention of accelerator pedal 
                 This signal shows whether the accelerator pedal is depressed by a driver (intervention) 
                 N/A 
                 4.1.2.4 
               
               
                 Intervention of brake pedal 
                 This signal shows whether the brake pedal is depressed by a driver (intervention) 
                 N/A 
                 - 
               
               
                 Intervention of steering wheel 
                 This signal shows whether the steering wheel is turned by a driver (intervention) 
                 N/A 
                 4.1.2.5 
               
               
                 Intervention of shift lever 
                 This signal shows whether the shift lever is controlled by a driver (intervention) 
                 N/A 
                 - 
               
               
                 Wheel speed pulse (front left) 
                 Pulse from wheel speed sensor (Front Left Wheel) 
                 N/A 
                 - 
               
               
                 Wheel rotation direction (front left) 
                 Rotation direction of wheel (Front Left) 
                 N/A 
                 - 
               
               
                 Wheel speed pulse (front right) 
                 Pulse from wheel speed sensor (Front Right Wheel) 
                 N/A 
                 - 
               
               
                 Wheel rotation direction (front right) 
                 Rotation direction of wheel (Front Right) 
                 N/A 
                 - 
               
               
                 Wheel speed pulse (rear left) 
                 Pulse from wheel speed sensor (Rear Left Wheel) 
                 Applied 
                 - 
               
               
                 Wheel rotation direction (Rear left) 
                 Rotation direction of wheel (Rear Left) 
                 Applied 
                 - 
               
               
                 Wheel speed pulse (rear right) 
                 Pulse from wheel speed sensor (Rear Right Wheel) 
                 Applied 
                 - 
               
               
                 Wheel rotation direction (Rear right) 
                 Rotation direction of wheel (Rear Right) 
                 Applied 
                 - 
               
               
                 Traveling direction 
                 Moving direction of vehicle 
                 Applied 
                 4.1.2.1 
               
               
                 4.1.2.3 
               
               
                 Vehicle velocity 
                 Estimated longitudinal velocity of vehicle 
                 Applied 
                 4.1.2.2 
               
               
                 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 
                 - 
               
               
                 Slipping Detection 
                 Detection of tire glide/spin/skid 
                 Applied 
                 - 
               
               
                 Vehicle mode state 
                 State of whether Autonomous Mode, manual mode or others 
                 Applied 
                 4.1.2.6 
               
               
                 Readiness for autonomization 
                 Situation of whether the vehicle can transition to Autonomous Mode or not 
                 Applied 
                 4.1.2.6 
               
               
                 Failure status of VP functions for Autonomous Mode 
                 This signal is used to show whether VP functions have some failures mode when a vehicle works as Autonomous Mode. 
                 Applied 
                 - 
               
               
                 PCS Alert Status 
                 Status of PCS (Alert) 
                 N/A 
                 - 
               
               
                 PCS Preparation Status 
                 Status of PCS (Prefill) 
                 N/A 
                 - 
               
               
                 PCS Brake/PCS Brake Hold Status 
                 Status of PCS (PB/PBH) 
                 N/A 
                 - 
               
               
                 ADS/PCS arbitration status 
                 ADS/PCS arbitration status 
                 N/A 
                 - 
               
            
           
         
       
     
     
