A chassis domain controller, control method and vehicle for autonomous driving

Abstract

The present invention relates to a chassis domain controller, control method and vehicle for autonomous driving, which include: a state estimation and prediction module for receiving and processing a plurality of received sensor signals to calculate a vehicle extreme state signal; a safety state machine module for determining whether the autonomous driving domain is operating normally according to a verification signal and sending an autonomous driving degradation signal; at the same time, judging whether the vehicle enters an extreme dynamic control state according to the received vehicle extreme state signal; an autonomous driving redundancy module for selecting whether to start according to the received autonomous driving degradation signal and generating an emergency stop trajectory signal; a trajectory tracking control module for receiving the trajectory signal and generating longitudinal and lateral motion control signals in combination with the received vehicle extreme state signal; and a chassis dynamics control module for receiving the longitudinal and lateral motion control signals and generating control signals for each vehicle component in combination with the received vehicle extreme state signal, and sending the control signals to the actuator controllers in the corresponding components.

Description

Technical Field

[0001] The present invention relates to the field of automotive technology, and in particular to a chassis domain controller, a control method, and a vehicle for autonomous driving. Background Art

[0002] As the level of autonomous driving in automobiles gradually improves and the electronic and electrical architecture becomes increasingly centralized, the trend of chassis adopting domain controllers is becoming increasingly clear. How to design chassis domain controllers has gradually become the focus of academia and industry.

[0003] The current primary solution for chassis domain control in autonomous vehicles relies on following the motion control signals of the autonomous domain controller. This presents two problems. First, the chassis domain control system lacks redundant backup for the minimum autonomous driving system, requiring the driver to take over in the event of a complete failure of the autonomous domain controller. Second, when the vehicle encounters extreme dynamic conditions, such as icy or snowy roads, extreme dynamic controllers, such as the brake ABS controller, take over completely, forcing the autonomous domain controller to completely lose control of the vehicle until the active safety controller exits. This unilateral, preemptive control mode by the active safety controller can easily lead to unexpected safety risks in the autonomous domain controller and fails to fully utilize the autonomous driving domain's perception and decision-making capabilities to enhance active safety control. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a chassis domain controller, control method and vehicle for autonomous driving, so as to realize the chassis domain backup autonomous driving minimum system, realize the coordinated control of the autonomous driving domain controller and the chassis domain controller under extreme dynamic control conditions such as entering icy and snowy roads, and improve the safety performance of the vehicle.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions: a chassis domain controller for autonomous driving, comprising: a state estimation and prediction module, configured to receive and process a plurality of sensor signals received to calculate a vehicle extreme state signal; a safety state machine module, configured to determine whether the autonomous driving domain is operating normally based on a verification signal and to send an autonomous driving degradation signal; and a safety state machine module, configured to determine whether the vehicle has entered an extreme dynamics control state based on the received vehicle extreme state signal, and if so, to send a vehicle extreme state signal to the autonomous driving domain controller; an autonomous driving redundancy module, configured to select whether to start based on the received autonomous driving degradation signal and to generate an emergency stop trajectory signal; a trajectory tracking control module, configured to receive a normal operating condition local trajectory signal, an emergency stop trajectory signal, and an extreme operating condition trajectory signal, and to generate longitudinal and lateral motion control signals in combination with the received vehicle extreme state signal transmitted by the state estimation and prediction module; and a chassis dynamics control module, configured to receive the longitudinal and lateral motion control signals, and in combination with the received vehicle extreme state signal, generate control signals for each actuator of the vehicle and send them to the corresponding actuator controllers.

[0006] Furthermore, in the state estimation and prediction module, the vehicle position, posture and speed signals are obtained by fusion calculation through Kalman filtering, extended Kalman filtering or Monte Carlo method, and then the vehicle extreme state signal is calculated.

[0007] Furthermore, in the safety state machine module, a safety state judgment is performed on the received vehicle extreme state signal, and based on the verification signal sent by the autonomous driving domain controller in the received vehicle, it is determined whether the autonomous driving domain is operating normally, and an autonomous driving demotion signal is sent to the autonomous driving redundancy module.

[0008] Furthermore, the autonomous driving redundancy module is pre-installed with redundant perception decisions, including a fusion perception algorithm based on degraded sensor signals and generation of emergency stop trajectories or minimum risk strategy trajectories based on redundant scene maps.

[0009] Furthermore, in the autonomous driving redundancy module, whether to start is selected according to the autonomous driving degradation signal. When the degradation signal shows that the autonomous driving domain controller is normal, it is selected not to start; when the degradation signal shows that the autonomous driving domain controller is faulty, the redundancy module is selected to enable and generate an emergency stop trajectory signal.

