vehicle

Abstract

To prevent a vehicle from being stolen.SOLUTION: A vehicle is enabled for an automatic operation. The vehicle includes: a vehicle platform for executing a plurality of given functions of the vehicle; an automatic operation kit capable of issuing instruction for an automatic operation and enabled for attaching to and detaching from the vehicle platform; and a vehicle control interface box enabled for communication with the automatic operation kit and issuing a control instruction to the vehicle platform in accordance with an instruction from the automatic operation kit. Vehicle mode states representing states of the vehicle platform includes: a manual mode under control of a vehicular driver; an automatic operation mode under control of the automatic operation kit; and a standby mode where an operation of the vehicle platform by the driver is inhibited. In a case where the vehicle platform is initiated in accordance with a control instruction (clock time t1 though t3) from the automatic operation kit, a vehicle mode state is shift to the standby mode (clock time t5).SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to vehicles, and more particularly to vehicles configured to be capable of autonomous driving. [Background technology]

[0002] There is a system in which a vehicle and an information processing device cooperate to perform autonomous driving (see, for example, Patent Document 1). In this system, the information processing device automatically generates control information using autonomous driving control software and transmits it to the vehicle. The vehicle performs autonomous driving based on the received control information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-177807 Summary of the Invention [Problem to be solved by the invention]

[0004] In the system of Patent Document 1, when an autonomous vehicle is started from outside the vehicle, it goes into a ReadyON state (IgnitionON state). Therefore, if a malicious person enters the driver's seat, they can operate the vehicle manually, which may result in the vehicle being stolen.

[0005] This disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a vehicle that can prevent vehicle theft. [Means for solving the problem]

[0006] The vehicle according to this disclosure is a vehicle configured to be capable of autonomous driving, and includes a vehicle platform that executes multiple predetermined functions of the vehicle, an autonomous driving kit that issues autonomous driving instructions and is detachable from the vehicle platform, and a vehicle control interface box that is configured to be able to communicate with the autonomous driving kit and issues control instructions to the vehicle platform in accordance with instructions from the autonomous driving kit. Vehicle mode states that indicate the state of the vehicle platform include a manual mode under the control of the vehicle driver, an autonomous driving mode under the control of the autonomous driving kit, and a standby mode in which operation of the vehicle platform by the driver is prohibited. The vehicle mode state transitions to the standby mode when the vehicle platform is activated in accordance with a control instruction from the autonomous driving kit.

[0007] With this configuration, when the vehicle platform is activated by the autonomous driving kit, the driver is prohibited from operating the vehicle platform, so that a malicious driver cannot operate the vehicle platform. As a result, a vehicle can be provided that can prevent vehicle theft.

[0008] The vehicle mode state may be configured to transition from manual mode to standby mode after startup when the vehicle platform is started in accordance with a control instruction from the autonomous driving kit. With this configuration, the transition to standby mode occurs after startup of the vehicle platform, thereby preventing vehicle theft.

[0009] The vehicle mode state may be configured to transition from standby mode to autonomous driving mode on the condition that a request to transition to autonomous driving mode is received from the autonomous driving kit after transitioning to standby mode. With this configuration, the vehicle transitions to autonomous driving mode without passing through manual mode, thereby preventing vehicle theft.

[0010] The vehicle mode state may be configured such that when the vehicle platform is started in accordance with a control instruction from the autonomous driving kit, the vehicle transitions from manual mode to standby mode after startup before the driver is allowed to operate the vehicle. With this configuration, the transition to standby mode occurs before the driver is allowed to operate the vehicle, thereby preventing vehicle theft.

