Intelligent driving chassis-based adaptive control methods, systems, and vehicles for uneven road surfaces

Abstract

This invention provides an intelligent driving chassis domain uneven road surface adaptive control method, system, and vehicle, belonging to the field of intelligent driving vehicle control technology. The method includes: activating the autonomous driving function; determining whether to activate the uneven road surface adaptive passage mode based on the road condition information of the current driving road surface and the vehicle's wheel acceleration; when the uneven road surface adaptive passage mode is activated, collecting the road condition data ahead of the vehicle and drawing a real-time data map of the road condition ahead, and classifying the road surface type according to the unevenness and distribution of the road surface; selecting the corresponding drive priority control, braking priority control, or steering priority control strategy to control the vehicle according to different road surface types, adjusting the vehicle's driving state in real time, and realizing the passage of the uneven road surface in a smooth and comfortable or fast and safe mode, thereby ensuring the automatic safe driving of the vehicle on uneven road surfaces and improving the safety performance of autonomous driving on special road surfaces.

Description

Technical Field

[0001] This invention belongs to the field of intelligent driving vehicle control technology, and more specifically, relates to an intelligent driving chassis domain uneven road surface adaptive control method, system and vehicle. Background Technology

[0002] The current automotive era is undergoing a transformation, prompting a corresponding revolution in chassis systems. In the realm of autonomous driving, customers are seeking safer, more comfortable, and intelligent driving experiences, leading to a rapid increase in the adoption rate of advanced autonomous driving technologies. Based on the demands for intelligent electrification, the development of bus technology, and chip application technology, a new product platform more suitable for the development and rapid iteration of intelligent functions is being built. Regarding chassis intelligence, chassis domain control represents the future direction of chassis technology. The development of intelligent functions for chassis domain control primarily considers comfort on different road surfaces and the coordinated control of steering, braking, and drive.

[0003] In autonomous driving, when braking on uneven surfaces, the wheels lift off the ground, causing the wheel deceleration to rapidly or frequently exceed a set threshold. This triggers the anti-lock braking system (ABS) to intervene and reduce master cylinder pressure, leading to a decrease in braking performance, an increase in braking distance, and in severe cases, even brake failure. Similarly, when turning on uneven surfaces, the wheels lifting off the ground can cause unintended steering. Furthermore, among various vehicle manufacturers, autonomous driving technology strategies are mostly still in the exploratory stage, and specific control strategies for uneven surfaces are currently lacking.

[0004] Therefore, it is necessary to develop an adaptive control method for uneven road surfaces in the chassis domain of intelligent driving, and to adopt a reasonable control strategy for the uneven road surfaces that the vehicle passes through in autonomous driving, so as to solve the problem of how to drive safely on uneven roads. Summary of the Invention

[0005] This invention addresses the problems existing in the prior art by providing an intelligent driving chassis domain uneven road surface adaptive control method, system, and vehicle. When the vehicle enters an uneven road surface, the road surface type is identified in real time, and different adaptive control strategies are selected according to the road surface type to control the vehicle to pass through the uneven road surface, thereby ensuring the automatic and safe driving of the vehicle on uneven roads.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] This invention provides an adaptive control method for uneven road surfaces in the chassis domain of intelligent driving, comprising:

[0008] Step S1: In autonomous driving mode, based on the road condition information of the current driving surface and the wheel acceleration of the vehicle, determine whether to activate the uneven road surface adaptive passage mode.

[0009] Step S2: When the uneven road surface adaptive passage mode is enabled, the vehicle collects road condition data ahead and draws a real-time data map of the road conditions ahead, and classifies the road surface type according to the degree and distribution of road surface unevenness.

[0010] Step S3: Different control strategies are used to control the vehicle to pass through uneven road surfaces for different road surface types. The control strategies include drive control strategy, braking priority control strategy, steering priority control strategy and adaptive control strategy.

[0011] Preferably, in step S1, determining whether to activate the uneven road surface adaptive passage mode based on the road condition information of the current driving surface and the vehicle's wheel acceleration specifically includes:

[0012] Step S11: Collect the road surface excitation pulse signal of the current driving road through the vehicle speed sensor and wheel speed sensor, and perform signal processing to obtain wheel acceleration;

[0013] Step S12: Determine the wheel acceleration based on a preset speed threshold. If the wheel acceleration is greater than or equal to the speed threshold, then determine that it is an uneven road surface and activate the uneven road surface adaptive passage mode.