[0010] Furthermore, the trajectory tracking controller module receives trajectory signals sent by the autonomous driving domain controller and the autonomous driving redundant module, and determines whether to give priority to the trajectory signal of the autonomous driving redundant module based on whether the emergency stop trajectory signal of the autonomous driving redundant module is received. Based on the selected response trajectory, combined with the position, attitude and speed signals fed back by the state estimation and prediction module, longitudinal and lateral motion control signals are generated and sent to the chassis dynamics control module.

[0011] A vehicle, comprising a sensor assembly supporting high-level autonomous driving, the aforementioned chassis domain controller for autonomous driving, the vehicle's autonomous driving domain controller, a drive system, a braking system, a steering system, and a suspension system;

[0012] The sensor combination supporting high-level autonomous driving transmits multiple sensor signals to the chassis domain controller and the autonomous driving domain controller respectively; the autonomous driving domain controller and the chassis domain controller exchange information via a communication link;

[0013] The autonomous driving domain controller transmits the output control signals to the drive system, the braking system, the steering system and the suspension system respectively;

[0014] The chassis domain controller transmits the control signals of the drive system, the brake system, the steering system and the suspension system to the actuator controllers in the drive system, the brake system, the steering system and the suspension system to realize the driving of the vehicle.

[0015] A control method based on the vehicle, comprising:

[0016] The autonomous driving domain controller calculates the vehicle's driving behavior through a planning and decision-making algorithm and generates a trajectory signal, which is transmitted to the chassis domain controller together with the verification signal for state judgment and trajectory tracking control.

[0017] Furthermore, when generating trajectory signals, the autonomous driving domain controller determines whether the vehicle has entered an extreme vehicle dynamics control state or requires an emergency stop, and whether it has the capability to precisely control the vehicle under extreme conditions, based on the vehicle extreme state signals received from the chassis domain controller.

[0018] When the vehicle needs to make an emergency stop, the autonomous driving domain controller sends an emergency stop trajectory signal to the chassis domain controller;

[0019] When the vehicle does not enter an extreme dynamic control state and does not require an emergency stop, the autonomous driving domain controller sends a local trajectory signal to the chassis domain controller;

[0020] When the vehicle enters an extreme dynamic control state and has the ability to precisely control extreme working conditions, the autonomous driving domain controller sends an extreme working condition trajectory signal to the chassis domain controller;

[0021] When the vehicle enters an extreme dynamic control state and lacks the ability to precisely control extreme working conditions, the autonomous driving domain controller sends a local trajectory signal to the chassis domain controller.

[0022] Furthermore, when the autonomous driving domain controller determines that the faulty chassis domain controller is faulty based on the verification signal received from the chassis domain controller, it directly generates control commands for each actuator in the vehicle based on the received multiple sensor signals and transmits them to the corresponding actuator controllers through an independent communication link to implement direct control;

[0023] When the chassis domain controller determines that the autonomous driving domain controller is faulty based on the verification signal received from the autonomous driving domain controller, the state estimation and prediction module of the chassis domain controller performs fusion calculations based on the multiple sensor signals received to estimate and predict the vehicle position, posture, and speed information, and calculates the extreme state signal in combination with the vehicle dynamics model.

[0024] A control method for a chassis domain controller for autonomous driving, comprising:

[0025] The chassis domain controller determines whether the autonomous driving domain controller is operating normally based on the verification signal received from the autonomous driving domain controller and sends an autonomous driving degradation signal. At the same time, it performs fusion calculations based on the multiple sensor signals received to estimate and predict the vehicle's position, posture, and speed information, and calculates extreme state signals based on the vehicle dynamics model.

[0026] Determine whether the vehicle has entered an extreme dynamic control state. If so, send a vehicle extreme state signal to the autonomous driving domain controller. Select whether to start the autonomous driving degradation process based on the received signal and generate an emergency stop trajectory signal.

[0027] Generate longitudinal and lateral motion control signals based on normal operating condition local trajectory signals, emergency stop trajectory signals, and extreme operating condition trajectory signals, combined with vehicle extreme state signals;

[0028] Based on the longitudinal and lateral motion control signals and combined with the vehicle extreme state signals, control signals for each vehicle actuator are generated and sent to the corresponding actuator controllers.

