VEHICLE AND AUTONOMOUS DRIVING SYSTEM
A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the present vehicle, when the autonomous driving system issues a first command to request the vehicle platform to provide deceleration to stop the vehicle and a first signal indicates 0 km/h or a prescribed velocity or less, the autonomous driving system issues a second command to request the vehicle platform to maintain stationary. And after brake hold control is finished, a second signal indicates standstill. Until the second signal indicates standstill, the first command continues to request the vehicle platform to provide deceleration.
1 . A vehicle comprising:
an autonomous driving system; and
a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system, wherein
the autonomous driving system sends to the vehicle platform a command including a first command to request acceleration and deceleration and a second command to request to maintain stationary,
the autonomous driving system obtains a first signal indicating a longitudinal velocity of the vehicle and a second signal indicating a standstill status, and
when the autonomous driving system issues the first command to request the vehicle platform to provide deceleration to stop the vehicle and the first signal indicates 0 km/h or a prescribed velocity or less, the autonomous driving system issues the second command to request the vehicle platform to maintain stationary,
after brake hold control is finished, the second signal indicates standstill, and
until the second signal indicates standstill, the first command continues to request the vehicle platform to provide deceleration.
2 . The vehicle according to claim 1 , wherein the first command continues to request a constant deceleration value during a period from when the second command requests to maintain stationary until the second signal indicates standstill.
3 . The vehicle according to claim 2 , wherein the constant deceleration value is −0.4 m/s 2 .
4 . The vehicle according to claim 1 , wherein
the autonomous driving system further obtains a third signal indicating a moving direction of the vehicle, and
the brake hold control is started when the first command requests deceleration, the second command requests to maintain stationary, and the third signal indicates standstill.
5 . The vehicle according to claim 1 , wherein when the autonomous driving system issues the first command to request the vehicle platform to provide deceleration to stop the vehicle, and thereafter, before the brake hold control is finished the request through the first command for deceleration is cancelled, transitioning to the brake hold control is canceled.
6 . The vehicle according to claim 1 , wherein when the autonomous driving system issues the second command to request the vehicle platform to maintain stationary, and thereafter, before the brake hold control is finished the request through the second command to maintain stationary is cancelled, transitioning to the brake hold control is canceled.
7 . The vehicle according to claim 1 , wherein when the brake hold control is finished and thereafter the request through the second command to maintain stationary still continues, the vehicle continues standstill while the request through the second command to maintain stationary continues.
8 . The vehicle according to claim 1 , wherein
the vehicle includes an electric parking brake, and
when the second signal continues to indicate standstill for a prescribed period of time, the electric parking brake is activated.
9 . The vehicle according to claim 1 , wherein when, in order to start the vehicle, the autonomous driving system cancels the brake hold control by setting the second command, the vehicle platform controls acceleration/deceleration of the vehicle based on the first command.
10 . A vehicle comprising:
a vehicle platform that controls the vehicle; and
a vehicle control interface that mediates communication of a signal between the vehicle platform and an autonomous driving system, wherein
by attaching the autonomous driving system to the vehicle, the vehicle platform can carry out autonomous driving control of the vehicle in response to a command received from the autonomous driving system,
the autonomous driving system sends to the vehicle platform through the vehicle control interface a command including a first command to request acceleration and deceleration and a second command to request to maintain stationary,
the vehicle control interface outputs to the autonomous driving system a first signal indicating a longitudinal velocity of the vehicle and a second signal indicating a standstill status,
when the autonomous driving system issues the first command to request the vehicle platform to provide deceleration to stop the vehicle and the first signal indicates 0 km/h or a prescribed velocity or less, the vehicle control interface requests the autonomous driving system to issue the second command to maintain stationary, and
the vehicle control interface requests the autonomous driving system to continuously transmit the first command to request deceleration until the second signal indicates standstill in response to the second command.
11 . The vehicle according to claim 10 , wherein
the vehicle control interface outputs to the autonomous driving system a third signal indicating a moving direction of the vehicle, and
brake hold control is started when the first command requests deceleration, the second command requests to maintain stationary, and the third signal indicates standstill.
12 . The vehicle according to claim 11 , wherein when the autonomous driving system issues the first command to request the vehicle platform to provide deceleration to stop the vehicle, and thereafter, before the brake hold control is finished the request through the first command for deceleration is cancelled, transitioning to the brake hold control is canceled.
13 . The vehicle according to claim 11 , wherein when the autonomous driving system issues the second command to request the vehicle platform to maintain stationary, and thereafter, before the brake hold control is finished the request through the second command to maintain stationary is cancelled, transitioning to the brake hold control is canceled.
14 . The vehicle according to claim 11 , wherein when the brake hold control is finished and thereafter the request through the second command to maintain stationary still continues, the vehicle continues standstill while the request through the second command to maintain stationary continues.
15 . The vehicle according to claim 10 , wherein
the vehicle includes an electric parking brake, and
when the second signal continues to indicate standstill for a prescribed period of time, the electric parking brake is activated.
16 . The vehicle according to claim 10 , wherein
when, in order to start the vehicle, the autonomous driving system cancels the brake hold control by setting the second command, the vehicle platform controls acceleration/deceleration of the vehicle based on the first command.
17 . An autonomous driving system comprising a computer that sends a command to a vehicle platform, wherein
the computer sends to the vehicle platform a command including a first command to request acceleration and deceleration and a second command to request to maintain stationary,
the computer obtains a first signal indicating a longitudinal velocity of the vehicle and a second signal indicating a standstill status,
when the computer issues the first command to request the vehicle platform to provide deceleration to stop a vehicle and the first signal indicates 0 km/h or a prescribed velocity or less, the computer issues the second command to request the vehicle platform to maintain stationary, and
until the second signal indicates standstill in response to the second command, the computer issues the first command to continue to request the vehicle platform to provide deceleration.
18 . The autonomous driving system according to claim 17 , wherein
the computer issues the first command to continue to request a constant deceleration value during a period from when the second command requests to maintain stationary until the second signal indicates standstill.
19 . The autonomous driving system according to claim 18 , wherein the constant deceleration value is −0.4 m/s 2 .