Vehicle

Abstract

When a vehicle control interface receives information indicating “Forward” from a VP, the vehicle control interface sets a value 0 in a signal indicating a rotation direction of a wheel. When the vehicle control interface receives information indicating “Reverse” from the VP, the vehicle control interface sets a value 1 in the signal indicating the rotation direction of the wheel. When the vehicle control interface receives information indicating “Invalid value” from the VP, the vehicle control interface sets a value 3 in the signal indicating the rotation direction of the wheel. The vehicle control interface provides the signal indicating the rotation direction of the wheel to an ADK.

What is claimed is: 
     
         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 platform fixes a rotation direction of a wheel based on a pulse provided from a wheel speed sensor provided in the wheel, and   the vehicle control interface provides a signal indicating the fixed rotation direction to the autonomous driving system.   
     
     
         2 . The vehicle according to  claim 1 , wherein
 when the vehicle platform consecutively receives input of two pulses indicating a same direction from the wheel speed sensor, the vehicle platform fixes the rotation direction of the wheel.   
     
     
         3 . The vehicle according to  claim 1 , wherein
 when a rotation direction to move the vehicle forward is fixed as the rotation direction of the wheel, the vehicle control interface provides a signal indicating “Forward” to the autonomous driving system, and   when a rotation direction to move the vehicle rearward is fixed as the rotation direction of the wheel, the vehicle control interface provides a signal indicating “Reverse” to the autonomous driving system.   
     
     
         4 . The vehicle according to  claim 1 , wherein
 when the rotation direction of the wheel has not been fixed, the vehicle control interface provides a signal indicating “Invalid value” to the autonomous driving system.   
     
     
         5 . The vehicle according to  claim 3 , wherein
 the vehicle control interface provides the signal indicating “Forward” to the autonomous driving system until the rotation direction of the wheel is fixed after activation of the vehicle.   
     
     
         6 . A vehicle comprising:
 an autonomous driving system that creates a driving plan;   a vehicle platform that carries out vehicle 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, and   the vehicle control interface provides a signal indicating the fixed rotation direction to the autonomous driving system.   
     
     
         7 . The vehicle according to  claim 6 , wherein
 when the vehicle platform consecutively receives input of two pulses indicating a same direction from the wheel speed sensor, the vehicle platform fixes the rotation direction of the wheel.   
     
     
         8 . The vehicle according to  claim 6 , wherein
 when a rotation direction to move the vehicle forward is fixed as the rotation direction of the wheel, the vehicle control interface provides a signal indicating “Forward” to the autonomous driving system, and   when a rotation direction to move the vehicle rearward is fixed as the rotation direction of the wheel, the vehicle control interface provides a signal indicating “Reverse” to the autonomous driving system.   
     
     
         9 . The vehicle according to  claim 6 , wherein
 when the rotation direction of the wheel has not been fixed, the vehicle control interface provides a signal indicating “Invalid value” to the autonomous driving system.   
     
     
         10 . The vehicle according to  claim 8 , wherein
 the vehicle control interface provides the signal indicating “Forward” to the autonomous driving system until the rotation direction of the wheel is fixed after activation of the vehicle.   
     
     
         11 . A method of controlling a vehicle on which an autonomous driving system is mountable, the vehicle including 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, 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.   
     
     
         12 . The method of controlling a vehicle according to  claim 11 , wherein
 when the vehicle platform consecutively receives input of two pulses indicating a same direction from the wheel speed sensor, the vehicle platform fixes the rotation direction of the wheel.   
     
     
         13 . The method of controlling a vehicle according to  claim 11 , further comprising:
 providing, by the vehicle control interface, a signal indicating “Forward” to the autonomous driving system when a rotation direction to move the vehicle forward is fixed as the rotation direction of the wheel; and   providing, by the vehicle control interface, a signal indicating “Reverse” to the autonomous driving system when a rotation direction to move the vehicle rearward is fixed as the rotation direction of the wheel.   
     
     
         14 . The method of controlling a vehicle according to  claim 11 , further comprising providing, by the vehicle control interface, a signal indicating “Invalid value” to the autonomous driving system when the rotation direction of the wheel has not been fixed. 
     
     
         15 . The method of controlling a vehicle according to  claim 13 , further comprising providing, by the vehicle control interface, the signal indicating “Forward” to the autonomous driving system until the rotation direction of the wheel is fixed after activation of the vehicle.