Toyota Jidosha Kabushiki Kaisha

Ikuma Suzuki

Yuta Ohashi

Eisuke Ando

Ryo Irie

Satoshi Katoh

Yu Nagata

Yoshihisa Yamada

Osamu Yumita

Kaiji Itabashi

Toru Ando

Kazuki Miyake

Haruki Oguri

Yoichi Onishi

Wataru Kanda

Yuji Watari

Tamotsu Kondoh

Nobuyuki Tomatsu

Kentaro Ichikawa

Tetsuya Taira

Masaki Matsunaga

Junya Watanabe

Bunyo Okumura

Hiroki Asao

A vehicle includes a vehicle platform configured to receive an instruction from an autonomous driving kit. The vehicle platform includes a steering wheel to be operated by a driver of the vehicle, a steering motor configured to generate torque for varying an angle of a front wheel of the vehicle, and a first control device configured to control the steering motor. The vehicle platform is configured to receive a front wheel steering angle instruction value requested by the autonomous driving kit during autonomous driving of the vehicle. The first control device is configured to classify driver intervention to the steering wheel into one of a plurality of categories, and control torque of the steering motor in consideration of the steering intention of the driver when a driver operation on the steering wheel is caused, during autonomous driving of the vehicle.

Vehicle

A vehicle is a vehicle on which an autonomous driving kit (ADK) is mountable. The vehicle includes: a vehicle platform (VP) that controls the vehicle in accordance with an instruction from the ADK; and a vehicle control interface that serves as an interface between the ADK and the VP. The VP receives a driver deceleration request in accordance with an amount of depression of a brake pedal by a driver, and receives a system deceleration request from the ADK through the vehicle control interface. During an autonomous mode, the VP specifies the sum of the driver deceleration request and the system deceleration request as a target deceleration of the vehicle.

A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the vehicle, when a first signal indicates an autonomous mode, the vehicle platform performs a shift change requested through a first command only while the second signal indicates a standstill.

Vehicle with mountable and removable autonomous driving system

ADK includes a computer and a communication module. VP includes a non-redundant control system that performs a non-redundant control function, a first bus, a second bus, a first VCIB that is configured to be communicable with the communication module via the first bus and provides a control instruction to the non-redundant control system in accordance with a non-redundant control command for controlling the non-redundant control system from ADK, a second VCIB that is configured to be communicable with the communication module via the second bus, and a third bus that connects the first VCIB and the second VCIB. When the communication via the first bus is abnormal, the computer controls the communication module to send a non-redundant control command to the first VCIB via the second bus and the third bus.

Autonomous driving kit

A VP includes an EPB system configured to switch between activation and release of brakehold and a VCIB that interfaces between an ADS and a VP. The VCIB is configured to provide a standstill status signal to the ADS. The standstill status signal includes a value applied indicating activation of brakehold and a value released indicating release of brakehold. The ADS includes a compute assembly. When the compute assembly requests the VP to activate brakehold, it requests the VP to decelerate until the standstill status signal switches from the value released to the value applied.

Autonomous driving system, vehicle control interface, and vehicle

A server includes a communication unit (first acquisition unit) that acquires information about a status of use of an EVSE by a user (first user) who uses the EVSE (power control device) in a normal state. Further, the server includes a processor (controller) that performs, based on the information about the status of use, control for lending the EVSE to a user (second user) different from the foregoing user in a time period in which the foregoing user does not use the EVSE.

Server, system, and management method

A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the present vehicle, when the autonomous driving system issues a first command to request the vehicle platform to provide deceleration to stop the vehicle and a first signal indicates 0 km/h or a prescribed velocity or less, the autonomous driving system issues a second command to request the vehicle platform to maintain stationary. And after brake hold control is finished, a second signal indicates standstill. Until the second signal indicates standstill, the first command continues to request the vehicle platform to provide deceleration.

Autonomous driving system for communicating with and controlling a vehicle via a vehicle control interface

An ADS performs processing including setting an acceleration command to V1 when an autonomous state is set to an autonomous mode, when the acceleration command has a value indicating deceleration, when a vehicle velocity is zero, and when a standstill command is set to 'Applied' and setting an immobilization command to “Applied” when a traveling direction of a vehicle indicates a standstill status, when there is a wheellock request, and when predetermined time has elapsed since the vehicle came to a standstill.

Vehicle, method of controlling vehicle, and vehicle control interface box

An ADS performs processing including setting an initial value of a wheel steer angle command when an autonomous state has been set to an autonomous mode, obtaining a limitation of a rate, setting a wheel steer angle limitation as the wheel steer angle command when magnitude of the initial value is larger than the wheel steer angle limitation, and transmitting the wheel steer angle command.

An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering systemthrough the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.

Autonomous driving kit, vehicle platform, vehicle control interface box, and vehicle

A server manages power adjustment resources electrically connected to a power network. The power adjustment resources include power equipment installed in a facility and configured to supply power from a vehicle to the power network and charge power from the power network to the vehicle. When reservation information for using the facility is received from a user, the server predicts a power supply-demand balance in the power network on a reserved date and time of use of the facility. When a DR for adjusting the power supply-demand balance is predicted to be performed on the reserved date and time of use, the server prepares a use plan for the facility so as to include the vehicle participating in the DR using the power equipment. The server gives an incentive to the user when the user accepts the use plan.

Server and power adjustment system

An ADS performs processing including setting an immobilization command to 'Applied' when an autonomous state has been set to an autonomous mode, when an acceleration command has a value indicating deceleration, when an actual moving direction indicates a standstill state, and when a wheel lock request is issued, setting the acceleration command to V1, and setting the acceleration command to zero when an immobilization status has been set to “11”.

Vehicle and method of controlling vehicle

A vehicle is a vehicle on which an ADK is mountable. The vehicle includes: a VP that controls the vehicle in accordance with an instruction from the ADK; and a VCIB that serves as an interface between the ADK and the VP. The VP outputs a brake pedal position signal in accordance with an amount of depression of a brake pedal by a driver, and outputs a brake pedal intervention signal, to the ADK through the VCIB. The brake pedal intervention signal indicates that the brake pedal is depressed, when the brake pedal position signal indicates that the amount of depression is larger than a threshold value, and indicates beyond autonomy deceleration of the vehicle, when a deceleration request in accordance with the amount of depression is higher than a system deceleration request.

Growing community of inventors

Okazaki, Japan

Ikuma Suzuki