Vehicle, vehicle platform, and autonomous driving kit
A vehicle includes a VP, the VP including a specific system, an ADK attachable to and removable from the VP, the ADK giving an instruction for autonomous driving, a main communication bus, a sub communication bus, a main VCIB configured to communicate with the ADK through the main communication bus, the main VCIB giving a control instruction to the specific system in accordance with an instruction from the ADK, and a sub VCIB configured to communicate with the ADK through the sub communication bus, the sub VCIB giving a control instruction to the specific system in accordance with an instruction from the ADK. When the VP has a malfunction, the main VCIB outputs to the ADK, information for identification that allows identification of a capability value of the specific system (S 214 ), whereas the sub VCIB outputs the information for identification to the ADK (S 214 ).
1 . A vehicle configured to be capable of autonomous driving, the vehicle comprising:
a vehicle platform including a specific system that performs a specific function of the vehicle;
an autonomous driving kit attachable to and removable from the vehicle platform, the autonomous driving kit giving an instruction for autonomous driving;
a main bus;
a sub bus;
a main vehicle control interface box configured to communicate with the autonomous driving kit through the main bus, the main vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit; and
a sub vehicle control interface box configured to communicate with the autonomous driving kit through the sub bus, the sub vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit, wherein
when the vehicle platform has a malfunction, the main vehicle control interface box outputs to the autonomous driving kit, information for identification that allows identification of a capability value of the specific system through the main bus, whereas the sub vehicle control interface box outputs the information for identification to the autonomous driving kit through the sub bus,
the specific system is a brake system that performs a function to brake the vehicle platform as the specific function,
the brake system includes a main portion and a sub portion, each of the main portion and the sub portion being capable of braking the vehicle platform,
the main vehicle control interface box directly gives the control instruction to the main portion,
the sub vehicle control interface box directly gives the control instruction to the main portion and the sub portion,
the main vehicle control interface box outputs the information for identification corresponding to each of whether a function of the main portion of the brake system is faulty and whether a function of the sub portion of the brake system is faulty, in accordance with a failure point in a control system, and
the sub vehicle control interface box outputs the information for identification corresponding to each of absence of a fault of the brake system, degradation of a function of the main portion, and degradation of a function of the sub portion, in accordance with the failure point.
2 . A vehicle platform to and from which an autonomous driving kit is attachable and removable, the autonomous driving kit giving an instruction for autonomous driving, the vehicle platform being configured to be capable of autonomous driving, the vehicle platform comprising:
a specific system that performs a specific function of the vehicle platform;
a main bus;
a sub bus;
a main vehicle control interface box configured to communicate with the autonomous driving kit through the main bus, the main vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit; and
a sub vehicle control interface box configured to communicate with the autonomous driving kit through the sub bus, the sub vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit, wherein
when the vehicle platform has a malfunction, the main vehicle control interface box outputs to the autonomous driving kit, information for identification that allows identification of a capability value of the specific system through the main bus, whereas the sub vehicle control interface box outputs the information for identification to the autonomous driving kit through the sub bus,
the specific system is a brake system that performs a function to brake the vehicle platform as the specific function,
the brake system includes a main portion and a sub portion, each of the main portion and the sub portion being capable of braking the vehicle platform,
the main vehicle control interface box directly gives the control instruction to the main portion,
the sub vehicle control interface box directly gives the control instruction to the main portion and the sub portion,
the main vehicle control interface box outputs the information for identification corresponding to each of whether a function of the main portion of the brake system is faulty and whether a function of the sub portion of the brake system is faulty, in accordance with a failure point in a control system, and
the sub vehicle control interface box outputs the information for identification corresponding to each of absence of a fault of the brake system, degradation of a function of the main portion, and degradation of a function of the sub portion, in accordance with the failure point.
3 . An autonomous driving kit attachable to and removable from a vehicle platform configured to be capable of autonomous driving, the autonomous driving kit giving an instruction for autonomous driving,
the vehicle platform including
a specific system that performs a specific function of the vehicle platform,
a main bus,
a sub bus,
a main vehicle control interface box configured to communicate with the autonomous driving kit through the main bus, the main vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit, and
a sub vehicle control interface box configured to communicate with the autonomous driving kit through the sub bus, the sub vehicle control interface box giving a control instruction to the specific system in accordance with an instruction from the autonomous driving kit, wherein
when the vehicle platform has a malfunction, the autonomous driving kit accepts information for identification that allows identification of a capability value of the specific system from the main vehicle control interface box through the main bus, whereas the autonomous driving kit accepts the information for identification from the sub vehicle control interface box through the sub bus,
the specific system is a brake system that performs a function to brake the vehicle platform as the specific function,
the brake system includes a main portion and a sub portion, each of the main portion and the sub portion being capable of braking the vehicle platform,
the main vehicle control interface box directly gives the control instruction to the main portion,
the sub vehicle control interface box directly gives the control instruction to the main portion and the sub portion,
the main vehicle control interface box outputs the information for identification corresponding to each of whether a function of the main portion of the brake system is faulty and whether a function of the sub portion of the brake system is faulty, in accordance with a failure point in a control system, and
the sub vehicle control interface box outputs the information for identification corresponding to each of absence of a fault of the brake system, degradation of a function of the main portion, and degradation of a function of the sub portion, in accordance with the failure point.
4 . The vehicle according to claim 1 , wherein the main portion comprises a motion control and a main brake system, the motion control configured to arbitrate commands from the main vehicle control interface box and the sub vehicle control interface box and intervention into braking by an other system in the vehicle, the main control interface box gives the control instruction to the main brake system via the motion control, and the sub vehicle control interface box gives the control instruction to the main brake system via the motion control.
5 . The vehicle according to claim 4 , wherein the motion control is configured to directly communicate with the sub portion.
6 . The vehicle according to claim 1 , wherein when the main vehicle control interface box determines that the main vehicle control interface box has received a request for the information for identification from the autonomous driving kit and the sub vehicle control interface box determines that the sub vehicle control interface box has received the request for the information for identification from the autonomous driving kit, the main vehicle control interface box and the sub vehicle control interface box transmit the identified information for identification for braking to the autonomous driving kit through the main bus and the sub bus, respectively.