[0011] When the vehicle platform is activated by the driver, the vehicle mode state may be set to manual mode. According to this configuration, when the vehicle platform is activated by the driver, the vehicle mode state is set to manual mode, allowing the driver to drive the vehicle. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram illustrating an overview of a vehicle according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a diagram showing the configuration of ADS, VCIB, and VP in more detail. [Figure 3] FIG. 4 is a state transition diagram showing transitions of vehicle modes. [Figure 4] FIG. 10 is a diagram showing the transmission directions of various signals or commands related to transitions between modes. [Figure 5] FIG. 10 is a timing chart showing a case where the ADK turns on the vehicle. [Figure 6] FIG. 10 is a timing chart showing the case where the driver turns on the vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0013] 1 is a diagram illustrating an overview of a vehicle 1 according to an embodiment of the present disclosure. The vehicle 1 includes an autonomous driving kit (ADK) 10 and a vehicle platform (VP) 20. The ADK 10 is configured to be attachable to the VP 20 (to be mounted on the vehicle 1). The ADK 10 and the VP 20 are configured to be able to communicate with each other via a vehicle control interface (VCIB 40, described later).

[0014] The VP20 can perform automatic driving in accordance with control requests from the ADK10. Although the ADK10 is shown in a position separate from the VP20 in FIG. 1, the ADK10 is actually attached to the rooftop of the VP20 or the like. The ADK10 can also be detached from the VP20. When the ADK10 is detached, the VP20 performs driving control in manual mode (driving control according to user operation).

[0015] The ADK 10 includes an autonomous driving system (ADS) 11 for autonomously driving the vehicle 1. The ADS 11 creates a driving plan for the vehicle 1. The ADS 11 outputs various control requests for driving the vehicle 1 according to the driving plan to the VP 20 according to an API (Application Program Interface) defined for each control request. The ADS 11 receives various signals indicating the vehicle state (state of the VP 20) from the VP 20 according to the API defined for each signal. The ADS 11 then reflects the vehicle state in the driving plan.

[0016] The VP20 includes a base vehicle 30 and a vehicle control interface box (VCIB) 40. The base vehicle 30 executes various vehicle controls in accordance with control requests from the ADK10 (ADS11). The base vehicle 30 includes various systems and sensors for controlling the base vehicle 30. More specifically, the base vehicle 30 includes an integrated control manager 31, a brake system 32, a steering system 33, a powertrain system 34, an active safety system 35, a body system 36, wheel speed sensors 51 and 52, a pinion angle sensor 53, a camera 54, and radar sensors 55 and 56.

[0017] The integrated control manager 31 includes a processor and a memory, and controls the above-mentioned systems related to the operation of the vehicle 1 in an integrated manner.

[0018] The brake system 32 is configured to control braking devices provided on each wheel of the base vehicle 30. Wheel speed sensors 51, 52 are connected to the brake system 32. The wheel speed sensors 51, 52 detect the rotational speeds of the front and rear wheels of the base vehicle 30, respectively, and output the detected rotational speeds to the brake system 32. The brake system 32 outputs the rotational speeds of each wheel to the VCIB 40 as one piece of information included in the vehicle state. The brake system 32 also generates braking commands for the braking devices in accordance with a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The brake system 32 controls the braking devices using the generated braking commands.

[0019] The steering system 33 is configured to be able to control the steering angle of the steering wheels of the vehicle 1 using a steering device. A pinion angle sensor 53 is connected to the steering system 33. The pinion angle sensor 53 detects the rotation angle (pinion angle) of a pinion gear connected to a rotary shaft of an actuator and outputs it to the steering system 33. The steering system 33 outputs the pinion angle to the VCIB 40 as one piece of information included in the vehicle state. In addition, the steering system 33 generates a steering command for the steering device in accordance with a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31. The steering system 33 controls the steering device using the generated steering command.

[0020] The powertrain system 34 controls an electric parking brake (EPB) system 341 provided on at least one of the wheels, a parking lock (P-Lock) system 342 provided on the transmission, and a propulsion system 343 including a shift device configured to allow selection of a shift range.

[0021] The active safety system 35 detects obstacles (pedestrians, bicycles, parked vehicles, utility poles, etc.) in front or behind the vehicle 1 using the camera 54 and radar sensors 55, 56. The active safety system 35 determines whether there is a possibility that the vehicle 1 will collide with the obstacle based on the distance between the vehicle 1 and the obstacle and the direction of movement of the vehicle 1. If the active safety system 35 determines that there is a possibility of a collision, it outputs a braking command to the brake system 32 via the integrated control manager 31 to increase braking force.

