Vehicle and method of controlling vehicle

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; and

a vehicle control interface that interfaces between the autonomous driving system and the vehicle platform, wherein

the vehicle platform receives (i) a first command that requests for an acceleration value, (ii) a second command that requests for immobilization of the vehicle, and (iii) a tire turning angle command that requests for a wheel steer angle transmitted from the autonomous driving system,

the vehicle platform transmits a signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle to the autonomous driving system, and

the vehicle platform steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle when it is determined based on at least any one of a travel history of the vehicle and a travel line where the vehicle travels that the vehicle is in a straight-ahead travel state,

a signal indicating a standstill state of the vehicle is transmitted from the vehicle platform to the autonomous driving system through the vehicle control interface,

when a request for deceleration is made to the vehicle platform in the first command, the vehicle platform transmits the signal to the autonomous driving system at a time when the vehicle comes to a standstill, and the vehicle platform immobilizes the vehicle in response to the second command received after transmission of the signal, and

a request for a constant deceleration value is made in the first command until a request for immobilization of the vehicle is made in the second command.

2 . A method of controlling a vehicle on which an autonomous driving system is mountable, the vehicle including a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system, and a vehicle control interface that interfaces between the autonomous driving system and the vehicle platform, the method comprising:

transmitting (i) a first command that requests for an acceleration value or a deceleration value, (ii) a second command that requests for immobilization of the vehicle, and (iii) a tire turning angle command that requests for a wheel steer angle from the autonomous driving system to the vehicle platform;

transmitting a signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle from the vehicle platform to the autonomous driving system;

steering the vehicle by the vehicle platform in accordance with the tire turning angle command set based on a wheel estimation angle when it is determined based on at least any one of a travel history of the vehicle and a travel line where the vehicle travels that the vehicle is in a straight-ahead travel state;

transmitting a signal indicating a standstill state of the vehicle from the vehicle platform to the autonomous driving system through the vehicle control interface;

transmitting, by the vehicle platform, when a request for deceleration is made to the vehicle platform in the first command, the signal to the autonomous driving system at a time when the vehicle comes to a standstill; and

immobilizing, by the vehicle platform, the vehicle in response to the second command received after transmission of the signal,

wherein a request for a constant deceleration value is made in the first command until a request for immobilization of the vehicle is made in the second command.