Vehicle

A vehicle comprising:

• an autonomous driving system that creates a driving plan;
• a vehicle platform that carries out vehicle driving control 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 platform fixes a rotation direction of a wheel based on a pulse provided from a wheel speed sensor provided in the wheel,
• the vehicle control interface provides a signal indicating the fixed rotation direction to the autonomous driving system,
• when all wheel speed values of the vehicle are zero during a certain time period, the vehicle control interface provides, to the autonomous driving system, a signal indicating “Standstill” as a signal indicating a moving direction of the vehicle,
• the “Standstill” refers to a state of completion of brake hold control in response to a Standstill Command from the autonomous driving system,
• the vehicle control interface receives an Acceleration Command indicating a deceleration request from the autonomous driving system during a period from reception of the Standstill Command until transmission of the signal indicating the “Standstill”,
• when a rotation direction to move the vehicle forward is fixed as the rotation direction of the wheel, the vehicle control interface provides, to the autonomous driving system, a signal indicating “Forward” as a signal indicating the rotation direction of the wheel,
• when a rotation direction to move the vehicle rearward is fixed as the rotation direction of the wheel, the vehicle control interface provides, to the autonomous driving system, a signal indicating “Reverse” as the signal indicating the rotation direction of the wheel,
• and, other than when all wheel speed values of the vehicle are zero during the certain time period,
• the vehicle control interface provides, to the autonomous driving system, a signal indicating “Forward” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Forward” is larger than the number of wheels whose rotation direction is “Reverse”,
• the vehicle control interface provides, to the autonomous driving system, a signal indicating “Reverse” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Reverse” is larger than the number of wheels whose rotation direction is “Forward”, and
• the vehicle control interface provides, to the autonomous driving system, a signal indicating “Undefined” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Forward” and the number of wheels whose rotation direction is “Reverse” is the same counts.

A method of controlling a vehicle on which an autonomous driving system is mountable, the vehicle including a vehicle platform that controls driving of 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, the method comprising:

• fixing, by the vehicle platform, a rotation direction of a wheel based on a pulse provided from a wheel speed sensor provided in the wheel;
• and
• providing, by the vehicle control interface, a signal indicating the fixed rotation direction to the autonomous driving system;
• providing, by the vehicle control interface to the autonomous driving system, a signal indicating “Standstill” as a signal indicating a moving direction of the vehicle when all wheel speed values of the vehicle are zero during a certain time period, the “Standstill” referring to a state of completion of brake hold control in response to a Standstill Command from the autonomous driving system;
• receiving, by the vehicle control interface, an Acceleration Command indicating a deceleration request from the autonomous driving system during a period from reception of the Standstill Command until transmission of the signal indicating the “Standstill”;
• when a rotation direction to move the vehicle forward is fixed as the rotation direction of the wheel, providing, by the vehicle control interface, to the autonomous driving system, a signal indicating “Forward” as a signal indicating the rotation direction of the wheel,
• when a rotation direction to move the vehicle rearward is fixed as the rotation direction of the wheel, providing, by the vehicle control interface, to the autonomous driving system, a signal indicating “Reverse” as the signal indicating the rotation direction of the wheel,
• and, other than when all wheel speed values of the vehicle are zero during a certain time period
• providing, by the vehicle control interface, to the autonomous driving system, a signal indicating “Forward” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Forward” is larger than the number of wheels whose rotation direction is “Reverse”,
• providing, by the vehicle control interface, to the autonomous driving system, a signal indicating “Reverse” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Reverse” is larger than the number of wheels whose rotation direction is “Forward”, and
• providing, by the vehicle control interface, to the autonomous driving system, a signal indicating “Undefined” as the signal indicating the moving direction of the vehicle if the number of wheels whose rotation direction is “Forward” and the number of wheels whose rotation direction is “Reverse” is the same counts.