Patent Publication Number: US-2023159101-A1

Title: Vehicle and autonomous driving kit

Description:
This is a continuation of U.S. application Ser. No. 17/722,644, filed on Apr. 18, 2022, which is a continuation of U.S. application Ser. No. 17/154,017, filed on Jan. 21, 2021, which is based on Japanese Patent Application No. 2020-015726 filed with the Japan Patent Office on Jan. 31, 2020, the entire contents of which are hereby incorporated by reference. 
    
    
     BACKGROUND 
     Field 
     The present disclosure relates to a vehicle and an autonomous driving kit and particularly to a vehicle capable of autonomous driving and an autonomous driving kit that issues an instruction for autonomous driving of a vehicle and is attachable to and removable from the vehicle. 
     Description of the Background Art 
     A technique for autonomous driving of a vehicle has recently been developed. For example, a vehicle in which an autonomous driving electronic control unit (ECU) that issues an instruction for autonomous driving controls autonomous driving is available (see, for example, Japanese Patent Laying-Open No. 2018-132015). In such a vehicle, a reference for a limit value of a steering rate on a vehicle side may be incorporated in advance in the autonomous driving ECU. The autonomous driving ECU can thus steer the vehicle within a range between limit values of the steering rate adapted to the vehicle. 
     SUMMARY 
     In the vehicle in Japanese Patent Laying-Open No. 2018-132015, an autonomous driving apparatus that issues an instruction for autonomous driving, such as the autonomous driving ECU, may be attachable to and removable from the vehicle, and the autonomous driving apparatus may be replaceable with an autonomous driving apparatus of another specification. When the vehicle is configured as such, however, unless an appropriate limit value of a steering rate suitable for the vehicle is incorporated in advance in the autonomous driving apparatus, the limit value of the steering rate cannot be controlled to an appropriate value. 
     The present disclosure was made to solve such a problem, and an object of the present disclosure is to provide a vehicle in which, when an attachable and removable apparatus that issues an instruction for autonomous driving controls a vehicle, a limit value of a steering rate can be set to an appropriate value suitable for the vehicle without storing in advance the limit value of the steering rate in this apparatus. 
     A vehicle according to the present disclosure is capable of autonomous driving and includes an autonomous driving kit attachable to and removable from the vehicle, the autonomous driving kit issuing an instruction for autonomous driving, a vehicle platform including a plurality of functional units that perform a plurality of prescribed functions of the vehicle, and a vehicle interface box that communicates with the autonomous driving kit and issues a control instruction to the functional units in accordance with an instruction from the autonomous driving kit. One of the plurality of functional units is a steering system that steers the vehicle. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the autonomous driving kit through the vehicle interface box. The autonomous driving kit calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the vehicle interface box. 
     According to such a configuration, the limit value of the steering rate for calculating the target steering angle is conveyed from a side of the vehicle platform to the autonomous driving kit. Consequently, a vehicle in which, when an attachable and removable autonomous driving kit that issues an instruction for autonomous driving controls the vehicle, the limit value of the steering rate can be set to an appropriate value suitable for the vehicle without storing the limit value of the steering rate in advance in the autonomous driving kit can be provided. 
     The steering system may switch the prescribed reference in accordance with a vehicle speed. The prescribed reference may be such a reference that the limit value of the steering rate is defined as a prescribed angular velocity when the vehicle speed is lower than a prescribed speed. A value of the prescribed angular velocity may be 0.4 rad/s. 
     The prescribed reference may be such a reference that, when the vehicle speed exceeds a prescribed speed, the limit value of the steering rate satisfies predetermined relation between the vehicle speed and the limit value of the steering rate. A value of the prescribed speed may be 10 km/h. 
     Preferably, the prescribed reference may be a reference determined in advance such that a lateral jerk of the vehicle is lower than a prescribed jerk. A value of the prescribed jerk may be 2.94 m/s 3 . 
     According to another aspect of this disclosure, an autonomous driving kit issues an instruction for autonomous driving of a vehicle and is attachable to and removable from the vehicle. The vehicle includes a plurality of functional units that perform a plurality of prescribed functions of the vehicle and the functional units are controlled in accordance with an instruction from the autonomous driving kit. One of the plurality of functional units is a steering system that steers the vehicle. The autonomous driving kit calculates a target steering angle to satisfy a limit value of a steering rate specified by the steering system in accordance with a prescribed reference and transmits an instruction for the calculated steering angle to the steering system through a vehicle interface box. 
     According to such a configuration, in an example where an attachable and removable autonomous driving kit that issues an instruction for autonomous driving controls a vehicle, an autonomous driving kit with which a limit value of a steering rate can be set to an appropriate value suitable for the vehicle without storing the limit value of the steering rate in advance in the autonomous driving kit can be provided. 
     According to yet another aspect of this disclosure, a vehicle is capable of autonomous driving and includes a vehicle platform and a vehicle interface box, the vehicle platform including a plurality of functional units that perform a plurality of prescribed functions of the vehicle, the vehicle interface box communicating with an autonomous driving kit that issues an instruction for autonomous driving and is attachable to and removable from the vehicle, the vehicle interface box issuing a control instruction to the functional units in accordance with an instruction from the autonomous driving kit. One of the plurality of functional units is a steering system that steers the vehicle. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference, transmits the specified limit value to the autonomous driving kit through the vehicle interface box, and controls a steering angle in accordance with an instruction for a target steering angle calculated by the autonomous driving kit to satisfy the limit value received from the steering system. 
     According to such a configuration, a vehicle in which, when an attachable and removable autonomous driving kit that issues an instruction for autonomous driving controls the vehicle, the limit value of the steering rate can be set to an appropriate value suitable for the vehicle without storing the limit value of the steering rate in advance in the autonomous driving kit can be provided. 
     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 mobility as a service (MaaS) system in which a vehicle according to an embodiment of the present disclosure is used. 
         FIG.  2    is a diagram showing overview of a configuration of the vehicle in this embodiment. 
         FIG.  3    is a flowchart showing a flow of processing relating to control of a steering angle in this embodiment. 
         FIG.  4    is a diagram showing a map of relation between a vehicle speed and a limit value of a steering rate in this embodiment. 
         FIG.  5    is a diagram of an overall configuration of MaaS. 
         FIG.  6    is a diagram of a system configuration of a MaaS vehicle. 
         FIG.  7    is a diagram showing a typical flow in an autonomous driving system. 
         FIG.  8    is a diagram showing an exemplary timing chart of an API relating to stop and start of the MaaS vehicle. 
         FIG.  9    is a diagram showing an exemplary timing chart of the API relating to shift change of the MaaS vehicle. 
         FIG.  10    is a diagram showing an exemplary timing chart of the API relating to wheel lock of the MaaS vehicle. 
         FIG.  11    is a diagram showing a limit value of variation in tire turning angle. 
         FIG.  12    is a diagram illustrating intervention by an accelerator pedal. 
         FIG.  13    is a diagram illustrating intervention by a brake pedal. 
         FIG.  14    is a diagram of an overall configuration of MaaS. 
         FIG.  15    is a diagram of a system configuration of a vehicle. 
         FIG.  16    is a diagram showing a configuration of supply of power of the vehicle. 
         FIG.  17    is a diagram illustrating strategies until the vehicle is safely brought to a standstill at the time of occurrence of a failure. 
         FIG.  18    is a diagram showing arrangement of representative functions of the vehicle. 
     
    
    
