CPC G05D 1/0212 (2013.01) [B60W 60/001 (2020.02); B60Q 1/34 (2013.01); B60W 2520/04 (2013.01); B60W 2520/06 (2013.01); B60W 2520/28 (2013.01)] | 6 Claims |
1. A vehicle on which an autonomous driving system is mountable, the vehicle comprising:
a vehicle platform that controls the vehicle in accordance with an instruction from the autonomous driving system; and
a vehicle control interface that interfaces between the vehicle platform and the autonomous driving system, wherein:
the vehicle control interface provides to the autonomous driving system, a signal indicating a moving direction of the vehicle,
when all wheel speed values are zero during a certain time period, the vehicle control interface provides to the autonomous driving system, a signal indicating “Standstill” as the signal indicating the moving direction of the vehicle,
the vehicle control interface receives, from the autonomous driving system, a command to request to switch a shift range to another,
when the vehicle control interface determines that the signal indicates a standstill, the vehicle platform performs a shift change required by the command,
when the vehicle control interface determines that the signal does not indicate a standstill, the vehicle platform does not perform the shift change required by the command,
the command is set to any one of a first value indicating no request, a second value requesting a shift to a reverse range, and a third value requesting a shift to a drive range,
when the vehicle control interface determines that the signal indicates a standstill and the command indicates the first value, the vehicle platform does not perform a shift change,
when the vehicle control interface determines that the signal indicates a standstill and the command indicates the second value, the vehicle platform switches a shift range to the reverse range, and
when the vehicle control interface determines that the signal indicates a standstill and the command indicates the third value, the vehicle platform switches a shift range to the drive range.
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