         
         4.1.2. API guides in Details for Vehicle Motion Control
   4.1.2.1. Propulsion Direction Command   Please refer to 3.2.2.1for value and remarks in detail.     FIG.  12    shows shift change sequences in detail.   First deceleration is requested by Acceleration Command and the vehicle is stopped. When Traveling direction is set to “standstill”, any shift position can be requested by Propulsion Direction Command. (In  FIG.  13   , “D” → “R”).   Deceleration has to be requested by Acceleration Command until completing shift change.   After shift position is changed, acceleration/deceleration can be chosen based on Acceleration Command.   While Vehicle mode state = Autonomous Mode, driver’s shift lever operation is not accepted.
   4.1.2.2.Immobilization Command   Please refer to 3.2.2.2for value and remarks in detail.     FIG.  14    shows how to activate/deactivate immobilization function.   Deceleration is requested with Acceleration Command to make a vehicle stop. When Vehicle velocity goes to zero, Immobilization function is activated by Immobilization Command = “Applied”. Acceleration Command is set to Deceleration until Immobilization Status is set to “Applied”.   When deactivating Immobilization function, Immobilization Command = “Released” has to be requested and simultaneously Acceleration Command has to be set as deceleration until confirming Immobilization Status = “Released”.   After Immobilization function is deactivated, the vehicle can be accelerated/decelerated based on Acceleration Command.   4.1.2.3. Standstill Command   Please refer to 3.2.2.3for value and remarks in detail.   In case where Standstill Command is set as “Applied”, brakehold function can be ready to be used and brakehold function is activated in a condition where a vehicle stops and Acceleration Command is set as Deceleration (&lt;0). And then Standstill Status is changed to “Applied”. On the other hand, in case where Standstill Command is set as “Released”, brakehold function is deactivated.     FIG.  14    shows standstill sequences.   To make a vehicle stop, deceleration is requested with Acceleration Command.   When the vehicle stops for a while, Traveling direction is changed to “standstill”. Even during Standstill status= “Applied”, deceleration shall be requested with Acceleration Command.   If you want the vehicle to move forward, Acceleration Command is set as Acceleration (&gt;0). Then brake hold function is released and the vehicle is accelerated.   4.1.2.4. Acceleration Command   Please refer to 3.2.2.4for value and remarks in detail.   The below shows how a vehicle behaves when an acceleration pedal is operated.   In case where the accelerator pedal is operated, a maximum acceleration value of either 1) one calculated from accelerator pedal stroke or 2) Acceleration Command input from ADK is chosen. ADK can see which value is selected by checking Intervention of accelerator pedal.   The below shows how a vehicle behaves when a brake pedal is operated.   Deceleration value in the vehicle is the sum of 1) one calculated from the brake pedal stroke and 2) one requested from ADK.   4.1.2.5. Front Wheel Steer Angle Command   Please refer to 3.2.2.5for value and remarks in detail.   The below shows the way of using Front Wheel Steer Angle Command.   Front Wheel Steer Angle Command is set as a relative value from Front wheel steer angle.   For example, in case where Front wheel steer angle =0.1 [rad] and a vehicle goes straight;   If ADK would like to go straight, Front Wheel Steer Angle Command should be set to 0+0.1 =0.1 \[rad].   If ADK requests to steer by -0.3 [rad], Front Wheel Steer Angle Command should be set to -0.3+0.1 = -0.2 [rad].   The below shows how a vehicle behaves when a driver operates the steering.   A maximum value is selected either from 1) one calculated from steering wheel operation by the driver or 2) one requested by ADK.   Note that Front Wheel Steer Angle Command is not accepted if the driver strongly operates the steering wheel. This situation can be found by Intervention of steering wheel flag.   4.1.2.6. Vehicle Mode Command   The state machine of mode transition for Autono-MaaS vehicle is shown in  FIG.  15   .   The explanation of each state is shown as follows.   
   
 
       
    
     
       
         
           
               
               
             
               
                 State 
                 Description 
               
             
            
               
                 Manual 
                 A vehicle begins with this state and is under a control of a human driver. ADK cannot give any controls (except some commands) to VP. Power mode status and Vehicle mode state are in the followings: Power mode status = Wake or Drive Vehicle mode state = Manual Mode 
               
               
                 Autonomy 
                 ADK can communicate to VP after authentication is successful. VP is under the control of the ADK as a result of being issued “Request for Autonomy.” Power mode status and Vehicle mode state are in the followings: Power mode status = Drive Vehicle mode state = Autonomous Mode 
               
            
           
         
       
     
     
         
         The explanation of each transition is shown as follows. 
       
    
     
       
         
           
               
               
             
               
                 Transition 
                 Conditions 
               
             
            
               
                 a 
                 When the following conditions are established, the mode will be transitioned from Manual to Autonomy: 
               
               
                 The ADK is authenticated, 
               
               
                 Power mode status = Drive, 
               
               
                 Readiness for autonomization = Ready For Autonomy 
               
               
                 Vehicle Mode Command = Request For Autonomy. 
               