     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. 
       FIG.  1    is a diagram showing overview of a MaaS system in which a vehicle according to an embodiment of the present disclosure is used. Referring to  FIG.  1   , this MaaS system includes a vehicle  10 , a data server  500 , a mobility service platform (which is denoted as “MSPF” below)  600 , and autonomous driving related mobility services  700 . 
     Vehicle  10  includes a vehicle main body  100  and an autonomous driving kit (which is denoted as “ADK” below)  200 . Vehicle main body  100  includes a vehicle control interface  110 , a vehicle platform (which is denoted as “VP” below)  120 , and a data communication module (DCM)  190 . 
     Vehicle  10  can carry out autonomous driving in accordance with commands from ADK  200  attached to vehicle main body  100 . Though  FIG.  1    shows vehicle main body  100  and ADK  200  at positions distant from each other, ADK  200  is actually attached to a rooftop or the like of vehicle main body  100 . ADK  200  can also be removed from vehicle main body  100 . While ADK  200  is not attached, vehicle main body  100  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. 
     Vehicle control interface  110  can communicate with ADK  200  over a controller area network (CAN). Vehicle control interface  110  receives various commands from ADK  200  or outputs a state of vehicle main body  100  to ADK  200  by executing a prescribed application program interface (API) defined for each communicated signal. 
     When vehicle control interface  110  receives a command from ADK  200 , it outputs a control command corresponding to the received command to VP  120 . Vehicle control interface  110  obtains various types of information on vehicle main body  100  from VP  120  and outputs the state of vehicle main body  100  to ADK  200 . A configuration of vehicle control interface  110  will be described in detail later. 
     VP  120  includes various systems and various sensors for controlling vehicle main body  100 . VP  120  carries out various types of vehicle control in accordance with a command given from ADK  200  through vehicle control interface  110 . Namely, as VP  120  carries out various types of vehicle control in accordance with a command from ADK  200 , autonomous driving of vehicle  10  is carried out. A configuration of VP  120  will also be described in detail later. 
     ADK  200  includes an autonomous driving system (which is denoted as “ADS” below) for autonomous driving of vehicle  10 . ADK  200  creates, for example, a driving plan of vehicle  10  and outputs various commands for traveling vehicle  10  in accordance with the created driving plan to vehicle control interface  110  in accordance with the API defined for each command. ADK  200  receives various signals indicating states of vehicle main body  100  from vehicle control interface  110  in accordance with the API defined for each signal and has the received vehicle state reflected on creation of the driving plan. A configuration of ADK  200  (ADS) will also be described later. 
     DCM  190  includes a communication interface (I/F) for vehicle main body  100  to wirelessly communicate with data server  500 . DCM  190  outputs various types of vehicle information such as a speed, a position, or an autonomous driving state to data server  500 . DCM  190  receives from autonomous driving related mobility services  700  through MSPF  600  and data server  500 , for example, various types of data for management of travel of an autonomous driving vehicle including vehicle  10  by mobility services  700 . 
     MSPF  600  is an integrated platform to which various mobility services are connected. In addition to autonomous driving related mobility services  700 , not-shown various mobility services (for example, various mobility services provided by a ride-share company, a car-sharing company, an insurance company, a rent-a-car company, and a taxi company) are connected to MSPF  600 . Various mobility services including mobility services  700  can use various functions provided by MSPF  600  by using APIs published on MSPF  600 , depending on service contents. 
     Autonomous driving related mobility services  700  provide mobility services using an autonomous driving vehicle including vehicle  10 . Mobility services  700  can obtain, for example, operation control data of vehicle  10  that communicates with data server  500  or information stored in data server  500  from MSPF  600 , by using the APIs published on MSPF  600 . Mobility services  700  transmit, for example, data for managing an autonomous driving vehicle including vehicle  10  to MSPF  600 , by using the API. 
     MSPF  600  publishes APIs for using various types of data on vehicle states and vehicle control necessary for development of the ADS, and an ADS provider can use as the APIs, the data on the vehicle states and vehicle control necessary for development of the ADS stored in data server  500 . 
       FIG.  2    is a diagram showing overview of a configuration of the vehicle in this embodiment. As shown in  FIG.  2   , 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  contains a central processing unit (CPU) and a memory (including, for example, a read only memory (ROM) and a random access memory (RAM)) that are not shown. 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 as well as a state of vehicle  10  from VP  120  which will be described later through vehicle control interface  110  and sets a next operation (acceleration, deceleration, or turning) of vehicle  10 . Compute assembly  210  outputs various instructions for realizing a set next operation of vehicle  10  to vehicle control interface  110 . 
     HMI  230  presents information to a user and accepts an operation during autonomous driving, during driving requiring an operation by a user, or at the time of transition between autonomous driving and driving requiring an operation by the user. HMI  230  is implemented, for example, by a touch panel display, a display apparatus, and an operation apparatus. 
     Sensors for perception  260  include sensors that perceive an environment around the vehicle, and are implemented, for example, by at least any of laser imaging detection and ranging (LIDAR), a millimeter-wave radar, and a camera. 
     The LIDAR refers to a distance measurement apparatus that measures a distance based on a time period from emission of pulsed laser beams (infrared rays) until return of the laser beams reflected by an object. The millimeter-wave radar is a distance measurement apparatus that measures a distance or a direction to an object by emitting radio waves short in wavelength to the object and detecting radio waves that return from the object. The camera is arranged, for example, on a rear side of a room mirror in a compartment and used for shooting an image of the front of 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 output to compute assembly  210 . 
     Sensors for pose  270  include sensors that detect a pose, a behavior, or a position of vehicle  10 , and are implemented, for example, by an inertial measurement unit (IMU) or 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 output to compute assembly  210 . 
     Sensor cleaning  290  removes soiling attached to various sensors during travel of vehicle  10 . Sensor cleaning  290  removes soiling on a lens of the camera or a portion from which laser beams or radio waves are emitted, for example, with a cleaning solution or a wiper. 
     Vehicle control interface  110  includes vehicle control interface boxes (each of which is denoted as a “VCIB” below)  111 A and  111 B. VCIBs  111 A and  111 B each include a CPU and a memory (including, for example, a ROM and a RAM) neither of which is shown. Though VCIB  111 A is equivalent in function to VCIB  111 B, it is partially different in a plurality of systems connected thereto that make up VP  120 . 
     Each of VCIBs  111 A and  111 B is communicatively connected to compute assembly  210  of ADK  200 . VCIB  111 A and VCIB  111 B are communicatively connected to each other. 
     Each of VCIBs  111 A and  111 B relays various instructions from ADK  200  and provides them as control commands to VP  120 . More specifically, each of VCIBs  111 A and  111 B converts various instructions provided from ADK  200  into control commands to be used for control of each system of VP  120  by using information such as a program (for example, an application programming interface (API)) stored in a memory and provides the control commands to a destination system. Each of VCIBs  111 A and  111 B relays vehicle information output from VP  120  and provides the vehicle information as a vehicle state to ADK  200 . 
     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 ADK  200  and VP  120  are redundant. Therefore, when some kind of failure occurs in a part of the system, the function (turning or stopping) of VP  120  can be maintained by switching between the control systems as appropriate or disconnecting a control system where failure has occurred. 
     VP  120  includes brake systems  121 A and  121 B, steering systems  122 A and  122 B, an electric parking brake (EPB) system  123 A, a parking-lock (P-Lock) system  123 B, a propulsion system  124 , a pre-crash safety (PCS) system  125 , and a body system  126 . 
     VCIB  111 A is communicatively connected to brake system  121 B, steering system  122 A, and P-Lock system  123 B of the plurality of systems of VP  120  through a communication bus. 
     VCIB  111 B is communicatively connected to brake system  121 A, steering system  122 B, EPB system  123 A, P-Lock system  123 B, propulsion system  124 , and body system  126  of the plurality of systems of VP  120  through a communication bus. 
     Brake systems  121 A and  121 B can control a plurality of braking apparatuses provided in wheels of vehicle  10 . Brake system  121 A may be equivalent in function to brake system  121 B, or any one of them may be able to independently control braking force of each wheel during travel of the vehicle and the other thereof may be able to control braking force such that equal braking force is generated in the wheels during travel of the vehicle. The braking apparatus includes, for example, a disc brake system that is operated with a hydraulic pressure regulated by an actuator. 
     A wheel speed sensor  127  is connected to brake system  121 B. Wheel speed sensor  127  is provided, for example, in each wheel of vehicle  10  and detects a rotation speed of each wheel. Wheel speed sensor  127  outputs the detected rotation speed of each wheel to brake system  121 B. Brake system  121 B outputs the rotation speed of each wheel to VCIB  111 A as one of pieces of information included in vehicle information. 
     Each of brake systems  121 A and  121 B generates a braking instruction to a braking apparatus in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . For example, brake systems  121 A and  121 B control the braking apparatus based on a braking instruction generated in any one of the brake systems, and when a failure occurs in one of the brake systems, the braking apparatus is controlled based on a braking instruction generated in the other brake system. 
     Steering systems  122 A and  122 B each include a not-shown steering ECU that contains a CPU and a memory (including, for example, a ROM and a RAM) and can control a steering angle of a steering wheel of vehicle  10  with a steering apparatus by means of the steering ECU. Steering system  122 A is similar in function to steering system  122 B. The steering apparatus includes, for example, rack-and-pinion electric power steering (EPS) that allows adjustment of a steering angle by an actuator. 
     A pinion angle sensor  128 A is connected to steering system  122 A. A pinion angle sensor  128 B provided separately from pinion angle sensor  128 A is connected to steering system  122 B. Each of pinion angle sensors  128 A and  128 B detects an angle of rotation (a pinion angle) of a pinion gear coupled to a rotation shaft of the actuator. Pinion angle sensors  128 A and  128 B output detected pinion angles to steering systems  122 A and  122 B, respectively. 
     Each of steering systems  122 A and  122 B generates a steering instruction to the steering apparatus in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . For example, steering systems  122 A and  122 B control the steering apparatus based on the steering instruction generated in any one of the steering systems, and when a failure occurs in any one of the steering systems, the steering apparatus is controlled based on a steering instruction generated in the other steering system. 
     EPB system  123 A can control the EPB provided in at least any of wheels of vehicle  10 . The EPB is provided separately from the braking apparatus, and fixes (stops) a wheel by an operation of an actuator. The EPB, for example, activates a drum brake for a parking brake provided in at least one of wheels of vehicle  10  by means of an actuator to fix (stop) the wheel, or activates a braking apparatus to fix (stop) a wheel with an actuator capable of regulating a hydraulic pressure to be supplied to the braking apparatus separately from brake systems  121 A and  121 B. 
     EPB system  123 A controls the EPB in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . 
     P-Lock system  123 B can control a P-Lock apparatus provided in a transmission of vehicle  10 . The P-Lock apparatus fixes (stops) rotation of an output shaft of the transmission by fitting 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. 
     P-Lock system  123 B controls the P-Lock apparatus in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . 
     Propulsion system  124  can switch a shift range with the use of a shift apparatus and can control driving force of vehicle  10  in a direction of travel that is generated from a drive source. The shift apparatus can select any of a plurality of shift ranges. The drive source includes, for example, a motor generator and an engine. 
     Propulsion system  124  controls the shift apparatus and the drive source in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . 
     PCS system  125  controls vehicle  10  to avoid collision or to mitigate damage by using a camera/radar  129 . PCS system  125  is communicatively connected to brake system  121 B. PCS system  125  detects an obstacle (an obstacle or a human) in front by using, for example, camera/radar  129 , and when it determines that there is possibility of collision based on a distance to the obstacle, it outputs a braking instruction to brake system  121 B so as to increase braking force. 
     Body system  126  can control, for example, components such as a direction indicator, a horn, or a wiper, depending on a state or an environment of travel of vehicle  10 . Body system  126  controls the above-described components in accordance with a prescribed control command provided from ADK  200  through vehicle control interface  110 . 
     An operation apparatus that can manually be operated by a user for the braking apparatus, the steering apparatus, the EPB, P-Lock, the shift apparatus, and the drive source described above may separately be provided. 
     When autonomous driving is carried out in vehicle  10  configured as above, ADK  200  transmits a command relating to autonomous driving control to VCIBs  111 A and  111 B by executing the API. Initially, ADK  200  obtains information on vehicle main body  100 . For example, compute assembly  210  of ADK  200  obtains information on an environment and information on poses of vehicle main body  100  from sensors for perception  260  and sensors for pose  270 . 
     Compute assembly  210  creates a driving plan based on the obtained information on vehicle main body  100 . For example, compute assembly  210  calculates a behavior of vehicle main body  100  (for example, poses of vehicle main body  100 ) and creates a driving plan suitable for a state and an external environment of vehicle main body  100 . The driving plan refers to data that shows a behavior of vehicle main body  100  during a prescribed period. 
     Compute assembly  210  extracts a physical control quantity (an acceleration or a tire turning angle) from the created driving plan. Compute assembly  210  splits the extracted physical quantity for each API cycle. Compute assembly  210  executes the API based on the split physical quantity. As the API is executed as such, an API command for realizing the physical quantity in accordance with the driving plan is transmitted from ADK  200  to vehicle control interface  110 . Vehicle control interface  110  transmits a control command corresponding to the received API command to VP  120 . VP  120  carries out autonomous driving control of vehicle main body  100  in accordance with the control command. 
     In the configuration as described above, ADK  200  may incorporate in advance a reference for a limit value of a steering rate on a side of vehicle main body  100 . ADK  200  can thus steer vehicle main body  100  at the limit value of the steering rate adapted to vehicle main body  100 . 
     In vehicle  10  in this embodiment, ADK  200  is attachable to and removable from vehicle main body  100  and replaceable with ADK  200  of another specification. With the configuration of the ADK as such, the limit value of the steering rate cannot be controlled to an appropriate value unless the appropriate limit value of the steering rate suitable for vehicle main body  100  is incorporated in advance in ADK  200 . 
     Then, steering systems  122 A and  122 B specify the limit value of the steering rate in accordance with a prescribed reference and transmit the specified limit value to ADK  200  through VCIBs  111 A and  111 B. ADK  200  calculates a target steering angle to satisfy the limit value received from steering systems  122 A and  122 B and transmits an instruction for the calculated steering angle to steering systems  122 A and  122 B through VCIBs  111 A and  111 B. 
     The limit value of the steering rate for calculating the target steering angle is thus conveyed from a side of VP  120  to ADK  200 . Consequently, even though attachable and removable ADK  200  that issues an instruction for autonomous driving controls vehicle main body  100 , the limit value of the steering rate can be set to an appropriate value suitable for vehicle main body  100 . 
       FIG.  3    is a flowchart showing a flow of processing relating to control of a steering angle in this embodiment. Referring to  FIG.  3   , steering angle calculation processing shown in the flowchart on the left in  FIG.  3    is performed by the CPU of compute assembly  210  of ADK  200  as being invoked from higher-order processing such as the API including this steering angle calculation processing and steering control processing shown in the flowchart on the right in  FIG.  3    is performed by the steering ECU in each of steering systems  122 A and  122 B as being invoked from higher-order processing including this steering control processing. 
     In steering angle calculation processing, the CPU of compute assembly  210  of ADK  200  determines whether or not the driving plan created in higher-order processing requires steering (step S 211 ). When the CPU of compute assembly  210  determines that the driving plan requires steering (YES in step S 211 ), the CPU requests steering systems  122 A and  122 B of VP  120  to transmit a limit value (Current_Road_Wheel_Angle_Rate_Limit) (which is called a “limit value of the steering rate” below) of variation in tire turning angle necessary for calculation of the steering angle through VCIBs  111 A and  111 B (step S 212 ). 
     In steering control processing, the steering ECU of each of steering systems  122 A and  122 B determines whether or not ADK  200  has issued a request for transmission of the limit value of the steering rate (step S 111 ). When the steering ECU determines that the request has been issued (YES in step S 111 ), the steering ECU of each of steering systems  122 A and  122 B specifies the limit value of the steering rate in accordance with the vehicle speed (step S 112 ). Specifically, the limit value of the steering rate is specified in accordance with a reference shown in  FIG.  4   . 
       FIG.  4    is a diagram showing a map of relation between a vehicle speed and a limit value of a steering rate in this embodiment. Referring to  FIG.  4   , when the vehicle speed is equal to or lower than 10 km/h, the limit value of the steering rate is fixed at 0.400 rad/s. 
     When the vehicle speed is higher than 10 km/h, relation between the vehicle speed and the limit value of the steering rate satisfies relation predetermined for vehicle  10  as shown in  FIG.  4   . Relation between the vehicle speed and the limit value of the steering rate is determined in advance to satisfy a condition for safe travel and other conditions, depending on a vehicle model, a vehicle weight, and a tire size. Specifically, relation between the vehicle speed and the limit value of the steering rate is determined in advance, for example, such that a lateral jerk of vehicle main body  100  is lower than a prescribed jerk (for example, 2.94 m/s 3 ). The limit value of the steering rate can thus be specified from the vehicle speed. 
     Referring back to  FIG.  3   , the steering ECU of each of steering systems  122 A and  122 B transmits the specified limit value of the steering rate to ADK  200  (step S 113 ). 
     When the CPU of compute assembly  210  determines that the driving plan does not require steering in steering angle calculation processing (NO in step S 211 ) and after step S 212 , the CPU calculates the steering angle in accordance with the driving plan at the current time point to satisfy the received limit value of the steering rate (step S 214 ). 
     Then, the CPU of compute assembly  210  transmits an instruction for the calculated steering angle to steering systems  122 A and  122 B of VP  120  (step S 215 ). When the CPU of compute assembly  210  determines that it has not received the limit value of the steering rate (NO in step S 213 ) and after step S 215 , the CPU has processing to be performed return to the higher-order processing from which this processing has been invoked. 
     In steering control processing, the steering ECU of each of steering systems  122 A and  122 B determines whether or not it has received an instruction for the steering angle from ADK  200  (step S 114 ). When the steering ECU of each of steering systems  122 A and  122 B determines that it has received the instruction (YES in step S 114 ), it controls the steering angle to the indicated steering angle (step S 115 ). When the steering ECU of each of steering systems  122 A and  122 B determines that it has not received the instruction for the steering angle (NO in step S 114 ) and after step S 115 , the steering ECU of each of steering systems  122 A and  122 B has processing to be performed return to the higher-order processing from which this processing has been invoked. 
     [Modification] 
     (1) In the embodiment described previously, as shown in  FIGS.  1  and  2   , ADK  200  can communicate with the plurality of functional units (for example, steering systems  122 A and  122 B, brake systems  121 A and  121 B, EPB system  123 A, P-Lock system  123 B, propulsion system  124 , and body system  126 ) of VP  120  through any of VCIBs  111 A and  111 B. 
     Without being limited as such, ADK  200  may directly communicate with the plurality of functional units of VP  120 . VCIBs  111 A and  111 B may issue a control instruction to any of the plurality of functional units in accordance with an instruction from ADK  200 . 
     (2) In the embodiment described previously, each of the plurality of functional units of VP  120  includes an ECU. For example, each of steering systems  122 A and  122 B includes the steering ECU. As shown in  FIG.  3   , VCIBs  111 A and  111 B and the ECUs of the functional units (for example, the steering ECUs of steering systems  122 A and  122 B) exhibit the functions on the side of vehicle main body  100  in coordination. 
     Allocation of functions of VCIBs  111 A and  111 B and the ECUs of the functional units, however, is not limited as shown in  FIG.  3   . Though VCIBs  111 A and  111 B are responsible for relay of communication between ADK  200  and the ECUs of the functional units in  FIG.  3   , VCIBs  111 A and  111 B may further be responsible for a part of processing by the ECUs of the functional units. 
     (3) In the embodiment described previously, as shown in  FIG.  3   , obtainment of the limit value (Current_Road_Wheel_Angle_Rate_Limit) of the steering rate from steering systems  122 A and  122 B for calculation of the steering angle by ADK  200  is described. 
     Values obtained from the plurality of functional units of VP  120  such as steering systems  122 A and  122 B for calculation of the steering angle in ADK  200 , however, are not limited to the limit value of the steering rate, and other values (for example, a steering angle (Steering_Wheel_Angle_Actual) of steering and a steering angular velocity (Steering_Wheel_Angle_Rate_Actual) of steering) are also obtained. 
     SUMMARY 
     (1) As shown in  FIGS.  1  and  2   , vehicle  10  is capable of autonomous driving and includes ADK  200  attachable to and removable from vehicle main body  100 , ADK  200  issuing an instruction for autonomous driving, VP  120  including a plurality of functional units that perform a plurality of prescribed functions of vehicle main body  100 , and VCIBs  111 A and  111 B that communicate with ADK  200  and issue a control instruction to the functional units in accordance with an instruction from ADK  200 . As shown in  FIG.  2   , one of the plurality of functional units is steering systems  122 A and  122 B that steer vehicle main body  100 . 
     As shown in  FIGS.  3  and  4   , steering systems  122 A and  122 B each specify a limit value of a steering rate in accordance with a prescribed reference (step S 112 ) and transmit the specified limit value to ADK  200  through VCIBs  111 A and  111 B (step S 113 ). As shown in  FIG.  3   , ADK  200  calculates a target steering angle to satisfy the limit value received from steering systems  122 A and  122 B (step S 214 ) and transmits an instruction for the calculated steering angle to steering systems  122 A and  122 B through VCIBs  111 A and  111 B (step S 215 ). 
     The limit value of the steering rate for calculating the target steering angle is thus conveyed from the side of VP  120  to ADK  200 . Consequently, when attachable and removable ADK  200  that issues an instruction for autonomous driving controls vehicle main body  100 , the limit value of the steering rate can be set to an appropriate value suitable for vehicle main body  100  without storing the limit value of the steering rate in advance in ADK  200 . 
     (2) As shown in  FIG.  4   , the steering system switches the prescribed reference in accordance with a vehicle speed of vehicle main body  100 . The appropriate limit value of the steering rate suitable for vehicle main body  100  can thus be set. 
     (3) As shown in  FIG.  4   , the prescribed reference is such a reference that the limit value of the steering rate is defined as a prescribed angular velocity when a vehicle speed of vehicle main body  100  is lower than a prescribed speed. The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (4) As shown in  FIG.  4   , a value of the prescribed angular velocity is 0.4 rad/s. The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (5) As shown in  FIG.  4   , the prescribed reference is such a reference that, when the vehicle speed exceeds a prescribed speed, the limit value of the steering rate satisfies predetermined relation between the vehicle speed and the limit value of the steering rate. The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (6) As shown in  FIG.  4   , a value of the prescribed speed is 10 km/h. The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (7) As shown in  FIG.  4   , the prescribed reference is a reference determined in advance such that a lateral jerk of vehicle main body  100  is lower than a prescribed jerk. The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (8) As shown in  FIG.  4   , a value of the prescribed jerk is 2.94 m/s 3 . The appropriate limit value of the steering rate in conformity with the vehicle speed of vehicle main body  100  can thus be set. 
     (9) As shown in  FIGS.  1  and  2   , ADK  200  issues an instruction for autonomous driving of vehicle main body  100  and is attachable to and removable from vehicle main body  100 . As shown in  FIG.  2   , vehicle main body  100  includes a plurality of functional units that perform a plurality of prescribed functions of vehicle main body  100  and the functional units are controlled in accordance with an instruction from ADK  200 . As shown in  FIG.  2   , one of the plurality of functional units is steering systems  122 A and  122 B that steer vehicle main body  100 . As shown in  FIGS.  3  and  4   , ADK  200  calculates a target steering angle to satisfy a limit value of a steering rate specified by steering systems  122 A and  122 B in accordance with a prescribed reference (step S 214 ) and transmits an instruction for the calculated steering angle to steering systems  122 A and  122 B through VCIBs  111 A and  111 B (step S 215 ). 
     Thus, when attachable and removable ADK  200  that issues an instruction for autonomous driving controls vehicle main body  100 , the limit value of the steering rate can be set to an appropriate value suitable for vehicle main body  100  without storing the limit value of the steering rate in advance in ADK  200 . 
     (10) As shown in  FIGS.  1  and  2   , vehicle  10  is capable of autonomous driving and includes VP  120  and VCIBs  111 A and  111 B, VP  120  including a plurality of functional units that perform a plurality of prescribed functions of vehicle main body  100 , VCIBs  111 A and  111 B communicating with ADK  200  that issues an instruction for autonomous driving and is attachable to and removable from vehicle main body  100 , VCIBs  111 A and  111 B issuing a control instruction to the functional units in accordance with an instruction from ADK  200 . As shown in  FIG.  2   , one of the plurality of functional units is steering systems  122 A and  122 B that steer vehicle main body  100 . As shown in  FIGS.  3  and  4   , steering systems  122 A and  122 B each specify a limit value of a steering rate in accordance with a prescribed reference (step S 112 ), transmit the specified limit value to ADK  200  through VCIBs  111 A and  111 B, (S 113 ), and control the steering angle in accordance with an instruction for a target steering angle calculated by ADK  200  to satisfy the limit value received from steering systems  122 A and  122 B (S 115 ). 
     Thus, when attachable and removable ADK  200  that issues an instruction for autonomous driving controls vehicle main body  100 , the limit value of the steering rate can be set to an appropriate value suitable for vehicle main body  100  without storing the limit value of the steering rate in advance in ADK  200 . 
     Example 1 
     Toyota&#39;s MaaS Vehicle Platform 
     API Specification 
     for ADS Developers 
     [Standard Edition #0.1] 
     History of Revision 
     