[0014] Preferably, the road surface types include a first road surface type, a second road surface type, a third road surface type, and other road surface types. A drive priority control strategy is adopted for the first road surface type, a braking priority control strategy is adopted for the second road surface type, a steering priority control strategy is adopted for the third road surface type, and no adaptive control strategy is adopted for the other road surface types.

[0015] Preferably, the first road surface type is a slightly uneven road surface, and a drive priority control strategy is adopted for the first road surface type, including:

[0016] Based on the collected road condition data, the first road surface type is further subdivided into a first road segment and a second road segment, wherein,

[0017] For the first road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset first percentage within a preset first time period, and after passing through the first road segment, the vehicle speed is decreased uniformly to the original value within the first time period.

[0018] For the second road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset second percentage within a preset second time period, and after passing through the second road segment, the vehicle speed is decreased uniformly to the original value within the second time period.

[0019] During the passage through uneven road surfaces of the first road type, the damping parameters of the vehicle suspension are increased.

[0020] Preferably, the second road surface type is a severely uneven road surface. For this second road surface type, a braking priority control strategy is adopted, including: subdividing the second road surface type into a third segment and a fourth segment based on collected road condition data, wherein...

[0021] For the third road segment, when entering the road segment, the vehicle speed is uniformly reduced by a preset third percentage within a preset third time period. After passing through the third road segment, the vehicle speed is uniformly increased back to the original value within the third time period.

[0022] For the fourth road segment, when entering the road segment, the vehicle speed is uniformly reduced by a preset fourth percentage within a preset fourth time period. After passing through the fourth road segment, the vehicle speed is uniformly increased back to the original value within the fourth time period.

[0023] During the passage through uneven road surfaces of the second road type, the damping parameters of the vehicle suspension are reduced.

[0024] Preferably, the third road surface type is a steerable, non-smooth road surface. In step S3, a steering priority control strategy is adopted for the third road surface type, including: rotating the vehicle's steering wheel at a preset rotation speed according to the following formula within a certain steering time, and returning the steering wheel to center at the set rotation speed after the rotation is completed.

[0025] T = L / 3v;

[0026] Where L is the distance threshold, v is the current vehicle speed, and T is the turning time.

[0027] Preferably, when the adaptive control strategy controls the vehicle, if the travel of the accelerator pedal reaches or exceeds a first preset value, or the travel of the brake pedal reaches or exceeds a second preset value, it is determined that the driver has taken over the vehicle and exits the automatic driving mode.

[0028] Preferably, when the adaptive control strategy controls the vehicle, if the travel of the suspension damper reaches or exceeds a third preset value, or the yaw acceleration reaches or exceeds a fourth preset value, it is determined that the vehicle's suspension is out of control, the automatic driving mode is exited, and the driver is reminded to take over the vehicle.

[0029] The present invention also provides an intelligent driving chassis-based adaptive control system for uneven road surfaces, comprising:

[0030] Chassis domain controller, vehicle speed sensor, wheel speed sensor and front radar connected to the chassis domain controller;

[0031] The chassis domain controller includes a chassis domain control module, which is connected to the uneven road drive control module, the uneven road braking control module, and the uneven road steering control module.

[0032] The vehicle speed sensor and the wheel speed sensor are used to obtain road condition information of the current driving surface and the wheel acceleration of the vehicle. The chassis domain control module determines whether to activate the uneven road surface adaptive passage mode based on the road condition information of the current driving surface and the wheel acceleration of the vehicle.

[0033] When the uneven road surface adaptive passage mode is enabled:

[0034] The front radar is used to collect road condition data ahead of the vehicle and draw a real-time data map of the road conditions ahead.

[0035] The chassis domain control module classifies the road surface type based on the unevenness and distribution of the road surface in the data map. For different road surface types, it signals and controls different control modules to use different control strategies to control the vehicle to pass through uneven road surfaces.

[0036] The present invention also provides a vehicle including an intelligent driving chassis-based adaptive control system for uneven road surfaces as described above.