               
                 b 
                 When the following conditions are established, the mode will be transitioned from Autonomy to Manual: 
               
               
                 Vehicle Mode Command = Deactivation Request. 
               
            
           
         
       
     
     
         
         4.2. APIs for BODY Control
   4.2.1. API List for BODY Control
   4.2.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 16
           
               
               
               
               
             
               
                 Input APIs for BODY Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Turnsignal command 
                 Command to control the turnsignallight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Headlight command 
                 Command to control the headlight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Hazardlight command 
                 Command to control the hazardlight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Horn pattern command 
                 Command to control the pattern of horn ON-time and OFF-time per cycle of the vehicle platform 
                 N/A 
                 - 
               
               
                 Horn cycle command 
                 Command to control the number of horn ON/OFF cycles of the vehicle platform 
                 N/A 
                 - 
               
               
                 Continuous horn command 
                 Command to control of horn ON of the vehicle platform 
                 N/A 
                 - 
               
               
                 Front windshield wiper command 
                 Command to control the front windshield wiper of the vehicle platform 
                 N/A 
                 - 
               
               
                 Rear windshield wiper command 
                 Command to control the rear windshield wiper mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 HVAC (1st row) operation command 
                 Command to start/stop 1st row air conditioning control 
                 N/A 
                 - 
               
               
                 HVAC (2nd row) operation command 
                 Command to start/stop 2nd row air conditioning control 
                 N/A 
                 - 
               
               
                 Target temperature (1st left) command 
                 Command to set the target temperature around front left area 
                 N/A 
                 - 
               
               
                 Target temperature (1st right) command 
                 Command to set the target temperature around front right area 
                 N/A 
                 - 
               
               
                 Target temperature (2nd left) command 
                 Command to set the target temperature around rear left area 
                 N/A 
                 - 
               
               
                 Target temperature (2nd right) command 
                 Command to set the target temperature around rear right area 
                 N/A 
                 - 
               
               
                 HVAC fan (1st row) command 
                 Command to set the fan level on the front AC 
                 N/A 
                 - 
               
               
                 HVAC fan (2nd row) command 
                 Command to set the fan level on the rear AC 
                 N/A 
                 - 
               
               
                 Air outlet (1st row) command 
                 Command to set the mode of 1 st row air outlet 
                 N/A 
                 - 
               
               
                 Air outlet (2nd row) command 
                 Command to set the mode of 2nd row air outlet 
                 N/A 
                 - 
               
               
                 Air recirculation command 
                 Command to set the air recirculation mode 
                 N/A 
                 - 
               
               
                 AC mode command 
                 Command to set the AC mode 
                 N/A 
                 - 
               
            
           
         
       
     
     
         
         4.2.1.2. Outputs 
       
    
     
       
         
          TABLE 17
           
               
               
               
               
             
               
                 Output APIs for BODY Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Turnsignal status 
                 Status of the current turnsignallight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Headlight status 
                 Status of the current headlight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Hazardlight status 
                 Status of the current hazardlight mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Horn status 
                 Status of the current horn of the vehicle platform 
                 N/A 
                 - 
               
               
                 Front windshield wiper status 
                 Status of the current front windshield wiper mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 Rear windshield wiper status 
                 Status of the current rear windshield wiper mode of the vehicle platform 
                 N/A 
                 - 
               
               
                 HVAC (1st row) status 
                 Status of activation of the 1 st  row HVAC 
                 N/A 
                 - 
               
               
                 HVAC (2nd row) status 
                 Status of activation of the 2 nd  row HVAC 
                 N/A 
                 - 
               
               
                 Target temperature (1st left) status 
                 Status of set temperature of 1 st  row left 
                 N/A 
                 - 
               
               
                 Target temperature (1st right) status 
                 Status of set temperature of 1 st  row right 
                 N/A 
                 - 
               
               
                 Target temperature (2nd left) status 
                 Status of set temperature of 2 nd  row left 
                 N/A 
                 - 
               
               
                 Target temperature (2nd right) status 
                 Status of set temperature of 2 nd  row right 
                 N/A 
                 - 
               
