Patent Publication Number: US-2023142470-A1

Title: Vehicle

Description:
This is a continuation of U.S. application Ser. No. 17/659,541, filed on Apr. 18, 2022, which is a continuation of U.S. application Ser. No. 17/153,930, filed on Jan. 21, 2021, which is based on Japanese Patent Application No. 2020-015727 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 capable of autonomous driving. 
     Description of the Background Art 
     A technique relating to autonomous driving of a vehicle has recently been developed. For example, Japanese Patent Laying-Open No. 2018-132015 discloses a vehicle including a motive power system that manages motive power of the vehicle in a centralized manner, a power supply system that manages supply of electric power to various vehicle-mounted devices in a centralized manner, and an autonomous driving system that carries out autonomous driving control of the vehicle in a centralized manner. 
     SUMMARY 
     While autonomous driving is being carried out, a vehicle is controlled in accordance with an instruction from an autonomous driving system. While autonomous driving is being carried out, various devices such as a headlight, a hazard light, a front windshield wiper, and a rear windshield wiper can also be controlled in accordance with an instruction from the autonomous driving system. 
     Determination as to operations by the various devices (for example, timing of turn-on of the headlight or operation timing of the front windshield wiper) may be different among users. Therefore, during autonomous driving, determination by the autonomous driving system as to operations by the various devices and determination as to operations by the various devices by the user who is in a vehicle may be different from each other. When the various devices are controlled in accordance with determination by the autonomous driving system in such a case, the user may feel uncomfortable. 
     The present disclosure was made to solve the problem above, and an object of the present disclosure is to suppress uncomfortable feeling given to a user during autonomous driving due to a difference in determination as to operations by various devices between an autonomous driving system and the user. 
     (1) A vehicle according to the present disclosure is a vehicle on which an autonomous driving system is mountable, and the vehicle includes a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system and a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system. The vehicle platform includes a headlight system, a hazard light system, a front windshield wiper system, and a rear windshield wiper system. The vehicle platform sets an operation mode of each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system in accordance with an operation mode request for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system received from the autonomous driving system and/or an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system. The vehicle platform sets the operation mode with the operation by the user being prioritized over the operation mode request. 
     According to the configuration, for setting of the operation mode of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system, an operation by a user is prioritized over an operation mode request from the autonomous driving system. Thus, even during autonomous driving, the user can set the operation mode of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system. Therefore, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     (2) In one embodiment, when the operation mode of the headlight system has been set to a first prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the headlight system in accordance with the operation mode request. 
     (3) In one embodiment, when the operation mode of the headlight system has been set to a mode other than the first prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the headlight system in accordance with the operation mode request. 
     (4) In one embodiment, the first prescribed mode includes an OFF mode and an AUTO mode. The OFF mode is a mode in which a headlight is turned off. The AUTO mode is a mode in which the operation mode of the headlight system is automatically set by the vehicle platform. 
     According to the configuration in (2) to (4), an operation mode request from the autonomous driving system is accepted only when the operation mode of the headlight system has been set to the first prescribed mode (the OFF mode or the AUTO mode) by the operation by the user. When the user has set the operation mode of the headlight system to the OFF mode or the AUTO mode, the user is estimated to have left setting of the operation mode of the headlight system to the autonomous driving system or the vehicle. Therefore, by accepting the operation mode request from the autonomous driving system only in such a case, uncomfortable feeling given to the user can be suppressed. 
     (5) In one embodiment, when the operation mode of the front windshield wiper system has been set to a second prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (6) In one embodiment, when the operation mode of the front windshield wiper system has been set to a mode other than the second prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (7) In one embodiment, the second prescribed mode includes an OFF mode and an Auto mode. The OFF mode is a mode in which a front windshield wiper is stopped. The Auto mode is a mode in which the operation mode of the front windshield wiper system is automatically set by the vehicle platform. 
     According to the configuration in (5) to (7), the operation mode request from the autonomous driving system is accepted only when the operation mode of the front windshield wiper system has been set to the second prescribed mode (the OFF mode or the Auto mode) by the operation by the user. When the user has set the operation mode of the front windshield wiper system to the OFF mode or the Auto mode, the user is estimated to have left setting of the operation mode of the front windshield wiper system to the autonomous driving system or the vehicle. Therefore, by accepting the operation mode request from the autonomous driving system only in such a case, uncomfortable feeling given to the user can be suppressed. 
     (8) In one embodiment, the front windshield wiper system includes as the operation mode, an intermittent operation mode in which a front windshield wiper is intermittently operated. When the operation mode of the front windshield wiper system has been set to the intermittent operation mode, the vehicle platform sets an operation interval in accordance with an operation interval request that indicates the operation interval of the front windshield wiper in the intermittent operation mode received from the autonomous driving system and/or the operation by the user onto the operation apparatus. The vehicle platform sets the operation interval with the operation by the user being prioritized over the operation interval request. 
     According to the configuration, for setting of the operation interval of the front windshield wiper in the intermittent operation mode, the operation by the user is prioritized over the operation interval request from the autonomous driving system. Thus, even during autonomous driving, the user can set the operation interval of the front windshield wiper in the intermittent operation mode. Therefore, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     The foregoing and other objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description of the present disclosure when taken in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram showing overview of a MaaS system in which a vehicle according to an embodiment of the present disclosure is used. 
         FIG.  2    is a diagram showing a detailed configuration of a vehicle control interface, a VP, and an ADK. 
         FIG.  3    is a diagram for illustrating a light operation mode request. 
         FIG.  4    is a flowchart showing a procedure of processing for setting an operation mode of a headlight. 
         FIG.  5    is a diagram for illustrating a hazard light operation mode request. 
         FIG.  6    is a flowchart showing a procedure of processing for setting an operation mode of a hazard light. 
         FIG.  7    is a diagram for illustrating a front windshield wiper operation mode request. 
         FIG.  8    is a flowchart showing a procedure of processing for setting an operation mode of a front windshield wiper. 
         FIG.  9    is a diagram for illustrating a front windshield wiper operation interval request in an intermittent operation mode. 
         FIG.  10    is a diagram for illustrating a rear windshield wiper operation mode request. 
         FIG.  11    is a flowchart showing a procedure of processing for setting an operation mode of a rear windshield wiper. 
         FIG.  12    is a diagram of an overall configuration of MaaS. 
         FIG.  13    is a diagram of a system configuration of a MaaS vehicle. 
         FIG.  14    is a diagram showing a typical flow in an autonomous driving system. 
         FIG.  15    is a diagram showing an exemplary timing chart of an API relating to stop and start of the MaaS vehicle. 
         FIG.  16    is a diagram showing an exemplary timing chart of the API relating to shift change of the MaaS vehicle. 
         FIG.  17    is a diagram showing an exemplary timing chart of the API relating to wheel lock of the MaaS vehicle. 
         FIG.  18    is a diagram showing a limit value of variation in tire turning angle. 
         FIG.  19    is a diagram illustrating intervention by an accelerator pedal. 
         FIG.  20    is a diagram illustrating intervention by a brake pedal. 
         FIG.  21    is a diagram of an overall configuration of MaaS. 
         FIG.  22    is a diagram of a system configuration of a vehicle. 
         FIG.  23    is a diagram showing a configuration of supply of power of the vehicle. 
         FIG.  24    is a diagram illustrating strategies until the vehicle is safely brought to a standstill at the time of occurrence of a failure. 
         FIG.  25    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. 
     &lt;Overall Configuration&gt; 
       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. 
     Referring to  FIG.  1   , this MaaS system includes a vehicle  10 , a data server  500 , a mobility service platform (which is also referred to 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 also referred to as “ADK” below)  200 . Vehicle main body  100  includes a vehicle control interface  110 , a vehicle platform (which is also referred to 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 manual 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) or Ethernet®. Vehicle control interface  110  receives various commands from ADK  200  by executing a prescribed application program interface (API) defined for each communicated signal. Vehicle control interface  110  provides a state of vehicle main body  100  to ADK  200  by executing a prescribed 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 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 also referred to 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 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  and/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. 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 . 
