Vehicle
A vehicle includes a vehicle platform that controls the vehicle and an autonomous driving kit that transmits commands for autonomous driving to the vehicle platform. The vehicle platform includes an accelerator pedal, a first emergency stop system that stops the vehicle in the event of an abnormality in the autonomous driving kit, and a second emergency stop system that stops the vehicle in the event of an emergency situation for the driver. The autonomous driving kit requires the vehicle platform to inhibit acceleration of the vehicle with the accelerator pedal while the second emergency stop system is activated. The vehicle platform prohibits acceleration of the vehicle using the accelerator pedal while the first emergency stop system is activated, regardless of whether or not there is a request from the autonomous driving kit.
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:
an accelerator pedal to be operated by a driver to accelerate the vehicle;
a first emergency stop system configured to stop the vehicle when an abnormality occurs in the autonomous driving kit; and
a second emergency stop system configured to stop the vehicle when an emergency situation occurs for the driver;
the autonomous driving kit is configured to request the vehicle platform to accelerate the vehicle when the driver operates the accelerator pedal;
the autonomous driving kit is configured to request the vehicle platform to prohibit acceleration of the vehicle using the accelerator pedal while the second emergency stop system is operating; and
the vehicle platform is configured to prohibit the acceleration of the vehicle using the accelerator pedal while the first emergency stop system is operating despite the vehicle platform receiving a request for acceleration from the autonomous driving kit.
2 . The vehicle according to claim 1 , wherein:
the vehicle is configured to operate in an autonomous mode in which the vehicle platform is under control of the autonomous driving kit and in a manual mode in which the vehicle is under control of the driver;
the first emergency stop system is configured to operate when a first operation condition is satisfied in the autonomous mode; and
the second emergency stop system is configured to operate when a second operation condition is satisfied in the manual mode.
3 . The vehicle according to claim 2 , wherein:
the first operation condition is satisfied when an abnormality occurs in communication of the autonomous driving kit in a state in which the autonomous driving kit permits an operation of the first emergency stop system; and
the second operation condition is satisfied when the vehicle receives an input for notifying the vehicle that the emergency situation occurs for the driver.
4 . The vehicle according to claim 1 , wherein:
the vehicle platform further includes a collision prevention system configured to prevent a collision when determination is made that the vehicle has a collision risk; and
the vehicle platform is configured to perform arbitration when an acceleration or a deceleration requested by the autonomous driving kit differs from an acceleration or a deceleration requested by the collision prevention system.
5 . The vehicle according to claim 1 , wherein:
the vehicle platform includes a base vehicle including a first control device;
the autonomous driving kit includes a second control device configured to determine a command related to autonomous driving control;
the vehicle platform further includes a vehicle control interface box including a third control device configured to communicate with both the first control device and the second control device;
the first control device is configured to transmit vehicle information related to the base vehicle to the third control device;
an application program interface signal defined in an application program interface is used for communication between the second control device and the third control device;
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 control device is configured to convert the application program interface command from the second control device into a signal executable by the first control device, and transmit the signal executable by the first control device to the first control device; and
the third control device is configured to acquire the application program interface status by using the vehicle information from the first control device, and transmit the acquired application program interface status to the second control device.
6 . The vehicle according to claim 1 , wherein the vehicle platform is configured to perform a request from the autonomous driving kit other than the request for acceleration while the first emergency stop system is operating.