[0037] The beneficial effects of the technical solution of the present invention are as follows:

[0038] This invention, when a vehicle's autonomous driving function is activated and its adaptive uneven road surface passage mode is engaged, generates a real-time data map of the uneven road surface ahead during autonomous driving. This real-time data map is then categorized into road surface types, identifying uneven surfaces with different conditions. Based on the different road surface types, corresponding drive-priority control, braking-priority control, or steering-priority control strategies are selected to control the vehicle, adjusting the vehicle's driving state in real time to achieve either a smooth and comfortable passage or a fast and safe passage over the uneven road surface. This ensures safe autonomous driving on uneven roads and improves the safety performance of autonomous driving on special road surfaces. Furthermore, it abandons the traditional mechanical structure-based control of uneven roads, which requires high driver skills, and promotes intelligent control in future vehicles, reducing the skill requirements for drivers and improving safety and comfort.

[0039] Furthermore, when selecting drive-priority control or brake-priority control strategies, the damping parameters of the suspension can be increased or decreased accordingly, greatly improving the vehicle's comfort and ride smoothness. Attached Figure Description

[0040] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0041] Figure 1A flowchart illustrating an adaptive control method for uneven road surfaces in the chassis domain of an intelligent driving system, provided by an embodiment of the present invention, is shown.

[0042] Figure 2 The diagram shows a flowchart of step S1 of an intelligent driving chassis domain uneven road surface adaptive control method provided by an embodiment of the present invention;

[0043] Figure 3 The diagram shows a structural schematic of an intelligent driving chassis domain uneven road surface adaptive control system provided by an embodiment of the present invention.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1. Chassis Domain Controller; 101. Chassis Domain Control Module; 102. Uneven Road Drive Control Module; 103. Uneven Road Braking Control Module; 104. Uneven Road Steering Control Module; 105. Uneven Road Suspension Damping Control Module; 2. Vehicle Speed ​​Sensor; 3. Wheel Speed ​​Sensor; 4. Front Radar; 5. Accelerator Pedal Sensor; 6. Brake Pedal Sensor; 7. Torque Angle Sensor; 8. Shock Absorber Travel Sensor; 9. Suspension Damping Sensor; 10. Yaw Acceleration Sensor. Detailed Implementation

[0046] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0047] Example 1

[0048] Reference Figure 1 As shown, this embodiment provides an adaptive control method for uneven road surfaces in the chassis domain of intelligent driving, including:

[0049] Step S1: In autonomous driving mode, based on the road condition information of the current driving surface and the wheel acceleration of the vehicle, determine whether to activate the uneven road surface adaptive passage mode.

[0050] Step S2: When the uneven road surface adaptive passage mode is enabled, the vehicle collects road condition data ahead and draws a real-time data map of the road conditions ahead, and classifies the road surface type according to the degree and distribution of road surface unevenness.

[0051] Step S3: Different control strategies are used to control the vehicle to pass through uneven road surfaces for different road surface types. The control strategies include drive priority control strategy, braking priority control strategy, steering priority control strategy and adaptive control strategy.

[0052] Specifically, this method is applied to the vehicle's EPS intelligent driving takeover control system, which is as follows: Figure 3 As shown, the chassis domain controller 1 is connected to multiple sensors. The chassis domain controller 1 includes modules such as a chassis domain control module 101, an uneven road surface suspension damping control module 105, an uneven road surface drive control module 102, an uneven road surface braking control module 103, and an uneven road surface steering control module 104. The chassis domain control module connects to the uneven road surface suspension damping control module 105, the uneven road surface drive control module 102, the uneven road surface steering control module 104, and the uneven road surface braking control module 103 and performs signal control on each module. The chassis domain control module 101 stores multiple vehicle control strategies, such as drive priority control strategies. The system includes braking priority control strategy, steering priority control strategy, and active suspension control strategy. Multiple sensors are used, including vehicle speed sensor 2 (collecting vehicle speed signals), wheel speed sensor 3 (collecting wheel speed signals), accelerator pedal sensor 5 (collecting accelerator pedal signals), brake pedal sensor 6 (collecting brake pedal signals), torque angle sensor 7 (collecting steering wheel torque angle signals), shock absorber travel sensor 8 (collecting shock absorber travel position signals), suspension damping sensor 9 (collecting suspension damping signals), yaw acceleration sensor 10 (collecting vehicle yaw acceleration signals), and front radar 4 (collecting road condition signals). After receiving the autonomous driving signal, the vehicle's chassis domain controller activates the autonomous driving function. In autonomous driving mode, it first needs to predict the current road conditions. Based on the road condition information and the vehicle's wheel acceleration, the chassis domain control module 101 determines whether to activate the uneven road surface adaptive traversal mode. During autonomous driving, the vehicle's front radar 4 generates a real-time data map of the uneven road surface ahead. The chassis domain control module 101 classifies the real-time data map into road types according to the unevenness and distribution of the road surface. For uneven roads of different types, based on control strategies including drive priority control, braking priority control, steering priority control, and adaptive control, the chassis domain control module 101 determines which specific control strategy to select to control the vehicle through the uneven road surface, so as to achieve the purpose of adjusting the vehicle's driving state in real time. Given that the road conditions ahead include multiple different road types, this application fully considers the comfort of the vehicle driving on uneven roads of different types, as well as the coordinated control between steering, drive, and braking, thereby achieving a smooth and comfortable or fast and safe passage through the uneven road surface, ensuring the vehicle's automatic and safe driving on uneven roads, and improving the safety performance of autonomous driving on special road surfaces. Moreover, it abandons the traditional vehicle control of uneven roads based on mechanical structures, which requires high driver skills, and promotes intelligent control of future vehicles, using intelligent means to reduce the requirements for driver skills and improve safety and comfort.

