Vehicle
When a first driver setting mode indicates an “OFF mode” or an “AUTO mode,” a VP accepts a light operation mode request from an ADK. When an operation is performed by a user, the VP changes an operation mode of a headlight in accordance with the operation by the user. When the operation by the user has not been performed, the VP changes the operation mode of the headlight in accordance with the light operation mode request.
1. A vehicle on which an autonomous driving system is mountable, the vehicle comprising:
a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system; and
a vehicle control interface box that interfaces between the vehicle platform and the autonomous driving system, wherein
the vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the autonomous driving system through the vehicle control interface box, and
the accelerator pedal intervention signal:
indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and
indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request, and
indicates that the accelerator pedal is not depressed, when the accelerator pedal position signal indicates that the amount of depression is smaller than the threshold value,
the vehicle platform eliminates accelerator pedal stroke from the vehicle acceleration demand selection, while in autonomous driving mode,
the vehicle platform includes a headlight system, a hazard light system, a front wiper system, and a rear wiper system, wherein
the vehicle platform sets an operation mode of each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system in accordance with an operation mode request for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system received from the autonomous driving system and/or an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system, and
the vehicle platform sets the operation mode with the operation by the user being prioritized over the operation mode request.
2. The vehicle according to claim 1 , wherein
when the operation mode of the headlight system has been set to a first prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the headlight system in accordance with the operation mode request.
3. The vehicle according to claim 2 , wherein
when the operation mode of the headlight system has been set to a mode other than the first prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the headlight system in accordance with the operation mode request.
4. The vehicle according to claim 2 , wherein
the first prescribed mode includes an OFF mode and an AUTO mode,
the OFF mode is a mode in which a headlight is turned off, and
the AUTO mode is a mode in which the operation mode of the headlight system is automatically set by the vehicle platform.
5. The vehicle according to claim 1 , wherein
when the operation mode of the front wiper system has been set to a second prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the front wiper system in accordance with the operation mode request.
6. The vehicle according to claim 5 , wherein
when the operation mode of the front wiper system has been set to a mode other than the second prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the front wiper system in accordance with the operation mode request.
7. The vehicle according to claim 5 , wherein
the second prescribed mode includes an OFF mode and an Auto mode,
the OFF mode is a mode in which a front wiper is stopped, and
the Auto mode is a mode in which the operation mode of the front wiper system is automatically set by the vehicle platform.
8. The vehicle according to claim 5 , wherein
the front wiper system includes as the operation mode, an intermittent operation mode in which a front wiper is intermittently operated, and
when the operation mode of the front wiper system has been set to the intermittent operation mode, the vehicle platform
sets an operation interval in accordance with an operation interval request that indicates the operation interval of the front wiper in the intermittent operation mode received from the autonomous driving system and/or the operation by the user onto the operation apparatus, and
sets the operation interval with the operation by the user being prioritized over the operation interval request.
9. A vehicle comprising:
an autonomous driving system that creates a driving plan;
a vehicle platform that carries out vehicle control in accordance with an instruction from the autonomous driving system; and
a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system, wherein
the vehicle platform outputs an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and outputs an accelerator pedal intervention signal, to the autonomous driving system through the vehicle control interface, and
the accelerator pedal intervention signal:
indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and
indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request, and
indicates that the accelerator pedal is not depressed, when the accelerator pedal position signal indicates that the amount of depression is smaller than the threshold value,
the vehicle platform eliminates accelerator pedal stroke from the vehicle acceleration demand selection, while in autonomous driving mode,
the vehicle platform includes a headlight system, a hazard light system, a front wiper system, and a rear wiper system, wherein
the vehicle platform sets an operation mode of each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system in accordance with an operation mode request for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system received from the autonomous driving system and/or an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system, and
the vehicle platform sets the operation mode with the operation by the user being prioritized over the operation mode request.
10. The vehicle according to claim 9 , wherein
when the operation mode of the headlight system has been set to a first prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the headlight system in accordance with the operation mode request.
11. The vehicle according to claim 10 , wherein
when the operation mode of the headlight system has been set to a mode other than the first prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the headlight system in accordance with the operation mode request.
12. The vehicle according to claim 10 , wherein
the first prescribed mode includes an OFF mode and an AUTO mode,
the OFF mode is a mode in which a headlight is turned off, and
the AUTO mode is a mode in which the operation mode of the headlight system is automatically set by the vehicle platform.
13. The vehicle according to claim 9 , wherein
when the operation mode of the front wiper system has been set to a second prescribed mode by the operation by the user, the vehicle platform sets the operation mode of the front wiper system in accordance with the operation mode request.
14. The vehicle according to claim 13 , wherein
when the operation mode of the front wiper system has been set to a mode other than the second prescribed mode by the operation by the user, the vehicle platform does not set the operation mode of the front wiper system in accordance with the operation mode request.
15. The vehicle according to claim 13 , wherein
the second prescribed mode includes an OFF mode and an Auto mode,
the OFF mode is a mode in which a front wiper is stopped, and
the Auto mode is a mode in which the operation mode of the front wiper system is automatically set by the vehicle platform.
16. The vehicle according to claim 13 , wherein
the front wiper system includes as the operation mode, an intermittent operation mode in which a front wiper is intermittently operated,
when the operation mode of the front wiper system has been set to the intermittent operation mode, the vehicle platform
sets an operation interval in accordance with an operation interval request that indicates the operation interval of the front wiper in the intermittent operation mode received from the autonomous driving system and/or the operation by the user onto the operation apparatus, and
sets the operation interval with the operation by the user being prioritized over the operation interval request.
17. A method of controlling a vehicle on which an autonomous driving system is mountable, the vehicle including a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system and a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system, the vehicle platform including a headlight system, a hazard light system, a front wiper system, and a rear wiper system, the method comprising:
outputting, by the vehicle platform, an accelerator pedal position signal in accordance with an amount of depression of an accelerator pedal by a driver, and an accelerator pedal intervention signal, to the autonomous driving system through the vehicle control interface, wherein
the accelerator pedal intervention signal:
indicates that the accelerator pedal is depressed, when the accelerator pedal position signal indicates that the amount of depression is larger than a threshold value, and
indicates beyond autonomy acceleration of the vehicle, when an acceleration request in accordance with the amount of depression is higher than a system acceleration request;
eliminating, by the vehicle platform, accelerator pedal stroke from the vehicle acceleration demand selection, while in autonomous driving mode;
setting an operation mode of each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system in accordance with an operation mode request for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system received from the autonomous driving system and/or an operation by a user onto an operation apparatus provided for each of the headlight system, the hazard light system, the front wiper system, and the rear wiper system; and
setting the operation mode with the operation by the user being prioritized over the operation mode request.