     &lt;Configuration of Vehicle&gt; 
       FIG.  2    is a diagram showing a detailed configuration of vehicle control interface  110 , VP  120 , and ADK  200 . Referring to  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 . 
     During autonomous driving of vehicle  10 , compute assembly  210  obtains information on an environment around the vehicle and a pose, a behavior, and a position of vehicle  10  with various sensors which will be described later. Compute assembly  210  obtains a state of vehicle  10  from VP  120  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  accepts an input operation from a user for vehicle  10 . HMI  230  can accept, for example, an input by a touch operation onto a display screen and/or an audio input. HMI  230  presents information to a user of vehicle  10  by showing information on the display screen. HMI  230  may present information to the user of vehicle  10  by voice and sound in addition to or instead of representation of information on the display screen. HMI  230  provides information to the user and accepts an input operation, for example, during autonomous driving, during manual driving by a user, or at the time of transition between autonomous driving and manual driving. 
     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 measures a distance based on a time period from emission of pulsed laser beams (infrared rays) until return of the emitted beams reflected by an object. The millimeter-wave radar measures a distance and/or a direction to an object by emitting radio waves short in wavelength to the object and detecting radio waves that are reflected and return from the object. The camera is arranged, for example, on a rear side of a room mirror in a compartment and shoots an image of the front of vehicle  10 . As a result of image processing onto 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  detect a pose, a behavior, or a position of vehicle  10 . Sensors for pose  270  include, for example, an inertial measurement unit (IMU) and a global positioning system (GPS). 
     The IMU detects, for example, an acceleration in a front-rear direction, a lateral direction, and a vertical direction of vehicle  10  and an angular velocity 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  can remove soiling attached to various sensors. Sensor cleaning  290  removes soiling on a lens of the camera or a portion from which laser beams and/or radio waves are emitted, for example, with a cleaning solution and/or a wiper. 
     Vehicle control interface  110  includes a vehicle control interface box (VCIB)  111 A and a VCIB  111 B. Each of VCIBs  111 A and  111 B includes an electronic control unit (ECU), and specifically contains a central processing unit (CPU) and a memory (a read only memory (ROM) and a random access memory (RAM)) (neither of which is shown). VCIB  111 A and VCIB  111 B are basically equivalent in function to each other. VCIB  111 A and VCIB  111 B are partially different from each other 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  over the CAN or the like. 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 executes a program stored in a memory, converts various instructions provided from ADK  200  into control commands to be used for control of each system of VP  120 , and provides the converted control commands to a destination system. Each of VCIBs  111 A and  111 B processes or relays various types of vehicle information output from VP  120  and provides the vehicle information as a vehicle state to ADK  200 . 
     For at least one of systems of VP  120  such as a brake system and a steering system, VCIBs  111 A and  111 B are configured to be equivalent in function to each other so that 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 P-Lock system  123 B, a propulsion system  124 , a pre-crash safety (PCS) system  125 , and a body system  126 . 
     Brake system  121 B, steering system  122 A, EPB system  123 A, P-Lock system  123 B, propulsion system  124 , and body system  126  of the plurality of systems of VP  120  are communicatively connected to VCIB  111 A through a communication bus. 
     Brake system  121 A, steering system  122 B, and P-Lock system  123 B of the plurality of systems of VP  120  are communicatively connected to VCIB  111 B through a communication bus. 
     Brake systems  121 A and  121 B can control a plurality of braking apparatuses (not shown) provided in wheels of vehicle  10 . The braking apparatus includes, for example, a disc brake system that is operated with a hydraulic pressure regulated by an actuator. Brake system  121 A and brake system  121 B may be equivalent in function to each other. Alternatively, any one of brake systems  121 A and  121 B may be able to independently control braking force of each wheel and the other thereof may be able to control braking force such that equal braking force is generated in the wheels. 
     A wheel speed sensor  127  is connected to brake system  121 B. Wheel speed sensor  127  is provided in each wheel of vehicle  10 . Wheel speed sensor  127  detects a rotation speed and a rotation direction of a wheel. Wheel speed sensor  127  outputs the detected rotation speed and rotation direction of the wheel to brake system  121 B. For example, wheel speed sensor  127  provides pulses different between during rotation in a direction of forward travel of vehicle  10  and during rotation in a direction of rearward travel of vehicle  10 . Brake system  121 B fixes or confirms the rotation direction of each wheel based on the pulses from wheel speed sensor  127 . Then, brake system  121 B provides information indicating the fixed rotation direction of each wheel to VCIB  111 A. 
     Brake system  121 B determines whether or not vehicle  10  has come to a standstill based on the fixed rotation direction of each wheel. Specifically, when the speed of all wheels is set to zero and when a certain time period has elapsed since the speed of all wheels was set to 0, brake system  121 B determines that vehicle  10  has come to a standstill. When brake system  121 B determines that vehicle  10  has come to a standstill, the brake system provides information indicating “Standstill” to VCIB  111 A. 
     Each of brake systems  121 A and  121 B receives a command from ADK  200  as a control command through vehicle control interface  110  and generates a braking instruction to the braking apparatus in accordance with the control command. For example, brake systems  121 A and  121 B control the braking apparatus based on a braking instruction generated in one of brake systems  121 A and  121 B, 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 can control a steering angle of a steering wheel of vehicle  10  with a steering apparatus (not shown). The steering apparatus includes, for example, rack-and-pinion electric power steering (EPS) that allows adjustment of a steering angle by an actuator. 
     Steering systems  122 A and  122 B are equivalent in function to each other. Each of steering systems  122 A and  122 B receives a command from ADK  200  as a control command through vehicle control interface  110  and generates a steering instruction to the steering apparatus in accordance with the control command. For example, steering systems  122 A and  122 B control the steering apparatus based on the steering instruction generated in one of steering systems  122 A and  122 B, and when a failure occurs in one of the steering systems, the steering apparatus is controlled based on a steering instruction generated in the other steering system. 
     A pinion angle sensor  128 A is connected to steering system  122 A. A pinion angle sensor  128 B 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. 
     EPB system  123 A can control an EPB (not shown) provided in at least any of wheels. The EPB is provided separately from the braking apparatus, and fixes a wheel by an operation of an actuator. The EPB, for example, activates a drum brake for a parking brake provided in at least one of wheels of vehicle  10  to fix the wheel. The EPB activates a braking apparatus to fix a wheel, for example, 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 receives a command from ADK  200  as a control command through vehicle control interface  110  and controls the EPB in accordance with the control command. 
     P-Lock system  123 B can control a P-Lock apparatus (not shown) provided in a transmission of vehicle  10 . The P-Lock apparatus fixes rotation of an output shaft of the transmission by fitting a protrusion provided at a tip end of a parking lock pawl into a tooth of a gear (locking gear) provided as being coupled to a rotational element in the transmission. A position of the parking lock pawl is adjusted by an actuator. P-Lock system  123 B receives a command from ADK  200  as a control command through vehicle control interface  110  and controls the P-Lock apparatus in accordance with the control command. 
     Propulsion system  124  can switch a shift range with the use of a shift apparatus (not shown) and can control driving force of vehicle  10  in a direction of travel that is generated from a drive source (not shown). The shift apparatus can select any of a plurality of shift ranges. The drive source includes, for example, a motor generator and/or an engine. Propulsion system  124  receives a command from ADK  200  as a control command through vehicle control interface  110  and controls the shift apparatus and the drive source in accordance with the control command. 
     PCS system  125  is communicatively connected to brake system  121 B. PCS system  125  carries out control to avoid collision of vehicle  10  or to mitigate damage by using a result of detection by a camera/radar  129 . For example, PCS system  125  detects an object in front and determines whether or not vehicle  10  may collide with the object based on a distance to the object. When PCS system  125  determines that there is possibility of collision with the object, it outputs a braking instruction to brake system  121 B so as to increase braking force. 
     Body system  126  controls, for example, various devices in accordance with a state or an environment of travel of vehicle  10 . The various devices include, for example, a direction indicator, a headlight, a hazard light, a horn, a front windshield wiper, and a rear windshield wiper. Body system  126  receives a command from ADK  200  as a control command through vehicle control interface  110  and controls the various devices in accordance with the control command. The various devices are each separately provided with an operation apparatus manually operable by a user (a driver). 
