A chassis control method and system based on a chassis control domain system

Abstract

The application relates to a chassis control method and system based on a chassis control domain system, which comprises the following steps: receiving request information of an advanced driving assistance system; obtaining current vehicle state information; obtaining vehicle state adjustment information according to the request information and the vehicle state information; determining a corresponding target control algorithm according to the vehicle state adjustment information, wherein the target control algorithm comprises a longitudinal control algorithm, a lateral control algorithm and a vertical control algorithm; obtaining a corresponding target function control request according to the vehicle state adjustment information based on the target control algorithm; and sending the target function control request to a target actuator of a vehicle chassis to control the target actuator to adjust the operation condition of the vehicle. Different target control algorithms are adopted according to different function requests, the control of different actuators is realized, and the reaction efficiency of the actuator is improved; and the technical problem that the control effects of multiple actuators of a chassis in the prior art cannot be effectively and uniformly coordinated is solved.

Description

Technical Field

[0001] This invention relates to the field of chassis technology, and in particular to a chassis control method and system based on a chassis control domain system. Background Technology

[0002] Currently, advanced driver assistance systems (ADAS) such as ACC (Adaptive Cruise Control) and APA (Automatic Parking) rely on the upper layer of ADAS (Advanced Driver Assistance Systems) to perceive the environment, vehicle status, and use visual and radar sensors for decision-making and planning. Finally, depending on the specific function, it sends relevant acceleration, deceleration, and steering commands to various actuators in the lower chassis. For example, it sends a steering angle command to the steering system and acceleration / deceleration commands to the VCU (Vehicle Controller Unit). The VCU receives the corresponding acceleration / deceleration, calculates the required drive torque using different functions and algorithms, and then sends it to the motor control system to execute the drive torque. Simultaneously, it calculates the required energy recovery torque and braking force based on the deceleration and sends them to the motor and braking system to execute deceleration or stopping. However, for ADAS requests, the chassis involves complex interactions between different chassis control actuators for different functions. Especially for upper-level control requests from advanced autonomous driving systems, the multiple actuators under the chassis will struggle to achieve effective coordination and control at the lower level. This makes it difficult to achieve effective unified coordination of the control system and the control effect, mainly due to the following technical problems:

[0003] 1) The lower-level control algorithms of various functions are excessively repetitive and redundant; for example, in APA (Automatic Parking), acceleration and deceleration are required during parking. The upper-level ADAS requests acceleration and deceleration, and the VCU performs closed-loop control to calculate the required driving force or braking force, requesting the driving force to be sent to the motor and the required braking force to be sent to the hydraulic automatic unit; in the automatic summoning function, the vehicle is remotely dispatched, and the upper-level ADAS will also request acceleration and deceleration during this period, executing the same algorithm as above.

[0004] 2) The various actuators in the chassis interact in a complex manner, and the control transmission chain is not direct;

[0005] 3) It is difficult to handle subsequent advanced autonomous driving functions, and the control system is more complex.

[0006] Therefore, there is a need to provide a chassis control method that achieves unified and coordinated control of the chassis domain, has a clear algorithm architecture, and simplifies the interaction process to solve the above-mentioned technical problems. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a chassis control method based on a chassis control domain system. This solves the technical problem in existing technologies where the control effects of multiple actuators in a chassis are not easily and effectively unified and coordinated.

[0008] The technical effects of this invention are achieved through the following:

[0009] A chassis control method based on a chassis control domain system, wherein the chassis control domain system is used to coordinate and control the actuators of the vehicle chassis to adjust the vehicle's operating conditions, the method comprising:

[0010] Receive request information from advanced driver assistance systems;

[0011] Obtain the current vehicle status information;

[0012] Vehicle status adjustment information is obtained based on the request information and the vehicle status information;

[0013] The corresponding target control algorithm is determined based on the vehicle state adjustment information. The target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm.

[0014] Based on the target control algorithm, the corresponding target function control request is obtained according to the vehicle state adjustment information;

[0015] A target function control request is sent to the target actuator in the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions. Based on different function requests, a corresponding target control algorithm is adopted to obtain the target function control request corresponding to the target control algorithm. This completes the control of multiple actuators in the chassis, achieving unified and coordinated control of the chassis domain, improving the execution efficiency of the actuators, and solving the technical problem in existing technologies where the control effect of multiple actuators in the chassis is not easily unified and coordinated.

