US 12,084,074 B2
Vehicle and vehicle control interface
Ikuma Suzuki, Okazaki (JP); and Yuta Ohashi, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 25, 2021, as Appl. No. 17/156,692.
Claims priority of application No. 2020-015722 (JP), filed on Jan. 31, 2020.
Prior Publication US 2021/0245774 A1, Aug. 12, 2021
Int. Cl. B60W 50/08 (2020.01); B60T 8/171 (2006.01); B60T 8/1755 (2006.01); B60T 17/22 (2006.01); B60W 50/04 (2006.01)
CPC B60W 50/087 (2013.01) [B60T 8/171 (2013.01); B60T 8/17555 (2013.01); B60T 17/221 (2013.01); B60W 50/045 (2013.01); B60W 50/085 (2013.01); B60W 2510/182 (2013.01); B60W 2520/105 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle on which an autonomous driving system (ADS) can be attached and detached, the vehicle comprising:
a vehicle platform (VP) that controls the vehicle in accordance with an instruction from the ADS that is attached; and
a vehicle control interface that serves as an interface between the ADS and the VP by executing a predetermined application program interface (API) defined for each signal to be communicated, wherein
the VP receives, from a brake position sensor, a depression signal indicating an amount of depression of a brake pedal by a driver,
the VP receives, from the ADS through the vehicle control interface, a system deceleration request,
the VP calculates an arbitration result between the system deceleration request and a driver deceleration request that is in accordance with the amount of depression of the brake pedal, wherein the arbitration result is calculated based on a sum of the driver deceleration request and the system deceleration request,
the VP generates a brake pedal intervention signal based on the brake pedal position signal and the arbitration result,
the VP outputs, to the ADS through the vehicle control interface, the brake pedal position signal and the brake pedal intervention signal, wherein the brake pedal intervention signal is set to:
a first value indicating that a brake pedal is not depressed, when the brake pedal position signal indicates that the amount of depression is smaller than a threshold value,
a second value indicating that the brake pedal is depressed, when the brake pedal position signal indicates that the amount of depression is larger than the threshold value, and
a third value indicating that beyond autonomy deceleration of the vehicle has occurred, when the amount of depression is larger than the threshold value and the driver deceleration request in accordance with the amount of depression is higher than a second threshold value corresponding to the system deceleration request, and
the VP receives, from the ADS through the vehicle control interface, a control signal for controlling the vehicle based on the brake pedal position signal and the brake pedal intervention signal.