Vehicle, method of controlling vehicle, and vehicle control interface box
An ADS performs processing including setting an acceleration command to V1 when an autonomous state is set to an autonomous mode, when the acceleration command has a value indicating deceleration, when a vehicle velocity is zero, and when a standstill command is set to “Applied” and setting an immobilization command to “Applied” when a traveling direction of a vehicle indicates a standstill status, when there is a wheellock request, and when predetermined time has elapsed since the vehicle came to a standstill.
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, an immobilization command including a first value indicating a request for immobilization of the vehicle is transmitted through the vehicle control interface box,
from the base vehicle to the autonomous driving system, a signal indicating a standstill status of the vehicle is transmitted through the vehicle control interface box,
the immobilization command is transmitted from the autonomous driving system through the vehicle control interface box to the base vehicle when a first condition including a condition that the vehicle is in the standstill status is satisfied, and
the base vehicle carries out immobilization of the vehicle in accordance with the immobilization command.
2. The vehicle according to claim 1 , wherein
the immobilization command further includes a second value indicating a request for release of immobilization of the vehicle,
the immobilization command including the second value is transmitted from the autonomous driving system through the vehicle control interface box to the base vehicle when a second condition including a condition that the vehicle is in the standstill status is satisfied, and
the base vehicle releases immobilization of the vehicle in accordance with the immobilization command.
3. The vehicle according to claim 1 , wherein
the first condition further includes a condition that predetermined time has elapsed since the vehicle came to a standstill.
4. The vehicle according to claim 1 , wherein
the base vehicle carries out immobilization of the vehicle when predetermined time has elapsed since the base vehicle received the immobilization command including the first value.
5. The vehicle according to claim 1 , wherein
from the autonomous driving system to the base vehicle, an acceleration command including a deceleration value is transmitted through the vehicle control interface box, and
when the immobilization command requests immobilization of the vehicle, the acceleration command including a constant deceleration value is transmitted from the autonomous driving system through the vehicle control interface box to the base vehicle during a period from a standstill of the vehicle until issuance of a request for release of immobilization of the vehicle.
6. 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 an immobilization command including a first value indicating a request for immobilization of the vehicle from the autonomous driving system to the base vehicle through the vehicle control interface box;
transmitting a signal indicating a standstill status of the vehicle from the base vehicle to the autonomous driving system through the vehicle control interface box;
transmitting the immobilization command from the autonomous driving system through the vehicle control interface box to the base vehicle when a first condition including a condition that the vehicle is in the standstill status is satisfied; and
carrying out, by the base vehicle, immobilization of the vehicle in accordance with the immobilization command.
7. The method of controlling a vehicle according to claim 6 , wherein
the immobilization command further includes a second value indicating a request for release of immobilization of the vehicle, and
the method further comprises:
transmitting the immobilization command including the second value from the autonomous driving system through the vehicle control interface box to the base vehicle when a second condition including a condition that the vehicle is in the standstill status is satisfied; and
releasing, by the base vehicle, immobilization of the vehicle in accordance with the immobilization command.
8. The method of controlling a vehicle according to claim 6 , wherein
the first condition further includes a condition that predetermined time has elapsed since the vehicle came to a standstill.
9. The method of controlling a vehicle according to claim 6 , further comprising carrying out, by the base vehicle, immobilization of the vehicle when predetermined time has elapsed since the base vehicle received the immobilization command including the first value.
10. The method of controlling a vehicle according to claim 6 , further comprising:
transmitting an acceleration command including a deceleration value from the autonomous driving system to the base vehicle through the vehicle control interface box; and
transmitting, when the immobilization command requests immobilization of the vehicle, the acceleration command including a constant deceleration value from the autonomous driving system through the vehicle control interface box to the base vehicle during a period from a standstill of the vehicle until issuance of a request for release of immobilization of the vehicle.
11. 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 an immobilization command including a first value indicating a request for immobilization of the vehicle from the autonomous driving system to the base vehicle,
transmits a signal indicating a standstill status of the vehicle from the base vehicle to the autonomous driving system, and
transmits the immobilization command from the autonomous driving system to the base vehicle when a first condition including a condition that the vehicle is in the standstill status is satisfied.
12. The vehicle control interface box according to claim 11 , wherein
the immobilization command further includes a second value indicating a request for release of immobilization of the vehicle, and
the vehicle control interface box transmits the immobilization command including the second value from the autonomous driving system to the base vehicle when a second condition including a condition that the vehicle is in the standstill status is satisfied.
13. The vehicle control interface box according to claim 11 , wherein
the first condition further includes a condition that predetermined time has elapsed since the vehicle came to a standstill.
14. The vehicle control interface box according to claim 11 , wherein
the vehicle control interface box
transmits an acceleration command including a deceleration value from the autonomous driving system to the base vehicle, and
transmits, when the immobilization command requests immobilization of the vehicle, the acceleration command including a constant deceleration value from the autonomous driving system to the base vehicle during a period from a standstill of the vehicle until issuance of a request for release of immobilization of the vehicle.