       
         
           
               
               
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                 Date of 
                   
                 Summary of 
                   
               
               
                   
                 Revision 
                 ver. 
                 Revision 
                 Reviser 
               
               
                   
                   
               
             
            
               
                   
                 2019 May 4 
                 0.1 
                 Creating a 
                 MaaS Business 
               
               
                   
                   
                   
                 new material 
                 Div. 
               
               
                   
                   
               
            
           
         
       
     
     Index 
     1. Outline  4 
         1.1. Purpose of this Specification  4     1.2. Target Vehicle  4     1.3. Definition of Term  4     1.4. Precaution for Handling  4         

     2. Structure  5 
         2.1. Overall Structure of MaaS  5     2.2. System structure of MaaS vehicle  6         

     3. Application Interfaces  7 
         3.1. Responsibility sharing of when using APIs  7     3.2. Typical usage of APIs  7     3.3. APIs for vehicle motion control  9 
           3.3.1. Functions  9     3.3.2. Inputs  16     3.3.3. Outputs  23     
           3.4. APIs for BODY control  45 
           3.4.1. Functions  45     3.4.2. Inputs  45     3.4.3. Outputs  56     
           3.5. APIs for Power control  68 
           3.5.1. Functions  68     3.5.2. Inputs  68     3.5.3. Outputs  69     
           3.6. APIs for Safety  70 
           3.6.1. Functions  70     3.6.2. Inputs  70     3.6.3. Outputs  70     
           3.7. APIs for Security  74 
           3.7.1. Functions  74     3.7.2. Inputs  74     3.7.3. Outputs  76     
           3.8. APIs for MaaS Service  80 
           3.8.1. Functions  80     3.8.2. Inputs  80     3.8.3. Outputs  80     
               

     1. Outline 
     1.1. Purpose of this Specification 
     This document is an API specification of Toyota Vehicle Platform and contains the outline, the usage and the caveats of the application interface. 
     1.2. Target Vehicle 
     e-Palette, MaaS vehicle based on the POV (Privately Owned Vehicle) manufactured by Toyota 
     1.3. Definition of Term 
       
     
       
         
           
               
               
               
             
               
                   
                 TABLE 2 
               
               
                   
                   
               
               
                   
                 Term 
                 Definition 
               
               
                   
                   
               
             
            
               
                   
                 ADS 
                 Autonomous Driving System. 
               
               
                   
                 ADK 
                 Autonomous Driving Kit 
               
               
                   
                 VP 
                 Vehicle Platform. 
               
               
                   
                 VCIB 
                 Vehicle Control Interface Box. 
               
               
                   
                   
                 This is an ECU for the interface and the signal 
               
               
                   
                   
                 converter between ADS and Toyota VP&#39;s sub systems. 
               
               
                   
                   
               
            
           
         
       
     
     1.4. Precaution for Handling 
     This is an early draft of the document. 
     All the contents are subject to change. Such changes are notified to the users. Please note that some parts are still T.B.D. will be updated in the future. 
     2. Structure 
     2.1. Overall Structure of MaaS 
     The overall structure of MaaS with the target vehicle is shown ( FIG.  5   ). 
     Vehicle control technology is being used as an interface for technology providers. 
     Technology providers can receive open API such as vehicle state and vehicle control, necessary for development of automated driving systems. 
     2.2. System Structure of MaaS Vehicle 
     The system architecture as a premise is shown ( FIG.  6   ). 
     The target vehicle will adopt the physical architecture of using CAN for the bus between ADS and VCIB. In order to realize each API in this document, the CAN frames and the bit assignments are shown in the form of “bit assignment table” as a separate document. 
     3. Application Interfaces 
     3.1. Responsibility Sharing of when Using APIs 
     Basic responsibility sharing between ADS and vehicle VP is as follows when using APIs. 
     [ADS] 
     The ADS should create the driving plan, and should indicate vehicle control values to the VP. 
     [VP] 
     The Toyota VP should control each system of the VP based on indications from an ADS. 
     3.2. Typical Usage of APIs 
     In this section, typical usage of APIs is described. 
     CAN will be adopted as a communication line between ADS and VP. Therefore, basically, APIs should be executed every defined cycle time of each API by ADS. 
     A typical workflow of ADS of when executing APIs is as follows ( FIG.  7   ). 
     3.3. APIs for Vehicle Motion Control 
     In this section, the APIs for vehicle motion control which is controllable in the MaaS vehicle is described. 
     3.3.1. Functions 
     3.3.1.1. Standstill, Start Sequence 
     The transition to the standstill (immobility) mode and the vehicle start sequence are described. This function presupposes the vehicle is in Autonomy_State=Autonomous Mode. The request is rejected in other modes. 
     The below diagram shows an example. 
     Acceleration Command requests deceleration and stops the vehicle. Then, when Longitudinal_Velocity is confirmed as 0 [km/h], Standstill Command=“Applied” is sent. After the brake hold control is finished, Standstill Status becomes “Applied”. Until then, Acceleration Command has to continue deceleration request. Either Standstill Command=“Applied” or Acceleration Command&#39;s deceleration request were canceled, the transition to the brake hold control will not happen. After that, the vehicle continues to be standstill as far as Standstill Command=“Applied” is being sent. Acceleration Command can be set to 0 (zero) during this period. 
     If the vehicle needs to start, the brake hold control is cancelled by setting Standstill Command to “Released”. At the same time, acceleration/deceleration is controlled based on Acceleration Command ( FIG.  8   ). 
     EPB is engaged when Standstill Status=“Applied” continues for 3 minutes. 
     3.3.1.2. Direction Request Sequence 
     The shift change sequence is described. This function presupposes that Autonomy_State=Autonomous Mode. Otherwise, the request is rejected. 
     Shift change happens only during Actual_Moving_Direction=“standstill”). Otherwise, the request is rejected. 
     In the following diagram shows an example. Acceleration Command requests deceleration and makes the vehicle stop. After Actual_Moving_Direction is set to “standstill”, any shift position can be requested by Propulsion Direction Command. (In the example below, “D”→“R”). 
     During shift change, Acceleration Command has to request deceleration. 
     After the shift change, acceleration/deceleration is controlled based on Acceleration Command value ( FIG.  9   ). 
     3.3.1.3. WheelLock Sequence 
     The engagement and release of wheel lock is described. This function presupposes Autonomy_State=Autonomous Mode, otherwise the request is rejected. 
     This function is conductible only during vehicle is stopped. Acceleration Command requests deceleration and makes the vehicle stop. After Actual_Moving_Direction is set to “standstill”, WheelLock is engaged by Immobilization Command=“Applied”. Acceleration Command is set to Deceleration until Immobilization Status is set to “Applied”. 
     If release is desired, Immobilization Command=“Release” is requested when the vehicle is stationary. Acceleration Command is set to Deceleration at that time. 
     After this, the vehicle is accelerated/decelerated based on Acceleration Command value ( FIG.  10   ). 
     3.3.1.4. Road_Wheel_Angle Request 
     This function presupposes Autonomy_State=“Autonomous Mode”, and the request is rejected otherwise. 
     Tire Turning Angle Command is the relative value from Estimated_Road_Wheel_Angle_Actual. 
     For example, in case that Estimated_Road_Wheel_Angle_Actual=0.1 [rad] while the vehicle is going straight; 
     If ADS requests to go straight ahead, Tire Turning Angle Command should be set to 0+0.1=0.1 [rad]. 
     If ADS requests to steer by −0.3 [rad], Tire Turning Angle Command should be set to −0.3+0.1=−0.2 [rad]. 
     3.3.1.5. Rider Operation 
     3.3.1.5.1. Acceleration Pedal Operation 
     While in Autonomous driving mode, accelerator pedal stroke is eliminated from the vehicle acceleration demand selection. 
     3.3.1.5.2. Brake Pedal Operation 
     The action when the brake pedal is operated. In the autonomy mode, target vehicle deceleration is the sum of 1) estimated deceleration from the brake pedal stroke and 2) deceleration request from AD system. 
     3.3.1.5.3. Shift_Lever_Operation 
     In Autonomous driving mode, driver operation of the shift lever is not reflected in Propulsion Direction Status. 
     If necessary, ADS confirms Propulsion Direction by Driver and changes shift position by using Propulsion Direction Command. 
     3.3.1.5.4. Steering Operation 
     When the driver (rider) operates the steering, the maximum is selected from 
     1) the torque value estimated from driver operation angle, and 
     2) the torque value calculated from requested wheel angle. 
     Note that Tire Turning Angle Command is not accepted if the driver strongly turns the steering wheel. The above-mentioned is determined by Steering_Wheel_Intervention flag. 
     3.3.2. Inputs 
     
       
         
           
               
               
               
             
               
                 TABLE 3 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Propulsion 
                 Request to switch between 
                 N/A 
               
               
                 Direction 
                 forward (D range) and 
                   
               
               
                 Command 
                 back (R range) 
                   
               
               
                 Immobilization 
                 Request to engage/release 
                 Applied 
               
               
                 Command 
                 WheelLock 
                   
               
               
                 Standstill 
                 Request to maintain stationary 
                 Applied 
               
               
                 Command 
                   
                   
               
               
                 Acceleration 
                 Request to accelerate/decelerate 
                 Applied 
               
               
                 Command 
                   
                   
               
               
                 Tire Turning Angle 
                 Request front wheel angle 
                 Applied 
               
               
                 Command 
                   
                   
               
               
                 Autonomization 
                 Request to transition between 
                 Applied 
               
               
                 Command 
                 manual mode and autonomy  
                   
               
               
                   
                 mode 
               
               
                   
               
            
           
         
       
     
     3.3.2.1. Propulsion Direction Command 
     Request to switch between forward (D range) and back (R range) 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 4 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 2 
                 R 
                 Shift to R range 
               
               
                 4 
                 D 
                 Shift to D range 
               
               
                 other 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         Only available when Autonomy_State=“Autonomous Mode”   D/R is changeable only the vehicle is stationary (Actual_Moving_Direction=“standstill”).   The request while driving (moving) is rejected.   When system requests D/R shifting, Acceleration Command is sent deceleration (−0.4 m/s 2 ) simultaneously. (Only while brake is applied.)   The request may not be accepted in following cases.   Direction_Control_Degradation_Modes=“Failure detected”       

     3.3.2.2. Immobilization Command 
     Request to engage/release WheelLock 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 5 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Applied 
                 EPB is turned on and TM shifts to P range 
               
               
                 2 
                 Released 
                 EPB is turned off and TM shifts to the value of 
               
               
                   
                   
                 Propulsion Direction Command 
               
               
                   
               
            
           
         
       
     
     Remarks
         Available only when Autonomy_State=“Autonomous Mode”   Changeable only when the vehicle is stationary (Actual_Moving_Direction=“standstill”)   The request is rejected when vehicle is running.   When Apply/Release mode change is requested, Acceleration Command is set to deceleration (−0.4 m/s 2 ). (Only while brake is applied.)       