[0016] Furthermore, the request information of the advanced driver assistance system includes acceleration request information, speed request information, distance request information, steering request information, and road information of the current driving segment of the vehicle.

[0017] Further, vehicle status adjustment information is obtained based on the request information and the vehicle status information, including:

[0018] When an acceleration request, speed request, or distance request is received, vehicle speed adjustment information is obtained based on the acceleration request and the vehicle status information.

[0019] When a steering request is received, yaw angle adjustment information and steering angle adjustment information are obtained from the vehicle status information based on the steering request information;

[0020] When road information of the current driving segment of the vehicle is received, slope adjustment information and pitch angle adjustment information are obtained from the vehicle status information based on the road information.

[0021] Further, a corresponding target control algorithm is determined based on the vehicle state adjustment information. The target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm, comprising:

[0022] If the vehicle status adjustment information is vehicle speed adjustment information, then the longitudinal control algorithm is selected;

[0023] If the vehicle status adjustment information is yaw angle adjustment information and steering angle adjustment information, then the lateral control algorithm is selected;

[0024] If the vehicle status adjustment information is slope adjustment information and pitch angle adjustment information, then the vertical control algorithm is selected.

[0025] Furthermore, based on the target control algorithm, the corresponding target function control request is obtained according to the vehicle state adjustment information, including:

[0026] Based on the longitudinal control algorithm, a longitudinal control torque request or a longitudinal control braking torque request is obtained according to the vehicle speed adjustment information.

[0027] or

[0028] Based on the lateral control algorithm, a lateral control angle request is obtained according to the yaw angle adjustment information and the steering angle adjustment information.

[0029] or

[0030] Based on the vertical control algorithm, vertical control suspension requests or active headlight correction requests are obtained according to the slope adjustment information and the pitch angle adjustment information. By setting three different algorithms—longitudinal control algorithm, lateral control algorithm, and vertical control algorithm—the algorithm architecture is clear and the functions are well-defined. Different requests for different functions are obtained according to different algorithms and sent to the corresponding actuators, making the interaction process of the chassis actuators simpler and solving the technical problem of redundant and complex algorithms in the prior art.

[0031] Furthermore, the actuator includes a motor, a braking system, a steering system, a suspension system, and an active headlight system.

[0032] Furthermore, a target function control request is sent to the target actuator in the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions, including:

[0033] A longitudinal control torque request is sent to the motor to control the motor to execute drive torque.

[0034] or

[0035] A longitudinal control braking torque request is sent to the braking system to control the braking system to perform deceleration or stopping.

[0036] or

[0037] A lateral control steering angle request is sent to the steering system to control the steering system to perform steering.

[0038] or

[0039] A vertical control suspension request is sent to the suspension system to control the suspension system to perform vertical movement.

[0040] or

[0041] A request to correct the active headlights is sent to the active headlight system to control the active headlight system to perform the correction.

[0042] Additionally, a chassis control domain system is provided, the system comprising:

[0043] Vehicle Status Module: Used to receive request information from the advanced driver assistance system; obtain current vehicle status information; and obtain vehicle status adjustment information based on the request information and the vehicle status information.

[0044] Coordination control module: used to determine the corresponding target control algorithm based on the vehicle state adjustment information, the target control algorithm including longitudinal control algorithm, lateral control algorithm and vertical control algorithm;

[0045] The algorithm control module is used to obtain the corresponding target function control request based on the vehicle state adjustment information according to the target control algorithm; and to send the target function control request to the target actuator of the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions. By setting up a coordination control module, when the chassis control domain system receives request instructions from the upper control domain, it can select the target control algorithm corresponding to the function switching according to different functions, thereby calculating the corresponding vehicle state adjustment information. This makes the function of the algorithm clear, simplifies the entire chassis control process, and improves the response speed of the actuator.

[0046] Furthermore, the vehicle status module includes:

[0047] Vehicle speed information adjustment module: When receiving acceleration request information, speed request information, or distance request information, it obtains vehicle speed adjustment information based on the acceleration request information and the vehicle status information;

[0048] Steering information adjustment module: When a steering request is received, it is used to obtain yaw angle adjustment information and steering angle adjustment information based on the steering request information and the vehicle status information;

[0049] Vertical information adjustment module: When receiving road information of the current driving segment of the vehicle, it obtains slope adjustment information and pitch angle adjustment information based on the road information and the vehicle status information.