     Determination as to operations by the various devices (for example, timing of turn-on of the headlight or operation timing of the front windshield wiper) may be different among users. Therefore, during autonomous driving, determination by ADK  200  as to operations by the various devices may be different from determination as to operations by the various devices by the user who is in vehicle  10 . When the various devices are controlled in accordance with determination by ADK  200  in such a case, the user may feel uncomfortable. Then, in the present embodiment, when an operation is performed by the user onto the operation apparatus for each of the headlight, the hazard light, the front windshield wiper, and the rear windshield wiper among the various devices, the operation by the user is prioritized over an instruction (a command) from ADK  200 . By prioritizing the operation by the user, uncomfortable feeling given to the user can be suppressed. Details of the headlight, the hazard light, the front windshield wiper, and the rear windshield wiper will sequentially be described below. 
     &lt;Headlight&gt; 
     The headlight includes a “TAIL mode,” a “HEAD mode,” an “AUTO mode,” a “HI mode,” and an “OFF mode” as operation modes. The “TAIL mode” refers to a mode in which a parking light (a sidelight) is turned on. The “HEAD mode” refers to a mode in which the headlight is turned on and set to low beam. The “AUTO mode” refers to a mode in which VP  120  (body system  126  in the present embodiment) automatically sets the operation mode based on brightness around vehicle  10 . The “HI mode” refers to a mode in which the headlight is turned on and set to high beam. The “OFF mode” refers to a mode in which the headlight is turned off. 
     The user can set the operation mode of the headlight by performing an operation onto the operation apparatus (for example, a light switch). The operation apparatus provides to VP  120  (body system  126 ) every prescribed control cycle, a signal (which is also referred to as “a first driver input (Headlight_Driver_Input) below) indicating the operation mode (which is also referred to as a “first driver setting mode” below) of the headlight set by the operation by the user. VP  120  recognizes the first driver setting mode based on the first driver input received from the operation apparatus. 
     When the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” VP  120  accepts a command from ADK  200 . This is because, when the user has set the operation mode of the headlight system to the OFF mode or the AUTO mode, the user is estimated to have left setting of the operation mode of the headlight system to ADK  200  or vehicle main body  100 . Specifically, ADK  200  provides a light operation mode request (Headlight_Mode_Command) indicating an illumination state of the headlight to vehicle control interface  110  every prescribed control cycle. Vehicle control interface  110  that has received the light operation mode request generates a control command corresponding to the light operation mode request and provides the generated control command to VP  120  (body system  126 ). That is, Headlight_Mode_Command is a command to control the headlight mode of the vehicle platform (VP  120 ). When the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” VP  120  sets the operation mode of the headlight in accordance with the control command. When the first driver setting mode indicates neither the “OFF mode” nor the “AUTO mode,” that is, when the first driver setting mode indicates the “TAIL mode,” the “HEAD mode,” or the “HI mode,” VP  120  does not accept a command from ADK  200 . A value corresponding to the operation mode requested by ADK  200  is set in the light operation mode request provided from ADK  200  in accordance with contents in  FIG.  3    which will be described below. 
       FIG.  3    is a diagram for illustrating a light operation mode request.  FIG.  3    shows relation between a light operation mode request and a corresponding value. Specifically, a value is shown in a field “value” and a light operation mode request is shown in a field “Description”. Remarks are given in a field “remarks”. 
     Referring to  FIG.  3   , a value 0 indicates that “there is no request (No request).” Though detailed description will be provided later, the value 0 is set when a current operation mode is maintained. A value 1 indicates a “TAIL mode request.” A value 2 indicates a “HEAD mode request.” A value 3 indicates an “AUTO mode request.” A value 4 indicates a “HI mode request.” A value 5 indicates an “OFF mode request.” Though values 6 and 7 are not used in the present embodiment, they can also be set and used as appropriate. 
     When vehicle control interface  110  receives the light operation mode request from ADK  200 , it generates a control command corresponding to a value indicated in the light operation mode request and provides the control command to VP  120 . When the light operation mode request indicates the value 0, vehicle control interface  110  generates a control command indicating “No request” and provides the control command to VP  120 . When the light operation mode request indicates the value 1, vehicle control interface  110  generates a control command indicating the “TAIL mode request” and provides the control command to VP  120 . When the light operation mode request indicates the value 2, vehicle control interface  110  generates a control command indicating the “HEAD mode request” and provides the control command to VP  120 . When the light operation mode request indicates the value 3, vehicle control interface  110  generates a control command indicating the “AUTO mode request” and provides the control command to VP  120 . When the light operation mode request indicates the value 4, vehicle control interface  110  generates a control command indicating the “HI mode request” and provides the control command to VP  120 . When the light operation mode request indicates the value 5, vehicle control interface  110  generates a control command indicating the “OFF mode request” and provides the control command to VP  120 . 
     When the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” VP  120  accepts a control command. When the first driver setting mode does not indicate the “OFF mode” or the “AUTO mode,” that is, when the first driver setting mode indicates the “TAIL mode,” the “HEAD mode,” or the “HI mode,” VP  120  does not accept the control command. While the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” VP  120  sets the operation mode of the headlight to the “TAIL mode” when it receives the control command indicating the “TAIL mode request,” VP  120  sets the operation mode of the headlight to the “HEAD mode” when it receives the control command indicating the “HEAD mode request,” VP  120  sets the operation mode of the headlight to the “AUTO mode” when it receives the control command indicating the “AUTO mode request,” VP  120  sets the operation mode of the headlight to the “HI mode” when it receives a control command indicating the “HI mode request,” and VP  120  sets the operation mode of the headlight to the “OFF mode” when it receives a control command indicating the “OFF mode request.” 
     When VP  120  receives the control command indicating “No request” while the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” it maintains the current operation mode. 
     When the user has changed the first driver setting mode by performing an operation onto the operation apparatus, VP  120  sets the operation mode of the headlight not in accordance with the control command but in accordance with the changed first driver setting mode. In other words, VP  120  prioritizes the operation by the user (a first driver input) over the command from ADK  200 . 
       FIG.  4    is a flowchart showing a procedure of processing for setting an operation mode of the headlight. Processing in the flowchart in  FIG.  4    is repeatedly performed in VP  120  every prescribed control cycle. Though an example in which processing in the flowchart in  FIG.  4    and  FIGS.  6 ,  8 , and  11    which will be described later is performed by software processing by VP  120  is described, a part or the entirety thereof may be implemented by hardware (electric circuitry) made in VP  120 . 
     VP  120  determines whether or not the first driver setting mode indicates the “OFF mode” or the “AUTO mode” (a step  1 , the step being abbreviated as “S” below). When the first driver setting mode indicates the “TAIL mode,” the “HEAD mode,” or the “HI mode” (NO in S 1 ), VP  120  maintains the first driver setting mode as the operation mode of the headlight and the process returns. In other words, VP  120  does not accept a command from ADK  200 . 
     When the first driver setting mode indicates the “OFF mode” or the “AUTO mode” (YES in S 1 ), VP  120  determines whether or not the user has performed an operation onto the operation apparatus (S 2 ). In other words, VP  120  determines whether or not the first driver setting mode has been changed. 
     When the user has performed an operation onto the operation apparatus (YES in S 2 ), VP  120  changes the operation mode of the headlight to the first driver setting mode indicated by the operation by the user (S 3 ). 
     When the user has not performed an operation onto the operation apparatus (NO in S 2 ), VP  120  determines whether or not the light operation mode request from ADK  200  indicates “No request” (S 4 ). VP  120  determines contents of the light operation mode request based on a control command from vehicle control interface  110 . 
     When the light operation mode request indicates “No request” (YES in S 4 ), VP  120  maintains the current operation mode (S 5 ). 
     When the light operation mode request indicates a request other than “No request” (NO in S 4 ), VP  120  changes the operation mode of the headlight to the operation mode indicated in the light operation mode request (S 6 ). 
     As set forth above, when the first driver setting mode indicates the “OFF mode” or the “AUTO mode,” VP  120  sets the operation mode of the headlight in accordance with the light operation mode request from ADK  200 . By accepting the light operation mode request from ADK  200  only when the user is estimated to have left setting of the operation mode of the headlight system to ADK  200  or vehicle main body  100 , uncomfortable feeling given to the user during autonomous driving can be suppressed. When the user has performed an operation onto the operation apparatus, VP  120  prioritizes the operation by the user over the light operation mode request from ADK  200 . By prioritizing the operation by the user over determination by ADK  200  during autonomous driving, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     &lt;Hazard Light&gt; 
     The hazard light includes an “OFF mode” and an “ON mode” as operation modes. The “OFF mode” refers to a mode in which the hazard light is turned off. The “ON mode” refers to a mode in which the hazard light flashes. 