     3.3.2.3. Standstill Command 
     Request the vehicle to be stationary 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 6 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Applied 
                 Standstill is requested 
               
               
                 2 
                 Released 
               
               
                   
               
            
           
         
       
     
     Remarks
         Only available when Autonomy_State=“Autonomous Mode”   Confirmed by Standstill Status=“Applied”   When the vehicle is stationary (Actual_Moving_Direction=“standstill”), transition to Stand Still is enabled.   Acceleration Command has to be continued until Standstill Status becomes “Applied” and Acceleration Command&#39;s deceleration request (−0.4 m/s 2 ) should be continued.   There are more cases where the request is not accepted. Details are T.B.D.       

     3.3.2.4. Acceleration Command 
     Command vehicle acceleration 
     Values 
     Estimated_Max_Decel_Capability to Estimated_Max_Accel_Capability [m/s 2 ] 
     Remarks
         Only available when Autonomy_State=“Autonomous Mode”   Acceleration (+) and deceleration (−) request based on Propulsion Direction Status direction   The upper/lower limit will vary based on Estimated_Max_Decel_Capability and Estimated_Max_Accel_Capability.   When acceleration more than Estimated_Max_Accel_Capability is requested, the request is set to Estimated_Max_Accel_Capability.   When deceleration more than Estimated_Max_Decel_Capability is requested, the request is set to Estimated_Max_Decel_Capability.   Depending on the accel/brake pedal stroke, the requested acceleration may not be met. See 3.4.1.4 for more detail.   When Pre-Collision system is activated simultaneously, minimum acceleration (maximum deceleration) is selected.       

     3.3.2.5. Tire Turning Angle Command 
     Command tire turning angle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 7 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 — 
                 [unit: rad] 
                   
               
               
                   
               
            
           
         
       
     
     Remarks
         Left is positive value (+). Right is negative value (−).   Available only when Autonomy_State=“Autonomous Mode”   The output of Estimated_Road_Wheel_Angle_Actual when the vehicle is going straight, is set to the reference value (0).   This requests relative value of Estimated_Road_Wheel_Angle_Actual. (See 3.4.1.1 for details)   The requested value is within Current_Road_Wheel_Angle_Rate_Limit.   The requested value may not be fulfilled depending on the steer angle by the driver.       

     3.3.2.6. Autonomization Command 
     Request to transition between manual mode and autonomy mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 8 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00b 
                 No Request For 
                   
               
               
                   
                 Autonomy 
                   
               
               
                 01b 
                 Request For 
                   
               
               
                   
                 Autonomy 
                   
               
               
                 10b 
                 Deactivation Request 
                 means transition request to manual mode 
               
               
                   
               
            
           
         
       
         
         
           
             The mode may be able not to be transitioned to Autonomy mode. (e.g. In case that a failure occurs in the vehicle platform.) 
           
         
       
    
     3.3.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 9 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Propulsion Direction Status 
                 Current shift range 
                 N/A 
               
               
                 Propulsion Direction by Driver 
                 Shift lever position by driver 
                 N/A 
               
               
                 Immobilization Status 
                 Output of EPB and Shift P 
                 Applied 
               
               
                 Immobilization Request by Driver 
                 EPB switch status by driver 
                 N/A 
               
               
                 Standstill Status 
                 Stand still status 
                 N/A 
               
               
                 Estimated_Coasting_Rate 
                 Estimated vehicle deceleration when throttle is closed 
                 N/A 
               
               
                 Estimated_Max_Accel_Capability 
                 Estimated maximum acceleration 
                 Applied 
               
               
                 Estimated_Max_Decel_Capability 
                 Estimated maximum deceleration 
                 Applied 
               
               
                 Estimated_Road_Wheel_Angle_Actual 
                 Front wheel steer angle 
                 Applied 
               
               
                 Estimated_Road_Wheel_Angle_Rate_Actual 
                 Front wheel steer angle rate 
                 Applied 
               
               
                 Steering_Wheel_Angle_Actual 
                 Steering wheel angle 
                 N/A 
               
               
                 Steering_Wheel_Angle_Rate_Actual 
                 Steering wheel angle rate 
                 N/A 
               
               
                 Current_Road_Wheel_Angle_Rate_Limit 
                 Road wheel angle rate limit 
                 Applied 
               
               
                 Estimated_Max_Lateral_Acceleration_Capability 
                 Estimated max lateral acceleration 
                 Applied 
               
               
                 Estimated_Max_Lateral_Acceleration_Rate_Capability 
                 Estimated max lateral acceleration rate 
                 Applied 
               
               
                 Accelerator_Pedal_Position 
                 Position of the accelerator pedal (How much is the 
                 N/A 
               
               
                   
                 pedal depressed?) 
                   
               
               
                 Accelerator_Pedal_lntervention 
                 This signal shows whether the accelerator pedal is 
                 N/A 
               
               
                   
                 depressed by a driver (intervention) 
                   
               
               
                 Brake_Pedal_Position 
                 Position of the brake pedal (How much is the pedal 
                 T.B.D. 
               
               
                   
                 depressed?) 
                   
               
               
                 Brake_Pedal_Intervention 
                 This signal shows whether the brake pedal is 
                 T.B.D. 
               
               
                   
                 depressed by a driver (intervention) 
                   
               
               
                 Steering_Wheel_Intervention 
                 This signal shows whether the steering wheel is 
                 T.B.D. 
               
               
                   
                 turned by a driver (intervention) 
                   
               
               
                 Shift_Lever_Intervention 
                 This signal shows whether the shift lever is controlled 
                 T.B.D. 
               
               
                   
                 by a driver (intervention) 
                   
               
               
                 WheelSpeed_FL 
                 wheel speed value (Front Left Wheel) 
                 N/A 
               
               
                 WheelSpeed_FL_Rotation 
                 Rotation direction of wheel (Front Left) 
                 N/A 
               
               
                 WheelSpeed_FR 
                 wheel speed value (Front Right Wheel) 
                 N/A 
               
               
                 WheelSpeed_FR_Rotation 
                 Rotation direction of wheel (Front Right) 
                 N/A 
               
               
                 WheelSpeed_RL 
                 wheel speed value (Rear Left Wheel) 
                 Applied 
               
               
                 WheelSpeed_RL_Rotation 
                 Rotation direction of wheel (Rear Left) 
                 Applied 
               
               
                 WheelSpeed_RR 
                 wheel speed value (Rear Right Wheel) 
                 Applied 
               
               
                 WheelSpeed_RR_Rotation 
                 Rotation direction of wheel (Rear Right) 
                 Applied 
               
               
                 Actual_Moving_Direction 
                 Moving direction of vehicle 
                 Applied 
               
               
                 Longitudinal_Velocity 
                 Estimated longitudinal velocity of vehicle 
                 Applied 
               
               
                 Longitudinal_Acceleration 
                 Estimated longitudinal acceleration of vehicle 
                 Applied 
               
               
                 Lateral_Acceleration 
                 Sensor value of lateral acceleration of vehicle 
                 Applied 
               
               
                 Yawrate 
                 Sensor value of Yaw rate 
                 Applied 
               
               
                 Autonomy_State 
                 State of whether autonomy mode or manual mode 
                 Applied 
               
               
                 Autonomy_Ready 
                 Situation of whether the vehicle can transition to 
                 Applied 
               
               
                   
                 autonomy mode or not 
                   
               
               
                 Autonomy_Fault 
                 Status of whether the fault regarding a functionality in 
                 Applied 
               
               
                   
                 autonomy mode occurs or not 
               
               
                   
               
            
           
         
       
     
     3.3.3.1. Propulsion Direction Status 
     Current shift range 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 10 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 P 
                   
               
               
                 2 
                 R 
                   
               
               
                 3 
                 N 
                   
               
               
                 4 
                 D 
                   
               
               
                 5 
                 B 
                   
               
               
                 6 
                 Reserved 
                   
               
               
                 7 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the shift range is indeterminate, this output is set to “Invalid Value”.   When the vehicle becomes the following status during VO mode, [Propulsion Direction Status] will turn to “P”.
           [Longitudinal_Velocity]=0 [km/h]   [Brake_Pedal_Position]&lt;Threshold value (T.B.D.) (in case of being determined that the pedal isn&#39;t depressed)   [1st_Left_Seat_Belt_Status]=Unbuckled   [1st_Left_Door_Open_Status]=Opened   
               

     3.3.3.2. Propulsion Direction by Driver 
     Shift lever position by driver operation 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 11 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 P 
                   
               
               
                 2 
                 R 
                   
               
               
                 3 
                 N 
                   
               
               
                 4 
                 D 
                   
               
               
                 5 
                 B 
                   
               
               
                 6 
                 Reserved 
                   
               
               
                 7 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         Output based on the lever position operated by driver   If the driver releases his hand of the shift lever, the lever returns to the central position and the output is set as “No Request”.   When the vehicle becomes the following status during NVO mode, [Propulsion Direction by Driver] will turn to “1(P)”.
           [Longitudinal_Velocity]=0 [km/h]   [Brake_Pedal_Position]&lt;Threshold value (T.B.D.) (in case of being determined that the pedal isn&#39;t depressed)   [1st_Left_Seat_Belt_Status]=Unbuckled   [1st_Left_Door_Open_Status]=Opened   
               

     3.3.3.3. Immobilization Status 
     Output EPB and Shift-P status 
     Values 
     &lt;Primary&gt; 
     
       
         
           
               
               
             
               
                 TABLE 12 
               
             
            
               
                   
               
               
                 Value 
                   
               
            
           
           
               
               
               
               
            
               
                 Shift 
                 EPB 
                 Description 
                 Remarks 
               
               
                   
               
               
                 0 
                 0 
                 Shift set to other than P, and EPB Released 
                   
               
               
                 1 
                 0 
                 Shift set to P and EPB Released 
                   
               
               
                 0 
                 1 
                 Shift set to other than P, and EPB applied 
                   
               
               
                 1 
                 1 
                 Shift set to P and EPB Applied 
               
               
                   
               
            
           
         
       
     
     &lt;Secondary&gt; 
     
       
         
           
               
               
               
             
               
                   
                 TABLE 13 
               
             
            
               
                   
                   
               
               
                   
                 Value 
                   
               
            
           
           
               
               
               
               
               
            
               
                   
                 Shift 
                   
                 Description 
                 Remarks 
               
               
                   
                   
               
               
                   
                 0 
                 0 
                 Other than Shift P 
                   
               
               
                   
                 1 
                 0 
                 Shift P 
                   
               
               
                   
                 0 
                 1 
                 Reserved 
                   
               
               
                   
                 1 
                 1 
                 Reserved 
               
               
                   
                   
               
            
           
         
       
     
     Remarks
         Secondary signal does not include EPB lock status.       

     3.3.3.4. Immobilization Request by Driver 
     Driver operation of EPB switch 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 14 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Engaged 
                   
               
               
                 2 
                 Released 
                   
               
               
                 3 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         “Engaged” is outputted while the EPB switch is being pressed.   “Released” is outputted while the EPB switch is being pulled.       

     3.3.3.5. Standstill Status 
     Vehicle stationary status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 15 
               
               
                   
               
               
                 Value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Released 
                   
               
               
                 1 
                 Applied 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         When Standstill Status=Applied continues for 3 minutes, EPB is activated.   If the vehicle is desired to start, ADS requests Standstill Command=“Released”.       

     3.3.3.6. Estimated_Coasting_Rate 
     Estimated vehicle deceleration when throttle is closed 
     Values 
     [unit: m/s 2 ] 
     Remarks
         Estimated acceleration at WOT is calculated.   Slope and road load etc. are taken into estimation.   When the Propulsion Direction Status is “D”, the acceleration to the forward direction shows a positive value.   When the Propulsion Direction Status is “R”, the acceleration to the reverse direction shows a positive value.       

     3.3.3.7. Estimated_Max_Accel_Capability 
     Estimated maximum acceleration 
     Values 
     [unit: m/s 2 ] 
     Remarks
         The acceleration at WOT is calculated.   Slope and road load etc. are taken into estimation.   The direction decided by the shift position is considered to be plus.       

     3.3.3.8. Estimated_Max_Decel_Capability 
     Estimated maximum deceleration 
     Values 
     −9.8 to 0 [unit: m/s 2 ] 
     Remarks
         Affected by Brake_System_Degradation_Modes. Details are T.B.D.   Based on vehicle state or road condition, cannot output in some cases       

     3.3.3.9. Estimated_Road_Wheel_Angle_Actual 
     Front wheel steer angle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 16 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 [unit: rad] 
                   
               
               
                 Minimum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         Left is positive value (+). Right is negative value (−).   Before “the wheel angle when the vehicle is going straight” becomes available, this signal is Invalid value.       

     3.3.3.10. Estimated_Road_Wheel_Angle_Rate_Actual 
     Front wheel steer angle rate 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 17 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 [unit: rad/s] 
                   
               
               
                 Minimum Value 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         Left is positive value (+). Right is negative value (−).       

     3.3.3.11. Steering_Wheel_Angle_Actual 
     Steering wheel angle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 18 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 [unit; rad] 
                   
               
               
                 Minimum Value 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         Left is positive value (+). Right is negative value (−).   The steering angle converted from the steering assist motor angle   Before “the wheel angle when the vehicle is going straight” becomes available, this signal is Invalid value.       

     3.3.3.12. Steering_Wheel_Angle_Rate_Actual 
     Steering wheel angle rate 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 19 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 [unit: rad/s] 
                   
               
               
                 Minimum Value 
                 Invalid value 
               
               
                   
               
            
           
         
       
     
     Remarks
         Left is positive value (+). Right is negative value (−).   The steering angle rate converted from the steering assist motor angle rate       

     3.3.3.13. Current_Road_Wheel_Angle_Rate_Limit 
     Road wheel angle rate limit 
     Values
         When stopped: 0.4 [rad/s]   While running: Show “Remarks”       

     Remarks 
     Calculated from the “vehicle speed−steering angle rate” chart like below 
     A) At a very low speed or stopped situation, use fixed value of 0.4 [rad/s] 
     B) At a higher speed, the steering angle rate is calculated from the vehicle speed using 2.94 m/s 3    
     The threshold speed between A and B is 10 [km/h] ( FIG.  11   ). 
     3.3.3.14. Estimated_Max_Lateral_Acceleration_Capability 
     Estimated max lateral acceleration 
     Values 
     2.94 [unit: m/s 2 ] fixed value 
     Remarks
         Wheel Angle controller is designed within the acceleration range up to 2.94 m/s 2 .       

     3.3.3.15. Estimated_Max_Lateral_Acceleration_Rate_Capability 
     Estimated max lateral acceleration rate 
     Values 
     2.94 [unit: m/s 3 ] fixed value 
     Remarks
         Wheel Angle controller is designed within the acceleration range up to 2.94 m/s 3 .       

