RoboCar® PHV/HV

R&D Platform for autonomous driving
RoboCar® PHV/HV
http://www.zmp.co.jp/robocar-phv.html
R&D for autonomous driving! R&D for driver assistance!
Evaluation for sensors or car navigation
systems!
R&D for vehicle communication and vehicleto-vehicle communication!
R&D for telematics!
Ø  RoboCar® PHV/HV is a platform vehicle can drive autonomously by computers. Users can program to
control RoboCar® PHV/HV to research and development for the performance of car and the
autonomous driving. Users can drive it on board also. RoboCar® PHV/HV contains a car body and a
SDK. Ø  We can also provide RoboCar® PHV/HV Primitive-model which can drive on public road with sensors.(*)
System
Options
Sensor
Brake
ECU
Engine
power
Generator
split system
Motor
Inverter
Engine
ECU
Position-Z – GPS, Atmospheric pressure,
Temperature, Humidity
Battery
ECU
EPS
ECU
RoboVision for Car2 – Stereo camera
CAN0
OpticalFlow-Z - Blind spot detection
OBDII
Automatic
control
ECU
Controller
IMU-Z2 – Acceleration, Gyro, Geomagnetism
Inclinometer-Z - Tilt
Battery
Laser range sensor – 2D, 3D
Millimeter-wave radar
Information
display
CAN1
Encoder
Others
HV ECU
CartomoTM UP PRO - 2ch CAN dual
Bluetooth Transceivers
Data logger
Inverter - Power capacity up
Communication - 3G/LTE, Wi-Fi
Features, Basic spec
Functions
u  CAN information - speed, steering, accelerator, brake,
and shift position
u  Safety device
u  Steering, accelerator and brake can be controlled
u  User programs can be executed by the ZMP control
BOX
u  Switchable manual mode and automatic control mode
p  Performance
•  As RoboCar® PHV/HV is a platform added
automatic control functions with Prius, specification
and performance of it is same as TOYOTA Prius.
p  Can information
•  Speed, battery information, driving mode,
accelerator, brake and so on.
p  Steering control
•  Input/output torque of the steering wheel
•  Angle control
p  Accelerator, brake control
•  Input/output of accelerator pedal and brake pedal
•  Speed control
•  Shift lever control
p  UI
(*)RoboCar® PHV Primitive doesn’t include driving
control functions
Functions detail
p  Manual mode / Program mode
p 
•  Steer and drive - accelerator, brake and shift lever are switchable to automatic operation or manual
operation at any time while driving.
p  Speed ​control of the brake and accelerator and pedal
control
•  When using driving at a constant speed like autonomous
algorithm, the speed control is only to gives speed.
p 
•  When using the direct control of brake and accelerator
from the user program, pedal can be controlled.
p  Angle of the steering control and torque control
•  Can be steering at an angle that you specify.
•  If user wants to assist and warnings by the torque,
torque can be controlled.
p  Override function
•  When driving autonomously, the operation of the driver
can be switchable if necessary.
•  Steering, brake, accelerator
•  It can be switched by the UI button on the screen.
•  Override off is also acceptable.
CAN information
•  Allow acquisition and recording regardless of the mode.
•  CAN information of Prius and HV Controller can be
obtained.
•  User input of accelerator pedal, brake pedal and
steering can be also obtained from CAN and be
available to feedback.
Safety functions
•  Emergency stop switch
•  Override
•  Checking erro parameter of Can command and setting
the limit value
•  Detection of H/W error and host communication break
•  Safety functions provided by Prius
SDK, Software
p  Various usage from user systems
•  Software development environment – Controller with
Linux, libraries, documents
•  Can interface and protocol is open. They are controlled
by user systems like DSPACE.
■ Can information
Steering angle
Shift position
Brake ON/OFF
Battery voltage
Brake depression amount
Charge and discharge current
Accelerator depression
amount
SOC, State Of Charge
Speed
Engine speed
Right front wheel speed
EV mode state
Left front wheel speed
Light state
Right rear wheel speed
Gasoline remaining
Left rear wheel speed
Door open or closed
Software
System
Price *excluding tax
Can
information
Driving
control
RoboCar® PHV Primitive　7 Million Yen～
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RoboCar® PHV　14 Million Yen～
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RoboCar® HV　12 Million Yen～
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Model
（※）
Path generation options　500 Thousands Yen
Extra
sensors
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（Option）
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（Option）
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（Option）
Cloud
Public road
driving
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（Option）
（Option）
（Option）
※ Option for RoboCar(R) PHV/HV
ZMP INC. w w w . z m p . c o . j p / e n /
Sumitomo-Fudosan-Koishikawa-Bld,
5-41-10 Koishikawa,Bunkyo-ku Tokyo, 112-002 Japan
TEL +81-3-5802-6901 FAX +81-3-5802-6908 e-nuvo@zmp.co.jp
3D CAD Sponsor from 2001