[0029] The present invention has the following advantages due to the adoption of the above technical solution:

[0030] The present invention can realize a chassis domain backup automatic driving minimum system, and achieve coordinated control of the automatic driving domain controller and the chassis domain controller under extreme dynamic control conditions such as entering icy and snowy roads, thereby improving the safety performance of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of a vehicle for autonomous driving provided by an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of a chassis domain controller for autonomous driving provided by an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of a control architecture for autonomous driving provided by an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of a control framework in a fault-free state provided by an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of a control framework for a chassis domain controller failure provided by an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of a control framework when an autonomous driving domain controller fails, provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] The current main solution for chassis domain control in autonomous vehicles is to follow the motion control signals of the autonomous driving domain controller. This presents two problems: first, the chassis domain control system does not yet have a redundant backup for the autonomous driving minimum system; second, when the vehicle enters extreme dynamic conditions such as icy or snowy roads, the chassis completely takes over, and the autonomous driving domain controller completely loses control of the vehicle. To address this issue, the present invention provides a chassis domain controller, control method, and vehicle for autonomous driving, enabling a chassis domain backup for the autonomous driving minimum system. This allows for coordinated control between the autonomous driving domain controller and the chassis domain controller under extreme dynamic control conditions such as icy or snowy roads, thereby improving vehicle safety.

[0040] In one embodiment of the present invention, a chassis domain controller for autonomous driving is provided. In this embodiment, Figure 1 As shown, the chassis domain controller 100 includes:

[0041] The state estimation and prediction module 110 is used to receive and process various sensor signals to calculate the vehicle extreme state signal;

[0042] The safety state machine module 120 determines whether the autonomous driving domain is operating normally based on the verification signal and sends an autonomous driving degradation signal. It also determines whether the vehicle has entered an extreme dynamic control state based on the received vehicle extreme state signal. If so, it sends a vehicle extreme state signal to the autonomous driving domain controller 300.

[0043] The autonomous driving redundancy module 130 selects whether to start according to the received autonomous driving degradation signal and generates an emergency stop trajectory signal;

[0044] The trajectory tracking control module 140 is configured to receive normal operating condition local trajectory signals, emergency stop trajectory signals, and extreme operating condition trajectory signals, and generate longitudinal and lateral motion control signals in combination with the vehicle extreme state signals transmitted by the state estimation and prediction module 110;

[0045] The chassis dynamics control module 150 is used to receive the longitudinal and lateral motion control signals, and in combination with the vehicle extreme state signals transmitted by the state estimation and prediction module 110, generate control signals for each actuator of the vehicle and send them to the corresponding actuator controllers.

[0046] In the above-described embodiment, the state estimation and prediction module 110 fuses multiple received sensor signals using methods such as Kalman filtering, extended Kalman filtering, or Monte Carlo methods to calculate vehicle position, attitude, and velocity signals. Based on these signals, vehicle extreme state signals, such as wheel slip, are calculated. The resulting position, attitude, and velocity signals are sent to the trajectory tracking control module 140 and the safety state machine module 120. The calculated vehicle extreme state signals are then sent to the chassis dynamics control module 150 and the safety state machine module 120.

[0047] Among them, the vehicle extreme state signals include the driving anti-skid flag signal, the braking anti-lock flag signal, the vehicle stability control flag signal, the vehicle yaw angular velocity, the center of mass sideslip angle signal, the slip rate signal of each wheel, the sideslip angle of each wheel, etc.; they also include the status signal of whether the vehicle has the ability to accurately control the braking force, driving force, steering torque, etc. of each wheel in extreme conditions.

[0048] The various sensor signals include wheel sensor signals collected and processed by the chassis domain controller, gyroscope body longitudinal and lateral acceleration signals, GNSS signals and combined inertial navigation IMU, and lidar positioning signals from the autonomous driving domain controller.

[0049] In the above embodiment, the safety state machine module 120 determines the safety status of the vehicle status signal based on the received signal and receives a verification signal sent by the autonomous driving domain controller 300 in the vehicle. The verification signal, such as a pre-agreed state value or timing signal, is then interpreted to determine whether the autonomous driving domain is operating normally. The module then sends an autonomous driving degradation signal to the autonomous driving redundancy module 130, where the degradation signal includes a fault state or a normal state. Furthermore, the module also sends a vehicle extreme state signal and a verification signal to the autonomous driving domain controller 300 in the vehicle.

[0050] In this embodiment, the safety state machine module may also include judging the healthy operating status of the vehicle state estimation module based on the received signal, and sending the judgment result to the autonomous driving domain controller.

