Vehicle
The vehicle comprises a vehicle platform for controlling the vehicle and a ADK for transmitting commands for autonomous driving to the vehicle platform. A base vehicle of a vehicle platform includes a radiator device and a body ECU (first control device). The radiator device includes a radiator fan and is configured to cool ADK. The body ECU is configured to control the radiator fan according to a command from ADK.
1 . A vehicle comprising:
a vehicle platform configured to control the vehicle; and
an autonomous driving kit configured to transmit a command for autonomous driving to the vehicle platform, wherein:
the vehicle platform includes a radiator device and a first processor,
the autonomous driving kit includes a heat source to be cooled by the radiator device, a second processor, which is different from the first processor, and a storage device that stores software for the autonomous driving;
the radiator device includes a radiator fan and is configured to cool the heat source of the autonomous driving kit;
the second processor determines a command related to control of the radiator fan based on at least one of: (i) a temperature of the beat source and (ii) a temperature of a medium that exchanges heat with the heat source, and sends the command related to control of the radiator fan to the first processor; and
the first processor is configured to control the radiator fan according to the command related to the control of the radiator fan from the second processor of the autonomous driving kit.
2 . The vehicle according to claim 1 , wherein:
the autonomous driving kit includes
a temperature sensor configured to detect at least one of a temperature of the heat source and a temperature of a medium for exchanging heat with the heat source; and
the autonomous driving kit is configured to determine a rotation speed of the radiator fan by using a detection result from the temperature sensor, and transmit a command indicating the determined rotation speed to the first processor.
3 . The vehicle according to claim 2 , wherein:
the autonomous driving kit has an opening through which traveling air is taken in and guided to the heat source; and
the autonomous driving kit is configured to:
predict a temperature change of the heat source by using the detection result from the temperature sensor and a behavior of the vehicle during the autonomous driving,
determine the rotation speed of the radiator fan based on a prediction result, and
transmit a command indicating the determined rotation speed to the first processor.
4 . The vehicle according to claim 1 , wherein:
the vehicle platform includes a base vehicle including the first processor;
the vehicle platform further includes a vehicle control interface box including a third processor configured to communicate with both the first processor and the second processor;
the first processor is configured to transmit vehicle information related to the base vehicle to the third processor;
an application program interface signal defined in an application program interface is used for communication between the second processor and the third processor;
the application program interface signal includes an application program interface command indicating a command for the base vehicle, and an application program interface status indicating a status of the base vehicle;
the third processor is configured to convert the application program interface command from the second processor into a signal executable by the first processor, and transmit the converted signal to the first processor; and
the third processor is configured to acquire the application program interface status by using the vehicle information from the first processor, and transmit the acquired application program interface status to the second processor.
5 . The vehicle according to claim 4 , wherein:
the radiator fan control command determined by the second processor indicates either one of:
a first value for requesting a stop of the radiator fan,
a second value for requesting a low rotation speed of the radiator fan,
a third value for requesting a medium rotation speed of the radiator fan that is higher than the low rotation speed, and
a fourth value for requesting a high rotation speed of the radiator fan that is higher than the medium rotation speed.
6 . The vehicle according to claim 1 , wherein the second processor predicts a change in temperature of the heat source by using the temperature of the heat source and behavior of the vehicle during autonomous driving calculated from a travel plan, and determines the command related to the control of the radiator fan using the predicted change in temperature and status of the radiator fan.
7 . The vehicle according to claim 1 , further comprising a communication bus, and wherein the vehicle platform and the autonomous driving kit communicate via the communication bus.