Vehicle
A vehicle includes a vehicle platform configured to receive an instruction from an autonomous driving kit. The vehicle platform includes a steering wheel to be operated by a driver of the vehicle, a steering motor configured to generate torque for varying an angle of a front wheel of the vehicle, and a first control device configured to control the steering motor. The vehicle platform is configured to receive a front wheel steering angle instruction value requested by the autonomous driving kit during autonomous driving of the vehicle. The first control device is configured to classify driver intervention to the steering wheel into one of a plurality of categories, and control torque of the steering motor in consideration of the steering intention of the driver when a driver operation on the steering wheel is caused, during autonomous driving of the vehicle.
1 . A vehicle comprising:
a vehicle platform configured to receive an instruction from an autonomous driving kit, wherein:
the vehicle platform includes a steering wheel to be operated by a driver of the vehicle, a steering motor configured to generate torque for varying an angle of a front wheel of the vehicle, and a first control device configured to control the steering motor;
the vehicle platform is configured to receive a front wheel steering angle instruction value requested by the autonomous driving kit during autonomous driving of the vehicle; and
the first control device is configured to classify driver intervention to the steering wheel into one of a plurality of categories, and control the torque of the steering motor in consideration of a steering intention of the driver when a driver operation on the steering wheel is caused, during the autonomous driving of the vehicle,
the vehicle further includes the autonomous driving kit,
wherein:
the categories include:
a first category in which there is no operation of the steering wheel or a slight operation of the steering wheel,
a second category in which an operation of the steering wheel is greater than an operation of the steering wheel in the first category, and
a third category in which an operation of the steering wheel is greater than the operation of the steering wheel in the second category;
the vehicle platform is configured to transmit a result of classifying the driver intervention to the autonomous driving kit;
the autonomous driving kit includes a second control device configured to determine a command related to autonomous driving control using the result of classifying the driver intervention,
the vehicle platform includes
a base vehicle that includes the steering wheel, the steering motor, and the first control device, and
a vehicle control interface box that includes a third control device configured to communicate with both the first control device and the second control device;
the first control device is configured to transmit vehicle information about the base vehicle to the third control device;
an application program interface signal defined by an application program interface is used for communication between the second control device and the third control device;
the application program interface signal includes:
(i) an application program interface command that indicates an instruction for the base vehicle, and
(ii) an application program interface status that indicates a state of the base vehicle;
the third control device is configured to:
(a) convert the application program interface command from the second control device into a signal that is executable by the first control device, and transmit the converted signal to the first control device; and
(b) acquire the application program interface status using the vehicle information from the first control device, and transmit the acquired application program interface status to the second control device.
2 . The vehicle according to claim 1 , wherein the categories include:
a first category in which there is no operation of the steering wheel or a slight operation of the steering wheel;
a second category in which an operation of the steering wheel is greater than an operation of the steering wheel in the first category; and
a third category in which an operation of the steering wheel is greater than the operation of the steering wheel in the second category.
3 . The vehicle according to claim 2 , wherein:
the vehicle platform further includes a torque sensor configured to detect steering torque input from the driver of the vehicle to the steering wheel; and
the first control device is configured to classify the driver intervention into one of the categories based on the steering torque.
4 . The vehicle according to claim 1 , wherein the first control device is configured to estimate the steering intention of the driver based on a result of classifying the driver intervention into one of the categories when the driver operation on the steering wheel is caused during the autonomous driving of the vehicle, and change a control mode for the torque of the steering motor according to the estimated steering intention of the driver.
5 . The vehicle according to claim 1 , wherein:
the first control device is configured to execute one of instruction value following control, in which the angle of the front wheel is caused to follow the front wheel steering angle instruction value from the autonomous driving kit, and driver coordinated control, in which the torque of the steering motor is controlled in consideration of the steering intention of the driver, during the autonomous driving of the vehicle; and
the first control device is configured to give priority to followability to the front wheel steering angle instruction value over coordination with the driver of the vehicle during execution of the instruction value following control, and give priority to the coordination with the driver of the vehicle over the followability to the front wheel steering angle instruction value, during execution of the driver coordinated control.
6 . The vehicle according to claim 1 , wherein the vehicle platform is configured such that switching between a coordination permitted state and a coordination prohibited state is made according to the instruction from the autonomous driving kit, the coordination permitted state being a state in which coordinated steering with the driver is permitted, the coordination prohibited state being a state in which the coordinated steering with the driver is prohibited.
7 . The vehicle according to claim 1 , wherein:
the command related to the autonomous driving control includes a coordinated steering command that provides an instruction as to which of a coordination permitted state and a coordination prohibited state the vehicle platform is brought into, the coordination permitted state being a state in which coordinated steering with the driver is permitted, the coordination prohibited state being a state in which the coordinated steering with the driver is prohibited;
the second control device is configured to:
(i) determine whether to transition the vehicle platform from the coordination permitted state to the coordination prohibited state when the vehicle platform is in the coordination permitted state and the driver intervention is classified into the first category; and
(ii) determine whether to transition the vehicle platform from the coordination prohibited state to the coordination permitted state when the vehicle platform is in the coordination prohibited state and the driver intervention is classified into the second category.
8 . The vehicle according to claim 1 , wherein:
the command related to the autonomous driving control includes a vehicle mode command that requests switching between an autonomous mode, in which the vehicle platform is under control by the autonomous driving kit, and a manual mode, in which the vehicle is under control by the driver; and
the second control device is configured to determine whether switching is made from the autonomous mode to the manual mode when the driver intervention is classified into the third category in the autonomous mode.