[0022] The body system 36 is configured to control components such as turn signals, a horn, and wipers (none of which are shown) in accordance with the driving state or environment of the vehicle 1. The body system 36 controls each of the above components in accordance with a predetermined control request output from the ADS 11 via the VCIB 40 and the integrated control manager 31.

[0023] The VCIB 40 is configured to be able to communicate with the ADS 11 via a CAN (Controller Area Network) or the like. The VCIB 40 executes a predetermined API defined for each signal to receive various control requests from the ADS 11 and output vehicle status to the ADS 11. When the VCIB 40 receives a control request from the ADK 10, it outputs a control command corresponding to the control request to a system corresponding to the control command via the integrated control manager 31. The VCIB 40 acquires various pieces of information about the base vehicle 30 from various systems via the integrated control manager 31 and outputs the status of the base vehicle 30 to the ADS 11 as a vehicle status.

[0024] FIG. 2 is a diagram illustrating the configurations of the ADS 11, the VCIB 40, and the VP 20 in more detail. As shown in FIG. 2, the ADS 11 includes a computer 111, an HMI (Human Machine Interface) 112, a recognition sensor 113, an attitude sensor 114, and a sensor cleaner 115. During autonomous driving of the vehicle 1, the computer 111 acquires information about the environment of the vehicle 1, as well as the attitude, behavior, and position of the vehicle 1, using various sensors. The computer 111 also acquires vehicle status information from the VP 20 via the VCIB 40 and sets the next operation (acceleration, deceleration, turning, etc.) of the vehicle 1. The computer 111 outputs various commands to the VCIB 40 to realize the next operation. The computer 111 includes communication modules 111A and 111B. Each of the communication modules 111A and 111B is configured to be able to communicate with the VCIB 40.

[0025] The HMI 112 presents information to the user and accepts user operations during autonomous driving, during driving requiring user operation, and during transition between autonomous driving and driving requiring user operation. The recognition sensor 113 is a sensor for recognizing the environment of the vehicle 1 and includes, for example, at least one of a LIDAR (Laser Imaging Detection and Ranging), a millimeter-wave radar, and a camera. The attitude sensor 114 is a sensor for detecting the attitude, behavior, and position of the vehicle 1 and includes, for example, an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System). The sensor cleaner 115 is configured to use a cleaning fluid, wipers, etc. to remove dirt adhering to the above-mentioned various sensors (camera lenses, laser light irradiation parts, etc.) while the vehicle 1 is traveling.

[0026] The VCIB 40 includes a main VCIB 41 and a sub VCIB 42. Each of the VCIBs 41 and 42 includes a processor such as a CPU (Central Processing Unit) and memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The memory stores programs executable by the processor. The VCIB 41 and communication module 111A are connected to each other so as to be able to communicate with each other. The VCIB 42 and communication module 111B are connected to each other so as to be able to communicate with each other. Furthermore, the VCIB 41 and VCIB 42 are connected to each other so as to be able to communicate with each other.

[0027] Each of the VCIBs 41 and 42 relays control requests and vehicle information between the ADS11 and the VP20. More specifically, the VCIB 41 uses an API to generate control commands from control requests from the ADS11. The VCIB 41 then outputs the generated control commands to corresponding systems among the multiple systems included in the VP20. The VCIB 41 also uses the API to generate information indicating the vehicle status from the vehicle information from each system in the VP20. The VCIB 41 outputs the generated information indicating the vehicle status to the ADS11. The same applies to the VCIB 42.

[0028] The EPB system 341 controls the EPB in accordance with a control request output from the ADS 11 via the VCIB 41. The EPB is provided separately from a braking device (such as a disc brake system) and locks the wheels by operating an actuator. The P-Lock system 342 controls the P-Lock device in accordance with a control request output from the ADS 11 via the VCIB 41. The P-Lock device locks the rotation of the transmission output shaft and locks the wheels. The propulsion system 343 switches the shift range of the shift device and controls the driving force from the driving source (such as a motor generator or engine) in accordance with a control request output from the ADS 11 via the VCIB 41.