     3.3.3.16. Accelerator_Pedal_Position 
     Position of the accelerator pedal (How much is the pedal depressed?) 
     Values 
     0 to 100 [unit: %] 
     Remarks
         In order not to change the acceleration openness suddenly, this signal is filtered by smoothing process.   In normal condition
           The accelerator position signal after zero point calibration is transmitted.   
           In failure condition
           Transmitted failsafe value (0xFF)   
               

     3.3.3.17. Accelerator_Pedal_Intervention 
     This signal shows whether the accelerator pedal is depressed by a driver (intervention). 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 20 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 Not depressed 
                   
               
               
                 1 
                 depressed 
                   
               
               
                 2 
                 Beyond autonomy acceleration 
               
               
                   
               
            
           
         
       
     
     Remarks
         When Accelerator_Pedal_Position is higher than the defined threshold value (ACCL_INTV), this signal [Accelerator_Pedal_Intervention] will turn to “depressed”.       

     When the requested acceleration from depressed acceleration pedal is higher than the requested acceleration from system (ADS, PCS etc.), this signal will turn to “Beyond autonomy acceleration”.
         During NVO mode, accelerator request will be rejected. Therefore, this signal will not turn to “2”.       

     Detail Design ( FIG.  12   ) 
     3.3.3.18. Brake_Pedal_Position 
     Position of the brake pedal (How much is the pedal depressed?) 
     Values 
     0 to 100 [unit: %] 
     Remarks
         In the brake pedal position sensor failure:
           Transmitted failsafe value (0xFF)   
           Due to assembling error, this value might be beyond 100%.       

     3.3.3.19. Brake_Pedal_Intervention 
     This signal shows whether the brake pedal is depressed by a driver (intervention). 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 21 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 Not depressed 
                   
               
               
                 1 
                 depressed 
                   
               
               
                 2 
                 Beyond autonomy deceleration 
               
               
                   
               
            
           
         
       
     
     Remarks
         When Brake_Pedal_Position is higher than the defined threshold value (BRK_INTV), this signal [Brake_Pedal_Intervention] will turn to “depressed”.   When the requested deceleration from depressed brake pedal is higher than the requested deceleration from system (ADS, PCS etc.), this signal will turn to “Beyond autonomy deceleration”.       

     Detail Design ( FIG.  13   ) 
     3.3.3.20. Steering_Wheel_Intervention 
     This signal shows whether the steering wheel is turned by a driver (intervention). 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 22 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 Not turned 
                   
               
               
                 1 
                 Turned collaboratively 
                 Driver steering torque + steering motor 
               
               
                   
                   
                 torque 
               
               
                 2 
                 Turned by human driver 
               
               
                   
               
            
           
         
       
     
     Remarks
         In “Steering Wheel Intervention=1”, considering the human driver&#39;s intent, EPS system will drive the steering with the Human driver collaboratively.   In “Steering Wheel Intervention=2”, considering the human driver&#39;s intent, EPS system will reject the steering requirement from autonomous driving kit. (The steering will be driven the human driver.)       

     3.3.3.21. Shift_Lever_Intervention 
     This signal shows whether the shift lever is controlled by a driver (intervention). 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 23 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                 Controlled (moved to any shift position) 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.3.3.22. WheelSpeed_FL, WheelSpeed_FR, WheelSpeed_RL, WheelSpeed_RR wheel speed value 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 24 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 Velocity [unit: m/s] 
                   
               
               
                 Maximum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         T.B.D.       

     3.3.3.23. WheelSpeed_FL_Rotation, WheelSpeed_FR Rotation, WheelSpeed_RL_Rotation, WheelSpeed_RR_Rotation 
     Rotation direction of each wheel 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 25 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Forward 
                   
               
               
                 1 
                 Reverse 
                   
               
               
                 2 
                 Reserved 
                   
               
               
                 3 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         After activation of ECU, until the rotation direction is fixed, “Forward” is set to this signal.   When detected continuously 2 (two) pulses with the same direction, the rotation direction will be fixed.       

     3.3.3.24. Actual_Moving_Direction 
     Rotation direction of wheel 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 26 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Forward 
                   
               
               
                 1 
                 Reverse 
                   
               
               
                 2 
                 Standstill 
                   
               
               
                 3 
                 Undefined 
               
               
                   
               
            
           
         
       
     
     Remarks
         This signal shows “Standstill” when four wheel speed values are “0” during a constant time.   When other than above, this signal will be determined by the majority rule of four WheelSpeed_Rotations.   When more than two WheelSpeed_Rotations are “Reverse”, this signal shows “Reverse”.   When more than two WheelSpeed_Rotations are “Forward”, this signal shows “Forward”.   When “Forward” and “Reverse” are the same counts, this signal shows “Undefined”.       

     3.3.3.25. Longitudinal_Velocity 
     Estimated longitudinal velocity of vehicle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 27 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 Velocity [unit: m/s] 
                   
               
               
                 Maximum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         This signal is output as the absolute value.       

     3.3.3.26. Longitudinal_Acceleration 
     Estimated longitudinal acceleration of vehicle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 28 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 Acceleration [unit: m/s 2 ] 
                   
               
               
                 Minimum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         This signal will be calculated with wheel speed sensor and acceleration sensor.   When the vehicle is driven at a constant velocity on the flat road, this signal shows “0”.       

     3.3.3.27. Lateral_Acceleration 
     Sensor value of lateral acceleration of vehicle 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 29 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 Acceleration [unit: m/s 2 ] 
                   
               
               
                 Minimum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         The positive value means counterclockwise. The negative value means clockwise.       

     3.3.3.28. Yawrate 
     Sensor value of Yaw rate 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 30 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 others 
                 Yaw rate [unit: deg/s] 
                   
               
               
                 Minimum Value 
                 Invalid value 
                 The sensor is invalid. 
               
               
                   
               
            
           
         
       
     
     Remarks
         The positive value means counterclockwise. The negative value means clockwise.       

     3.3.3.29. Autonomy_State 
     State of whether autonomy mode or manual mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 31 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 Manual Mode 
                 The mode starts from Manual mode. 
               
               
                 01 
                 Autonomous Mode 
               
               
                   
               
            
           
         
       
     
     Remarks
         The initial state is the Manual mode. (When Ready ON, the vehicle will start from the Manual mode.)       

     3.3.3.30. Autonomy_Ready 
     Situation of whether the vehicle can transition to autonomy mode or not 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 32 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00b 
                 Not Ready For Autonomy 
                   
               
               
                 01b 
                 Ready For Autonomy 
                   
               
               
                 11b 
                 Invalid 
                 means the status is not determined. 
               
               
                   
               
            
           
         
       
     
     Remarks
         This signal is a part of transition conditions toward the Autonomy mode.       

     Please see the summary of conditions. 
     3.3.3.31. Autonomy_Fault 
     Status of whether the fault regarding a functionality in autonomy mode occurs or not 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 33 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00b 
                 No fault 
                   
               
               
                 01b 
                 Fault 
                   
               
               
                 11b 
                 Invalid 
                 means the status is not determined. 
               
               
                   
               
            
           
         
       
     
     Remarks
         [T.B.D.] Please see the other material regarding the fault codes of a functionality in autonomy mode.   [T.B.D.] Need to consider the condition to release the status of “fault”.       

     3.4. APIs for BODY Control 
     3.4.1. Functions 
     T.B.D. 
     3.4.2. Inputs 
     
       
         
           
               
               
               
             
               
                 TABLE 34 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Turnsignallight_Mode_Command 
                 Command to control the turnsignallight 
                 N/A 
               
               
                   
                 mode of the vehicle platform 
                   
               
               
                 Headlight_Mode_Command 
                 Command to control the headlight mode 
                 N/A 
               
               
                   
                 of the vehicle platform 
                   
               
               
                 Hazardlight_Mode_Command 
                 Command to control the hazardlight mode 
                 N/A 
               
               
                   
                 of the vehicle platform 
                   
               
               
                 Hom_Pattern_Command 
                 Command to control the pattern of horn 
                 N/A 
               
               
                   
                 ON-time and OFF-time per cycle of the 
                   
               
               
                   
                 vehicle platform 
                   
               
               
                 Horn_Number_of_Cycle_Command 
                 Command to control the Number of horn 
                 N/A 
               
               
                   
                 ON/OFF cycle of the vehicle platform 
                   
               
               
                 Horn_Continuous_Command 
                 Command to control of horn ON of the 
                 N/A 
               
               
                   
                 vehicle platform 
                   
               
               
                 Windshieldwiper_Mode_Front_Command 
                 Command to control the front windshield 
                 N/A 
               
               
                   
                 wiper of the vehicle platform 
                   
               
               
                 Windshieldwiper_Intermittent_Wiping_Speed_Command 
                 Command to control the Windshield wiper 
                 N/A 
               
               
                   
                 actuation interval at the Intermittent mode 
                   
               
               
                 Windshieldwiper_Mode_Rear_Command 
                 Command to control the rear windshield 
                 N/A 
               
               
                   
                 wiper mode of the vehicle platform 
                   
               
               
                 Hvac_1st_Command 
                 Command to start/stop 1st row air 
                 N/A 
               
               
                   
                 conditioning control 
                   
               
               
                 Hvac_2nd_Command 
                 Command to start/stop 2nd row air 
                 N/A 
               
               
                   
                 conditioning control 
                   
               
               
                 Hvac_TargetTemperature_1st_Left_Command 
                 Command to set the target temperature 
                 N/A 
               
               
                   
                 around front left area 
                   
               
               
                 Hvac_TargetTemperature_1st_Right_Command 
                 Command to set the target temperature 
                 N/A 
               
               
                   
                 around front right area 
                   
               
               
                 Hvac_TargetTemperature_2nd_Left_Command 
                 Command to set the target temperature 
                 N/A 
               
               
                   
                 around rear left area 
                   
               
               
                 Hvac_TargetTemperature_2nd_Right_Command 
                 Command to set the target temperature 
                 N/A 
               
               
                   
                 around rear right area 
                   
               
               
                 Hvac_Fan_Level_1st_Row_Command 
                 Command to set the fan level on the front 
                 N/A 
               
               
                   
                 AC 
                   
               
               
                 Hvac_Fan_Level_2nd_Row_Command 
                 Command to set the fan level on the rear 
                 N/A 
               
               
                   
                 AC 
                   
               
               
                 Hvac_1st_Row_AirOutlet_Mode_Command 
                 Command to set the mode of 1st row air 
                 N/A 
               
               
                   
                 outlet 
                   
               
               
                 Hvac_2nd_Row_AirOutlet_Mode_Command 
                 Command to set the mode of 2nd row air 
                 N/A 
               
               
                   
                 outlet 
                   
               
               
                 Hvac_Recirculate_Command 
                 Command to set the air recirculation 
                 N/A 
               
               
                   
                 mode 
                   
               
               
                 Hvac_AC_Command 
                 Command to set the AC mode 
                 N/A 
               
               
                   
               
            
           
         
       
     
     3.4.2.1. Turnsignallight_Mode_Command 
     Command to control the turnsignallight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 35 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Blinker OFF 
               
               
                 1 
                 Right 
                 Right blinker ON 
               
               
                 2 
                 Left 
                 Left blinker ON 
               
               
                 3 
                 reserved 
               
               
                   
               
            
           
         
       
     
     Remarks 
     T.B.D. 
     Detailed Design 
     When Turnsignallight_Mode_Command=1, vehicle platform sends left blinker on request. 
     When Turnsignallight_Mode_Command=2, vehicle platform sends right blinker on request. 
     3.4.2.2. Headlight_Mode_Command 
     Command to control the headlight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 36 
               
               
                   
               
               
                 Value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                 Keep current mode 
               
               
                 1 
                 TAIL mode request 
                 side lamp mode 
               
               
                 2 
                 HEAD mode request 
                 Lo mode 
               
               
                 3 
                 AUTO mode request 
                   
               
               
                 4 
                 HI mode request 
                   
               
               
                 5 
                 OFF Mode Request 
                   
               
               
                 6-7 
                 reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         This command is valid when Headlight_Driver_Input=OFF or Auto mode ON.   Driver input overrides this command.   Headlight mode changes when Vehicle platform receives once this command.       

     3.4.2.3. Hazardlight_Mode_Command 
     Command to control the hazardlight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 37 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 command for hazardlight OFF 
               
               
                 1 
                 ON 
                 command for hazardlight ON 
               
               
                   
               
            
           
         
       
     
     Remarks
         Driver input overrides this command.   Hazardlight is active during Vehicle Platform receives ON command.       

     3.4.2.4. Horn_Pattern_Command 
     Command to control the pattern of horn ON-time and OFF-time per cycle of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 38 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 Pattern 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
         Pattern 1 is assumed to use single short ON, Pattern 2 is assumed to use ON-OFF repeating.   Detail is under internal discussion.       

     3.4.2.5. Horn_Number_of_Cycle_Command 
     Command to control the Number of horn ON/OFF cycle of the vehicle platform 
     Values 
     0˜7 [-] 
     Remarks
         Detail is under internal discussion.       

     3.4.2.6. Horn_Continuous_Command 
     Command to control of horn ON of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 39 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 ON request 
               
               
                   
               
            
           
         
       
     
     Remarks
         This command overrides Horn_Pattern_Command, Horn_Number_of_Cycle_Command.   Horn is active during Vehicle Platform receives ON command.   Detail is under internal discussion.       

     3.4.2.7. Windshieldwiper_Mode_Front_Command 
     Command to control the front windshield wiper of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 40 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF mode request 
                   
               
               
                 1 
                 Lo mode request 
                   
               
               
                 2 
                 Hi mode request 
                   
               
               
                 3 
                 Intermittent mode request 
                   
               
               
                 4 
                 Auto mode request 
                   
               
               
                 5 
                 Mist mode request 
                 One-Time Wiping 
               
               
                 6, 7 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         This command is under internal discussion the timing of valid.   This command is valid when Windshieldwiper_Front_Driver_Input=OFF or Auto mode ON.   Driver input overrides this command.   Windshieldwiper mode is kept during Vehicle platform is receiving the command.       

     3.4.2.8. Windshieldwiper_Intermittent_Wiping_Speed_Command 
     Command to control the Windshield wiper actuation interval at the Intermittent mode 
     Values 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 41 
               
               
                   
                   
               
               
                   
                 value 
                 Description 
                 remarks 
               
               
                   
                   
               
             
            
               
                   
                 0 
                 FAST 
                   
               
               
                   
                 1 
                 SECOND FAST 
                   
               
               
                   
                 2 
                 THIRD FAST 
                   
               
               
                   
                 3 
                 SLOW 
               
               
                   
                   
               
            
           
         
       
     
     Remarks
         This command is valid when Windshieldwiper_Mode_Front_Status=INT.   Driver input overrides this command.   Windshieldwiper intermittent mode changes when Vehicle platform receives once this command.       