     The user can set the operation mode of the hazard light by performing an operation onto the operation apparatus (for example, a hazard light switch). The operation apparatus provides to VP  120  (body system  126 ) every prescribed control cycle, a signal (which is also referred to as a “second driver input” below) indicating the operation mode (which is also referred to as a “second driver setting mode” below) of the hazard light set by the operation by the user. VP  120  recognizes the second driver setting mode based on the second driver input received from the operation apparatus. 
     VP  120  accepts a command from ADK  200 . Specifically, ADK  200  provides a hazard light operation mode request (Hazardlight_Mode_Command) indicating an illumination state of the hazard light to vehicle control interface  110  every prescribed control cycle. Vehicle control interface  110  that has received the hazard light operation mode request generates a control command corresponding to the hazard light operation mode request and provides the generated control command to VP  120  (body system  126 ). VP  120  sets the operation mode of the hazard light in accordance with the control command. That is, Hazardlight_Mode_Command is a command to control the hazardlight mode of the vehicle platform (VP  120 ). A value corresponding to the operation mode requested by ADK  200  is set in the hazard light operation mode request provided from ADK  200  in accordance with contents in  FIG.  5    which will be described below. 
       FIG.  5    is a diagram for illustrating a hazard light operation mode request.  FIG.  5    shows relation between a hazard light operation mode request and a corresponding value. Specifically, a value is shown in a field “value” and a hazard light operation mode request is shown in a field “Description”. Remarks are given in a field “remarks”. 
     Referring to  FIG.  5   , a value 0 indicates a command for the hazard light “OFF”, that is, turn-off of the hazard light. A value 1 indicates a command for the hazard light “ON”, that is, flashing of the hazard light. 
     When vehicle control interface  110  receives the hazard light operation mode request from ADK  200 , it generates a control command corresponding to a value indicated in the hazard light operation mode request and provides the control command to VP  120 . When the hazard light operation mode request indicates the value 0, vehicle control interface  110  generates a control command indicating “OFF” and provides the control command to VP  120 . When the hazard light operation mode request indicates the value 1, vehicle control interface  110  generates a control command indicating “ON” and provides the control command to VP  120 . 
     When VP  120  receives the control command indicating “OFF”, it sets the operation mode of the hazard light to the “OFF mode,” and when VP  120  receives the control command indicating “ON”, it sets the operation mode of the hazard light to the “ON mode.” 
     When the user has changed the second driver setting mode by performing an operation onto the operation apparatus, VP  120  sets the operation mode of the hazard light not in accordance with the control command but in accordance with the changed second driver setting mode. In other words, VP  120  prioritizes the operation by the user (a second driver input) over the command from ADK  200 . 
       FIG.  6    is a flowchart showing a procedure of processing for setting an operation mode of the hazard light. Processing in the flowchart in  FIG.  6    is repeatedly performed in VP  120  every prescribed control cycle. 
     VP  120  determines whether or not the user has performed an operation onto the operation apparatus (S 11 ). In other words, VP  120  determines whether or not the second driver setting mode has been changed. 
     When the user has performed an operation onto the operation apparatus (YES in S 11 ), VP  120  changes the operation mode of the hazard light to the second driver setting mode indicated by the operation by the user (S 12 ). 
     When the user has not performed an operation onto the operation apparatus (NO in S 11 ), VP  120  determines whether or not the hazard light operation mode request from ADK  200  indicates “ON” (S 13 ). VP  120  determines contents of the hazard light operation mode request based on a control command from vehicle control interface  110 . 
     When the hazard light operation mode request indicates “ON” (YES in S 13 ), VP  120  sets the operation mode of the hazard light to the ON mode and has the hazard light flash (S 14 ). When the hazard light operation mode request indicates “OFF” (NO in S 13 ), VP  120  sets the operation mode of the hazard light to the OFF mode and turns off the hazard light (S 15 ). 
     As set forth above, VP  120  changes the operation mode of the hazard light in accordance with the hazard light operation mode request from ADK  200 . When the user has performed an operation, VP  120  prioritizes the operation by the user over the hazard light operation mode request from ADK  200 . By prioritizing the operation by the user over determination by ADK  200  during autonomous driving, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     &lt;Front Windshield Wiper&gt; 
     The front windshield wiper includes an “OFF mode,” a “Lo mode,” a “Hi mode,” an “intermittent operation mode,” an “Auto mode,” and a “Mist mode” as operation modes. The “OFF mode” refers to a mode in which the front windshield wiper is stopped. The “Lo mode” refers to a mode in which the front windshield wiper is operated at a first speed. The “Hi mode” refers to a mode in which the front windshield wiper is operated at a second speed higher than the first speed. The “intermittent operation mode” refers to a mode in which the front windshield wiper is intermittently operated. Though details will be described later, an operation interval of the front windshield wiper is set in the intermittent operation mode. The “Auto mode” refers to a mode in which VP  120  automatically selects the Lo mode or the Hi mode based on a result of detection by a raindrop sensor provided in a windshield. The “Mist mode” refers to a mode in which the front windshield wiper is activated only a prescribed number of times (for example, once). 
     The user can set the operation mode of the front windshield wiper by performing an operation onto the operation apparatus (for example, a windshield wiper switch). The operation apparatus provides to VP  120  (body system  126 ) every prescribed control cycle, a signal (which is also referred to as a “third driver input (Windshieldwiper_Front_Driver_Input)” below) indicating an operation mode (which is also referred to as a “third driver setting mode” below) of the front windshield wiper set by the operation by the user. VP  120  recognizes the third driver setting mode based on the third driver input. 
     When the third driver setting mode indicates the “OFF mode” or the “Auto mode,” VP  120  accepts a command from ADK  200 . This is because, when the user has set the operation mode of the front windshield wiper system to the OFF mode or the AUTO mode, the user is estimated to have left setting of the operation mode of the front windshield wiper system to ADK  200  or vehicle main body  100 . Specifically, ADK  200  provides a front windshield wiper operation mode request (Windshieldwiper_Mode_Front_Command) that indicates an operation state of the front windshield wiper to vehicle control interface  110  every prescribed control cycle. Vehicle control interface  110  that has received the front windshield wiper operation mode request generates a control command corresponding to the front windshield wiper operation mode request and provides the generated control command to VP  120  (body system  126 ). That is, Windshieldwiper_Mode_Front_Command is a command to control the front windshield wiper of the vehicle platform (VP  120 ). When the third driver setting mode indicates the “OFF mode” or the “Auto mode,” VP  120  sets the operation mode of the front windshield wiper in accordance with the control command. When the third driver setting mode indicates neither the “OFF mode” nor the “Auto mode,” that is, when the third driver setting mode indicates the “Lo mode,” the “Hi mode,” the “intermittent operation mode,” or the “Mist mode,” VP  120  does not accept a command from ADK  200 . A value corresponding to the operation mode requested by ADK  200  is set in the front windshield wiper operation mode request provided from ADK  200  in accordance with contents in  FIG.  7    which will be described below. 
       FIG.  7    is a diagram for illustrating a front windshield wiper operation mode request.  FIG.  7    shows relation between a front windshield wiper operation mode request and a corresponding value. Specifically, a value is shown in a field “value” and a front windshield wiper operation mode request is shown in a field “Description”. Remarks are given in a field “remarks”. 
     Referring to  FIG.  7   , a value 0 indicates a “stop request (an OFF mode request).” A value 1 indicates a “Lo mode request.” A value 2 indicates a “Hi mode request.” A value 3 indicates an “intermittent operation mode request (Intermittent mode request).” A value 4 indicates an “Auto mode request.” A value 5 indicates a “Mist mode request.” Though values 6 and 7 are not used in the present embodiment, they can also be set and used as appropriate. 
     When vehicle control interface  110  receives the front windshield wiper operation mode request from ADK  200 , it generates a control command corresponding to a value indicated in the front windshield wiper operation mode request and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 0, vehicle control interface  110  generates a control command indicating the “OFF mode request” and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 1, vehicle control interface  110  generates a control command indicating the “Lo mode request” and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 2, vehicle control interface  110  generates a control command indicating the “Hi mode request” and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 3, vehicle control interface  110  generates a control command indicating the “Intermittent mode request” and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 4, vehicle control interface  110  generates a control command indicating the “Auto mode request” and provides the control command to VP  120 . When the front windshield wiper operation mode request indicates the value 5, vehicle control interface  110  generates a control command indicating the “Mist mode request” and provides the control command to VP  120 . 