[0053] Reference Figure 2 As shown, in a preferred example, step S1 involves determining whether to activate the uneven road surface adaptive traversal mode based on the road condition information of the current driving surface and the vehicle's wheel acceleration. Specifically, this includes:

[0054] Step S11: Collect the road surface excitation pulse signal of the current driving road through vehicle speed sensor 2 and wheel speed sensor 3 and perform signal processing to obtain wheel acceleration;

[0055] Step S12: Determine the wheel acceleration based on the preset speed threshold. If the wheel acceleration is greater than or equal to the speed threshold, then determine that it is an uneven road surface and activate the uneven road surface adaptive passage mode.

[0056] Specifically, when a vehicle travels on an uneven road surface, the bumps cause the vehicle to vibrate vertically. Vehicle speed sensor 2 and wheel speed sensor 3 collect road surface excitation pulse signals, which are then processed through analog-to-digital conversion to obtain wheel acceleration. Based on a preset speed threshold A, the wheel acceleration is judged. If the wheel acceleration is greater than or equal to speed threshold A, the current road surface is determined to be uneven, and the uneven road surface adaptive passage mode is activated. Conversely, if the road surface is smooth, and the amplitude of the vehicle's vertical vibration is collected based on the road surface bumps, the wheel acceleration does not reach the speed threshold A, indicating that the current road surface does not meet the benchmark for an uneven road surface, and the current road surface is determined not to be uneven. Therefore, by setting a speed threshold to judge wheel acceleration, it is ensured that the current road conditions are suitable for activating the uneven road surface adaptive passage mode, guaranteeing that the vehicle activates this mode within the permissible range of road conditions.

[0057] In a preferred example, the road surface types include a first road surface type, a second road surface type, a third road surface type, and other road surface types. A drive-priority control strategy is used for the first road surface type, a braking-priority control strategy is used for the second road surface type, a steering-priority control strategy is used for the third road surface type, and no adaptive control strategy is used for the other road surface types.

[0058] Specifically, the road surface types are divided into a first road surface type, a second road surface type, a third road surface type, and other road surface types. For the first road surface type, the chassis domain control module 101 signals the uneven road surface drive control module 102 to adopt a drive priority control strategy; for the second road surface type, the chassis domain control module 101 signals the uneven road surface braking control module 103 to adopt a braking priority control strategy; for the third road surface type, the chassis domain control module 101 signals the uneven road surface steering control module 104 to adopt a steering priority control strategy; for other road surface types, the chassis domain control module 101 does not adopt an adaptive control strategy to control the vehicle, so as to realize the adaptive control of the autonomous vehicle driving on different road surface types.

[0059] In a preferred example, the first road surface type is a slightly uneven road surface, and a drive priority control strategy is adopted for the first road surface type, including:

[0060] Based on the collected road condition data, the first road surface type is further subdivided into the first road segment and the second road segment, whereby...

[0061] For the first road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset first percentage within a preset first time period. After passing through the first road segment, the vehicle speed is reduced uniformly to the original value within the first time period.

[0062] For the second road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset second percentage within a preset second time period. After passing through the second road segment, the vehicle speed is reduced uniformly to the original value within the second time period.

[0063] Increase the damping parameters of the vehicle suspension during travel on uneven road surfaces of the first road type.

