Control method and device of domain controller used for automatic driving

A domain controller, autonomous driving technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system and other directions, which can solve the problems of poor occupant comfort, large amount of calculation, and occupant danger.

Active Publication Date: 2018-06-15
TIANJIN TRINOVA AUTOMOTIVE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the vehicle is driving on low-adhesion roads or other harsh working conditions, it is prone to instability and brings danger to the occupants in the vehicle
[0004] 2) The existing automatic driving control algorithm does not consider the comfort of the whole vehicle enough, resulting in poor comfort for the occupants, and the vehicle is prone to frequent braking and acceleration, which makes the occupants poor acceptance of autonomous vehicles
[0005] 3) The existing self-driving vehicle control alg

Method used

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  • Control method and device of domain controller used for automatic driving
  • Control method and device of domain controller used for automatic driving
  • Control method and device of domain controller used for automatic driving

Examples

Experimental program
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Embodiment 1

[0065] see figure 1 The method for controlling a domain controller for automatic driving proposed in this embodiment specifically includes the following steps:

[0066] Step S101: Receive the vehicle status information and target path information output by the perception layer. What needs to be explained here is that the hardware based on the domain controller can be dSPACE MicroAutoBox, NI PXI, single-chip microcomputer and other platforms that can perform program programming and real-time calculation of the program . The domain controller is implemented based on programming languages ​​such as Simulink, and has a complete definition of input and output interfaces, that is, the domain controller receives the state parameters of the perception layer through the input and output interfaces. Usually, the domain controller receives the state parameters through the CAN bus. In addition, it should be noted that the state parameters that can be received by the domain controller als...

Embodiment 2

[0095] see figure 2 , image 3 and Figure 4, the present embodiment provides a control device for a domain controller for automatic driving, including: a receiving module 1, configured to receive vehicle state information and target path information output by the perception layer, and a judging module 2, configured to judge whether the driving terminal intervenes in the vehicle Control, negative execution module 3, used to perform stability detection according to the vehicle state information and target path information when the judgment result is negative, and the instability processing module 4, used to select the corresponding The stability intervention mode, the stability processing module 5, is used to calculate the comprehensive drivability index when the stability of the vehicle is in a stable state, and the calculation module 6 is used to calculate the target control command according to the stability intervention mode or the comprehensive drivability index, and sen...

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Abstract

The invention provides the control method and the device of a domain controller used for automatic driving and relates to the power control technology field. The control method of the domain controller used for automatic driving comprises the following steps of firstly, receiving vehicle state information and target path information output by a perception layer; secondly, determining whether a driving end intervenes in vehicle control; then, when a determination result is negate, according to the vehicle state information and the target path information, carrying out stability detection; then,when the vehicle stability is an instability state, selecting a corresponding stability intervention mode; then, when the vehicle stability is a stable state, calculating an integration driving performance index; and then, according to the stability intervention mode or the integration driving performance index, calculating a target control instruction; and finally, sending the target control instruction to a bottom layer actuator. Through the above processing process, multiple aspects of vehicle stability, comfortableness and the like during an automatic driving process are considered and then a passenger experience is increased.

Description

technical field [0001] The invention relates to the technical field of power control, in particular to a control method and device for a domain controller used for automatic driving. Background technique [0002] In the process of automatic driving, after the upper-level processor obtains the surrounding environment information of the vehicle and gives the planned target path, it needs to solve the target control signal required by the vehicle's underlying actuators according to the target path and the current state of the vehicle. Most of the existing calculation methods only consider the path tracking accuracy, but less consideration is given to vehicle dynamics stability, occupant comfort, and vehicle fuel economy. Specifically, the existing solutions mainly have the following shortcomings: [0003] 1) Existing automatic driving control algorithms do not fully consider vehicle stability. When the vehicle is driving on a low-adhesion road surface or other harsh working co...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0276G05D2201/02
Inventor 刘祺赵洵程硕陈百鸣俞伟李亮
Owner TIANJIN TRINOVA AUTOMOTIVE TECH CO LTD
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