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 vehicle, when a first signal indicates an autonomous mode, the vehicle platform performs a shift change requested through a first command only while the second signal indicates a standstill.
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 to switch a shift range to another,
the autonomous driving system obtains a first signal indicating a state of an autonomous mode or a manual mode and a second signal indicating a moving direction of the vehicle, and
when the first signal indicates the autonomous mode, the vehicle platform performs a shift change requested through the first command only while the second signal indicates a standstill.
2 . The vehicle according to claim 1 , wherein
the command sent from the autonomous driving system to the vehicle platform further includes a second command to request acceleration and deceleration, and
when the autonomous driving system issues the first command to request the vehicle platform to switch a shift range to another in order to perform a shift change of the vehicle, the autonomous driving system also issues the second command to simultaneously request the vehicle platform to provide deceleration.
3 . The vehicle according to claim 2 , wherein the autonomous driving system issues the second command to continue to request the vehicle platform to provide deceleration while the shift change requested through the first command is performed.
4 . The vehicle according to claim 1 , wherein
the vehicle includes a shift lever,
the autonomous driving system further obtains a third signal indicating a current shift range of the vehicle, and
when the first signal indicates the autonomous mode, a driver operation of the shift lever is not reflected in the third signal.
5 . The vehicle according to claim 1 , wherein
the autonomous driving system further obtains a fourth signal indicating a shift lever position by a driver, and
the autonomous driving system determines a value for the first command by referring to the fourth signal.
6 . The vehicle according to claim 1 , wherein the first command is set to any one of a first value indicating no request, a second value requesting a shift to a reverse range, and a third value requesting a shift to a drive range.
7 . The vehicle according to claim 1 , wherein the second signal indicates a standstill when a prescribed number of wheels of the vehicle continue a speed of 0 for a prescribed period of time.
8 . 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 through the vehicle control interface to the vehicle platform a command including a first command to request to switch a shift range to another,
the vehicle control interface outputs a first signal indicating a state of an autonomous mode or a manual mode and a second signal indicating a moving direction of the vehicle, and
when the first signal indicates the autonomous mode, the vehicle platform performs a shift change requested through the first command only while the second signal indicates a standstill.
9 . The vehicle according to claim 8 , wherein
the vehicle includes a shift lever,
the vehicle control interface outputs to the autonomous driving system a third signal indicating a current shift range of the vehicle, and
when the first signal indicates the autonomous mode, a driver operation of the shift lever is not reflected in the third signal.
10 . The vehicle according to claim 8 , wherein the second signal indicates a standstill when a prescribed number of wheels of the vehicle continue a speed of 0 for a prescribed period of time.
11 . An autonomous driving system comprising a computer that sends a command to a vehicle platform, wherein
the computer obtains a first signal indicating a state of an autonomous mode or a manual mode and a second signal indicating a moving direction of a vehicle,
the computer sends to the vehicle platform a command including a first command to request to switch a shift range to another, and
when the first signal indicates the autonomous mode, the first command is issued to request a shift change only while the second signal indicates a standstill.
12 . The autonomous driving system according to claim 11 , wherein
the command sent from the computer to the vehicle platform further includes a second command to request acceleration and deceleration, and
when the computer issues the first command to request the vehicle platform to switch a shift range to another in order to perform a shift change of the vehicle, the computer also issues the second command to simultaneously request the vehicle platform to provide deceleration.
13 . The autonomous driving system according to claim 12 , wherein
the computer issues the second command to continue to request the vehicle platform to provide deceleration while the shift change requested through the first command is performed.
14 . The autonomous driving system according to claim 11 , wherein
the computer further obtains a fourth signal indicating a shift lever position by a driver, and determines a value for the first command by referring to the fourth signal.
15 . The autonomous driving system according to claim 11 , wherein
the first command is set to any one of a first value indicating no request, a second value requesting a shift to a reverse range, and a third value requesting a shift to a drive range.