[0064] Specifically, if the road condition ahead is determined to be of type 1, the chassis domain control module 101 predicts that the road surface is slightly uneven. For this type of road surface, the chassis domain control module 101 signals the uneven road surface drive control module 102 to intervene, using a drive priority control strategy to accelerate the automatically driving vehicle. This drive priority control strategy further subdivides the type 1 road surface into a first segment and a second segment based on the collected road condition data. For the first segment, the preset first time is 15 seconds and the preset first percentage is 5%. The drive priority control strategy is to uniformly increase the vehicle speed by 5% within 15 seconds to pass through the first segment, and then uniformly decrease the vehicle speed back to its original value within 15 seconds after passing through the segment. For the second segment, the preset second time is 10 seconds and the preset second percentage is 8%. The drive priority control strategy is to uniformly increase the vehicle speed by 8% within 10 seconds to pass through the second segment, and then uniformly decrease the vehicle speed back to its original value within 10 seconds after passing through the segment. For slightly uneven road surfaces, further refinement and classification are employed, along with different drive-priority control strategies using varying parameters. This enhances the flexibility of the adaptive control strategy for autonomous vehicles navigating uneven surfaces, thus improving the intelligent driving experience. The parameter settings for the drive-priority control strategy can be adjusted based on slightly uneven road surfaces to achieve adaptive behavior.

[0065] Furthermore, during the passage through an uneven road surface of the first road surface type, the chassis domain control module 101 signals the uneven road surface suspension damping control module 105 to acquire suspension damping signals using an active suspension control strategy, thereby increasing the suspension damping parameters of the current vehicle by 1%. Increasing the suspension damping allows the suspension to maintain a balanced feel during acceleration through the uneven road surface, improving the vehicle's ride comfort.

[0066] In a preferred example, the second road surface type is a severely uneven road surface, and a braking priority control strategy is adopted for the second road surface type, including:

[0067] Based on the collected road condition data, the second road surface type is further subdivided into the third and fourth road sections, among which,

[0068] For the third road segment, when entering the road segment, the vehicle speed will be reduced uniformly by a preset third percentage within a preset third time period. After passing through the third road segment, the vehicle speed will be uniformly increased back to the original value within the third time period.

[0069] For the fourth road segment, when entering the road segment, the vehicle speed will be reduced uniformly by a preset fourth percentage within a preset fourth time period. After passing through the fourth road segment, the vehicle speed will be uniformly increased back to the original value within the fourth time period.

[0070] During the passage through uneven road surfaces of the second road type, the damping parameters of the vehicle suspension are reduced.

[0071] Specifically, if the road condition ahead is determined to be of type two, the chassis domain control module 101 predicts that the road surface is severely uneven. For this type of road surface, the chassis domain control module 101 signals the uneven road surface braking control module 103 to intervene, employing a braking priority control strategy to reduce the speed of the automatically driving vehicle. This braking priority control strategy further subdivides the first road surface type into a third and fourth segment based on the collected road condition data. For the third segment, the preset third time is 15 seconds, and the preset third percentage is 5%. The braking priority control strategy involves uniformly reducing the vehicle speed by 5% within 15 seconds to pass through the third segment, and then uniformly increasing the vehicle speed back to its original value within 15 seconds after passing through the segment. For the fourth segment, the preset fourth time is 10 seconds, and the preset fourth percentage is 8%. The braking priority control strategy involves uniformly reducing the vehicle speed by 8% within 10 seconds to pass through the fourth segment, and then uniformly increasing the vehicle speed back to its original value within 10 seconds after passing through the segment. For severely uneven road surfaces, further refined classification and identification can achieve the same results as the drive control strategy for slightly uneven road surfaces, which will not be repeated here. Similarly, the relevant parameter settings for its braking priority control strategy can be adjusted according to severely uneven road surfaces to achieve adaptive performance.

[0072] Furthermore, during the passage through an uneven surface of the second road type, the chassis domain control module 101 signals the uneven road surface suspension damping control module 105 to acquire suspension damping signals using an active suspension control strategy, reducing the current vehicle's suspension damping parameters by 1%. Reducing the suspension damping allows the vehicle to absorb the larger impacts of the severely uneven road surface when accelerating through it, reducing wheel and body vibrations caused by the uneven surface and ensuring vehicle stability and comfort. Therefore, by adjusting the damping parameters, the active suspension control strategy ensures the switching between smoothness and comfort for the autonomous vehicle.