               
                 HVAC fan (1st row) status 
                 Status of set fan level of 1 st  row 
                 N/A 
                 - 
               
               
                 HVAC fan (2nd row) status 
                 Status of set fan level of 2 nd  row 
                 N/A 
                 - 
               
               
                 Air outlet (1st row) status 
                 Status of mode of 1st row air outlet 
                 N/A 
                 - 
               
               
                 Air outlet (2nd row) status 
                 Status of mode of 2nd row air outlet 
                 N/A 
                 - 
               
               
                 Air recirculation status 
                 Status of set air recirculation mode 
                 N/A 
                 - 
               
               
                 AC mode status 
                 Status of set AC mode 
                 N/A 
                 - 
               
               
                 Seat occupancy (1st right) status 
                 Seat occupancy status in 1st left seat 
                 N/A 
                 - 
               
               
                 Seat belt (1st left) status 
                 Status of driver’s seat belt buckle switch 
                 N/A 
                 - 
               
               
                 Seat belt (1st right) status 
                 Status of passenger’s seat belt buckle switch 
                 N/A 
                 - 
               
               
                 Seat belt (2nd left) status 
                 Seat belt buckle switch status in 2nd left seat 
                 N/A 
                 - 
               
               
                 Seat belt (2nd right) status 
                 Seat belt buckle switch status in 2nd right seat 
                 N/A 
                 - 
               
            
           
         
       
     
     
         
         4.3. APIs for Power Control
   4.3.1. API List for Power Control 
   4.3.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 18
           
               
               
               
               
             
               
                 Input APIs for Power Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Power mode command 
                 Command to control the power mode of VP 
                 N/A 
                 - 
               
            
           
         
       
     
     
         
         4.3.1.2. Outputs 
       
    
     
       
         
          TABLE 19
           
               
               
               
               
             
               
                 Output APIs for Power Control 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Power mode status 
                 Status of the current power mode of VP 
                 N/A 
                   
               
            
           
         
       
     
     
         
         4.4. APIs for Failure Notification
   4.4.1. API List for Failure Notification 
   4.4.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 20
           
               
               
               
               
             
               
                 Input APIs for Failure Notification 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage guide 
               
             
            
               
                 N/A 
                 - 
                 - 
                 - 
               
            
           
         
       
     
     
         
         4.4.1.2. Outputs 
       
    
     
       
         
          TABLE 21
           
               
               
               
               
             
               
                 Output APIs for Failure Notification 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage guide 
               
             
            
               
                 Request for ADS Operation 
                 - 
                 Applied 
                 - 
               
               
                 Impact detection signal 
                 - 
                 N/A 
                 - 
               
               
                 Performance deterioration of Brake system 
                 - 
                 Applied 
                 - 
               
               
                 Performance deterioration of Propulsion system 
                 - 
                 N/A 
                 - 
               
               
                 Performance deterioration of Shift control system 
                 - 
                 N/A 
                 - 
               
               
                 Performance deterioration of Immobilization system 
                 - 
                 Applied 
                 - 
               
               
                 Performance deterioration of Steering system 
                   
                 Applied 
                 - 
               
               
                 Performance deterioration of Power supply system 
                   
                 Applied 
                 - 
               
               
                 Performance deterioration of Communication system 
                   
                 Applied 
                 - 
               
            
           
         
       
     
     
         
         4.5. APIs for Security
   4.5.1. API List for Security   Input and output APIs for Security are shown in Table 22 and Table 23, respectively. Usage guides of some APIs are presented in the following sections as indicated in each table.
   4.5.1.1. Inputs   
   
 
       
    
     
       
         
          TABLE 22
           
               
               
               
               
             
               
                 Input APIs for Security 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Door Lock (front) command 
                 Command to control 1st both doors lock 
                 N/A 
                 - 
               
               
                 Door Lock (rear) command 
                 Command to control 2nd both doors and trunk lock 
                 N/A 
                 - 
               
               
                 Central door lock command 
                 Command to control the all door lock 
                 N/A 
                 - 
               
               
                 Device Authentication Signature the 1st word 
                 This is the 8th byte from the 1st byte of the Signature value. 
                 N/A 
                 4.5.2.1 
               