     When the third driver setting mode indicates the “OFF mode” or the “Auto mode,” VP  120  accepts a control command. When the third driver setting mode does not indicate the “OFF mode” or the “Auto mode,” that is, when the third driver setting mode indicates the “Lo mode,” the “Hi mode,” the “intermittent operation mode,” or the “Mist mode,” VP  120  does not accept the control command. While the third driver setting mode indicates the “OFF mode” or the “Auto mode,” VP  120  sets the operation mode of the front windshield wiper to the “OFF mode” when it receives the control command indicating the “OFF mode request,” VP  120  sets the operation mode of the front windshield wiper to the “Lo mode” when it receives the control command indicating the “Lo mode request,” VP  120  sets the operation mode of the front windshield wiper to the “Hi mode” when it receives the control command indicating the “Hi mode request,” VP  120  sets the operation mode of the front windshield wiper to the “intermittent operation mode” when it receives the control command indicating the “Intermittent mode request,” VP  120  sets the operation mode of the front windshield wiper to the “Auto mode” when it receives the control command indicating the “Auto mode request,” and VP  120  sets the operation mode of the front windshield wiper to the “Mist mode” when it receives a control command indicating the “Mist mode request.” 
     When the user has changed the third driver setting mode by performing an operation onto the operation apparatus, VP  120  sets the operation mode of the front windshield wiper not in accordance with the control command but in accordance with the changed third driver setting mode. In other words, VP  120  prioritizes the operation by the user (a third driver input) over the command from ADK  200 . 
       FIG.  8    is a flowchart showing a procedure of processing for setting an operation mode of the front windshield wiper. Processing in the flowchart in  FIG.  8    is repeatedly performed in VP  120  every prescribed control cycle. 
     VP  120  determines whether or not the third driver setting mode indicates the “OFF mode” or the “Auto mode” (S 21 ). When the third driver setting mode indicates the “Lo mode,” the “Hi mode,” the “intermittent operation mode,” or the “Mist mode” (NO in S 21 ), VP  120  maintains the third driver setting mode as the operation mode of the front windshield wiper and the process returns. In other words, VP  120  does not accept a command from ADK  200 . 
     When the third driver setting mode indicates the “OFF mode” or the “Auto mode” (YES in S 21 ), VP  120  determines whether or not the user has performed an operation onto the operation apparatus (S 22 ). In other words, VP  120  determines whether or not the third driver setting mode has been changed. 
     When the user has performed an operation onto the operation apparatus (YES in S 22 ), VP  120  changes the operation mode of the front windshield wiper to the third driver setting mode indicated by the operation by the user (S 23 ). 
     When the user has not performed an operation onto the operation apparatus (NO in S 22 ), VP  120  determines whether or not the front windshield wiper operation mode request from ADK  200  indicates the “Intermittent mode request” (S 24 ). VP  120  determines contents of the front windshield wiper operation mode request based on a control command from vehicle control interface  110 . 
     When the front windshield wiper operation mode request indicates a request other than the “Intermittent mode request” (NO in S 24 ), VP  120  changes the operation mode of the front windshield wiper to the operation mode indicated in the front windshield wiper operation mode request (S 26 ). 
     When the front windshield wiper operation mode request indicates the “Intermittent mode request” (YES in S 24 ), VP  120  sets the operation mode to the intermittent operation mode (S 25 ). An operation interval of the front windshield wiper in the intermittent operation mode is set in accordance with the command from ADK  200 . The operation interval of the front windshield wiper in the intermittent operation mode will be described below. 
     In the present embodiment, “FAST”, “SECOND FAST,” “THIRD FAST,” and “SLOW” can be set as the operation interval of the front windshield wiper in the intermittent operation mode. The operation interval of the front windshield wiper increases in the order of “FAST”, “SECOND FAST,” “THIRD FAST,” and “SLOW”. 
     When ADK  200  provides the “Intermittent mode request” as the front windshield wiper operation mode request, it provides, in addition to the “Intermittent mode request,” an operation interval request (Windshieldwiper_Intermittent_Wiping_Speed_Command) indicating the operation interval in the intermittent operation mode of the front windshield wiper to vehicle control interface  110 . Vehicle control interface  110  that has received the “Intermittent mode request” and the “operation interval request” generates a control command corresponding to the intermittent operation mode request and the operation interval request and provides the generated control command to VP  120 . When VP  120  sets the operation mode of the front windshield wiper to the intermittent operation mode, it sets the operation interval of the front windshield wiper in the intermittent operation mode in accordance with the control command. That is, Windshieldwiper_Intermittent_Wiping_Speed_Command is a command to control the windshield wiper actuation interval at the intermittent mode. 
     The user can also set the operation interval of the front windshield wiper in the intermittent operation mode by performing an operation onto the operation apparatus. When the user sets the operation interval of the front windshield wiper in the intermittent operation mode by performing an operation onto the operation apparatus, VP  120  applies the operation interval set through the operation apparatus. 
       FIG.  9    is a diagram for illustrating a front windshield wiper operation interval request in the intermittent operation mode.  FIG.  9    shows relation between an operation interval request and a corresponding value. Specifically, a value is shown in a field “value” and an operation interval request is shown in a field “Description”. A field “remarks” is used when there are remarks. 
     Referring to  FIG.  9   , a value 0 indicates “FAST”. A value 1 indicates “SECOND FAST.” A value 2 indicates “THIRD FAST.” A value 3 indicates “SLOW”. 
     When vehicle control interface  110  receives the operation interval request from ADK  200 , it generates a control command corresponding to a value indicated in the operation interval request and provides the control command to VP  120 . Specifically, when the operation interval request indicates the value 0, vehicle control interface  110  generates the control command indicating “FAST” and provides the control command to VP  120 . When the operation interval request indicates the value 1, vehicle control interface  110  generates the control command indicating “SECOND FAST” and provides the control command to VP  120 . When the operation interval request indicates the value 2, vehicle control interface  110  generates the control command indicating “THIRD FAST” and provides the control command to VP  120 . When the operation interval request indicates the value 3, vehicle control interface  110  generates the control command indicating “SLOW” and provides the control command to VP  120 . 
     While the operation mode of the front windshield wiper is set to the intermittent operation mode, VP  120  sets the operation interval of the front windshield wiper to “FAST” when it receives the control command indicating “FAST”, VP  120  sets the operation interval of the front windshield wiper to “SECOND FAST” when it receives the control command indicating “SECOND FAST,” VP  120  sets the operation interval of the front windshield wiper to “THIRD FAST” when it receives the control command indicating “THIRD FAST,” and VP  120  sets the operation interval of the front windshield wiper to “SLOW” when it receives the control command indicating “SLOW”. 
     When the user has changed the operation interval of the front windshield wiper by performing an operation onto the operation apparatus, VP  120  changes the operation interval of the front windshield wiper not in accordance with the control command but in accordance with the operation by the user. In other words, VP  120  prioritizes the operation by the user over the command from ADK  200 . 
     As set forth above, while the third driver setting mode indicates the “OFF mode” or the “Auto mode,” VP  120  sets the operation mode of the front windshield wiper in accordance with the front windshield wiper operation mode request from ADK  200 . By accepting the front windshield wiper operation mode request from ADK  200  only when the user is estimated to have left setting of the operation mode of the front windshield wiper system to ADK  200  or vehicle main body  100 , uncomfortable feeling given to the user during autonomous driving can be suppressed. When the user has performed an operation, VP  120  prioritizes the operation by the user over the front windshield wiper operation mode request from ADK  200 . By prioritizing the operation by the user over determination by ADK  200  during autonomous driving, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     VP  120  sets the operation interval of the front windshield wiper in the intermittent operation mode in accordance with the operation interval request from ADK  200 . When the user has performed an operation, VP  120  prioritizes the operation by the user over the operation interval request from ADK  200 . By prioritizing the operation by the user over determination by ADK  200  during autonomous driving, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     &lt;Rear Windshield Wiper&gt; 
     The rear windshield wiper includes an “OFF mode,” a “Lo mode,” and an “intermittent operation mode” as operation modes. The “OFF mode” refers to a mode in which the rear windshield wiper is stopped. The “Lo mode” refers to a mode in which the rear windshield wiper is operated at a prescribed speed. The “intermittent operation mode” refers to a mode in which the rear windshield wiper is intermittently operated. The operation interval of the rear windshield wiper in the intermittent operation mode in the present embodiment is fixed to a prescribed interval. The operation interval of the rear windshield wiper may be set similarly to the front windshield wiper described above. 
     The user can set the operation mode of the rear windshield wiper by performing an operation onto the operation apparatus (for example, a windshield wiper switch). The operation apparatus provides to VP  120  (body system  126 ) every prescribed control cycle, a signal (which is also referred to as a “fourth driver input” below) indicating an operation mode (which is also referred to as a “fourth driver setting mode” below) of the rear windshield wiper set by the operation by the user. VP  120  recognizes the fourth driver setting mode based on the fourth driver input. 
