US 12,084,083 B2
Vehicle and method of controlling vehicle
Ikuma Suzuki, Okazaki (JP); and Yuta Ohashi, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on May 18, 2023, as Appl. No. 18/319,791.
Application 18/319,791 is a continuation of application No. 17/722,934, filed on Apr. 18, 2022, granted, now 11,702,100.
Application 17/722,934 is a continuation of application No. 17/154,010, filed on Jan. 21, 2021, granted, now 11,691,644.
Claims priority of application No. 2020-015716 (JP), filed on Jan. 31, 2020.
Prior Publication US 2023/0294732 A1, Sep. 21, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/188 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 30/188 (2013.01); B60W 2556/50 (2020.02); B60W 2720/106 (2013.01)] 4 Claims
OG exemplary drawing
 
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; and
a vehicle control interface that interfaces between the autonomous driving system and the vehicle platform, wherein
a first command that requests for an acceleration value or a deceleration value and a second command that requests for immobilization of the vehicle are transmitted from the autonomous driving system to the vehicle platform through the vehicle control interface,
a signal indicating a standstill state of the vehicle is transmitted from the vehicle platform to the autonomous driving system through the vehicle control interface, and
when a request for deceleration is made to the vehicle platform in the first command, the vehicle platform transmits the signal to the autonomous driving system at time when the vehicle comes to a standstill, and the vehicle platform immobilizes the vehicle in response to the second command received after transmission of the signal, wherein
the vehicle platform includes an electric steering system that steers the vehicle,
when a driver operation occurs during an autonomous driving, the vehicle platform controls a motor torque of the electric steering system in coordination with the driver, taking into account the driver's steering intention, and
an object to be controlled by the first command is different from an object to be controlled by the second command,
the object to be controlled by the second command includes an electric parking brake and a P-Lock device, and
the acceleration required by the first command becomes zero when both the electric parking brake and the P-Lock device are activated.
 
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 and a vehicle control interface that interfaces between the autonomous driving system and the vehicle platform, the vehicle platform including an electric steering system that steers the vehicle, the method comprising:
transmitting a first command that requests for an acceleration value or a deceleration value and a second command that requests for immobilization of the vehicle from the autonomous driving system to the vehicle platform through the vehicle control interface;
transmitting a signal indicating a standstill state of the vehicle from the vehicle platform to the autonomous driving system through the vehicle control interface;
transmitting, by the vehicle platform, when a request for deceleration is made to the vehicle platform in the first command, the signal to the autonomous driving system at time when the vehicle comes to a standstill;
immobilizing, by the vehicle platform, the vehicle in response to the second command received after transmission of the signal; and
controlling, when a driver operation occurs, a motor torque of the electric steering system in coordination with the driver, taking into account the driver's steering intention, wherein
an object to be controlled by the first command is different from an object to be controlled by the second command,
the object to be controlled by the second command includes an electric parking brake and a P-Lock device, and
the acceleration required by the first command becomes zero when both the electric parking brake and the P-Lock device are activated.