[0050] Furthermore, the algorithm control module includes:

[0051] Longitudinal control module: used to obtain a longitudinal control torque request or a longitudinal control braking torque request based on the vehicle speed adjustment information according to the longitudinal control algorithm;

[0052] Lateral control module: used to obtain a lateral control angle request based on the yaw angle adjustment information and the steering angle adjustment information according to the lateral control algorithm;

[0053] Vertical control module: used to obtain vertical control suspension requests or correct active headlight requests based on the slope adjustment information and pitch angle adjustment information according to the vertical control algorithm.

[0054] As described above, the present invention has the following beneficial effects:

[0055] 1) Based on different functional requests, the corresponding target control algorithm is adopted to obtain the target functional control request corresponding to the target control algorithm, complete the control of multiple actuators of the chassis, realize unified and coordinated control of the chassis domain, improve the execution efficiency of the actuators, and solve the technical problem that the control effect of multiple actuators of the chassis is not easy to be effectively unified and coordinated in the existing technology.

[0056] 2) By setting up three different algorithms—longitudinal control algorithm, lateral control algorithm, and vertical control algorithm—the algorithm architecture is clear and the functions are well-defined. Different functional requests are obtained according to different algorithms and sent to the corresponding actuators, making the interaction process of the chassis actuators simpler and solving the technical problem of redundant and complex algorithms in the existing technology.

[0057] 3) By setting up a coordination control module, when the chassis control domain system receives request commands from the upper control domain, it can select the target control algorithm corresponding to the function based on the switching of different functions, thereby calculating the corresponding vehicle state adjustment information, making the function of the algorithm clear, simplifying the entire chassis control process, and improving the response speed of the actuator. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0059] Figure 1 A flowchart illustrating a chassis control method based on a chassis control domain system, provided as an embodiment of this specification;

[0060] Figure 2 This specification provides an architecture diagram of an autonomous driving system for an embodiment.

[0061] Figure 3 This is a structural block diagram of a chassis control domain system provided in an embodiment of this specification. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0064] Example 1:

[0065] like Figure 1 and 2 As shown in the embodiments of this specification, a chassis control method based on a chassis control domain system is provided. The chassis control domain system is used to coordinate and control the actuators of the vehicle chassis to adjust the vehicle's operating conditions. The actuators include a motor, a braking system, a steering system, a suspension system, and an active headlight system. The method includes:

[0066] S100: Receives request information from the advanced driver assistance system;

[0067] In this embodiment, a chassis control domain system based on advanced driver assistance functions (ADAS), also known as a lower-level control domain system, is established. By receiving different function requests with upper-level control information from ADAS, the chassis control domain system is unified and coordinated for control. As the lower-level control domain system of the ADAS, it uniformly receives request commands from ADAS (e.g., steering, acceleration, deceleration, obstacle distance, etc.) and then uses unified lateral control algorithms, longitudinal control algorithms, and vertical control algorithms to request various actuators of the chassis, such as motors, braking systems, steering systems, suspension systems, and active headlight systems, to perform corresponding execution processes to realize the autonomous driving function of the vehicle.

[0068] The request information from the advanced driver assistance system includes acceleration request information, speed request information, distance request information, steering request information, and road information of the current driving segment of the vehicle.

[0069] The vehicle's autonomous driving system is composed of the ADAS upper control domain, the chassis control domain system, and the actuators of the vehicle chassis.

[0070] S200: Obtain current vehicle status information;

[0071] Specifically, the chassis control domain system also includes a real-time vehicle status acquisition module and a vehicle status algorithm module. The real-time vehicle status acquisition module is used to acquire the current vehicle status, and then the vehicle status algorithm module calculates the current vehicle status based on the principle of vehicle dynamics to obtain vehicle status information. In other words, by obtaining the vehicle status information, the current vehicle posture can be determined.

[0072] The vehicle status information may include acceleration information, speed information, distance information, yaw angle information, steering angle information, slope information, and pitch angle information.

[0073] S300: Obtain vehicle status adjustment information based on the request information and the vehicle status information;

[0074] In one specific implementation, step S300 obtains vehicle status adjustment information based on the request information and the vehicle status information, including:

[0075] When an acceleration request, speed request, or distance request is received, vehicle speed adjustment information is obtained based on the acceleration request and the vehicle status information.

[0076] When a steering request is received, yaw angle adjustment information and steering angle adjustment information are obtained from the vehicle status information based on the steering request information;

[0077] When road information of the current driving segment of the vehicle is received, slope adjustment information and pitch angle adjustment information are obtained from the vehicle status information based on the road information.