[0051] In the above embodiment, the autonomous driving redundancy module 130 receives a degraded autonomous driving sensor signal and, based on the autonomous driving degradation signal, for example, when the degradation signal indicates that the autonomous driving domain controller is normal, the autonomous driving redundancy module 130 may be disabled. When the degradation signal indicates that the autonomous driving domain controller is faulty, the redundant perception and decision algorithm in the autonomous driving redundancy module 130 is enabled, an emergency stop trajectory signal is generated, and the emergency stop trajectory signal is sent to the trajectory tracking controller module 140 when degradation occurs.

[0052] The autonomous driving redundancy module includes redundant perception decision-making, including a fusion perception algorithm based on degraded sensor signals and the generation of emergency stop trajectories or minimum risk strategy trajectories based on redundant scenario maps. The redundant scenario maps can be constructed by the autonomous driving redundancy module or backed up and updated from the autonomous driving domain controller.

[0053] In this embodiment, the degraded autonomous driving sensor signals of the autonomous driving redundancy module 130 include a lidar, a combined inertial navigation unit (IMU), and an independently powered backup camera.

[0054] In the above embodiment, in the trajectory tracking controller module 140, trajectory signals such as local trajectories or extreme operating condition trajectories sent by the autonomous driving domain controller 300 and the autonomous driving redundancy module 130 are received, and a judgment is made based on whether the emergency stop trajectory signal of the autonomous driving redundancy module 130 is received, whether to prioritize the trajectory signal of the autonomous driving redundancy module 130, and based on the selected response trajectory, combined with signals such as the feedback position from the state estimation and prediction module 110, longitudinal and lateral motion control signals are generated and sent to the chassis dynamics control module 150.

[0055] The trajectory tracking controller module includes a nearest trajectory following controller, a curvature controller, and a longitudinal and lateral speed controller. The trajectory following controller, based on the vehicle's actual position, controls the vehicle to the closest point between its actual position and the received trajectory signal, generating a target curvature, target longitudinal speed, and target lateral speed. The curvature controller and longitudinal and lateral speed controller generate longitudinal and lateral motion control signals based on the target curvature, target longitudinal speed, target lateral speed, as well as the actual vehicle curvature and actual longitudinal and lateral speeds.

[0056] In the above embodiment, the chassis dynamics control module 150 receives the vehicle extreme state signal from the state estimation and prediction module 110 and the longitudinal and lateral motion control signal from the trajectory tracking controller module 140. Based on the vehicle kinematics and the extreme dynamics control algorithm, the extreme dynamics control algorithm may include a longitudinal and lateral fusion dynamics control algorithm, a longitudinal and lateral vertical independent dynamics control algorithm, or a longitudinal and lateral fusion dynamics control algorithm, etc., to generate control signals for the vehicle actuators (including the braking system 401, the drive system 400, the steering system 402, and the suspension system 403) and send them to the corresponding actuator controllers.

[0057] The chassis dynamics control module 150 includes a chassis dynamics control module integrating longitudinal, transverse and vertical motions, a chassis dynamics control module integrating longitudinal, transverse and vertical motions, or a chassis dynamics control module integrating longitudinal, transverse and vertical motions.

[0058] In one embodiment of the present invention, a vehicle is provided. Figure 2 As shown, the vehicle 10 is equipped with a chassis domain controller 100 for autonomous driving, a sensor combination 200 supporting high-level autonomous driving, an autonomous driving domain controller 300, a drive system 400, a braking system 401, a steering system 4002 and a suspension system 403 in the above-mentioned embodiments; a sensor combination 210 supporting degraded autonomous driving is provided in the sensor combination 200 supporting high-level autonomous driving.

[0059] The chassis domain controller 100 for autonomous driving can be installed on the vehicle 10. The vehicle 10 can be equipped with a sensor assembly 210 that supports high-level autonomous driving, some of which can form a sensor assembly 200 that supports degraded autonomous driving. The sensors detect vehicle status and environmental information. The sensor assembly 210 that supports high-level autonomous driving transmits information directly to the autonomous driving domain controller 300, while the sensor assembly 200 that supports degraded autonomous driving transmits information directly to the chassis domain controller. The autonomous driving domain controller 300 and the chassis domain controller 100 have a communication link, allowing for information exchange.

[0060] The autonomous driving domain controller 300 has a communication link that can directly communicate with the drive system 400, the braking system 401, the steering system 402, and the suspension system 403; the autonomous driving domain controller 300 transmits the output control signal to the drive system 400, the braking system 401, the steering system 402, and the suspension system 403 respectively;

[0061] The chassis domain controller 100 transmits the control signals of the drive system 400, the braking system 401, the steering system 402 and the suspension system 403 to the actuator controllers in the drive system 400, the braking system 401, the steering system 402 and the suspension system 403 to realize the driving of the vehicle.

