A vehicle on which an autonomous driving system can be attached and detached, the vehicle comprising: a vehicle platform configured to control the vehicle in accordance with an instruction from the autonomous driving system when the autonomous driving system is attached to the vehicle; and a vehicle control interface configured to serve as an interface between the autonomous driving system and the vehicle platform by executing a predetermined application program interface defined for each signal to be communicated, wherein the vehicle platform is configured to receive a first deceleration request in accordance with an amount of depression of a brake pedal by a driver, and to receive a second deceleration request from the autonomous driving system through the vehicle control interface, and during an autonomous mode, the vehicle platform is configured to specify a sum of the first deceleration request and the second deceleration request as a target deceleration of the vehicle, characterized in that the vehicle platform is configured to set a brake pedal intervention signal, which is different from a brake pedal position signal indicating the amount of depression of the brake pedal by the driver, to: a first value to indicate that the brake pedal is not depressed, when the amount of depression is smaller than a threshold value, a second value to indicate that the brake pedal is depressed, when the amount of depression is larger than the threshold value, a third value to indicate that beyond autonomy deceleration of the vehicle has occurred, when the first deceleration request is larger than the second deceleration request, the vehicle platform is configured to output the brake pedal intervention signal to the autonomous driving system through the vehicle control interface. a vehicle platform configured to control the vehicle in accordance with an instruction from the autonomous driving system when the autonomous driving system is attached to the vehicle; and a vehicle control interface configured to serve as an interface between the autonomous driving system and the vehicle platform by executing a predetermined application program interface defined for each signal to be communicated, wherein the vehicle platform is configured to receive a first deceleration request in accordance with an amount of depression of a brake pedal by a driver, and to receive a second deceleration request from the autonomous driving system through the vehicle control interface, and during an autonomous mode, the vehicle platform is configured to specify a sum of the first deceleration request and the second deceleration request as a target deceleration of the vehicle, characterized in that the vehicle platform is configured to set a brake pedal intervention signal, which is different from a brake pedal position signal indicating the amount of depression of the brake pedal by the driver, to: a first value to indicate that the brake pedal is not depressed, when the amount of depression is smaller than a threshold value, a second value to indicate that the brake pedal is depressed, when the amount of depression is larger than the threshold value, a third value to indicate that beyond autonomy deceleration of the vehicle has occurred, when the first deceleration request is larger than the second deceleration request, a first value to indicate that the brake pedal is not depressed, when the amount of depression is smaller than a threshold value, a second value to indicate that the brake pedal is depressed, when the amount of depression is larger than the threshold value, a third value to indicate that beyond autonomy deceleration of the vehicle has occurred, when the first deceleration request is larger than the second deceleration request, the vehicle platform is configured to output the brake pedal intervention signal to the autonomous driving system through the vehicle control interface.