     3.4.2.9. Windshieldwiper_Mode_Rear_Command 
     Command to control the rear windshield wiper mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 42 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF mode request 
                   
               
               
                 1 
                 Lo mode request 
                   
               
               
                 2 
                 reserved 
                   
               
               
                 3 
                 Intermittent mode request 
                   
               
               
                 4-7 
                 reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         Driver input overrides this command.   Windshieldwiper mode is kept during Vehicle platform is receiving the command.   Wiping speed of intermittent mode is not variable.       

     3.4.2.10. Hvac_1st_Command 
     Command to start/stop 1st row air conditioning control 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 43 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 ON 
                 means turning the 1st air 
               
               
                   
                   
                 conditioning control to ON 
               
               
                 02 
                 OFF 
                 means turning the 1st air 
               
               
                   
                   
                 conditioning control to OFF 
               
               
                   
               
            
           
         
       
     
     Remarks
         The hvac of S-AM has a synchronization functionality.       

     Therefore, in order to control 4 (four) hvacs (1st_left/right, 2nd_left/right) individually, VCIB achieves the following procedure after Ready-ON. (This functionality will be implemented from the CV.) 
     #1: Hvac_1st_Command=ON 
     #2: Hvac_2nd_Command=ON 
     #3: Hvac_TargetTemperature_2nd_Left_Command 
     #4: Hvac_TargetTemperature_2nd_Right_Command 
     #5: Hvac_Fan_Level_2nd_Row_Command 
     #6: Hvac_2nd_Row_AirOutlet_Mode_Command 
     #7: Hvac_TargetTemperature_1st_Left_Command 
     #8: Hvac_TargetTemperature_1st_Right_Command 
     #9: Hvac_Fan_Level_1st_Row_Command 
     #10: Hvac_1st_Row_AirOutlet_Mode_Command
         The interval between each command needs 200 ms or more.   Other commands are able to be executed after #1.       

     3.4.2.11. Hvac_2nd_Command 
     Command to start/stop 2nd row air conditioning control 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 44 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 ON 
                 means turning the 2nd air 
               
               
                   
                   
                 conditioning control to ON 
               
               
                 02 
                 OFF 
                 means turning the 2nd air 
               
               
                   
                   
                 conditioning control to OFF 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.12. Hvac_TargetTemperature_1st_Left_Command 
     Command to set the target temperature around front left area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 45 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: ° F.] (by 1.0° F.) 
                 Temperature direction 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.13. Hvac_TargetTemperature_1st_Right_Command 
     Command to set the target temperature around front right area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 46 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: ° F.] (by 1.0° F.) 
                 Temperature direction 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.14. Hvac_TargetTemperature_2nd_Left_Command 
     Command to set the target temperature around rear left area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 47 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: ° F.] (by 1.0° F.) 
                 Temperature direction 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.15. Hvac_TargetTemperature_2nd_Right_Command 
     Command to set the target temperature around rear right area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 48 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 [unit: ° F.] (by 1.0° F.) 
                 Temperature direction 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.16. Hvac_Fan_Level_1st_Row_Command 
     Command to set the fan level on the front AC 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 49 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 to 7 (Maximum) 
                 Fan level direction 
               
               
                   
               
            
           
         
       
     
     Remarks 
     
         
         
           
             If you would like to turn the fan level to 0 (OFF), you should transmit “Hvac_1st_Command=OFF”. 
             If you would like to turn the fan level to AUTO, you should transmit “Hvac_1st_Command=ON”. 
           
         
       
    
     3.4.2.17. Hvac_Fan_Level_2nd_Row_Command 
     Command to set the fan level on the rear AC 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 50 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 to 7 (Maximum) 
                 Fan level direction 
               
               
                   
               
            
           
         
       
     
     Remarks
         If you would like to turn the fan level to 0 (OFF), you should transmit “Hvac_2nd_Command=OFF”.   If you would like to turn the fan level to AUTO, you should transmit “Hvac_2nd_Command=ON”.       

     3.4.2.18. Hvac_1st_Row_AirOutlet_Mode_Command 
     Command to set the mode of 1st row air outlet 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 51 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 000b 
                 No Operation 
                   
               
               
                 001b 
                 UPPER 
                 Air flows to the upper body 
               
               
                 010b 
                 U/F 
                 Air flows to the upper body and feet 
               
               
                 011b 
                 FEET 
                 Air flows to the feet. 
               
               
                 100b 
                 F/D 
                 Air flows to the feet and the 
               
               
                   
                   
                 windshield defogger operates 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.19. Hvac_2nd_Row_AirOutlet_Mode_CommandCommand to set the mode of 2nd row air outlet 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 52 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 000b 
                 No Operation 
                   
               
               
                 001b 
                 UPPER 
                 Air flows to the upper body 
               
               
                 010b 
                 U/F 
                 Air flows to the upper body and feet 
               
               
                 011b 
                 FEET 
                 Air flows to the feet. 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.20. Hvac_Recirculate_Command 
     Command to set the air recirculation mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 53 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 ON 
                 means turning the air recirculation mode ON 
               
               
                 02 
                 OFF 
                 means turning the air recirculation mode OFF 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.21. Hvac_AC_Command 
     Command to set the AC mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 54 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 ON 
                 means turning the AC mode ON 
               
               
                 02 
                 OFF 
                 means turning the AC mode OFF 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 55 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Turnsignallight_Mode_Status 
                 Status of the current turnsignallight 
                 N/A 
               
               
                   
                 mode of the vehicle platform 
                   
               
               
                 Headlight_Mode_Status 
                 Status of the current headlight mode 
                 N/A 
               
               
                   
                 of the vehicle platform 
                   
               
               
                 Hazardlight_Mode_Status 
                 Status of the current hazardlight 
                 N/A 
               
               
                   
                 mode of the vehicle platform 
                   
               
               
                 Horn_Status 
                 Status of the current horn of the 
                 N/A 
               
               
                   
                 vehicle platform 
                   
               
               
                 Windshieldwiper_Mode_Front_Status 
                 Status of the current front windshield 
                 N/A 
               
               
                   
                 wiper mode of the vehicle platform 
                   
               
               
                 Windshieldwiper_Mode_Rear_Status 
                 Status of the current rear windshield 
                 N/A 
               
               
                   
                 wiper mode of the vehicle platform 
                   
               
               
                 Hvac_1 st _Status 
                 Status of activation of the 1 st  row 
                 N/A 
               
               
                   
                 HVAC 
                   
               
               
                 Hvac_2 nd _Status 
                 Status of activation of the 2 nd  row 
                 N/A 
               
               
                   
                 HVAC 
                   
               
               
                 Hvac_Temperature_1 st _Left_Status 
                 Status of set temperature of 1 st  row 
                 N/A 
               
               
                   
                 left 
                   
               
               
                 Hvac_Temperature_1 st _Right_Status 
                 Status of set temperature of 1 st  row 
                 N/A 
               
               
                   
                 right 
                   
               
               
                 Hvac_Temperature_2 nd _Left_Status 
                 Status of set temperature of 2 nd  row 
                 N/A 
               
               
                   
                 left 
                   
               
               
                 Hvac_Temperature_2 nd _Right_Status 
                 Status of set temperature of 2 nd  row 
                 N/A 
               
               
                   
                 right 
                   
               
               
                 Hvac_Fan_Level_1 st _Row_Status 
                 Status of set fan level of 1 st  row 
                 N/A 
               
               
                 Hvac_Fan_Level_2 nd _Row_Status 
                 Status of set fan level of 2 nd  row 
                 N/A 
               
               
                 Hvac_1st_Row_AirOutlet_Mode_Status 
                 Status of mode of 1st row air outlet 
                 N/A 
               
               
                 Hvac_2nd_Row_AirOutlet_Mode_Status 
                 Status of mode of 2nd row air outlet 
                 N/A 
               
               
                 Hvac_Recirculate_Status 
                 Status of set air recirculation mode 
                 N/A 
               
               
                 Hvac_AC_Status 
                 Status of set AC mode 
                 N/A 
               
               
                 1st_Right_Seat_Occupancy_Status 
                 Seat occupancy status in 1st left 
                 — 
               
               
                   
                 seat 
                   
               
               
                 1st_Left_Seat_Belt_Status 
                 Status of driver&#39;s seat belt buckle 
                 — 
               
               
                   
                 switch 
                   
               
               
                 1st_Right_Seat_Belt_Status 
                 Status of passenger&#39;s seat belt 
                 — 
               
               
                   
                 buckle switch 
                   
               
               
                 2nd_Left_Seat_Belt_Status 
                 Seat belt buckle switch status in 2nd 
                 — 
               
               
                   
                 left seat 
                   
               
               
                 2nd_Right_Seat_Belt_Status 
                 Seat belt buckle switch status in 2nd 
                 — 
               
               
                   
                 right seat 
               
               
                   
               
            
           
         
       
     
     3.4.3.1. Turnsignallight_Mode_Status 
     Status of the current tumnsignallight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 56 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Turn lamp = OFF 
               
               
                 1 
                 Left 
                 Turn lamp L = ON (flashing) 
               
               
                 2 
                 Right 
                 Turn lamp R = ON (flashing) 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         At the time of the disconnection detection of the turn lamp, state is ON.   At the time of the short detection of the turn lamp, State is OFF.       

     3.4.3.2. Headlight_Mode_Status 
     Status of the current headlight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 57 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 TAIL 
                   
               
               
                 2 
                 Lo 
                   
               
               
                 3 
                 reserved 
                   
               
               
                 4 
                 Hi 
                   
               
               
                 5-6 
                 reserved 
                   
               
               
                 7 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks 
     N/A 
     Detailed Design
         At the time of tail signal ON, Vehicle Platform sends 1.   At the time of Lo signal ON, Vehicle Platform sends 2.   At the time of Hi signal ON, Vehicle Platform sends 4.   At the time of any signal above OFF, Vehicle Platform sends 0.       

     3.4.3.3. Hazardlight_Mode_Status 
     Status of the current hazard lamp mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 58 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Hazard lamp = OFF 
               
               
                 1 
                 Hazard 
                 Hazard lamp = ON (flashing) 
               
               
                 2 
                 reserved 
                   
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks 
     N/A 
     3.4.3.4. Horn_Status 
     Status of the current horn of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 59 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                   
               
               
                 1 
                 ON 
                   
               
               
                 2 
                 reserved (unsupport) 
                   
               
               
                 3 
                 invalid (unsupport) 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.   Vehicle platform sends “1” during Horn Pattern Command is active, if the horn is OFF.       

     3.4.3.5. Windshieldwiper_Mode_Front_Status 
     Status of the current front windshield wiper mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 60 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Front wiper stopped 
               
               
                 1 
                 Lo 
                 Front wiper being active in LO mode (also 
               
               
                   
                   
                 including being active in MIST, being active 
               
               
                   
                   
                 in coordination with washer, and being wiping 
               
               
                   
                   
                 at speed other than HI) 
               
               
                 2 
                 Hi 
                 Front wiper being active in HI mode 
               
               
                 3 
                 INT 
                 Front wiper being active in INT mode (also 
               
               
                   
                   
                 including motor stop while being active 
               
               
                   
                   
                 in INT mode and being active in INT mode 
               
               
                   
                   
                 owing to vehicle speed change function) 
               
               
                 4-5 
                 reserved 
                   
               
               
                 6 
                 fail 
                 Front wiper failed 
               
               
                 7 
                 invalid 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
             
               
                 TABLE 61 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Front wiper is stopped. 
               
               
                 1 
                 Lo 
                 Front wiper is in LO mode (include in MIST  
               
               
                   
                   
                 mode, operation with washer, Medium speed). 
               
               
                 2 
                 Hi 
                 Front wiper is in HI mode. 
               
               
                 3 
                 INT 
                 Front wiper is in INT mode (include motor  
               
               
                   
                   
                 stopped between INT mode, INT operation of  
               
               
                   
                   
                 vehicle speed change function). 
               
               
                 4-5 
                 reserved 
                   
               
               
                 6 
                 fail 
                 Front wiper is fail. 
               
               
                 7 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks 
     Fail Mode Conditions
         detect signal discontinuity   cannot detect except the above failure.       

     3.4.3.6. Windshieldwiper_Mode_Rear_Status 
     Status of the current rear windshield wiper mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 62 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Rear wiper stopped 
               
               
                 1 
                 Lo 
                 Rear wiper being in LO mode 
               
               
                 2 
                 reserved 
                   
               
               
                 3 
                 INT 
                 Rear wiper being in INT mode 
               
               
                 4-5 
                 reserved 
                   
               
               
                 6 
                 fail 
                 Rear wiper failed 
               
               
                 7 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.4.3.7. Hvac_1st_Status 
     Status of activation of the 1st row HVAC 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 63 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0b 
                 OFF 
                   
               
               
                 1b 
                 ON 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.8.Hvac_2nd_Status 
     Status of activation of the 2nd row HVAC 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 64 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0b 
                 OFF 
                   
               
               
                 1b 
                 ON 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.9. Hvac_Temperature_1st_Left_Status 
     Status of set temperature of 1st row left 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 65 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                  0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: ° F.] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.10. Hvac_Temperature_1st_Right_Status 
     Status of set temperature of 1st row right 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 66 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                  0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: ° F.] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.11. Hvac_Temperature_2nd_Left_Status 
     Status of set temperature of 2nd row left 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 67 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                  0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: ° F.] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.12. Hvac_Temperature_2nd_Right_Status 
     Status of set temperature of 2nd row right 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 68 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                  0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 [unit: ° F.] 
                 Target temperature 
                   
               
               
                 100 
                 Hi 
                 Max hot 
               
               
                 FFh 
                 Unknown 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.13. Hvac_Fan_Level_1st_Row_Status 
     Status of set fan level of 1st row 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 69 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
            
               
                 0 
                 OFF 
               
               
                 1-7 
                 Fan Level 
               
               
                 8 
                 Undefined 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.14. Hvac Fan Level 2nd Row Status 
     Status of set fan level of 2nd row 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 70 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
            
               
                 0 
                 OFF 
               
               
                 1-7 
                 Fan Level 
               
               
                 8 
                 Undefined 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.15. Hvac_1st_Row_AirOutlet_Mode_Status 
     Status of mode of 1st row air outlet 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 71 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 000b 
                 ALL OFF 
                 when Auto mode is set 
               
               
                 001b 
                 UPPER 
                 Air flows to the upper body 
               
               
                 010b 
                 U/F 
                 Air flows to the upper body and feet 
               
               
                 011b 
                 FEET 
                 Air flows to the feet. 
               
