Vehicle with mountable and removable 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:
a vehicular body on which an autonomous driving system is mountable on and removable from, wherein
the vehicular body includes a vehicle platform and a vehicle control interface,
the vehicle control interface mediates communication of a signal between the vehicle platform and the autonomous driving system,
the vehicle platform includes a system, a sensor, and a control device to control the vehicular body,
the vehicle without the autonomous driving system is drivable with the vehicular body alone,
the vehicle control interface include an electronic controller,
the electronic controller includes a processor,
the electronic controller converts a command received from the autonomous driving system into a format of a signal that is processed by the vehicle platform, and sends the converted command to the vehicle platform, the command including a first command to request to switch a shift range to another,
the vehicle control interface outputs to the autonomous driving system a first signal indicating a state of an autonomous mode or a manual mode,
the vehicle platform detects a state of the vehicular body and sends a detection signal indicating the detected state to the vehicle control interface,
the electronic controller obtains a state signal indicating the state of the vehicular body based on the detection signal, and outputs the state signal to the autonomous driving system, the state signal including a second signal indicating a moving direction of the vehicle,
when the vehicle control interface outputs the first signal indicating the autonomous mode, the electronic controller determines whether the second signal indicates a standstill and whether the first command indicates no request,
when the electronic controller determines that the second signal indicates a standstill and the first command does not indicate no request, the control device of the vehicle platform performs a shift change required by the first command, and
when the electronic controller determines that the second signal does not indicate a standstill and the first command does not indicate no request, the control device of the vehicle platform does not perform the shift change required by the first command,
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,
when the electronic controller determines that the second signal indicates a standstill and the first command indicates the first value, the control device of the vehicle platform does not perform a shift change,
when the electronic controller determines that the second signal indicates a standstill and the first command indicates the second value, the control device of the vehicle platform switches a shift range to the reverse range, and
when the electronic controller determines that the second signal indicates a standstill and the first command indicates the third value, the control device of the vehicle platform switches a shift range to the drive range.
2. The vehicle according to claim 1 , wherein
the command sent from the autonomous driving system to the vehicle control interface further includes a second command to request acceleration and deceleration,
when the vehicle control interface issues a first control command corresponding to 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 vehicle control interface also issues a second control command corresponding to the second command to simultaneously request the vehicle platform to provide deceleration.
3. The vehicle according to claim 2 , wherein
when the electronic controller determines that the second signal indicates a standstill and the first command does not indicate no request, the vehicle control interface transmits the first control command to the vehicle platform to instruct the vehicle platform to start the shift change,
when the vehicle control interface transmits the first control command, the electronic controller determines whether the shift change has been completed, and
the vehicle control interface issues the second control command to continue to request the vehicle platform to provide deceleration while the electronic controller determines that the shift change is not completed.
4. The vehicle according to claim 1 , wherein
the vehicle includes a shift lever,
the vehicle control interface further outputs to the autonomous driving system a third signal indicating a current shift range of the vehicle,
when the first signal indicates the autonomous mode, a driver operation of the shift lever is not reflected in the third signal,
when the first signal indicates the manual mode, a driver operation of the shift lever is reflected in the third signal.
5. The vehicle according to claim 4 , wherein
the vehicle control interface further outputs to the autonomous driving system 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 second signal indicates a standstill when all wheels of the vehicle continue a speed of 0 for a prescribed period of time,
the second signal indicates forward motion when more than half of the wheels of the vehicle rotate forward, and
the second signal indicates backward motion when more than half the wheels of the vehicle rotate backward.
7. The vehicle according to claim 1 , wherein the autonomous driving system is mounted on the vehicular body.
8. The vehicle according to claim 7 , wherein the vehicle control interface communicates signals with the autonomous driving system through an Application Program Interface (API) defining each signal to be communicated.
9. The vehicle according to claim 8 , wherein the vehicle control interface communicates signals defined by an automobile manufacturer with the vehicle platform.
10. The vehicle according to claim 1 , wherein the vehicle platform includes a plurality of systems to implement equivalent functions.
11. The vehicle according to claim 10 , wherein in the vehicle platform, functions for braking, steering, and locking the vehicle are provided with redundancy.