Vehicle, method of controlling vehicle, and vehicle control interface box
An ADS performs processing including setting an initial value of a wheel steer angle command when an autonomous state has been set to an autonomous mode, obtaining a limitation of a rate, setting a wheel steer angle limitation as the wheel steer angle command when magnitude of the initial value is larger than the wheel steer angle limitation, and transmitting the wheel steer angle command.
1. A vehicle on which an autonomous driving system is mountable, the vehicle comprising:
a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system, wherein
the vehicle platform includes a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle,
from the autonomous driving system to the base vehicle, a wheel steer angle command that requests a steer angle of a steering wheel is transmitted through the vehicle control interface box,
from the base vehicle to the autonomous driving system, a signal indicating the steer angle is transmitted, and
the autonomous driving system
sets a value expressing the steer angle while the vehicle is traveling straight as a reference value,
calculates a relative value between (i) a current value of the steer angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle predetermined by a driving plan to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value, and
sets, by using the relative value, the steer angle requested in the wheel steer angle command so as not to exceed a restriction range of a rate of the steer angle that is set based on a velocity of the vehicle.
2. The vehicle according to claim 1 , wherein
the restriction range is set such that magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a first velocity is smaller than magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a second velocity lower than the first velocity.
3. A method of controlling a vehicle on which an autonomous driving system is mountable, the vehicle including a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system, the vehicle platform including a base vehicle and a vehicle control interface box that interfaces between the autonomous driving system and the base vehicle, the method comprising:
transmitting a wheel steer angle command that requests a steer angle of a steering wheel from the autonomous driving system to the base vehicle through the vehicle control interface box;
transmitting a signal indicating the steer angle from the base vehicle to the autonomous driving system;
setting a value expressing the steer angle while the vehicle is traveling straight as a reference value;
calculating a relative value between (i) a current value of the steer angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle predetermined by a driving plan to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value; and
setting, by using the relative value, the steer angle requested in the wheel steer angle command so as not to exceed a restriction range of a rate of the steer angle that is set based on a velocity of the vehicle.
4. The method of controlling a vehicle according to claim 3 , wherein
the restriction range is set such that magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a first velocity is smaller than magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a second velocity lower than the first velocity.
5. A vehicle control interface box that interfaces between an autonomous driving system and a vehicle on which the autonomous driving system is mountable, the vehicle including a vehicle platform that carries out vehicle control in accordance with a command from the autonomous driving system, the vehicle platform including a base vehicle, wherein
the vehicle control interface box
transmits a wheel steer angle command that requests a steer angle of a steering wheel from the autonomous driving system to the base vehicle, and
transmits a signal indicating the steer angle from the base vehicle to the autonomous driving system,
a value expressing the steer angle while the vehicle is traveling straight is set as a reference value,
a relative value between (i) a current value of the steering angle and (ii) a value calculated by adding a value corresponding to a predetermined steering angle predetermined by a driving plan to the reference value or by subtracting the value corresponding to the predetermined steering angle from the reference value is calculated, and
the steer angle requested in the wheel steer angle command is set, by using the relative value, so as not to exceed a restriction range of a rate of the steer angle that is set based on a velocity of the vehicle.
6. The vehicle control interface box according to claim 5 , wherein
the restriction range is set such that magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a first velocity is smaller than magnitude of an upper limit value of the rate when the velocity of the vehicle is set to a second velocity lower than the first velocity.