               
                 100b 
                 F/D 
                 Air flows to the feet and the windshield defogger 
               
               
                   
                   
                 operates 
               
               
                 101b 
                 DEF 
                 The windshield defogger operates 
               
               
                 111b 
                 Undefined 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.16. Hvac_2nd_Row_AirOutlet_Mode_Status 
     Status of mode of 2nd row air outlet 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 72 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 000b 
                 ALL OFF 
                 when Auto mode is set 
               
               
                 001b 
                 UPPER 
                 Air flows to the upper body 
               
               
                 010b 
                 U/F 
                 Air flows to the upper body and feet 
               
               
                 011b 
                 FEET 
                 Air flows to the feet. 
               
               
                 111b 
                 Undefined 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.17. Hvac_Recirculate_Status 
     Status of set air recirculation mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 73 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 00 
                 OFF 
                 means that the air recirculation mode is OFF 
               
               
                 01 
                 ON 
                 means that the air recirculation mode is ON 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.18. Hvac_AC_Status 
     Status of set AC mode 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 74 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 00 
                 OFF 
                 means that the AC mode is OFF 
               
               
                 01 
                 ON 
                 means that the AC mode is ON 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.3.19. 1st_Right_Seat_Occupancy_Status 
     Seat occupancy status in 1st left seat 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 75 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Not occupied 
                   
               
               
                 1 
                 Occupied 
                   
               
               
                 2 
                 Undecided 
                 IG OFF or signal from sensor being lost 
               
               
                 3 
                 Failed 
               
               
                   
               
            
           
         
       
     
     Remarks 
     When there is luggage on the seat, this signal may be set to “Occupied”. 
     3.4.3.20. 1st_Left_Seat_Belt_Status 
     Status of driver&#39;s seat belt buckle switch 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 76 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                   
               
               
                 3 
                 Fault of a switch 
               
               
                   
               
            
           
         
       
     
     Remarks
         When Driver&#39;s seat belt buckle switch status signal is not set, [undetermined] is transmitted.       

     It is checking to a person in charge, when using it. (Outputs “undetermined=10” as an initial value.)
         The judgement result of buckling/unbuckling shall be transferred to CAN transmission buffer within 1.3 s after IG_ON or before allowing firing, whichever is earlier.       

     3.4.3.21. 1st_Right_Seat_Belt_Status 
     Status of passenger&#39;s seat belt buckle switch 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 77 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                   
               
               
                 3 
                 Fault of a switch 
               
               
                   
               
            
           
         
       
     
     Remarks
         When Passenger&#39;s seat belt buckle switch status signal is not set, [undetermined] is transmitted.       

     It is checking to a person in charge, when using it. (Outputs “undetermined=10” as an initial value.)
         The judgement result of buckling/unbuckling shall be transferred to CAN transmission buffer within 1.3 s after IG_ON or before allowing firing, whichever is earlier.       

     3.4.3.22. 2nd_Left_Seat_Belt_Status 
     Seat belt buckle switch status in 2nd left seat 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 78 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                   
               
               
                 3 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect sensor failure.       

     3.4.3.23. 2nd_Right_Seat_Belt_Status 
     Seat belt buckle switch status in 2nd right seat 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 79 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Buckled 
                   
               
               
                 1 
                 Unbuckled 
                   
               
               
                 2 
                 Undetermined 
                   
               
               
                 3 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.5. APIs for Power Control 
     3.5.1. Functions 
     T.B.D. 
     3.5.2. Inputs 
     
       
         
           
               
               
               
             
               
                 TABLE 80 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Power_Mode_Request 
                 Command to control the power 
                 N/A 
               
               
                   
                 mode of the vehicle platform 
               
               
                   
               
            
           
         
       
     
     3.5.2.1. Power_Mode_Request 
     Command to control the power mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 81 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 Sleep 
                 means “Ready OFF” 
               
               
                 02 
                 Wake 
                 means that VCIB turns ON 
               
               
                 03 
                 Resd 
                 Reserved for data expansion 
               
               
                 04 
                 Resd 
                 Reserved for data expansion 
               
               
                 05 
                 Resd 
                 Reserved for data expansion 
               
               
                 06 
                 Driving Mode 
                 means “Ready ON” 
               
               
                   
               
            
           
         
       
     
     Remarks
         Regarding “wake”, let us share how to achieve this signal on the CAN. (See the other material) Basically, it is based on “ISO11989-2:2016”. Also, this signal should not be a simple value. Anyway, please see the other material.   This API will reject the next request for a certain time [4000 ms] after receiving a request.       

     The followings are the explanation of the three power modes, i.e. [Sleep][Wake][Driving Mode], which are controllable via API. 
     [Sleep] 
     Vehicle power off condition. In this mode, the high voltage battery does not supply power, and neither VCIB nor other VP ECUs are activated. 
     [Wake] 
     VCIB is awake by the low voltage battery. In this mode, ECUs other than VCIB are not awake except for some of the body electrical ECUs. 
     [Driving Mode] 
     Ready ON mode. In this mode, the high voltage battery supplies power to the whole VP and all the VP ECUs including VCIB are awake. 
     3.5.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 82 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Power_Mode_Status 
                 Status of the current 
                 N/A 
               
               
                   
                 power mode of 
                   
               
               
                   
                 the vehicle platform 
               
               
                   
               
            
           
         
       
     
     3.5.3.1. Power_Mode_Status 
     Status of the current power mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 83 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 Resd 
                 Reserved for same data align as mode request 
               
               
                 01 
                 Sleep 
                 means “Ready OFF” 
               
               
                 02 
                 Wake 
                 means that the only VCIB turns ON 
               
               
                 03 
                 Resd 
                 Reserved for data expansion 
               
               
                 04 
                 Resd 
                 Reserved for data expansion 
               
               
                 05 
                 Resd 
                 Reserved for data expansion 
               
               
                 06 
                 Driving Mode 
                 means “Ready ON” 
               
               
                 07 
                 unknown 
                 means unhealthy situation would occur 
               
               
                   
               
            
           
         
       
     
     Remarks
         VCIB will transmit [Sleep] as Power Mode Status continuously for 3000 [ms] after executing the sleep sequence. And then, VCIB will be shutdown.       

     3.6. APIs for Safety 
     3.6.1. Functions 
     T.B.D. 
     3.6.2. Inputs 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 84 
               
               
                   
                   
               
               
                   
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
                   
               
             
            
               
                   
                 T.B.D. 
                   
                   
               
               
                   
                   
               
            
           
         
       
     
     3.6.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 85 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 Request for Operation 
                 Request for operation according to status 
                   
               
               
                   
                 of vehicle platform toward ADS 
                   
               
               
                 Passive_Safety_Functions_Triggered 
                 Collision detection signal 
                 — 
               
               
                 Brake_System_Degradation_Modes 
                 Indicates 
                 Applied 
               
               
                   
                 Brake_System_Degradation_Modes 
                   
               
               
                 Propulsive_System_Degradation_Modes 
                 Indicates 
                 N/A 
               
               
                   
                 Propulsive_System_Degradation_Modes 
                   
               
               
                 Direction_Control_Degradation_Modes 
                 Indicates 
                 N/A 
               
               
                   
                 Direction_Control_Degradation_Modes 
                   
               
               
                 WheelLock_Control_Degradation_Modes 
                 Indicates 
                 Applied 
               
               
                   
                 WheelLock_Control_Degradation_Modes 
                   
               
               
                 Steering_System_Degradation_Modes 
                 Indicates 
                 Applied 
               
               
                   
                 Steering_System_Degradation_Modes 
                   
               
               
                 Power_System_Degradation_Modes 
                 Indicates 
                 Applied 
               
               
                   
                 Power_System_Degradation_Modes 
                   
               
               
                 Communication_Degradation_Modes 
               
               
                   
               
            
           
         
       
     
     3.6.3.1. Request for Operation 
     Request for operation according to status of vehicle platform toward ADS 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 86 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 1 
                 Need maintenance 
                   
               
               
                 2 
                 Need back to garage 
                   
               
               
                 3 
                 Need stopping safely immediately 
                   
               
               
                 Others 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         T.B.D.       

     3.6.3.2. Passive_Safety_Functions_Triggered 
     Crash detection Signal 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 87 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                   
               
               
                 5 
                 Crash Detection (airbag) 
                   
               
               
                 6 
                 Crash Detection (high voltage circuit is shut 
                   
               
               
                   
                 off) 
                   
               
               
                 7 
                 Invalid Value 
                   
               
               
                 Others 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the event of crash detection is generated, the signal is transmitted 50 consecutive times every 100 [ms]. If the crash detection state changes before the signal transmission is completed, the high signal of priority is transmitted.       

     Priority: crash detection &gt;normal
         Transmits for 5 s regardless of ordinary response at crash, because the vehicle breakdown judgment system shall send a voltage OFF request for 5 s or less after crash in HV vehicle.       

     Transmission interval is 100 ms within fuel cutoff motion delay allowance time (1 s) so that data can be transmitted more than 5 times. In this case, an instantaneous power interruption is taken into account. 
     3.6.3.3. Brake_System_Degradation_Modes 
     Indicate Brake_System status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 88 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                 — 
               
               
                 1 
                 Failure detected 
                 — 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the Failure is detected, Safe stop is moved.       

     3.6.3.4. Propulsive_System_Degradation_Modes 
     Indicate Powertrain_System status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 89 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                 — 
               
               
                 1 
                 Failure detected 
                 — 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the Failure is detected, Safe stop is moved.       

     3.6.3.5. Direction_Control_Degradation_Modes 
     Indicate Direction_Control status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 90 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                 — 
               
               
                 1 
                 Failure detected 
                 — 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the Failure is detected, Safe stop is moved.   When the Failure is detected, Propulsion Direction Command is refused.       

     3.6.3.6. WheelLock_Control_Degradation_Modes 
     Indicate WheelLock_Control status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 91 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                 — 
               
               
                 1 
                 Failure detected 
                 — 
               
               
                   
               
            
           
         
       
     
     Remarks
         Primary indicates EPB status, and Secondary indicates SBW indicates.   When the Failure is detected, Safe stop is moved.       

     3.6.3.7. Steering_System_Degradation_Modes 
     Indicate Steering_System status 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 92 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Normal 
                 — 
               
               
                 1 
                 Failure detected 
                 — 
               
               
                 2 
                 Stationary steering not 
                 Temporary lowering in 
               
               
                   
                 possible 
                 performance due to high 
               
               
                   
                   
                 temperature or the like 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the Failure are detected, Safe stop is moved.       

     3.6.3.8. Power_System_Degradation_Modes 
     [T.B.D] 
     3.6.3.9. Communication_Degradation_Modes 
     [T.B.D] 
     3.7. APIs for Security 
     3.7.1. Functions 
     T.B.D. 
     3.7.2. Inputs 
     
       
         
           
               
               
               
             
               
                 TABLE 93 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 1st_Left_Door_Lock_Command 
                 Command to control each door 
                 N/A 
               
               
                 1st_Right_Door_Lock_Command 
                 lock of the vehicle platform 
                 N/A 
               
               
                 2nd_Left_Door_Lock_Command 
                 Lock command supports only 
                 N/A 
               
               
                 2nd_Right_Door_Lock_Command 
                 ALL Door Lock. 
                 N/A 
               
               
                   
                 Unlock command supports 1st- 
                   
               
               
                   
                 left Door unlock only, and ALL 
                   
               
               
                   
                 Door unlock. 
                   
               
               
                   
                 Trunk Door Lock/unlock 
                   
               
               
                   
                 command include in ALL Door 
                   
               
               
                   
                 lock/unlock 
                   
               
               
                 Central_Vehicle_Lock_Exterior_Command 
                 Command to control the all 
                 N/A 
               
               
                   
                 door lock of the vehicle platform 
               
               
                   
               
            
           
         
       
     
     3.7.2.1. 1st_Left_Door_Lock_Command, 1st_Right_Door_Lock_Command, 2nd_Left_Door_Lock_Command, 2nd_Right_Door_Lock_Command 
     Command to control each door lock of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 94 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Lock (unsupported) 
                   
               
               
                 2 
                 Unlock 
                   
               
               
                 3 
                 reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         Lock command supports only ALL Door Lock.   Unlock command supports 1st-left Door unlock only, and ALL Door unlock.       

     3.7.2.2. Central_Vehicle_Lock_Exterior_Command 
     Command to control the all door lock of the vehicle platform. 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 95 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No Request 
                   
               
               
                 1 
                 Lock (all) 
                 include trunk lock 
               
               
                 2 
                 Unlock (all) 
                 include trunk unlock 
               
               
                 3 
                 reserved 
               
               
                   
               
            
           
         
       
     
     Remarks
         Lock command supports only ALL Door Lock.   Unlock command supports 1st-left Door unlock only, and ALL Door unlock.       

     3.7.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 96 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 1st_Left_Door_Lock_Status 
                 Status of the current 1st-left door 
                 N/A 
               
               
                   
                 lock mode of the vehicle platform 
                   
               
               
                 1st_Right_Door_Lock_Status 
                 Status of the current 1st-right door 
                 N/A 
               
               
                   
                 lock mode of the vehicle platform 
                   
               
               
                 2nd_Left_Door_Lock_Status 
                 Status of the current 2nd-left door 
                 N/A 
               
               
                   
                 lock mode of the vehicle platform 
                   
               
               
                 2nd_Right_Door_Lock_Status 
                 Status of the current 2nd-right door 
                 N/A 
               
               
                   
                 lock mode of the vehicle platform 
                   
               
               
                 Central_Vehicle_Exterior_Locked_Status 
                 Status of the current all door lock 
                 N/A 
               
               
                   
                 mode of the vehicle platform 
                   
               
               
                 Vehicle_Alarm_Status 
                 Status of the current vehicle alarm 
                 N/A 
               
               
                   
                 of the vehicle platform 
               
               
                   
               
            
           
         
       
     
     3.7.3.1. 1st_Left_Door_Lock_Status  5   
     
       
         
           
               
               
               
             
               
                 TABLE 97 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 reserved 
                   
               
               
                 1 
                 Locked 
                 D seat locked 
               
               
                 2 
                 Unlocked 
                 D seat unlocked 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.7.3.2. 1st_Right_Door_Lock_Status 
     Status of the current 1st-right door lock mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 98 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 reserved 
                   
               
               
                 1 
                 Locked 
                 P seat locked 
               
               
                 2 
                 Unlocked 
                 P seat unlocked 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.7.3.3. 2nd_Left_Door_Lock_Status 
     Status of the current 2nd-left door lock mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 99 
               
               
                   
               
               
                 Value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Reserved 
                   
               
               
                 1 
                 Locked 
                 RL seat locked 
               
               
                 2 
                 Unlocked 
                 RL seat unlocked 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.7.3.4. 2nd_Right_Door_Lock_Status 
     Status of the current 2nd-right door lock mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 100 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 reserved 
                   
               
               
                 1 
                 Locked 
                 RR seat locked 
               
               
                 2 
                 Unlocked 
                 RR seat unlocked 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.7.3.5. Central_Vehicle_Exterior_Locked_Status 
     Status of the current all door lock mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 101 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Reserved (unsupport) 
                   
               
               
                 1 
                 All Locked (unsupport) 
                   
               
               
                 2 
                 Anything Unlocked (unsupport) 
                   
               
               
                 3 
                 invalid (unsupport) 
               
               
                   
               
            
           
         
       
     
     Remarks
         Vehicle platform refers to each door lock status,   in case any door unlocked, sends 0.   in case all door locked, sends 1.       