     VP  120  accepts a command from ADK  200 . Specifically, ADK  200  provides a rear windshield wiper operation mode request (Windshieldwiper_Mode_Rear_Command) that indicates an operation state of the rear windshield wiper to vehicle control interface  110  every prescribed control cycle. Vehicle control interface  110  that has received the rear windshield wiper operation mode request generates a control command corresponding to the rear windshield wiper operation mode request and provides the generated control command to VP  120  (body system  126 ). VP  120  sets the operation mode of the rear windshield wiper in accordance with the control command. That is, Windshieldwiper_Mode_Rear_Command is a command to control the rear windshield wiper mode of the vehicle platform (VP  120 ). A value corresponding to the operation mode requested by ADK  200  is set in the rear windshield wiper operation mode request provided from ADK  200  in accordance with contents in  FIG.  10    which will be described below. 
       FIG.  10    is a diagram for illustrating a rear windshield wiper operation mode request.  FIG.  10    shows relation between a rear windshield wiper operation mode request and a corresponding value. Specifically, a value is shown in a field “value” and a rear windshield wiper operation mode request is shown in a field “Description”. Remarks are given in a field “remarks”. 
     Referring to  FIG.  10   , a value 0 indicates a “stop request (OFF mode request).” A value 1 indicates a “Lo mode request.” A value 3 indicates an “intermittent operation mode request (Intermittent mode request).” Though values 2 and 4 to 7 are not used in the present embodiment, they can also be set and used as appropriate. 
     When vehicle control interface  110  receives the rear windshield wiper operation mode request from ADK  200 , it generates a control command corresponding to a value indicated in the rear windshield wiper operation mode request and provides the control command to VP  120 . When the rear windshield wiper operation mode request indicates the value 0, vehicle control interface  110  generates a control command indicating the “OFF mode request” and provides the control command to VP  120 . When the rear windshield wiper operation mode request indicates the value 1, vehicle control interface  110  generates a control command indicating the “Lo mode request” and provides the control command to VP  120 . When the rear windshield wiper operation mode request indicates the value 3, vehicle control interface  110  generates a control command indicating the “Intermittent mode request” and provides the control command to VP  120 . 
     VP  120  sets the operation mode to the “OFF mode” when it receives the control command indicating the “OFF mode request,” VP  120  sets the operation mode to the “Lo mode” when it receives the control command indicating the “Lo mode request,” and VP  120  sets the operation mode to the “intermittent operation mode” when it receives a control command indicating the “Intermittent mode request.” 
     When the user has changed the fourth driver setting mode by performing an operation onto the operation apparatus, VP  120  sets the operation mode of the rear windshield wiper not in accordance with the control command but in accordance with the changed fourth driver setting mode. In other words, VP  120  prioritizes the operation by the user (the fourth driver input) over the command from ADK  200 . 
       FIG.  11    is a flowchart showing a procedure of processing for setting an operation mode of the rear windshield wiper. Processing in the flowchart in  FIG.  11    is repeatedly performed in VP  120  every prescribed control cycle. 
     VP  120  determines whether or not the user has performed an operation onto the operation apparatus (S 31 ). In other words, VP  120  determines whether or not the fourth driver setting mode has been changed. 
     When the user has performed an operation onto the operation apparatus (YES in S 31 ), VP  120  changes the operation mode of the rear windshield wiper to the fourth driver setting mode indicated by the operation by the user (S 32 ). 
     When the user has not performed an operation onto the operation apparatus (NO in S 31 ), VP  120  changes the operation mode of the rear windshield wiper to the operation mode indicated in the rear windshield wiper operation mode request from ADK  200  (S 33 ). 
     As set forth above, VP  120  changes the operation mode of the rear windshield wiper in accordance with the rear windshield wiper operation mode request from ADK  200 . When the user has performed an operation, however, VP  120  prioritizes the operation by the user over the rear windshield wiper operation mode request from ADK  200 . By prioritizing the operation by the user over determination by ADK  200  during autonomous driving, uncomfortable feeling given to the user during autonomous driving can be suppressed. 
     [Aspects] 
     The exemplary embodiment described above will be understood by a person skilled in the art as a specific example of aspects below. 
     (Clause 1) A vehicle according to one aspect is a vehicle on which an autonomous driving system is mountable. The vehicle includes a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system and a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system. The vehicle platform includes a headlight system, a hazard light system, a front windshield wiper system, and a rear windshield wiper system. The vehicle platform sets an operation mode of each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system in accordance with (i) an operation mode request for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system received from the autonomous driving system and/or (ii) an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system. The vehicle platform sets the operation mode with the operation by the user being prioritized over the operation mode request. 
     (Clause 2) In the vehicle described in Clause 1, when the operation mode of the headlight system has been set to a first prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the headlight system in accordance with the operation mode request. 
     (Clause 3) In the vehicle described in Clause 2, when the operation mode of the headlight system has been set to a mode other than the first prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the headlight system in accordance with the operation mode request. 
     (Clause 4) In the vehicle described in Clause 2 or 3, the first prescribed mode includes an “OFF mode” and an “AUTO mode.” The “OFF mode” is a mode in which a headlight is turned off. The “AUTO mode” is a mode in which the operation mode of the headlight system is automatically set by the vehicle platform. 
     (Clause 5) In the vehicle described in Clause 1, when the operation mode of the front windshield wiper system has been set to a second prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (Clause 6) In the vehicle described in Clause 5, when the operation mode of the front windshield wiper system has been set to a mode other than the second prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (Clause 7) In the vehicle described in Clause 5 or 6, the second prescribed mode includes an “OFF mode” and an “Auto mode.” The “OFF mode” is a mode in which a front windshield wiper is stopped. The “Auto mode” is a mode in which the operation mode of the front windshield wiper system is automatically set by the vehicle platform. 
     (Clause 8) In the vehicle described in any one of Clauses 5 to 7, the front windshield wiper system includes as the operation mode, an intermittent operation mode in which a front windshield wiper is intermittently operated. When the operation mode of the front windshield wiper system has been set to the intermittent operation mode, the vehicle platform sets an operation interval in accordance with an operation interval request that indicates the operation interval of the front windshield wiper in the intermittent operation mode received from the autonomous driving system and/or the operation by the user onto the operation apparatus. 
     (Clause 9) A vehicle according to one aspect includes an autonomous driving system that creates a driving plan, a vehicle platform that carries out vehicle control in accordance with an instruction from the autonomous driving system, and a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system. The vehicle platform includes a headlight system, a hazard light system, a front windshield wiper system, and a rear windshield wiper system. The vehicle platform sets an operation mode of each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system in accordance with (i) an operation mode request for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system received from the autonomous driving system and/or (ii) an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front windshield wiper system, and the rear windshield wiper system. The vehicle platform sets the operation mode with the operation by the user being prioritized over the operation mode request. 
     (Clause 10) In the vehicle described in Clause 9, when the operation mode of the headlight system has been set to a first prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the headlight system in accordance with the operation mode request. 
     (Clause 11) In the vehicle described in Clause 10, when the operation mode of the headlight system has been set to a mode other than the first prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the headlight system in accordance with the operation mode request. 
     (Clause 12) In the vehicle described in Clause 10 or 11, the first prescribed mode includes an “OFF mode” and an “AUTO mode.” The “OFF mode” is a mode in which a headlight is turned off. The “AUTO mode” is a mode in which the operation mode of the headlight system is automatically set by the vehicle platform. 
     (Clause 13) In the vehicle described in Clause 9, when the operation mode of the front windshield wiper system has been set to a second prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (Clause 14) In the vehicle described in Clause 13, when the operation mode of the front windshield wiper system has been set to a mode other than the second prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the front windshield wiper system in accordance with the operation mode request. 
     (Clause 15) In the vehicle described in any one of Clauses 13 to 15, the front windshield wiper system includes as the operation mode, an intermittent operation mode in which a front windshield wiper is intermittently operated. When the operation mode of the front windshield wiper system has been set to the intermittent operation mode, the vehicle platform sets an operation interval in accordance with (i) an operation interval request that indicates the operation interval of the front windshield wiper in the intermittent operation mode received from the autonomous driving system and/or (ii) the operation by the user onto the operation apparatus and sets the operation interval with the operation by the user being prioritized over the operation interval request. 
     Example 1 
     Toyota&#39;s MaaS Vehicle Platform 
     API Specification 
     for ADS Developers 
     [Standard Edition #0.1] 
     History of Revision 
     
