US 11,987,284 B2
Vehicle and autonomous driving kit
Ikuma Suzuki, Okazaki (JP); Satoshi Katoh, Toyota (JP); and Ryo Irie, Okazaki (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 19, 2023, as Appl. No. 18/098,822.
Application 18/098,822 is a continuation of application No. 17/722,644, filed on Apr. 18, 2022, granted, now 11,628,880.
Application 17/722,644 is a continuation of application No. 17/154,017, filed on Jan. 21, 2021, abandoned.
Claims priority of application No. 2020-015726 (JP), filed on Jan. 31, 2020.
Prior Publication US 2023/0159101 A1, May 25, 2023
Int. Cl. B62D 15/02 (2006.01); B60W 30/182 (2020.01); B60W 50/12 (2012.01); B60W 60/00 (2020.01)
CPC B62D 15/021 (2013.01) [B60W 30/182 (2013.01); B60W 50/12 (2013.01); B60W 60/001 (2020.02); B60W 2510/0638 (2013.01); B60W 2510/205 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle system capable of autonomous driving, the vehicle system comprising:
an autonomous driving kit attachable to and removable from the vehicle, the autonomous driving kit issuing an instruction for autonomous driving;
a vehicle platform that has a function of steering the vehicle; and
a vehicle control interface box that communicates with the autonomous driving kit and issues a control instruction to the vehicle platform in accordance with an instruction from the autonomous driving kit, the autonomous driving kit being connected to the vehicle platform via the vehicle control interface box by a controller area network (CAN), wherein
the vehicle platform
specifies a limit value of a steering rate in accordance with a prescribed reference, and
transmits the specified limit value to the autonomous driving kit through the vehicle control interface box, and
the autonomous driving kit
calculates a target steering angle to satisfy the limit value received from the vehicle platform, and
transmits an instruction for the calculated steering angle to the vehicle platform through the vehicle control interface box.