[0029] In the vehicle 1, autonomous driving is performed when an autonomous driving mode (described later) is selected in response to a request from the ADK 10. During autonomous driving, the ADS 11 first creates a driving plan. Examples of driving plans include a plan to continue driving straight, a plan to turn left or right at a predetermined intersection along a predetermined driving route, and a plan to change driving lanes. The ADS 11 calculates control physical quantities (acceleration, deceleration, tire turning angle, etc.) required for the vehicle 1 to operate according to the created driving plan. The ADS 11 divides the physical quantities for each execution cycle of the API. The ADS 11 outputs a control request representing the divided physical quantities to the VCIB 40 using the API. Furthermore, the ADS 11 acquires vehicle states (such as the actual moving direction of the vehicle 1 and the vehicle's immobilization state) from the VP 20 and recreates a driving plan that reflects the acquired vehicle states. In this way, the ADS 11 enables autonomous driving of the vehicle 1.

[0030] 3 is a state transition diagram showing transitions between vehicle modes. In this example, the vehicle 1 has a manual mode, an autonomous mode, and a standby mode as vehicle modes.

[0031] The manual mode is the same as that of a non-autonomous vehicle, that is, a mode in which the VP20 is under the control of the driver. In the manual mode, the ADK10 cannot basically control the VP20 except for certain requests.

[0032] The standby mode is a mode in which the ADK 10 has been successfully authenticated and the vehicle is prohibited from being driven by a human. In the standby mode, the ADK 10 cannot control the VP 20 until the mode is switched to autonomous driving mode.

[0033] The autonomous driving mode is a mode in which the VP20 is under the control of the ADK10 and the vehicle 1 can be driven autonomously. In the autonomous driving mode, the ADK10 can communicate with the VP20 after the VCIB40 has successfully authenticated the ADK10. In the autonomous driving mode, the VP20 is under the control of the ADK10 as a result of the ADK10 issuing a "Request for Autonomy" as a vehicle mode request (described later).

[0034] In manual mode, the power mode status is "Wake mode" or "Driving mode". The vehicle mode state is "Manual mode". In standby mode, the power mode status is "Driving mode". The vehicle mode state is "Standby mode". In autonomous mode, the power mode status is "Driving mode". The vehicle mode state is "Automatic driving mode".

[0035] 4 is a diagram showing the transmission direction of various signals or commands (requests) related to mode transitions. During mode transitions, the VCIB 40 receives a power mode request (Power Mode Command) and a vehicle mode request (Vehicle Mode Command) from the ADK 10 (ADS 11). The VCIB 40 also outputs a power mode status signal, a vehicle mode status signal, and a readiness for autonomization signal (Readiness for autonomization) to the ADK 10.

[0036] The power mode request is a request to control the power mode of the VP 20. The power mode status signal is a signal that indicates the current power mode status of the VP 20. In this vehicle 1, the ADS 11 can control the power mode of the VP 20 by sending a power mode request from the ADS 11 to the VCIB 40 in accordance with a predetermined API. The VP 20 according to this embodiment has two power modes: a wake mode and a driving mode.

[0037] In the wake mode, the VCIB 40 is activated by power supplied from the vehicle's auxiliary battery. In the wake mode, power is not supplied from the main battery, and no ECUs other than the VCIB 40 are activated except for some body ECUs of the body system 36 (for example, a verification ECU that performs smart key verification, a body ECU that controls door locking / unlocking, etc.).

[0038] The driving mode is a state in which the power supply of the VP 20 is on (a state in which the vehicle power supply is on). In the driving mode, power is supplied from the main battery, the VCIB 40 and the systems of the base vehicle 30 are activated, and the VP 20 is ready to travel.