[0078] S400: Determine the corresponding target control algorithm based on the vehicle state adjustment information, wherein the target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm;

[0079] In one specific implementation, step S400 determines the corresponding target control algorithm based on the vehicle state adjustment information. The target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm, comprising:

[0080] If the vehicle status adjustment information is vehicle speed adjustment information, then the longitudinal control algorithm is selected;

[0081] If the vehicle status adjustment information is yaw angle adjustment information and steering angle adjustment information, then the lateral control algorithm is selected;

[0082] If the vehicle status adjustment information is slope adjustment information and pitch angle adjustment information, then the vertical control algorithm is selected.

[0083] Specifically, by receiving the request information issued by ADAS and obtaining the current vehicle status information based on the vehicle status algorithm module, target adjustment information is obtained, so as to select the corresponding control algorithm according to different target adjustment information.

[0084] The target adjustment information includes vehicle speed adjustment information, yaw angle adjustment information, steering angle adjustment information, slope adjustment information, and pitch angle adjustment information.

[0085] S500: Based on the target control algorithm, the corresponding target function control request is obtained according to the vehicle state adjustment information;

[0086] In one specific implementation, step S500, based on the target control algorithm and the vehicle state adjustment information, obtains the corresponding target function control request, including:

[0087] Based on the longitudinal control algorithm, a longitudinal control torque request or a longitudinal control braking torque request is obtained according to the vehicle speed adjustment information.

[0088] or

[0089] Based on the lateral control algorithm, a lateral control angle request is obtained according to the yaw angle adjustment information and the steering angle adjustment information.

[0090] or

[0091] Based on the vertical control algorithm, a vertical control suspension request or a modified active headlight request is obtained according to the slope adjustment information and the pitch angle adjustment information.

[0092] Specifically, the corresponding control algorithm is selected based on different target adjustment information, and the target function control request for controlling the corresponding actuator is calculated so that the actuator can perform the corresponding action through its corresponding target function control request, thus completing the control process of the actuator of the ADAS vehicle chassis.

[0093] It should be noted that by setting up three different algorithms—longitudinal control algorithm, lateral control algorithm, and vertical control algorithm—the algorithm architecture is clear and the functions are well-defined. Different algorithms receive different function requests and send them to the corresponding actuators, making the interaction process of the chassis actuators simpler and solving the technical problem of redundant and complex algorithms in existing technologies.

[0094] Based on different functional requests, corresponding target control algorithms are adopted to obtain the target functional control requests corresponding to the target control algorithms, thereby completing the control of multiple actuators of the chassis, realizing unified and coordinated control of the chassis domain, improving the execution efficiency of the actuators, and solving the technical problem that the control effect of multiple actuators of the chassis is not easy to effectively coordinate in the existing technology.

[0095] S600: Sends a target function control request to the target actuator in the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions.

[0096] In one specific implementation, step S600 sends a target function control request to the target actuator of the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions, including:

[0097] A longitudinal control torque request is sent to the motor to control the motor to execute drive torque.

[0098] or

[0099] A longitudinal control braking torque request is sent to the braking system to control the braking system to perform deceleration or stopping.

[0100] or

[0101] A lateral control steering angle request is sent to the steering system to control the steering system to perform steering.

[0102] or

[0103] A vertical control suspension request is sent to the suspension system to control the suspension system to perform vertical movement.

[0104] or

[0105] A request to correct the active headlights is sent to the active headlight system to control the active headlight system to perform the correction.

[0106] like Figure 3 As shown in the embodiments of this specification, a chassis control domain system is also provided, the system comprising:

[0107] Vehicle status module 701: Used to receive request information from the advanced driver assistance system; obtain current vehicle status information; and obtain vehicle status adjustment information based on the request information and the vehicle status information;

[0108] Coordination control module 702: used to determine the corresponding target control algorithm based on the vehicle state adjustment information, the target control algorithm including longitudinal control algorithm, lateral control algorithm and vertical control algorithm;

[0109] Algorithm control module 703: used to obtain the corresponding target function control request based on the vehicle state adjustment information according to the target control algorithm; send the target function control request to the target actuator of the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions.

[0110] It should be noted that by setting up a coordination control module, when the chassis control domain system receives request commands from the upper control domain, it can select the target control algorithm corresponding to the function based on the switching of different functions, thereby calculating the corresponding vehicle state adjustment information. This makes the function of the algorithm clear, simplifies the entire chassis control process, and improves the response speed of the actuator.