               
                 Device Authentication Signature the 2nd word 
                 This is the 16th byte from the 9th byte of the Signature value. 
                 N/A 
                 4.5.2.1 
               
               
                 Device Authentication Signature the 3rd word 
                 This is the 24th byte from the 17th byte of the Signature value. 
                 N/A 
                 4.5.2.1 
               
               
                 Device Authentication Signature the 4th word 
                 This is the 32th byte from the 25th byte of the Signature value. 
                 N/A 
                 4.5.2.1 
               
            
           
         
       
     
     
         
         4.5.1.2. Outputs 
       
    
     
       
         
          TABLE 23
           
               
               
               
               
             
               
                 Output APIs for Security 
               
               
                 Signal Name 
                 Description 
                 Redundancy 
                 Usage Guide 
               
             
            
               
                 Door lock (1st left) status 
                 Status of the current 1 st-left door lock 
                 N/A 
                 - 
               
               
                 Door lock (1st right) status 
                 Status of the current 1st-right door lock 
                 N/A 
                 - 
               
               
                 Door lock (2nd left) status 
                 Status of the current 2nd-left door lock 
                 N/A 
                 - 
               
               
                 Door lock (2nd right) status 
                 Status of the current 2nd-right door lock 
                 N/A 
                 - 
               
               
                 Central door lock status 
                 Status of the current all door lock 
                 N/A 
                 - 
               
               
                 Alarm system status 
                 Status of the current vehicle alarm 
                 N/A 
                 - 
               
               
                 Device Authentication Seed the 1st word 
                 This is the 8th byte from the 1st byte of the Seed value. 
                 N/A 
                 - 
               
               
                 Device Authentication Seed the 2nd word 
                 This is the 16th byte from the 9th byte of the Seed value. 
                 N/A 
                 - 
               
               
                 Trip Counter 
                 This counter is incremented in units of trips by the Freshness Value management master ECU. 
                 N/A 
                 - 
               
               
                 Reset Counter 
                 This counter is incremented periodically by the Freshness Value management master ECU. 
                 N/A 
                 - 
               
               
                 1st Left Door Open Status 
                 Status of the current 1 st-left door open/close of the vehicle platform 
                 N/A 
                 - 
               
               
                 1st Right Door Open Status 
                 Status of the current 1 st-right door open/close of the vehicle platform 
                 N/A 
                 - 
               
               
                 2nd Left Door Open Status 
                 Status of the current 2nd-left door open/close of the vehicle platform 
                 N/A 
                 - 
               
               
                 2nd Right Door Open Status 
                 Status of the current 2nd-right door open/close of the vehicle platform 
                 N/A 
                 - 
               
               
                 Trunk Status 
                 Status of the current trunk door open of the vehicle platform 
                 N/A 
                 - 
               
               
                 Hood Open Status 
                 Status of the current hood open/close of the vehicle platform 
                 N/A 
                 - 
               
            
           
         
       
     
     
         
         4.5.2. API guides in Details for Security
   4.5.2.1. Device Authentication Protocol   Device authentication is applied when the VCIB is activated from “Sleep” mode.   After the authentication succeeds, the VCIB can start to communicate with ADK.   Authentication process is as shown in  FIG.  16    Authentication Process.   
 
       
    
     
       
         
           
               
               
               
             
               
                 Authentication Specification 
               
               
                 Item 
                 Specification 
                 Note 
               
             
            
               
                 Encryption algorithms 
                 AES 
                 FIPS 197 
               
               
                 Key length 
                 128 bit 
                 - 
               
               
                 Block cipher modes of operation 
                 CBC 
                 SP 800-38A 
               
               
                 Hash algorithms 
                 SHA-256 
                 FIPS 180-4 
               
               
                 Seed length 
                 128 bit 
                 - 
               
               
                 Signature length 
                 256 bit 
                 - 
               
            
           
         
       
     
     
         
         Though an embodiment of the present disclosure has been described, it should be understood that the embodiment disclosed herein is illustrative and non-restrictive in every respect. The scope of the present disclosure 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.