[0039] The power mode request can take one of the values ​​0, 2, or 6 as an argument. Value 0 is set when no power mode request for VP20 is made from ADS11. When VCIB40 receives a power mode request with value 0 set, VP20 maintains the current power mode. Value 2 is set when wake mode is requested from ADS11. A power mode request with value 2 set requests VCIB40 startup. When VCIB40 receives a power mode request with value 2 set, the VP20 power mode transitions to wake mode, and VCIB40 starts up by receiving power from the auxiliary battery. Value 6 is set when driving mode is requested from ADS11. A power mode request with value 6 set requests VP20 startup. When VCIB40 receives a power mode request with value 6 set, the VP20 power mode transitions to driving mode, and VP20 becomes powered on.

[0040] In this vehicle 1, the VCIB 40 sends a signal indicating the power mode status to the ADS 11 in accordance with a predetermined API, thereby notifying the ADS 11 of the power mode status of the VP 20. The power mode status signal sent to the ADS 11 can take either value 2 or 6 as an argument. The value 2 is set when the power mode is the wake mode. The value 6 is set when the power mode is the driving mode.

[0041] In this vehicle 1, the vehicle mode of the VP 20 can be controlled from the ADS 11 by sending a vehicle mode request from the ADS 11 to the VCIB 40 in accordance with a predetermined API. The vehicle mode request can take any of the values ​​0 to 2 as an argument. The value 0 is set when the ADS 11 does not request the vehicle mode of the VP 20. When the VCIB 40 receives a vehicle mode request with the value 0 set, the vehicle mode at that time is maintained.

[0042] The value 1 is set when an autonomous driving mode is requested from the ADS11 (Request For Autonomy). That is, a vehicle mode request set to value 1 requests a transition of the vehicle mode from manual mode to autonomous driving mode. The value 2 is set when a manual mode is requested from the ADS11 (Deactivation Request). That is, a vehicle mode request set to value 2 requests a transition of the vehicle mode from autonomous driving mode to manual mode.

[0043] In this vehicle 1, the vehicle mode state of the VP20 is notified to the ADS11 by sending a signal indicating the vehicle mode state from the VCIB40 to the ADS11 according to a predetermined API. The vehicle mode state signal can take any one of values ​​0 to 2 as an argument. The value 0 is set when the vehicle mode is manual mode. The value 1 is set when the vehicle mode is autonomous driving mode. The value 2 is set when the vehicle mode is standby mode. Note that when the VP20 is started up (the power mode state is wake mode or driving mode), the vehicle mode starts from manual mode. In other words, the initial state of the vehicle mode is set to "manual mode."

[0044] In this vehicle 1, the VCIB40 sends a signal indicating the VP20's automation readiness status to the ADS11 according to a predetermined API, thereby notifying the ADS11 of whether the VP20 can transition to autonomous driving mode. The automation readiness signal can take one of the values ​​0, 1, or 3 as an argument. The value 0 is set when the autonomous driving mode is not ready (Not Ready For Autonomous Mode). The value 1 is set when the autonomous driving mode is ready (Ready For Autonomous Mode). The value 3 is set when the state has not yet been determined. The value 3 means an invalid value (Invalid).

[0045] Referring again to FIG. 3, the transitions between modes will be described in detail. Transition a indicates a transition from manual mode to standby mode. When a first condition is met in manual mode, the vehicle mode transitions from manual mode to standby mode. The first condition includes the following five conditions (1) to (5), and is met when all five conditions are met, and is not met when any of the five conditions is not met.

[0046] (1) The ADK10 is authenticated by the VCIB40. (2) The most recent power mode request in the reception history is "driving mode." (3) The power mode status signal is "driving mode." (4) The VP20 is in good condition. (5) There is no input from the driver.

[0047] Transition b indicates a transition from manual mode to autonomous driving mode. Transition c indicates a transition from standby mode to autonomous driving mode. When the second condition is met in manual mode and standby mode, the vehicle mode transitions from manual mode and standby mode to autonomous driving mode, respectively. The second condition includes the following conditions (1) to (4), and is met when all four conditions are met, and is not met when any of the four conditions is not met.