     3.7.3.6. Vehicle_Alarm_Status 
     Status of the current vehicle alarm of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 102 
               
               
                   
               
               
                 Value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                 0 
                 Disarmed 
                 Auto alarm system not active 
               
               
                 1 
                 Armed 
                 Auto alarm system active • not on alert 
               
               
                 2 
                 Active 
                 Auto alarm system active • on alert 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks 
     N/A 
     3.8. APIs for MaaS Service 
     3.8.1. Functions 
     T.B.D. 
     3.8.2. Inputs 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 103 
               
               
                   
                   
               
               
                   
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
                   
               
             
            
               
                   
                 T.B.D. 
                   
                   
               
               
                   
                   
               
            
           
         
       
     
     3.8.3. Outputs 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 104 
               
               
                   
                   
               
               
                   
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
                   
               
             
            
               
                   
                 T.B.D. 
                   
                   
               
               
                   
                   
               
            
           
         
       
     
     Example 2 
     Toyota&#39;s MaaS Vehicle Platform 
     Architecture Specification 
     [Standard Edition #0.1] 
     History of Revision 
     
       
         
           
               
               
               
               
             
               
                 TABLE 105 
               
               
                   
               
               
                 Date of 
                   
                   
                   
               
               
                 Revision 
                 ver. 
                 Summary of Revision 
                 Reviser 
               
               
                   
               
             
            
               
                 2019 Nov. 4 
                 0.1 
                 Creating a new material 
                 MaaS Business Div. 
               
               
                   
               
            
           
         
       
     
     Index 
     1. General Concept  4 
         1.1. Purpose of this Specification  4     1.2. Target Vehicle Type  4     1.3. Target Electronic Platform  4     1.4. Definition of Term  4     1.5. Precaution for Handling  4     1.6. Overall Structure of MaaS  4     1.7. Adopted Development Process  6     1.8. ODD (Operational Design Domain)  6         

     2. Safety Concept  7 
         2.1. Outline  7     2.2. Hazard analysis and risk assessment  7     2.3. Allocation of safety requirements  8     2.4. Redundancy  8         

     3. Security Concept  10 
         3.1. Outline  10     3.2. Assumed Risks  10     3.3. Countermeasure for the risks  10 
           3.3.1. The countermeasure for a remote attack  11     3.3.2. The countermeasure for a modification  11     
           3.4. Addressing Held Data Information  11     3.5. Addressing Vulnerability  11     3.6. Contract with Operation Entity  11         

     4. System Architecture  12 
         4.1. Outline  12     4.2. Physical LAN architecture (in-Vehicle)  12     4.3. Power Supply Structure  14         

     5. Function Allocation  15 
         5.1. in a healthy situation  15     5.2. in a single failure  16         

     6. Data Collection  18 
         6.1. At event  18     6.2. Constantly  18         

     1. General Concept 
     1.1. Purpose of this Specification 
     This document is an architecture specification of Toyota&#39;s MaaS Vehicle Platform and contains the outline of system in vehicle level. 
     1.2. Target Vehicle Type 
     This specification is applied to the Toyota vehicles with the electronic platform called 19ePF [ver.1 and ver.2]. 
     The representative vehicle with 19ePF is shown as follows. e-Palette, Sienna, RAV4, and so on. 
     1.3. Definition of Term 
       
     
       
         
           
               
               
               
             
               
                   
                 TABLE 106 
               
               
                   
                   
               
               
                   
                 Term 
                 Definition 
               
               
                   
                   
               
             
            
               
                   
                 ADS 
                 Autonomous Driving System. 
               
               
                   
                 ADK 
                 Autonomous Driving Kit 
               
               
                   
                 VP 
                 Vehicle Platform. 
               
               
                   
                 VCIB 
                 Vehicle Control Interface Box. 
               
               
                   
                   
                 This is an ECU for the interface and the signal 
               
               
                   
                   
                 converter between ADS and Toyota VP&#39;s sub 
               
               
                   
                   
                 systems. 
               
               
                   
                   
               
            
           
         
       
     
     1.4. Precaution for Handling 
     This is an early draft of the document. 
     All the contents are subject to change. Such changes are notified to the users. Please note that some parts are still T.B.D. will be updated in the future. 
     2. Architectural Concept 
     2.1. Overall Structure of MaaS 
     The overall structure of MaaS with the target vehicle is shown ( FIG.  14   ). 
     Vehicle control technology is being used as an interface for technology providers. 
     Technology providers can receive open API such as vehicle state and vehicle control, necessary for development of automated driving systems. 
     2.2. Outline of System Architecture on the Vehicle 
     The system architecture on the vehicle as a premise is shown ( FIG.  15   ). 
     The target vehicle of this document will adopt the physical architecture of using CAN for the bus between ADS and VCIB. In order to realize each API in this document, the CAN frames and the bit assignments are shown in the form of “bit assignment chart” as a separate document. 
     2.3. Outline of Power Supply Architecture on the Vehicle 
     The power supply architecture as a premise is shown as follows ( FIG.  16   ). 
     The blue colored parts are provided from an ADS provider. And the orange colored parts are provided from the VP. 
     The power structure for ADS is isolate from the power structure for VP. Also, the ADS provider should install a redundant power structure isolated from the VP. 
     3. Safety Concept 
     3.1. Overall Safety Concept 
     The basic safety concept is shown as follows. 
     The strategy of bringing the vehicle to a safe stop when a failure occurs is shown as follows ( FIG.  17   ). 
     1. After occurrence of a failure, the entire vehicle executes “detecting a failure” and “correcting an impact of failure” and then achieves the safety state 1. 
     2. Obeying the instructions from the ADS, the entire vehicle stops in a safe space at a safe speed (assumed less than 0.2G). 
     However, depending on a situation, the entire vehicle should happen a deceleration more than the above deceleration if needed. 
     3. After stopping, in order to prevent slipping down, the entire vehicle achieves the safety state 2 by activating the immobilization system. 
     
       
         
           
               
               
             
               
                 TABLE 107 
               
               
                   
               
               
                 category 
                 content 
               
               
                   
               
             
            
               
                 Precondition 
                 Only one single failure at a time across the entire 
               
               
                   
                 integrated vehicle. (Multiple failures are not covered) 
               
               
                   
                 After the initial single failure, no other failure is 
               
               
                   
                 anticipated in the duration in which the functionality is 
               
               
                   
                 maintained. 
               
               
                 Responsibility 
                 In case of a single failure, the integrated vehicle should 
               
               
                 for the vehicle 
                 maintain the necessary functionality for safety stop. 
               
               
                 platform until 
                 The functionality should be maintained for 15 (fifteen) 
               
               
                 safety state 2 
                 seconds. 
               
               
                 Basic 
                 [For ADS] 
               
               
                 Responsibility 
                 The ADS should create the driving plan, and should 
               
               
                 Sharing 
                 indicate vehicle control values to the VP. 
               
               
                   
                 [For Toyota vehicle platform] 
               
               
                   
                 The Toyota VP should control each system of the VP 
               
               
                   
                 based on indications from the ADS. 
               
               
                   
               
            
           
         
       
     
     See the separated document called “Fault Management” regarding notifiable single failure and expected behavior for the ADS. 
     3.2. Redundancy 
     The redundant functionalities with Toyota&#39;s MaaS vehicle are shown. 
     Toyota&#39;s Vehicle Platform has the following redundant functionalities to meet the safety goals led from the functional safety analysis. 
     Redundant Braking 
     Any single failure on the Braking System doesn&#39;t cause loss of braking functionality. However, depending on where the failure occurred, the capability left might not be equivalent to the primary system&#39;s capability. In this case, the braking system is designed to prevent the capability from becoming 0.3 G or less. 
     Redundant Steering 
     Any single failure on the Steering System doesn&#39;t cause loss of steering functionality. However, depending on where the failure occurred, the capability left might not be equivalent to the primary system&#39;s capability. In this case, the steering system is designed to prevent the capability from becoming 0.3 G or less. 
     Redundant Immobilization 
     Toyota&#39;s MaaS vehicle has 2 immobilization systems, i.e. P lock and EPB. Therefore, any single failure of immobilization system doesn&#39;t cause loss of the immobilization capability. However, in the case of failure, maximum stationary slope angle is less steep than when the systems are healthy. 
     Redundant Power 
     Any single failure on the Power Supply System doesn&#39;t cause loss of power supply functionality. However, in case of the primary power failure, the secondary power supply system keeps supplying power to the limited systems for a certain time. 
     Redundant Communication 
     Any single failure on the Communication System doesn&#39;t cause loss of all the communication functionality. System which needs redundancy has physical redundant communication lines. For more detail information, see the chapter “Physical LAN architecture (in-Vehicle)”. 
     4. Security Concept 
     4.1. Outline 
     Regarding security, Toyota&#39;s MaaS vehicle adopts the security document issued by Toyota as an upper document. 
     4.2. Assumed Risks 
     The entire risk includes not only the risks assumed on the base e-PF but also the risks assumed for the Autono-MaaS vehicle. 
     The entire risk is shown as follows. 
     [Remote Attack]
         To vehicle
           Spoofing the center   ECU Software Alternation   DoS Attack   Sniffering   
           From vehicle
           Spoofing the other vehicle   Software Alternation for a center or an ECU on the other vehicle   DoS Attack to a center or other vehicle   Uploading illegal data   
               

     [Modification]
         Illegal Reprogramming   Setting up an illegal ADK   Installation of an unauthenticated product by a customer       

     4.3. Countermeasure for the Risks 
     The countermeasure of the above assumed risks is shown as follows. 
     4.3.1. The Countermeasure for a Remote Attack 
     The countermeasure for a remote attack is shown as follows. 
     Since the autonomous driving kit communicates with the center of the operation entity, end-to-end security should be ensured. Since a function to provide a travel control instruction is performed, multi-layered protection in the autonomous driving kit is required. Use a secure microcomputer or a security chip in the autonomous driving kit and provide sufficient security measures as the first layer against access from the outside. Use another secure microcomputer and another security chip to provide security as the second layer. (Multi-layered protection in the autonomous driving kit including protection as the first layer to prevent direct entry from the outside and protection as the second layer as the layer below the former) 
     4.3.2. The Countermeasure for a Modification 
     The countermeasure for a modification is shown as follows. 
     For measures against a counterfeit autonomous driving kit, device authentication and message authentication are carried out. In storing a key, measures against tampering should be provided and a key set is changed for each pair of a vehicle and an autonomous driving kit. Alternatively, the contract should stipulate that the operation entity exercise sufficient management so as not to allow attachment of an unauthorized kit. For measures against attachment of an unauthorized product by an Autono-MaaS vehicle user, the contract should stipulate that the operation entity exercise management not to allow attachment of an unauthorized kit. 
     In application to actual vehicles, conduct credible threat analysis together, and measures for addressing most recent vulnerability of the autonomous driving kit at the time of LO should be completed. 
     5. Function Allocation 
     5.1. In a Healthy Situation 
     The allocation of representative functionalities is shown as below ( FIG.  18   ). 
     [Function Allocation] 
     
       
         
           
               
               
               
               
             
               
                 TABLE 108 
               
               
                   
               
               
                 Function  
                   
                   
                   
               
               
                 category 
                 Function name 
                 Related to # 
                 remarks 
               
               
                   
               
             
            
               
                 Planning 
                 Plan for driving  
                 0 
                   
               
               
                   
                 path 
                   
                   
               
               
                   
                 Calculating control 
                 0 
                 e.g. longitudinal G 
               
               
                   
                 indications 
                   
                   
               
               
                 Overall 
                 API Pub/Sub 
                 1 
                 One system with 
               
               
                   
                   
                   
                 redundancy 
               
               
                 Security 
                 Autonomy Driving  
                 1 
                 One system with 
               
               
                   
                 Kit Authentication 
                   
                 redundancy 
               
               
                   
                 Message 
                 1 
                 One system with 
               
               
                   
                 Authentication 
                   
                 redundancy 
               
               
                   
                 Door locking  
                 8 
                   
               
               
                   
                 control 
                   
                   
               
               
                 Longitudinal/ 
                 Motion control 
                 2 (Primary), 
                   
               
               
                 Lateral 
                   
                 3 (Secondary) 
                   
               
               
                   
                 Propulsion control 
                 4 
                   
               
               
                   
                 Braking control 
                 2, 3 
                 Two units  
               
               
                   
                   
                   
                 controlled according  
               
               
                   
                   
                   
                 to deceleration 
               
               
                   
                   
                   
                 requirement 
               
               
                   
                 Steering control 
                 5 
                 One system with 
               
               
                   
                   
                   
                 redundancy 
               
               
                   
                 Immobilization  
                 2 (EPB), 
                   
               
               
                   
                 control 
                 6 (P Lock) 
                   
               
               
                   
                 Shift control 
                 6 
                   
               
               
                 Power supply 
                 Secondary battery 
                 7 
                   
               
               
                   
                 control 
                   
                   
               
               
                   
                 Vehicle power  
                 10  
                 For more  
               
               
                   
                 control 
                   
                 information, see the  
               
               
                   
                   
                   
                 API specification. 
               
               
                 Access/Comfort 
                 Body control 
                 8 
                 Turn signal, 
               
               
                   
                   
                   
                 Headlight, Window, 
               
               
                   
                   
                   
                 etc. 
               
               
                   
                 HVAC control 
                 9 
                   
               
               
                 Data 
                 Data logging (at  
                 1 
                   
               
               
                   
                 event) 
                   
                   
               
               
                   
                 Data logging 
                 1 
                   
               
               
                   
                 (constantly) 
               
               
                   
               
            
           
         
       
     
     5.2. In a Single Failure 
     See the separated document called “Fault Management” regarding notifiable single failure and expected behavior for the ADS. 
     Though embodiments of the present disclosure have been described above, it should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is defined by the terms of the claims and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.