[0062] In the above embodiment, the sensor configurations provided on the vehicle 10 are various, such as cameras, millimeter wave radars, ultrasonic radars, lidars, IMUs, GNSS, etc., which can be selected according to actual conditions.

[0063] In the above embodiment, the autonomous driving domain controller 300 and the chassis domain controller 100 on the vehicle 10 can switch when a failure occurs between each other, and can also cooperate or integrate control in extreme dynamic control.

[0064] In one embodiment of the present invention, a control method with a chassis domain controller is provided, and the control method is implemented based on the vehicle of the above embodiment. In this embodiment, Figure 3 As shown, the control method is:

[0065] The autonomous driving domain controller 300 integrates multiple sensor signals through a fusion perception algorithm to construct a scene map. This information is combined with the vehicle's lidar positioning signal, which can also be transmitted to the chassis domain controller 100 as needed. The autonomous driving domain controller 300 calculates the vehicle's driving behavior through a planning and decision-making algorithm and further generates a trajectory signal. This signal, along with a verification signal, is transmitted to the chassis domain controller 100 for state determination and trajectory tracking control.

[0066] In this embodiment, the sensor combination signal 210 supporting high-level autonomous driving is transmitted to the autonomous driving domain controller 300, and the sensor combination signal 100 supporting degraded autonomous driving is transmitted to the chassis domain controller; the autonomous driving domain controller 300 generates a trajectory signal and transmits it to the trajectory tracking controller 140 of the chassis domain controller 100, and generates a verification signal and transmits it to the safety state machine module 120 of the chassis domain controller 100; the autonomous driving domain controller 300 has communication links and interfaces that are separately connected to the drive system 400, the braking system 401, the steering system 402 and the suspension system 403; the autonomous driving domain controller 300 receives the wheel speed signal, the vehicle extreme state signal, and the verification signal sent by the chassis domain controller 100; the chassis domain controller 100 generates control signals for the vehicle braking system 401, the drive system 400, the steering system 402 and the suspension system 403 and sends them to the corresponding actuator controllers.

[0067] In the above embodiment, when generating the trajectory signal, the autonomous driving domain controller 300 determines whether the vehicle has entered an extreme vehicle dynamics control state or requires emergency stopping, and whether the vehicle has the ability to accurately control extreme working conditions based on the vehicle extreme state signals received from the chassis domain controller 100, such as the driving anti-skid flag signal, the braking anti-lock flag signal, and the vehicle stability control flag signal.

[0068] When the vehicle needs to make an emergency stop, the autonomous driving domain controller 300 sends an emergency stop trajectory signal to the chassis domain controller 100;

[0069] When the vehicle does not enter an extreme dynamic control state and does not require emergency stopping, the autonomous driving domain controller 300 sends a local trajectory signal to the chassis domain controller 100;

[0070] When the vehicle enters an extreme dynamic control state and has the ability to precisely control extreme working conditions, the autonomous driving domain controller 300 sends an extreme working condition trajectory signal to the chassis domain controller 100;

[0071] When the vehicle enters an extreme dynamic control state and does not have the ability to precisely control extreme working conditions, the autonomous driving domain controller 300 sends a local trajectory signal to the chassis domain controller 100.

[0072] In the above embodiment, if Figure 4As shown, when both the autonomous driving domain controller 300 and the chassis domain controller 100 are fault-free, the sensor combination 210 supporting high-level autonomous driving, such as multiple cameras, GNSS, multiple millimeter-wave radars, multiple ultrasonic radars, etc., is transmitted to the autonomous driving domain controller; the sensor combination 200 supporting degraded autonomous driving, such as lidar, combined inertial navigation IMU, wheel speed sensor, etc., is transmitted to the chassis domain controller 200. These signals can also be included in the sensor combination 210 supporting high-level autonomous driving as needed and transmitted to the autonomous driving domain controller 300.

[0073] Among them, the state estimation and prediction module 110 of the chassis domain controller 100 can use Kalman filtering, extended Kalman filtering and other methods to fuse the received wheel speed sensor signals, GNSS signals, IMU signals and possible lidar positioning signals to estimate and predict vehicle position, posture, speed and other information, and further combine the vehicle dynamics model to calculate extreme state signals such as wheel slip rate.

