Storage medium for executing steering angle control based on communication between vehicle control device and autonomous driving system
The vehicle control program is executed in a VCIB connected between DS and VP that performs autonomous driving in accordance with a command from DS. VCIB includes a memory in which a program including a predetermined API defined for each signal is stored, and a processor that controls VP in response to an instruction from DS by executing the program. VCIB has a manual/automatic mode. VP can accept a manual driving operation in the manual mode, and can accept a command from DS in the automated mode. The vehicle control program causes the processor to execute a step of executing a process for starting the limp-home travel by ICM that differs from VCIB on the condition that communication between DS and VCIB is impossible, and a step of switching from the automated mode to the manual mode on the condition that the limp-home travel by ICM is started.
1 . A non-transitory storage medium storing a vehicle control program executed by a vehicle control device connected between an autonomous driving system and a travel control device different from the vehicle control device that performs autonomous driving according to an instruction from the autonomous driving system, wherein:
the vehicle control device includes
a memory that stores a program that includes a predetermined application program interface defined for each signal, and
a processor that controls the travel control device according to the instruction from the autonomous driving system by executing the program;
the vehicle control device includes a manual driving mode and an autonomous driving mode as vehicle modes, the vehicle control device being configured to stop control of the travel control device in the manual driving mode;
the travel control device is capable of
receiving a manual driving operation in the manual driving mode, and
receiving the instruction from the autonomous driving system in the autonomous driving mode; and
the vehicle control program causes the processor to
execute a process of determining whether communication between the vehicle control device and the autonomous driving system is disabled,
execute a process of causing the travel control device to start limp-home travel based on determining that the communication between the vehicle control device and the autonomous driving system is disabled,
execute steering angle control after the process of determining whether the communication between the vehicle control device and the autonomous driving system is disabled and until the limp-home travel is started by the travel control device, and
switch from the autonomous driving mode to the manual driving mode based on the limp-home travel being started by the travel control device.
2 . The non-transitory storage medium according to claim 1 , wherein the vehicle control program causes the processor to switch from the autonomous driving mode to the manual driving mode based on the limp-home travel being started by the travel control device and a vehicle is being decelerated or kept stationary.
3 . The non-transitory storage medium according to claim 1 , wherein the vehicle control program causes the processor to execute control for maintaining a final actual steering angle as the steering angle control executed after the process of determining whether the communication between the vehicle control device and the autonomous driving system is disabled and until the limp-home travel is started by the travel control device.
4 . The non-transitory storage medium according to claim 1 , wherein the vehicle control program causes the processor to cause the vehicle control device to execute steering angle control when communication between the vehicle control device and the autonomous driving system is enabled.
5 . The non-transitory storage medium according to claim 1 , wherein the vehicle control program causes the processor to execute steering angle control until the limp-home travel is started by the travel control device, based on determining that the communication between the vehicle control device and the autonomous driving system is disabled.
6 . The non-transitory storage medium according to claim 5 , wherein the vehicle control program causes the processor to execute control for maintaining a final actual steering angle as the steering angle control until the limp-home travel is started by the travel control device, based on determining that the communication between the vehicle control device and the autonomous driving system is disabled.
7 . The non-transitory storage medium according to claim 1 , wherein vehicle control device includes a first vehicle control device and a second vehicle control device, and
wherein the process of determining whether the communication between the vehicle control device and the autonomous driving system is disabled includes determining whether a communication between the first vehicle control device and the autonomous driving system is disabled, and whether a communication between the second vehicle control device and the autonomous driving system is disabled.
8 . The non-transitory storage medium according to claim 7 , wherein the process of causing the travel control device to start the limp-home travel is based on determining that the communication between the first vehicle control device and the autonomous driving system is disabled, and based on determining that the communication between the second vehicle control device and the autonomous driving system is disabled.
9 . The non-transitory storage medium according to claim 1 , wherein the vehicle control program causes the processor to
execute a process of determining whether the limp home travel is being performed by the travel control device, and
based on determining that the limp home travel is being performed by the travel control device, not executing the steering angle control so as to not interfere with the limp home travel being performed by the travel home device.