Vehicle platform, autonomous driving system, and vehicle control interface box
A VCIB interfaces between an autonomous driving kit (ADK) and a vehicle platform (VP). The VP includes as vehicle modes, a manual mode in which the VP is under the control by a driver and an autonomous mode in which the VP is under the control by the ADK. When a first condition is satisfied in the manual mode, the VCIB has the vehicle mode make transition from the manual mode to the autonomous mode. The first condition includes (1) a condition that the VCIB has authenticated the ADK, (2) a condition that a power mode status signal indicates “drive mode,” (3) a condition that a readiness-for-autonomization signal indicates “Ready for Autonomous Mode,” and (4) a condition that a vehicle mode request indicates “Request for Autonomy.”
1. A vehicle platform on which an autonomous driving system is mountable, the vehicle platform comprising:
a vehicle; and
a vehicle control interface box that interfaces between the vehicle and the autonomous driving system, wherein
the vehicle platform includes as a vehicle mode,
a manual mode in which the vehicle platform is under control by a driver, and
an autonomous mode in which the vehicle platform is under control by the autonomous driving system,
the vehicle platform includes as a power mode,
a sleep mode in which vehicle power is in an off condition,
a wake mode in which the vehicle control interface box is awake, and
a drive mode in which the vehicle power is in an on condition,
the vehicle control interface box is configured to receive, from the autonomous driving system, a vehicle mode request that requests control of the vehicle mode and to provide the autonomous driving system with a readiness-for-autonomization signal indicating whether the vehicle platform is ready for the autonomous mode, and
when the vehicle control interface box receives the vehicle mode request that requests the autonomous mode, the power mode is set to the drive mode, and the readiness-for-autonomization signal indicates readiness for the autonomous mode after the vehicle control interface box authenticates the autonomous driving system, the vehicle control interface box has the vehicle mode make transition from the manual mode to the autonomous mode.
2. The vehicle platform according to claim 1 , wherein
the vehicle control interface box sets the vehicle mode to the manual mode, in transition of the power mode from the sleep mode to the wake mode or the drive mode.
3. The vehicle platform according to claim 1 , wherein
when the vehicle control interface box receives the vehicle mode request that requests deactivation of the autonomous mode from the autonomous driving system while the vehicle mode has been set to the autonomous mode, the vehicle control interface box has the vehicle mode make transition from the autonomous mode to the manual mode.
4. An autonomous driving system configured as being mountable on a vehicle platform, the vehicle platform including a vehicle and a vehicle control interface box that interfaces between the vehicle and the autonomous driving system, the vehicle platform including as a vehicle mode, a manual mode in which the vehicle platform is under control by a driver and an autonomous mode in which the vehicle platform is under control by the autonomous driving system, the vehicle platform including as a power mode, a sleep mode in which vehicle power is in an off condition, a wake mode in which the vehicle control interface box is awake, and a drive mode in which the vehicle power is in an on condition, the autonomous driving system comprising:
a compute assembly; and
a communication module that communicates with the vehicle control interface box, wherein
the compute assembly is configured to transmit a vehicle mode request that requests control of the vehicle mode to the vehicle control interface box through the communication module, and
when the compute assembly has the vehicle mode make transition from the manual mode to the autonomous mode after the vehicle control interface box authenticates the autonomous driving system, the compute assembly transmits the vehicle mode request that requests the autonomous mode to the vehicle control interface box.
5. The autonomous driving system according to claim 4 , wherein
the compute assembly is further configured to transmit a power mode request that requests control of the power mode to the vehicle control interface box through the communication module, and
when the compute assembly has the vehicle mode make transition from the manual mode to the autonomous mode, the compute assembly transmits the power mode request that requests the drive mode to the vehicle control interface box in addition to the vehicle mode request that requests the autonomous mode.
6. The autonomous driving system according to claim 5 , wherein
when the compute assembly turns on the vehicle platform, the compute assembly transmits the power mode request that requests the wake mode to the vehicle control interface box.
7. The autonomous driving system according to claim 4 , wherein
when the compute assembly has the vehicle mode make transition from the autonomous mode to the manual mode, the compute assembly transmits the vehicle mode request that requests deactivation of the autonomous mode to the vehicle control interface box.
8. The autonomous driving system according to claim 4 , wherein
the compute assembly receives, from the vehicle control interface box through the communication module, a readiness-for-autonomization signal that indicates whether the vehicle platform is ready for the autonomous mode.
9. A vehicle control interface box that interfaces between a vehicle platform and an autonomous driving system mounted on the vehicle platform, the vehicle platform including as a vehicle mode, a manual mode in which the vehicle platform is under control by a driver and an autonomous mode in which the vehicle platform is under control by the autonomous driving system, the vehicle platform including as a power mode, a sleep mode in which vehicle power is in an off condition, a wake mode in which the vehicle control interface box is awake, and a drive mode in which the vehicle power is in an on condition, the vehicle control interface box comprising:
a processor; and
a memory in which a program executable by the processor is stored, wherein
the processor is configured to
receive a vehicle mode request that requests control of the vehicle mode from the autonomous driving system, and
provide the autonomous driving system with a readiness-for-autonomization signal indicating whether the vehicle platform is ready for the autonomous mode.
10. The vehicle control interface box according to claim 9 , wherein
the processor is further configured to receive a power mode request that requests control of the power mode from the autonomous driving system,
in transition of the vehicle mode from the manual mode to the autonomous mode, the processor
authenticates the autonomous driving system,
receives, from the autonomous driving system, the vehicle mode request that requests the autonomous mode and the power mode request that requests the drive mode, and
provides the autonomous driving system with the readiness-for-autonomization signal indicating readiness for the autonomous mode.
11. The vehicle control interface box according to claim 9 , wherein
the processor is further configured to provide the autonomous driving system with a power mode status signal that indicates a status of the power mode of the vehicle platform, and
in transition of the vehicle mode from the manual mode to the autonomous mode, the processor
authenticates the autonomous driving system,
receives the vehicle mode request that requests the autonomous mode from the autonomous driving system, and
provides the autonomous driving system with the readiness-for-autonomization signal that indicates readiness for the autonomous mode and the power mode status signal that indicates the drive mode.
12. The vehicle control interface box according to claim 9 , wherein
in transition of the vehicle mode from the autonomous mode to the manual mode, the processor receives the vehicle mode request that requests deactivation of the autonomous mode from the autonomous driving system.