Vehicle and vehicle control interface
A vehicle is a vehicle on which an ADK is mountable. The vehicle includes: a VP that controls the vehicle in accordance with an instruction from the ADK; and a VCIB that serves as an interface between the ADK and the VP. The VP outputs a brake pedal position signal in accordance with an amount of depression of a brake pedal by a driver, and outputs a brake pedal intervention signal, to the ADK through the VCIB. The brake pedal intervention signal indicates that the brake pedal is depressed, when the brake pedal position signal indicates that the amount of depression is larger than a threshold value, and indicates beyond autonomy deceleration of the vehicle, when a deceleration request in accordance with the amount of depression is higher than a system deceleration request.
1 . A vehicle on which an autonomous driving system (ADS) is mountable, the vehicle comprising:
a vehicle platform (VP) that controls the vehicle in accordance with an instruction from the autonomous driving system; and
a vehicle control interface that serves as an interface between the ADS and the VP, wherein
the VP outputs, to the ADS through the vehicle control interface, a brake pedal position signal and a brake pedal intervention signal,
the brake pedal position signal provides an amount of depression of a brake pedal detected by a sensor that detects a position of the brake pedal, and
the brake pedal intervention signal provides a value generated from the brake pedal position signal that may indicate a value outside a range of the amount of depression.
2 . The vehicle according to claim 1 , wherein when the sensor is in a failure condition, the brake pedal intervention signal provides an invalid value outside the range of the amount of depression.
3 . The vehicle according to claim 1 , wherein when the sensor is in a normal condition, the brake pedal intervention signal provides one of two or more values.
4 . The vehicle according to claim 3 , wherein the two or more values include:
a first value indicating that, according to the brake pedal position signal, the amount of depression is smaller than a threshold value, and
a second value indicating that, according to the brake pedal position signal, the amount of depression is larger than the threshold value.
5 . A vehicle control interface serving as an interface between an autonomous driving system (ADS) and a vehicle platform (VP), the VP controlling a vehicle in accordance with an instruction from the ADS, wherein
the VP outputs, to the vehicle control interface, a brake pedal position signal and a brake pedal intervention signal,
the brake pedal position signal provides an amount of depression of a brake pedal detected by a sensor that detects a position of the brake pedal,
the brake pedal intervention signal provides a value generated from the brake pedal position signal that may indicate a value outside a range of the amount of depression, and
the vehicle control interface outputs the brake pedal position signal and the brake pedal intervention signal to the ADS.