Cooperative interaction control architecture between domain controllers and control method thereof

Abstract

The invention discloses a cooperative interaction control architecture between domain controllers and a control method thereof, and the architecture comprises a communication unit, an ADAS / AD domain controller used for making a decision according to the obtained sensing and positioning information of the vehicle to obtain a vehicle state and transmitting a plurality of requests of the vehicle to a chassis domain controller, and the chassis domain controller used for receiving a plurality of sent requests, transmitting control instructions to driving, braking, steering and suspension execution systems according to the current driving working condition of the vehicle in combination with the current availability of each actuator of the chassis, intensively acquiring the real-time dynamic state of the vehicle and the time-varying limiting characteristics of the chassis actuators, and sending the data to the ADAS / AD domain controller by using the communication unit. Therefore, through cooperative interaction control among domain controllers, the safety and reliability of a vehicle automation system are guaranteed, the maximum control efficiency of a chassis execution system is exerted, and the running stability, safety, economical efficiency and smoothness of an intelligent vehicle are improved.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a collaborative interactive control framework and control method among domain controllers. Background technique [0002] At present, the electromechanical system architecture of traditional automobile chassis consists of drive (engine, motor, battery, etc.), transmission (gearbox, clutch, etc.), brake (brake master cylinder, wheel cylinder, etc.), steering (rack and pinion steering system, etc.) , suspension (double wishbone suspension, Mcpherson suspension, etc.) and perception (wheel speed sensor, inertial measurement unit, etc.) and other subsystems. In the development process of chassis electronic control, each sub-functional system has an independent perception, decision-making and control system, but the decision-making and control objectives of the subsystems are different, and independent development makes the chassis electrical and electronic architectu...

AI Technical Summary

Problems solved by technology

Chassis by wire is the core technology of ICV executive control, including ABS (Anti-lock Brake System), ASR (Acceleration Slip Regulation), and ESC (Electronic Stability Control) , eBooster (Electronic Booster, Electronic Booster), IBC (Integrated Brake Control, Integrated Brake Control), EPS (Electric Power Steering) and other control-by-wire functions, but the current autonomy of chassis-by-wire technology still faces the following challenges Difficulties: 1) Parts are highly dependent on imports, and manufacturing costs are difficult to control; 2) OEMs are still subject to parts factories in terms of online control technology; 3) international parts suppliers can raise the sales price of domestic OEMs at will; 4) traditional The cost of developing new electronic control functions under the framework is high

It is worth noting that the automation of the car driving system does not change the inherent instability characteristics of the car dynamics. ICVs may experience dangerous conditions such as high-speed instability and rollover, cornering instability and flicking, and wheel locking and loss of steering ability. It is necessary to explore a new perspective and new mechanism to realize the inherent safety of intelligent networked vehicles

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