[0074] The autonomous driving redundancy module 130 of the chassis domain controller 100 receives the degraded autonomous driving sensor signal sent by the safety state machine module 120. When the autonomous driving degradation signal is in a normal state, the autonomous driving redundancy module 130 enters a silent state.

[0075] The trajectory tracking controller module 140 receives trajectory signals such as local trajectories or extreme operating condition trajectories sent by the autonomous driving domain controller 300 and the autonomous driving redundancy module 130. When the emergency stop trajectory signal from the autonomous driving redundancy module 130 is not received, the trajectory signal from the autonomous driving domain controller 300 is selected as input, and combined with the position and other signals fed back by the state estimation and prediction module 110, a longitudinal and lateral motion control signal is generated and sent to the chassis dynamics control module 150.

[0076] The chassis dynamics control module 150 receives the vehicle extreme state signal from the state estimation and prediction module 110 and the longitudinal and lateral motion control signal from the trajectory tracking controller module 140. Based on the vehicle kinematics and the extreme dynamics control algorithm, which may include a longitudinal and lateral fusion dynamics control algorithm, a longitudinal and lateral vertical independent dynamics control algorithm, or a longitudinal and lateral fusion dynamics control algorithm, etc., it generates control signals for the vehicle braking system 401, the drive system 400, the steering system 402, and the suspension system 403 and sends them to the corresponding actuator controllers. Different dynamic algorithms can be configured according to different vehicle extreme state signals. For example, when the vehicle extreme state signal shows that it has not entered the extreme control state, the dynamic control part directly distributes or uses the motion control signal to each execution system; when the vehicle extreme state signal shows that it has entered the extreme control state and the chassis execution system does not have the precise control capability, the dynamic control part directly controls each execution system according to the actual situation with the motion control signal as the boundary; when the vehicle extreme state signal shows that it has entered the extreme control state and the chassis execution system has the precise control capability, the dynamic control part integrates the motion control signal and the dynamic algorithm, and uses the more accurate sensor information of the automatic driving part to improve the accuracy of the dynamic algorithm control and improve safety performance.

[0077] In the above embodiment, if Figure 5 As shown, when the autonomous driving domain controller 300 determines that the faulty chassis domain controller 100 is faulty based on the verification signal received from the chassis domain controller 100, it can directly generate control commands for execution systems such as the braking system 401 based on the received multiple sensor signals by fusing the perception algorithm, the planning decision algorithm, and the backup motion control algorithm, and transmit them to the corresponding execution system through an independent communication link to implement direct control.

[0078] In the above embodiment, if Figure 6 As shown, when the chassis domain controller 100 determines that the autonomous driving domain controller 300 is faulty based on the verification signal received from the autonomous driving domain controller 300, the state estimation and prediction module 110 of the chassis domain controller 100 can use Kalman filtering, extended Kalman filtering, etc. to fuse the received wheel speed sensor signals, GNSS signals, IMU signals and possible lidar positioning signals to estimate and predict vehicle position, posture, speed and other information, and further combine the vehicle dynamics model to calculate extreme state signals such as wheel slip rate.

[0079] The autonomous driving redundancy module 130 of the chassis domain controller 100 receives the degraded autonomous driving sensor signal from the safety state machine module 120. When the autonomous driving degradation signal indicates a fault, the autonomous driving redundancy module 130 activates, uses a redundant perception and decision-making algorithm, constructs a redundant scene map, or updates the scene map previously synchronized from the autonomous driving domain controller 300, further calculates and generates an emergency stop trajectory signal, and sends the emergency stop trajectory signal to the trajectory tracking controller module 140.

[0080] The trajectory tracking controller module 140 receives the emergency stop trajectory signal sent by the automatic driving redundancy module 130 and uses it as input. It combines the feedback position and other signals from the state estimation and prediction module 110 to generate longitudinal and lateral motion control signals and sends them to the chassis dynamics control module 150.

[0081] The chassis dynamics control module 150 receives the vehicle extreme state signal from the state estimation and prediction module 110 and the longitudinal and lateral motion control signals from the trajectory tracking controller module 140. Based on the vehicle kinematics and the extreme dynamics control algorithm (which may include various approaches such as a longitudinal, lateral, and vertical fusion dynamics control algorithm, an independent longitudinal, lateral, and vertical dynamics control algorithm, or a longitudinal and lateral fusion dynamics control algorithm), it generates control signals for the vehicle braking system 401, drive system 400, steering system 402, and suspension system 403 and sends them to the corresponding actuator controllers. Different dynamics algorithms can be configured based on different vehicle extreme state signals. For example, when the vehicle extreme state signal indicates that the vehicle has not entered an extreme control state, the dynamics control component directly distributes or uses the motion control signals to each actuator system. When the vehicle extreme state signal indicates that the vehicle has entered an extreme control state, the dynamics control component directly controls each actuator system based on the actual situation, using the motion control signal as a boundary.

