Vehicles and autonomous driving systems

Abstract

To provide a vehicle and a self-driving system which are capable of appropriately performing a shift change when a vehicle platform controls the vehicle in accordance with a command from the self-driving system.SOLUTION: A vehicle includes a self-driving system and a vehicle platform for controlling the vehicle in accordance with a command from the self-driving system. In the vehicle, in a case where a first signal indicates an autonomous mode, the vehicle platform performs a shift change in accordance with a requirement of a first command only in the case of a second signal indicating a stop.SELECTED DRAWING: Figure 12

Claims

1. A vehicle comprising an automated driving system and a vehicle platform that controls the vehicle according to commands from the automated driving system, The vehicle is configured to be able to change a shift range to a shift range different from a shift range indicated by a shift lever operated by a driver, The commands sent from the automated driving system to the vehicle platform include a first command requesting a shift range change and a second command requesting deceleration; The autonomous driving system is configured to obtain a first signal indicating whether the autonomous mode or the manual mode is selected, and a third signal indicating a current shift range. The automatic driving system is configured to, in the autonomous mode, create a driving plan by referring to a signal indicating a state of the vehicle, and transmit a command related to automatic driving control according to the created driving plan to the vehicle platform; the signal indicating the state of the vehicle includes the third signal; The command related to the automatic driving control includes the first command and the second command, In the autonomous mode, after the autonomous driving system decelerates the vehicle so that the vehicle stops in response to the second command, a brake hold control of the vehicle is executed by the vehicle platform; the automated driving system is configured to, in the autonomous mode, request switching of the shift range by the first command while the vehicle is in a brake hold state; In the autonomous mode, a shift lever operation by a driver is not reflected in the third signal.

2. the second command indicates a positive value when an acceleration is required and indicates a negative value when a deceleration is required; 2. The vehicle of claim 1, wherein the automated driving system simultaneously requests the vehicle platform to decelerate by the second command when the automated driving system requests the vehicle platform to switch shift ranges by the first command to perform a shift change of the vehicle.

3. 3. The vehicle of claim 2, wherein the automated driving system continues to request the vehicle platform to slow down via the second command during a shift change required by the first command.

4. The vehicle according to any one of claims 1 to 3, wherein the automated driving system is configured to request, in the autonomous mode, that the shift range be switched to only one of the drive range and the reverse range by the first command, while in the manual mode, that the automated driving system allows switching to a shift range other than the drive range and the reverse range.

5. The automated driving system is further configured to obtain a fourth signal indicating a position of a shift lever operated by a driver; The vehicle according to any one of claims 1 to 4, wherein the signal indicating the state of the vehicle further includes the fourth signal.

6. the vehicle is configured to switch a shift range to any one of a drive range, a reverse range, a parking range, a neutral range, and a brake range in response to a shift lever operation by the driver in the manual mode; The vehicle according to any one of claims 1 to 5, wherein the first command is set to one of a first value indicating no request, a second value requesting a change to reverse range, and a third value requesting a change to drive range.

7. The automated driving system is further configured to obtain a second signal indicating a direction of travel or a stop of the vehicle; The signal indicative of the state of the vehicle further includes the second signal; The vehicle according to any one of claims 1 to 6, wherein the second signal indicates a stop when a predetermined number of wheels of the vehicle maintain a speed of zero for a predetermined period of time.

8. A vehicle comprising a vehicle platform for controlling the vehicle, The vehicle is configured to be able to change a shift range to a shift range different from a shift range indicated by a shift lever operated by a driver, A vehicle control interface is provided to mediate signal exchange between the vehicle platform and an automated driving system. By installing the autonomous driving system, the vehicle platform is able to execute autonomous driving control of the vehicle according to commands from the autonomous driving system; The commands sent from the automated driving system to the vehicle platform through the vehicle control interface include a first command requesting a shift range change and a second command requesting deceleration; The vehicle control interface is configured to output a first signal indicating whether the vehicle is in an autonomous mode or a manual mode, and a third signal indicating a current shift range to the autonomous driving system; The autonomous driving system is configured to, in the autonomous mode, create a driving plan by referring to a signal indicating a state of the vehicle, and transmit a command related to autonomous driving control according to the created driving plan to the vehicle platform via the vehicle control interface; the signal indicating the state of the vehicle includes the third signal; The command related to the automatic driving control includes the first command and the second command, In the autonomous mode, after the autonomous driving system decelerates the vehicle so that the vehicle stops by the second command, the vehicle control interface instructs the vehicle platform to start brake hold control, thereby causing the vehicle platform to execute brake hold control of the vehicle; the automated driving system is configured to, in the autonomous mode, request switching of the shift range by the first command while the vehicle is in a brake hold state; In the autonomous mode, a shift lever operation by a driver is not reflected in the third signal.

9. 1. An automated driving system for transmitting commands to a vehicle platform that controls a vehicle, comprising: The vehicle is configured to be able to change a shift range to a shift range different from a shift range indicated by a shift lever operated by a driver, The autonomous driving system is configured to obtain a first signal indicating whether the autonomous mode or the manual mode is selected, and a third signal indicating a current shift range. The commands sent from the automated driving system to the vehicle platform include a first command requesting a shift range change and a second command requesting deceleration; The automatic driving system is configured to, in the autonomous mode, create a driving plan by referring to a signal indicating a state of the vehicle, and transmit a command related to automatic driving control according to the created driving plan to the vehicle platform; the signal indicating the state of the vehicle includes the third signal; The command related to the automatic driving control includes the first command and the second command, the automated driving system is configured to, in the autonomous mode, when the vehicle platform executes a brake hold control of the vehicle after the vehicle is decelerated so as to stop the vehicle by the second command, request a shift range change by the first command while the vehicle is in a brake hold state; An automated driving system, wherein in the autonomous mode, a shift lever operation by a driver is not reflected in the third signal.

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