Autonomous driving kit, vehicle platform, vehicle control interface box, and vehicle
An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering system 33 through the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.
1. An autonomous driving kit attachable to and removable from a vehicle platform, the autonomous driving kit issuing an instruction for autonomous driving to the vehicle platform, the vehicle platform including a steering system for steering of the vehicle platform, the autonomous driving kit comprising:
a compute assembly that includes a processor and a memory in which a program executable by the processor is stored; and
a transceiver configured to communicate with the vehicle platform, wherein
in accordance with the program stored in the memory, the processor of the compute assembly
obtains from the vehicle platform, a torque value relating to the steering system through the transceiver, and
transmits to the vehicle platform, a wheel steer angle command indicating a wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value through the transceiver.
2. The autonomous driving kit according to claim 1 , wherein
the steering system includes a sensor that detects steering torque, and
the torque value is a value detected by the sensor.
3. The autonomous driving kit according to claim 1 , wherein
the steering system includes a steering motor, and
the torque value is a torque value estimated from a current value of the steering motor.
4. The autonomous driving kit according to claim 1 , wherein
the steering system includes a steering motor, and
the torque value is a value of maximum steering torque that the steering motor can output.
5. A vehicle comprising the autonomous driving kit according to claim 1 .
6. A vehicle platform that communicates with an autonomous driving kit, the vehicle platform being configured to allow autonomous driving in accordance with an instruction for autonomous driving received from the autonomous driving kit, the autonomous driving kit being attachable to and removable from the vehicle platform, the vehicle platform comprising:
a steering system for steering of the vehicle platform; and
a vehicle control interface box that provides a control command for controlling the steering system, wherein
the vehicle control interface box
transmits a torque value relating to the steering system in the vehicle platform to the autonomous driving kit in accordance with a request from the autonomous driving kit that obtains the torque value, and
provides to the steering system, a control command in accordance with a wheel steer angle command received from the autonomous driving kit, the wheel steer angle command indicating a wheel steer angle in accordance with a driving plan for autonomous driving and the torque value.
7. The vehicle platform according to claim 6 , wherein
the steering system includes a sensor that detects steering torque, and
the torque value is a value detected by the sensor.
8. The vehicle platform according to claim 6 , wherein
the steering system includes a steering motor, and
the torque value is a torque value estimated from a current value of the steering motor.
9. The vehicle platform according to claim 6 , wherein
the steering system includes a steering motor, and
the torque value is a value of maximum steering torque that the steering motor can output.
10. A vehicle comprising the vehicle platform according to claim 6 .
11. A vehicle control interface box that communicates with an autonomous driving kit and issues an instruction for autonomous driving to a vehicle platform in accordance with an instruction for autonomous driving received from the autonomous driving kit, the autonomous driving kit being attachable to and removable from the vehicle platform, the vehicle platform including a steering system for steering of the vehicle platform, the vehicle control interface box comprising:
a processor; and
a memory in which a program executable by the processor is stored, wherein
in accordance with the program stored in the memory, the processor
transmits a torque value relating to the steering system in the vehicle platform to the autonomous driving kit in accordance with a request from the autonomous driving kit that obtains the torque value, and
provides to the steering system, a control command in accordance with a wheel steer angle command received from the autonomous driving kit, the wheel steer angle command indicating a wheel steer angle in accordance with a driving plan for autonomous driving and the torque value.