[0082] In one embodiment of the present invention, a control method for a chassis domain controller for autonomous driving is provided. In this embodiment, the method includes the following steps:

[0083] 1) The chassis domain controller 100 determines whether the autonomous driving domain controller 300 is operating normally based on the verification signal received from the autonomous driving domain controller 300 and sends an autonomous driving degradation signal. Simultaneously, the chassis domain controller 100 performs fusion calculations based on the multiple sensor signals received to estimate and predict the vehicle's position, attitude, and speed information, and calculates extreme state signals based on the vehicle dynamics model.

[0084] 2) Determine whether the vehicle has entered an extreme dynamic control state. If so, send a vehicle extreme state signal to the autonomous driving domain controller; and select whether to initiate the autonomous driving degradation process based on the received autonomous driving degradation signal, generating an emergency stop trajectory signal;

[0085] 3) Generate longitudinal and lateral motion control signals based on normal operating condition local trajectory signals, emergency stop trajectory signals, and extreme operating condition trajectory signals, combined with vehicle extreme state signals;

[0086] 4) Based on the longitudinal and lateral motion control signals and the vehicle extreme state signals, control signals for each vehicle actuator are generated and sent to the corresponding actuator controllers.

[0087] In summary, the chassis domain controller of the present invention can realize a minimum autonomous driving system with heterogeneous redundant backup of the chassis domain controller. When the vehicle enters extreme dynamic conditions, it has an interface for interacting with the autonomous driving domain controller, providing a basis for the autonomous driving domain to intervene in extreme dynamic control and improve vehicle safety performance.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A chassis domain controller for autonomous driving, characterized in that: include: The state estimation and prediction module receives and processes multiple sensor signals to calculate vehicle extreme state signals. These sensor signals include wheel sensor signals collected and processed by the chassis domain controller, gyroscope longitudinal and lateral acceleration signals, GNSS signals, and integrated inertial navigation unit (IMU) signals, as well as lidar positioning signals from the autonomous driving domain controller. The safety state machine module determines whether the autonomous driving domain is operating normally based on the verification signal and sends an autonomous driving degradation signal. At the same time, it determines whether the vehicle has entered an extreme dynamic control state based on the received vehicle extreme state signal. If so, it sends a vehicle extreme state signal to the autonomous driving domain controller. The autonomous driving redundancy module selects whether to start according to the received autonomous driving degradation signal and generates an emergency stop trajectory signal; a trajectory tracking control module, configured to receive normal operating condition local trajectory signals, emergency stop trajectory signals, and extreme operating condition trajectory signals, and generate longitudinal and lateral motion control signals in combination with the vehicle extreme state signals transmitted by the state estimation and prediction module; The chassis dynamics control module is used to receive longitudinal and lateral motion control signals, combine them with the received vehicle extreme state signals, generate control signals for each vehicle actuator, and send them to the corresponding actuator controller; among them, each actuator includes the braking system, drive system, steering system and suspension system.

2. The chassis domain controller for autonomous driving according to claim 1, wherein: In the state estimation and prediction module, the vehicle position, posture and speed signals are obtained by fusion calculation through Kalman filtering, extended Kalman filtering or Monte Carlo method, and then the vehicle extreme state signal is calculated.

3. The chassis domain controller for autonomous driving according to claim 1, wherein: In the safety state machine module, a safety state judgment is performed on the received vehicle extreme state signal, and based on the verification signal sent by the autonomous driving domain controller in the received vehicle, it is determined whether the autonomous driving domain is operating normally, and an autonomous driving degradation signal is sent to the autonomous driving redundancy module.

4. The chassis domain controller for autonomous driving according to claim 3, wherein: The autonomous driving redundancy module is pre-installed with redundant perception decision-making, including a fusion perception algorithm based on degraded sensor signals and generation of emergency stop trajectories or minimum risk strategy trajectories based on redundant scene maps.

5. The chassis domain controller for autonomous driving according to claim 1, wherein: In the autonomous driving redundancy module, whether to start is selected according to the autonomous driving degradation signal. When the degradation signal shows that the autonomous driving domain controller is normal, it is selected not to start; when the degradation signal shows that the autonomous driving domain controller is faulty, the redundancy module is selected to be enabled to generate an emergency stop trajectory signal.