[0048] (1) The ADK10 is authenticated by the VCIB40. (2) The power mode status signal is in "driving mode." (3) The automation ready signal is in "automated driving mode ready." (4) The vehicle mode request is in "request for automatic."

[0049] Transition d indicates a transition from the autonomous driving mode to the manual mode. In the autonomous driving mode, when a third condition is satisfied, that is, the vehicle mode request is a "request for deactivation," the vehicle mode transitions from the autonomous driving mode to the manual mode.

[0050] Transition e indicates a transition from the standby mode to the manual mode. In the standby mode, when a fourth condition is met that the vehicle mode request is a "request for deactivation," the vehicle mode transitions from the standby mode to the manual mode.

[0051] FIG. 5 is a timing chart showing when the ADK10 turns on the vehicle 1. Since this is the case where the ADK10 turns on the vehicle 1, the signal from the ignition switch remains OFF. When the power of the VP20 is turned on in response to an instruction from the ADK10, the vehicle mode is set to "manual mode." When a power mode request with a value of 6 requesting "driving mode" is sent from the ADK10 to the VCIB40 between time t1 and time t3, the power mode is switched from "wake mode" to "driving mode" at time t2 between time t1 and time t3. After time t2, a power mode status signal with a value of 6 indicating "driving mode" is sent from the VCIB40 to the ADK10.

[0052] After the power supply mode is set to driving mode, at time t4, when preparation for autonomous driving mode is complete, the automation preparation signal sent from the VCIB 40 to the ADK 10 is switched from the value 0 indicating "not ready" to the value 1 indicating "ready for autonomous driving." After that, at time t5, the vehicle mode status signal sent from the VCIB 40 to the ADK 10 is switched from the value 0 indicating "manual mode" to the value 2 indicating "standby mode."

[0053] At time t6, when the vehicle mode is in the "standby mode," the vehicle mode request sent from ADK10 to VCIB40 is switched from value 0, indicating "no request," to value 1, indicating "automatic request." At time t7, before time t8, when the vehicle mode request is returned to value 0, indicating "no request," the vehicle mode status signal sent from VCIB40 to ADK10 is switched from value 2, indicating "standby mode," to value 1, indicating "automatic driving mode." This starts automatic driving of vehicle 1 (VP20) in response to instructions from ADK10.

[0054] At time t9, when the vehicle mode is the "autonomous driving mode," the vehicle mode request sent from ADK10 to VCIB40 is switched from the value 0 indicating "no request" to the value 2 indicating "request for deactivation." At time t10, before time t11, when the vehicle mode request is returned to the value 0 indicating "no request," the vehicle mode status signal sent from VCIB40 to ADK10 is switched from the value 1 indicating "autonomous driving mode" to the value 0 indicating "manual mode." This enables the driver to manually drive the vehicle 1 (VP20).

[0055] If, between time t12 and time t14 when the power supply mode is "driving mode," the ADK10 sends a power supply mode request of value 2 requesting "wake mode" to the VCIB40, then at time t13 between time t12 and time t14, the power supply mode is switched from "driving mode" to "wake mode." After time t13, the VCIB40 sends to the ADK10 a power supply mode status signal of value 2 indicating "wake mode."

[0056] FIG. 6 is a timing chart showing a case where the driver turns on the vehicle 1. Since the driver turns on the vehicle 1 in this case, the power supply mode request remains at the value 0, indicating "no request." When the power supply of the VP20 is turned on in response to the driver's operation, the vehicle mode is set to "manual mode." When the driver presses the ignition switch between time t21 and time t23, switching the signal from the ignition switch from OFF to ON, the power supply mode is switched from "wake mode" to "driving mode" at time t22, which is between time t21 and time t23. This allows the driver to manually drive the vehicle 1 (VP20). After time t22, the VCIB40 transmits a power supply mode status signal of the value 6, indicating "driving mode," to the ADK10.