       
         
           
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Date of Revision 
                 ver. 
                 Summary of Revision 
                 Reviser 
               
               
                   
               
             
            
               
                 May 4, 2019 
                 0.1 
                 Creating a new material 
                 MaaS Business Div. 
               
               
                   
               
            
           
         
       
     
     Index 
     1. Outline 4
         1.1. Purpose of this Specification 4   1.2. Target Vehicle 4   1.3. Definition of Term 4   1.4. Precaution for Handling 4       

     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’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.  12   ). 
     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.  13   ). 
     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.  14   ). 
     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.  15   ). 
     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.  16   ). 
     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.  17   ). 
     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 Direction 
                 Request to switch between forward 
                 N/A 
               
               
                 Command 
                 (D range) and back (R range) 
                   
               
               
                 Immobilization Command 
                 Request to engage/release WheelLock 
                 Applied 
               
               
                 Standstill Command 
                 Request to maintain stationary 
                 Applied 
               
               
                 Acceleration Command 
                 Request to accelerate/decelerate 
                 Applied 
               
               
                 Tire Turning Angle Command 
                 Request front wheel angle 
                 Applied 
               
               
                 Autonomization Command 
                 Request to transition between manual 
                 Applied 
               
               
                   
                 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_ 
                 Front wheel steer angle 
                 Applied 
               
               
                 Actual 
                   
                   
               
               
                 Estimated_Road_Wheel_Angle_ 
                 Front wheel steer angle rate 
                 Applied 
               
               
                 Rate_Actual 
                   
                   
               
               
                 Steering_Wheel_Angle_Actual 
                 Steering wheel angle 
                 N/A 
               
               
                 Steering_Wheel_Angle_Rate_ 
                 Steering wheel angle rate 
                 N/A 
               
               
                 Actual 
                   
                   
               
               
                 Current_Road_Wheel_Angle_ 
                 Road wheel angle rate limit 
                 Applied 
               
               
                 Rate_Limit 
                   
                   
               
               
                 Estimated_Max_Lateral_ 
                 Estimated max lateral acceleration 
                 Applied 
               
               
                 Acceleration_Capability 
                   
                   
               
               
                 Estimated_Max_Lateral_ 
                 Estimated max lateral acceleration rate 
                 Applied 
               
               
                 Acceleration_Rate_Capability 
                   
                   
               
               
                 Accelerator_Pedal_Position 
                 Position of the accelerator pedal (How much is the 
                 N/A 
               
               
                   
                 pedal depressed?) 
                   
               
               
                 Accelerator_Pedal_Intervention 
                 This signal shows whether the accelerator pedal is 
                 N/A 
               
               
                   
                 depressed by a driver (intervention) 
                   
               
               
                 Brake_Pedal_Position 
                 Position of the brake pedal (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.  18   ). 
     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 (0×FF)   
               

     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.  19   ) 
     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 (0×FF)   
           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.  20   ) 
     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 of 
                 N/A 
               
               
                   
                 the vehicle platform 
                   
               
               
                 Hazardlight_Mode_Command 
                 Command to control the hazardlight mode 
                 N/A 
               
               
                   
                 of the vehicle platform 
                   
               
               
                 Horn_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_ 
                 Command to control the Windshield wiper 
                 N/A 
               
               
                 Speed_Command 
                 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 AC 
                 N/A 
               
               
                 Hvac_Fan_Level_2nd_Row_Command 
                 Command to set the fan level on the rear AC 
                 N/A 
               
               
                 Hvac_1st_Row_AirOutlet_Mode_Command 
                 Command to set the mode of 1st row air outlet 
                 N/A 
               
               
                 Hvac_2nd_Row_AirOutlet_Mode_Command 
                 Command to set the mode of 2nd row air outlet 
                 N/A 
               
               
                 Hvac_Recirculate_Command 
                 Command to set the air recirculation mode 
                 N/A 
               
               
                 Hvac_AC_Command 
                 Command to set the AC mode 
                 N/A 
               
               
                   
               
            
           
         
       
     
     3.4.2.1. Turnsignallight_Mode_Command 
     Command to control the turnsignallight mode of the vehicle platform 
     
       
         
           
               
               
               
             
               
                 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 
     
       
         
           
               
               
               
             
               
                 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_2 nd_Command=ON   #3: Hvac_TargetTemperature_2 nd_Left_Command   #4: Hvac_TargetTemperature_2 nd_Right_Command   #5: Hvac_Fan_Level_2 nd_Row_Command   #6: Hvac_2 nd_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 
                 Temperature direction 
                   
               
               
                 [unit: ° F.] 
                   
                   
               
               
                 (by 1.0° F.) 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

     3.4.2.13. Hvac_TargetTemperature_1st_Right_Command 
     Command to Set the Target Temperature Around Front Right Area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 46 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 
                 Temperature direction 
                   
               
               
                 [unit: ° F.] 
                   
                   
               
               
                 (by 1.0° F.) 
               
               
                   
               
            
           
         
       
     
     Remarks
         N/A       

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

     3.4.2.15. Hvac_TargetTemperature_2nd_Right_Command 
     Command to set the target temperature around rear right area 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 48 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 No request 
                   
               
               
                 60 to 85 
                 Temperature direction 
                   
               
               
                 [unit: ° F.] 
                   
                   
               
               
                 (by 1.0° F.) 
               