6. The chassis domain controller for autonomous driving according to claim 1, wherein: The trajectory tracking controller module receives trajectory signals sent by the autonomous driving domain controller and the autonomous driving redundant module, and determines whether to give priority to the trajectory signal of the autonomous driving redundant module based on whether the emergency stop trajectory signal of the autonomous driving redundant module is received. Based on the selected response trajectory, combined with the position, attitude and speed signals fed back by the state estimation and prediction module, longitudinal and lateral motion control signals are generated and sent to the chassis dynamics control module.

7. A vehicle, characterized in that: include: A sensor assembly supporting high-level autonomous driving installed on the vehicle, a chassis domain controller for autonomous driving according to any one of claims 1 to 6, an autonomous driving domain controller of the vehicle, a drive system, a braking system, a steering system, and a suspension system; The sensor combination supporting high-level autonomous driving transmits multiple sensor signals to the chassis domain controller and the autonomous driving domain controller respectively; the autonomous driving domain controller and the chassis domain controller exchange information via a communication link; The autonomous driving domain controller transmits the output control signals to the drive system, the braking system, the steering system and the suspension system respectively; The chassis domain controller transmits the control signals of the drive system, the brake system, the steering system and the suspension system to the actuator controllers in the drive system, the brake system, the steering system and the suspension system to realize the driving of the vehicle.

8. A control method based on the vehicle according to claim 7, characterized in that: The autonomous driving domain controller calculates the vehicle's driving behavior through a planning and decision-making algorithm and generates a trajectory signal, which is transmitted to the chassis domain controller together with the verification signal for state judgment and trajectory tracking control.

9. The control method according to claim 8, wherein: When generating trajectory signals, the autonomous driving domain controller determines whether the vehicle has entered an extreme vehicle dynamics control state or requires an emergency stop based on the vehicle extreme state signals received from the chassis domain controller, and whether it has the ability to accurately control extreme working conditions. When the vehicle needs to make an emergency stop, the autonomous driving domain controller sends an emergency stop trajectory signal to the chassis domain controller; When the vehicle does not enter an extreme dynamic control state and does not require an emergency stop, the autonomous driving domain controller sends a local trajectory signal to the chassis domain controller; When the vehicle enters an extreme dynamic control state and has the ability to precisely control extreme working conditions, the autonomous driving domain controller sends an extreme working condition trajectory signal to the chassis domain controller; When the vehicle enters an extreme dynamic control state and lacks the ability to precisely control extreme working conditions, the autonomous driving domain controller sends a local trajectory signal to the chassis domain controller.

10. The control method according to claim 8, wherein: When the autonomous driving domain controller determines that the chassis domain controller is faulty based on the verification signal received from the chassis domain controller, it directly generates control commands for each actuator in the vehicle based on the multiple sensor signals received, and transmits them to the corresponding actuator controllers through independent communication links to implement direct control; When the chassis domain controller determines that the autonomous driving domain controller is faulty based on the verification signal received from the autonomous driving domain controller, the state estimation and prediction module of the chassis domain controller performs fusion calculations based on the multiple sensor signals received to estimate and predict the vehicle position, posture, and speed information, and calculates the extreme state signal in combination with the vehicle dynamics model.

11. A control method for a chassis domain controller for autonomous driving, characterized in that: include: The chassis domain controller determines whether the autonomous driving domain controller is operating normally based on the verification signal received from the autonomous driving domain controller, and sends an autonomous driving degradation signal; Simultaneously, it performs fusion calculations based on multiple sensor signals received to estimate and predict vehicle position, attitude, and velocity information, and calculates extreme state signals in combination with the vehicle dynamics model. These multiple sensor signals include wheel sensor signals collected and processed by the chassis domain controller, gyroscope body longitudinal and lateral acceleration signals, GNSS signals and integrated inertial navigation unit (IMU) signals, as well as lidar positioning signals from the autonomous driving domain controller. Determine whether the vehicle has entered an extreme dynamic control state. If so, send a vehicle extreme state signal to the autonomous driving domain controller. Select whether to start the autonomous driving degradation process based on the received signal and generate an emergency stop trajectory signal. Generate longitudinal and lateral motion control signals based on normal operating condition local trajectory signals, emergency stop trajectory signals, and extreme operating condition trajectory signals, combined with vehicle extreme state signals; Based on the longitudinal and lateral motion control signals and combined with the vehicle's extreme state signals, control signals for each vehicle actuator are generated and sent to the corresponding actuator controller; among them, each actuator includes the braking system, drive system, steering system and suspension system.

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