Autonomous driving system for communicating with and controlling a vehicle via a vehicle control interface

A vehicle comprising:

• a vehicle platform;
• an autonomous driving system;
• and
• a vehicle control interface that mediates communication of a signal between the vehicle platform and the autonomous driving system in the vehicle, the vehicle control interface including an electronic controller, wherein
• the vehicle platform includes:
• a brake device configured to apply braking force to a wheel of the vehicle;
• and
• a control device configured to control the brake device,
• the vehicle control interface converts a command received from the autonomous driving system into a format of a signal that is processed by the vehicle platform, and sends the converted command to the vehicle platform, the command from the autonomous driving system including a first command to request acceleration or deceleration and a second command to request to maintain stationary,
• the vehicle control interface outputs a state signal indicating a state of the vehicle platform to the autonomous driving system, the state signal including a first signal indicating a longitudinal velocity of the vehicle and a second signal indicating whether the vehicle is at a standstill,
• when the first signal indicates 0 km/h or a prescribed velocity or less after the autonomous driving system issues the first command to request the vehicle platform to provide deceleration to stop the vehicle, the autonomous driving system issues the second command to request the vehicle platform to maintain stationary,
• when the first command requests deceleration and the second command requests the vehicle to be maintained stationary, the control device performs brake hold control by the brake device,
• when the brake hold control is completed, the second signal indicates standstill,
• the autonomous driving system further obtains a third signal indicating a moving direction of the vehicle,
• the third signal indicates standstill when a prescribed number of wheels of the vehicle continue a speed of zero for a prescribed period of time, and
• while the brake hold control is being performed, the electronic controller determines whether the brake device continues the brake hold control based on the first command, the second command, and the third signal.