               
                   
               
            
           
         
       
     
     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 
                 Fan level direction 
                   
               
               
                 (Maximum) 
               
               
                   
               
            
           
         
       
     
     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 
                 Fan level direction 
                   
               
               
                 (Maximum) 
               
               
                   
               
            
           
         
       
     
     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 HVAC 
                 N/A 
               
               
                 Hvac_2 nd _Status 
                 Status of activation of the 2 nd  row HVAC 
                 N/A 
               
               
                 Hvac_Temperature_1 st _Left_Status 
                 Status of set temperature of 1 st  row left 
                 N/A 
               
               
                 Hvac_Temperature_1 st _Right_Status 
                 Status of set temperature of 1 st  row right 
                 N/A 
               
               
                 Hvac_Temperature_2 nd _Left_Status 
                 Status of set temperature of 2 nd  row left 
                 N/A 
               
               
                 Hvac_Temperature_2 nd _Right_Status 
                 Status of set temperature of 2 nd  row right 
                 N/A 
               
               
                 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’s seat belt buckle switch 
                 — 
               
               
                 1st_Right_Seat_Belt_Status 
                 Status of passenger’s seat belt 
                 — 
               
               
                   
                 buckle switch 
                   
               
               
                 2nd_Left_Seat_Belt_Status 
                 Seat belt buckle switch status in 2nd 
                 — 
               
               
                   
                 left seat 
                   
               
               
                 2nd_Right_Seat_Belt_Status 
                 Seat belt buckle switch status in 2nd 
                 — 
               
               
                   
                 right seat 
               
               
                   
               
            
           
         
       
     
     3.4.3.1. Turnsignallight_Mode_Status 
     Status of the current turnsignallight mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 56 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 OFF 
                 Turn lamp = OFF 
               
               
                 1 
                 Left 
                 Turn lamp L = ON (flashing) 
               
               
                 2 
                 Right 
                 Turn lamp R = ON (flashing) 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         At the time of the disconnection detection of the turn lamp, state is ON.   At the time of the short detection of the turn lamp, State is OFF.       

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

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

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

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

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

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

     3.4.3.9. Hvac_Temperature_1st_Left_Status 
     Status of set temperature of 1st row left 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 65 
               
               
                   
               
               
                 value 
                 Description 
                 remarks 
               
               
                   
               
             
            
               
                  0 
                 Lo 
                 Max cold 
               
               
                 60 to 85 
                 Target 
                   
               
               
                 [unit: ° F.] 
                 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 
                 Target 
                   
               
               
                 [unit: ° F.] 
                 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 
                 Target 
                   
               
               
                 [unit: ° F.] 
                 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 
                 Target 
                   
               
               
                 [unit: ° F.] 
                 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 
     
       
         
           
               
               
               
             
               
                 TABLE 81 
               
               
                   
               
               
                 Value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 00 
                 No request 
                   
               
               
                 01 
                 Sleep 
                 means “Ready OFF” 
               
               
                 02 
                 Wake 
                 means that VCIB turns ON 
               
               
                 03 
                 Resd 
                 Reserved for data expansion 
               
               
                 04 
                 Resd 
                 Reserved for data expansion 
               
               
                 05 
                 Resd 
                 Reserved for data expansion 
               
               
                 06 
                 Driving Mode 
                 means “Ready ON” 
               
               
                   
               
            
           
         
       
     
     Remarks
         Regarding “wake”, let us share how to achieve this signal on the CAN. (See the other material) Basically, it is based on “ISO11989-2:2016”. Also, this signal should not be a simple value. Anyway, please see the other material.   This API will reject the next request for a certain time [4000 ms] after receiving a request.       

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

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

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

     Priority: crash detection&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 
                 Temporary lowering 
               
               
                   
                 not possible 
                 in performance due to 
               
               
                   
                   
                 high temperature or 
               
               
                   
                   
                 the like 
               
               
                   
               
            
           
         
       
     
     Remarks
         When the Failure are detected, Safe stop is moved.       

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

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

     3.7.3. Outputs 
     
       
         
           
               
               
               
             
               
                 TABLE 96 
               
               
                   
               
               
                 Signal Name 
                 Description 
                 Redundancy 
               
               
                   
               
             
            
               
                 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_ 
                 Status of the current all door lock 
                 N/A 
               
               
                 Locked_Status 
                 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 
     Status of the current 1st-left door lock mode of the vehicle platform 
     Values 
     
       
         
           
               
               
               
             
               
                 TABLE 97 
               
               
                   
               
               
                 value 
                 Description 
                 Remarks 
               
               
                   
               
             
            
               
                 0 
                 reserved 
                   
               
               
                 1 
                 Locked 
                 D seat locked 
               
               
                 2 
                 Unlocked 
                 D seat unlocked 
               
               
                 3 
                 invalid 
               
               
                   
               
            
           
         
       
     
     Remarks
         cannot detect any failure.       

     3.7.3.2. 1 st_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 
               
               
                   
               
             
            
               
                 Nov. 4, 2019 
                 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’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.  21   ). 
     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.  22   ). 
     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.  23   ). 
     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.  24   ). 
     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 
               
               
                 for the vehicle 
                 integrated vehicle should maintain 
               
               
                 platform until 
                 the necessary functionality for 
               
               
                 safety state 2 
                 safety stop. 
               
               
                   
                 The functionality should be 
               
               
                   
                 maintained for 15 (fifteen) seconds. 
               
               
                 Basic 
                 [For ADS] 
               
               
                 Responsibility 
                 The ADS should create the driving 
               
               
                 Sharing 
                 plan, and should 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.  25   ). 
     [Function Allocation] 
     
       
         
           
               
               
               
               
             
               
                 TABLE 108 
               
               
                   
               
               
                 Function category 
                 Function name 
                 Related to # 
                 remarks 
               
               
                   
               
             
            
               
                 Planning 
                 Plan for driving path 
                  0 
                   
               
               
                   
                 Calculating control 
                  0 
                 e.g. longitudinal G 
               
               
                   
                 indications 
                   
                   
               
               
                 Overall 
                 API Pub/Sub 
                  1 
                 One system with 
               
               
                   
                   
                   
                 redundancy 
               
               
                 Security 
                 Autonomy Driving Kit 
                  1 
                 One system with 
               
               
                   
                 Authentication 
                   
                 redundancy 
               
               
                   
                 Message 
                  1 
                 One system with 
               
               
                   
                 Authentication 
                   
                 redundancy 
               
               
                   
                 Door locking control 
                  8 
                   
               
               
                 Longitudinal/Lateral 
                 Motion control 
                 2 (Primary), 
                   
               
               
                   
                   
                 3 (Secondary) 
                   
               
               
                   
                 Propulsion control 
                  4 
                   
               
               
                   
                 Braking control 
                 2, 3 
                 Two units controlled 
               
               
                   
                   
                   
                 according to 
               
               
                   
                   
                   
                 deceleration 
               
               
                   
                   
                   
                 requirement 
               
               
                   
                 Steering control 
                  5 
                 One system with 
               
               
                   
                   
                   
                 redundancy 
               
               
                   
                 Immobilization control 
                 2 (EPB), 
                   
               
               
                   
                   
                 6 (P Lock) 
                   
               
               
                   
                 Shift control 
                  6 
                   
               
               
                 Power supply 
                 Secondary battery 
                  7 
                   
               
               
                   
                 control 
                   
                   
               
               
                   
                 Vehicle power control 
                 10 
                 For more information, 
               
               
                   
                   
                   
                 see the API 
               
               
                   
                   
                   
                 specification. 
               
               
                 Access/Comfort 
                 Body control 
                  8 
                 Turn signal, 
               
               
                   
                   
                   
                 Headlight, Window, 
               
               
                   
                   
                   
                 etc. 
               
               
                   
                 HVAC control 
                  9 
                   
               
               
                 Data 
                 Data logging (at event) 
                  1 
                   
               
               
                   
                 Data logging 
                  1 
                   
               
               
                   
                 (constantly) 
               
               
                   
               
            
           
         
       
     
     5.2. In a Single Failure 
     See the separated document called “Fault Management” regarding notifiable single failure and expected behavior for the ADS. 
     Though embodiments of the present disclosure have been described above, it should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is defined by the terms of the claims and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.