[0057] After the power supply mode is set to the driving mode, at time t24, when preparation for the autonomous driving mode is complete, the automation preparation signal transmitted from the VCIB 40 to the ADK 10 is switched from a value of 0 indicating "not ready" to a value of 1 indicating "autonomous driving preparation complete." Thereafter, at time t25, when the vehicle mode is "manual mode," the vehicle mode request transmitted from the ADK 10 to the VCIB 40 is switched from a value of 0 indicating "no request" to a value of 1 indicating "automation request." At time t26, before time t27, when the value is returned to 0 indicating "no request," the vehicle mode status signal transmitted from the VCIB 40 to the ADK 10 is switched from a value of 0 indicating "manual mode" to a value of 1 indicating "autonomous driving mode." This starts autonomous driving of the vehicle 1 (VP20) in response to instructions from the ADK 10.

[0058] At time t28, when the vehicle mode is the "autonomous driving mode," the vehicle mode request sent from ADK10 to VCIB40 is switched from the value 0 indicating "no request" to the value 2 indicating "request for deactivation," and then at time t29, before time t30, when the vehicle mode request is returned to the value 0 indicating "no request," the vehicle mode status signal sent from VCIB40 to ADK10 is switched from the value 1 indicating "autonomous driving mode" to the value 0 indicating "manual mode." This enables the driver to manually drive the vehicle 1 (VP20).

[0059] Between time t31 and time t33 after time t30, when the power supply mode is "driving mode," if the driver presses the ignition switch and the signal from the ignition switch changes from OFF to ON, the power supply mode changes from "driving mode" to "wake mode" at time t32 between time t31 and time t33. After time t32, the VCIB 40 transmits a power supply mode status signal of value 2 to the ADK 10, indicating that the mode is "wake mode."

[0060] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the disclosure is defined by the claims, not by the description of the above embodiments, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0061] 1 Vehicle, 10 Autonomous Driving Kit (ADK), 11 Autonomous Driving System (ADS), 111 Computer, 111A, 111B Communication Module, 113 Recognition Sensor, 114 Attitude Sensor, 115 Sensor Cleaner, 20 Vehicle Platform (VP), 30 Base Vehicle, 31 Integrated Control Manager, 32, 321, 322 Brake System, 33, 331, 332 Steering System, 34 Powertrain System, 341 EPB, 342 P-Lock System, 343 Propulsion System, 35 Active Safety System, 36 Body System, 40-42 Vehicle Control Interface Box (VCIB), 51, 52 Wheel Speed ​​Sensor, 53 Pinion Angle Sensor, 54 Camera, 55, 56 Radar Sensor.

Claims

1. A vehicle configured to be capable of automatic driving, a vehicle platform that performs a plurality of predetermined functions for the vehicle; an autonomous driving kit that issues autonomous driving instructions and is detachable from the vehicle platform; a vehicle control interface box configured to be able to communicate with the autonomous driving kit and to issue control instructions to the vehicle platform in accordance with instructions from the autonomous driving kit; The vehicle mode status indicating the status of the vehicle platform includes a manual mode under the control of a driver of the vehicle, an autonomous driving mode under the control of the autonomous driving kit, and a standby mode in which operation of the vehicle platform by the driver is prohibited; The vehicle mode state is transitioned to the standby mode when the vehicle platform is started in accordance with a control instruction from the autonomous driving kit.

2. The vehicle according to claim 1 , wherein, when the vehicle platform is started up in accordance with a control instruction from the autonomous driving kit, the vehicle mode state transitions from the manual mode to the standby mode after the start-up.

3. 3. The vehicle according to claim 2, wherein the vehicle mode state is transitioned from the standby mode to the autonomous driving mode on the condition that a request to transition to the autonomous driving mode is received from the autonomous driving kit after transitioning to the standby mode.

4. 3. The vehicle of claim 2, wherein when the vehicle platform is started in accordance with a control instruction from the autonomous driving kit, the vehicle mode state transitions from the manual mode to the standby mode after start-up before the driver is allowed to operate the vehicle.

5. 5. The vehicle of claim 1, wherein the vehicle mode state is the manual mode when the vehicle platform is activated by the driver.

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