[0111] Preferably, the vehicle status module includes:

[0112] Vehicle speed information adjustment module: When receiving acceleration request information, speed request information, or distance request information, it obtains vehicle speed adjustment information based on the acceleration request information and the vehicle status information;

[0113] Steering information adjustment module: When a steering request is received, it is used to obtain yaw angle adjustment information and steering angle adjustment information based on the steering request information and the vehicle status information;

[0114] Vertical information adjustment module: When receiving road information of the current driving segment of the vehicle, it obtains slope adjustment information and pitch angle adjustment information based on the road information and the vehicle status information.

[0115] Preferably, the algorithm control module includes:

[0116] Longitudinal control module: used to obtain a longitudinal control torque request or a longitudinal control braking torque request based on the vehicle speed adjustment information according to the longitudinal control algorithm;

[0117] Lateral control module: used to obtain a lateral control angle request based on the yaw angle adjustment information and the steering angle adjustment information according to the lateral control algorithm;

[0118] Vertical control module: used to obtain vertical control suspension requests or correct active headlight requests based on the slope adjustment information and pitch angle adjustment information according to the vertical control algorithm.

[0119] Specifically, the longitudinal control module is used to receive longitudinal control-related requests from ADAS to implement longitudinal control functions such as automatic parking, adaptive cruise control, and cruise control. The longitudinal control module calculates the requests for controlling the motor or braking system based on the longitudinal control algorithm. The main algorithms of the longitudinal control algorithm include the longitudinal Ax acceleration PID closed-loop control algorithm, the longitudinal Vx vehicle speed PID closed-loop control algorithm, and the longitudinal distance Dx closed-loop control algorithm.

[0120] The lateral control module is used to receive lateral control-related requests from ADAS. Lateral control handles functions involving lateral control, such as lane keeping assist (LKA), lane assist, lane change assist, and automatic summon. The lateral control module calculates the requests for the steering system based on the lateral control algorithm. The main control algorithms of the lateral control algorithm include the yaw angle control algorithm and the steering angle closed-loop control algorithm.

[0121] Specifically, the vertical control module is used to receive vertical control-related requests from ADAS in order to implement vertical control functions such as suspension control based on visual preview and active headlights with pitch angle correction. The vertical control module calculates the requests for controlling the suspension system or active headlight system based on the vertical control algorithm.

[0122] A unified lower-level control algorithm is established to take over the upper-level control requirements of ADAS and obtain the target function control request. The target function control request is then sent to the corresponding actuator, so that the corresponding actuator can accurately adjust the vehicle's operating conditions. The entire algorithm architecture is clear, the redundancy of various functional algorithms is reduced, and effective control of downstream actuators is achieved.

[0123] In addition, the chassis control domain system also includes a failover module and a functional safety monitoring module. The failover module can perform failover when the algorithm control module fails; the functional safety monitoring module is used to supervise the execution process of the algorithm control module.

[0124] While the present invention has been described through preferred embodiments, it is not limited to the embodiments described herein, and various changes and modifications are made without departing from the scope of the invention.

[0125] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0126] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A chassis control method based on a chassis control domain system, wherein the chassis control domain system is used to coordinate and control the actuators of the vehicle chassis to adjust the vehicle's operating conditions, characterized in that, The method includes: Receive request information from the advanced driver assistance system; the request information from the advanced driver assistance system includes acceleration request information, speed request information, distance request information, steering request information, and road information of the current driving segment of the vehicle; Obtain current vehicle status information; the vehicle status information includes acceleration information, speed information, distance information, yaw angle information, steering angle information, slope information, and pitch angle information; Vehicle status adjustment information is obtained based on the request information and the vehicle status information; the vehicle status adjustment information includes vehicle speed adjustment information, yaw angle adjustment information, steering angle adjustment information, slope adjustment information, and pitch angle adjustment information. The corresponding target control algorithm is determined based on the vehicle state adjustment information. The target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm. Based on the target control algorithm, the corresponding target function control request is obtained according to the vehicle state adjustment information. Send a target function control request to the target actuator in the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions.

