US 12,214,832 B2
Vehicle, method of controlling vehicle, and vehicle control interface box
Ikuma Suzuki, Okazaki (JP); Yuji Watari, Toyota (JP); and Eisuke Ando, Nagoya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 19, 2022, as Appl. No. 17/947,691.
Claims priority of application No. 2021-157625 (JP), filed on Sep. 28, 2021.
Prior Publication US 2023/0110521 A1, Apr. 13, 2023
Int. Cl. B62D 6/00 (2006.01); B60W 60/00 (2020.01)
CPC B62D 6/002 (2013.01) [B60W 60/001 (2020.02); B62D 6/001 (2013.01); B60W 2510/20 (2013.01); B60W 2520/00 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle on which an autonomous driving system is mountable, the vehicle comprising:
a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system, wherein
the vehicle platform includes a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle,
from the autonomous driving system to the base vehicle, a wheel steer angle command that requests a steer angle of a steering wheel is transmitted through the vehicle control interface box,
from the base vehicle to the autonomous driving system, a signal indicating the steer angle is transmitted, and
the autonomous driving system
sets a value expressing the steer angle while the vehicle is traveling straight as a reference value,
calculates a relative value between (i) a current value of the steer angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle predetermined by a driving plan to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value, and
sets, by using the relative value, the steer angle requested in the wheel steer angle command so as not to exceed a restriction range of a rate of the steer angle that is set based on a velocity of the vehicle.