2. The chassis control method based on a chassis control domain system according to claim 1, characterized in that, Based on the request information and the vehicle status information, vehicle status adjustment information is obtained, including: When an acceleration request, speed request, or distance request is received, vehicle speed adjustment information is obtained based on the acceleration request and the vehicle status information. When a steering request is received, yaw angle adjustment information and steering angle adjustment information are obtained from the vehicle status information based on the steering request information; When road information of the current driving segment of the vehicle is received, slope adjustment information and pitch angle adjustment information are obtained from the vehicle status information based on the road information.

3. The chassis control method based on a chassis control domain system according to claim 2, characterized in that, Based on the vehicle state adjustment information, a corresponding target control algorithm is determined. The target control algorithm includes a longitudinal control algorithm, a lateral control algorithm, and a vertical control algorithm, comprising: If the vehicle status adjustment information is vehicle speed adjustment information, then the longitudinal control algorithm is selected; If the vehicle status adjustment information is yaw angle adjustment information and steering angle adjustment information, then the lateral control algorithm is selected; If the vehicle status adjustment information is slope adjustment information and pitch angle adjustment information, then the vertical control algorithm is selected.

4. The chassis control method based on a chassis control domain system according to claim 3, characterized in that, Based on the above The target control algorithm obtains the corresponding target function control request based on the vehicle state adjustment information, including: Based on the longitudinal control algorithm, a longitudinal control torque request or a longitudinal control braking torque request is obtained according to the vehicle speed adjustment information. or Based on the lateral control algorithm, a lateral control angle request is obtained according to the yaw angle adjustment information and the steering angle adjustment information. or Based on the vertical control algorithm, a vertical control suspension request or a modified active headlight request is obtained according to the slope adjustment information and the pitch angle adjustment information.

5. The chassis control method based on a chassis control domain system according to claim 4, characterized in that, The actuator includes a motor, a braking system, a steering system, a suspension system, and an active headlight system.

6. The chassis control method based on a chassis control domain system according to claim 5, characterized in that, Sending a target function control request to the target actuator in the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions, including: A longitudinal control torque request is sent to the motor to control the motor to execute drive torque. or A longitudinal control braking torque request is sent to the braking system to control the braking system to perform deceleration or stopping. or A lateral control steering angle request is sent to the steering system to control the steering system to perform steering. or A vertical control suspension request is sent to the suspension system to control the suspension system to perform vertical movement. or A request to correct the active headlights is sent to the active headlight system to control the active headlight system to perform the correction.

7. A chassis control domain system, characterized in that, The system includes: Vehicle Status Module: Used to receive request information from the Advanced Driver Assistance System (ADAS); acquire current vehicle status information; and obtain vehicle status adjustment information based on the request information and the vehicle status information. The request information from the ADAS includes acceleration request information, speed request information, distance request information, steering request information, and road information of the current driving segment. The vehicle status information includes acceleration information, speed information, distance information, yaw angle information, steering angle information, slope information, and pitch angle information. The vehicle status adjustment information includes speed adjustment information, yaw angle adjustment information, steering angle adjustment information, slope adjustment information, and pitch angle adjustment information. Coordination control module: used to determine the corresponding target control algorithm based on the vehicle state adjustment information, the target control algorithm including longitudinal control algorithm, lateral control algorithm and vertical control algorithm; Algorithm control module: used to obtain the corresponding target function control request based on the vehicle state adjustment information according to the target control algorithm; send the target function control request to the target actuator of the vehicle chassis to control the target actuator to adjust the vehicle's operating conditions.

8. The chassis control domain system according to claim 7, characterized in that, The vehicle status module includes: Vehicle speed information adjustment module: When receiving acceleration request information, speed request information, or distance request information, it obtains vehicle speed adjustment information based on the acceleration request information and the vehicle status information; Steering information adjustment module: When a steering request is received, it is used to obtain yaw angle adjustment information and steering angle adjustment information based on the steering request information and the vehicle status information; Vertical information adjustment module: When receiving road information of the current driving segment of the vehicle, it obtains slope adjustment information and pitch angle adjustment information based on the road information and the vehicle status information.

9. The chassis control domain system according to claim 8, characterized in that, The algorithm control module includes: Longitudinal control module: used to obtain a longitudinal control torque request or a longitudinal control braking torque request based on the vehicle speed adjustment information according to the longitudinal control algorithm; Lateral control module: used to obtain a lateral control angle request based on the yaw angle adjustment information and the steering angle adjustment information according to the lateral control algorithm; Vertical control module: used to obtain vertical control suspension requests or correct active headlight requests based on the slope adjustment information and pitch angle adjustment information according to the vertical control algorithm.

Images