[0073] In a preferred example, the third road surface type is a steerable, uneven road surface. For the third road surface type, a steering priority control strategy is adopted, including: rotating the vehicle's steering wheel at a preset rotation speed according to the following formula within a certain steering time, and returning the steering wheel to center according to the rotation speed after the rotation is completed:

[0074] T = L / 3v;

[0075] Where L is the distance threshold, v is the current vehicle speed, and T is the turning time.

[0076] Specifically, if the road condition ahead is determined to be a third type of road surface, the chassis domain control module 101 predicts that the road surface is a steerable, dodgeable uneven surface. For this road surface, the chassis domain control module 101 signals the uneven surface steering control module 104 to intervene and acquire the steering wheel torque and angle signals, adopting a steering priority control strategy. In this strategy, the steering time T is calculated using the aforementioned formula, and the preset rotation speed is 10° / s. The steering wheel rotates at a rotation speed of 10° / s within the steering time T. After passing through this road segment, the steering wheel returns to center at a return speed of 10° / s. Similarly, the relevant parameter values ​​of its steering priority control strategy can be adjusted according to the steerable, dodgeable uneven surface to achieve an adaptive purpose.

[0077] In a preferred example, when the adaptive control strategy controls the vehicle, if the travel of the accelerator pedal reaches or exceeds a first preset value, or the travel of the brake pedal reaches or exceeds a second preset value, it is determined that the driver has taken over the vehicle and exits the autonomous driving mode.

[0078] In a preferred example, when the adaptive control strategy controls the vehicle, if the suspension damper travel reaches or exceeds a third preset value, or the yaw acceleration reaches or exceeds a fourth preset value, it is determined that the vehicle's suspension is out of control, the automatic driving mode is exited, and the driver is reminded to take over the vehicle.

[0079] Specifically, when faced with unforeseen complex road conditions or other emergencies, when the adaptive control strategy controls the vehicle's autonomous driving, the chassis domain control module 101 determines, based on the accelerator pedal signal, that the accelerator pedal travel has reached or exceeded a first preset value A(N), or based on the brake pedal signal, that the brake pedal travel has reached or exceeded a second preset value B(N). In this case, the autonomous driving mode is terminated, and the driver takes over the vehicle to handle emergencies promptly, further ensuring driving safety. Similarly, to ensure the stability of the vehicle's suspension under the adaptive control strategy when traversing uneven road surfaces, the chassis domain control module 101 determines, based on the shock absorber travel position signal, that the suspension shock absorber travel has reached or exceeded a third preset value C(mm), or based on the vehicle yaw acceleration signal, that the yaw acceleration has reached or exceeded a fourth preset value D(m / s²). 2 If the suspension exceeds the control range, the vehicle is in an unstable condition. The automatic driving mode must be terminated and the driver must be reminded to take over the vehicle so that it can return to normal driving conditions.

[0080] Example 2

[0081] Reference Figure 3 As shown, this embodiment provides an intelligent driving chassis-domain uneven road surface adaptive control system. This control system is the vehicle EPS intelligent driving takeover control system mentioned in Embodiment 1 above, including:

[0082] Chassis domain controller 1, vehicle speed sensor 2, wheel speed sensor 3 and front radar 4 connected to chassis domain controller 1;

[0083] The chassis domain controller 1 includes a chassis domain control module 101, which is connected to the uneven road drive control module 102, the uneven road braking control module 103, and the uneven road steering control module 104.

[0084] Vehicle speed sensor 2 and wheel speed sensor 3 are used to obtain road condition information of the current driving road surface and the wheel acceleration of the vehicle. The chassis domain control module 101 determines whether to activate the uneven road surface adaptive passage mode based on the road condition information of the current driving road surface and the wheel acceleration of the vehicle.

[0085] When the uneven road surface adaptive passage mode is enabled:

[0086] The front radar 4 is used to collect road condition data ahead of the vehicle and draw a real-time data map of the road conditions ahead.

[0087] The chassis domain control module 101 classifies the road surface type based on the unevenness and distribution of the road surface in the data map. For different road surface types, it signals and controls different control modules to use different adaptive control strategies to control the vehicle to pass through uneven road surfaces.

[0088] The implementation process of the functions and roles of each module in the above system is detailed in the implementation process of the corresponding steps in the above method. Therefore, relevant parts can be referred to in the description of the method embodiment, and will not be repeated here.

[0089] Example 3

[0090] This embodiment provides a vehicle including the aforementioned intelligent driving chassis-based adaptive control system for uneven road surfaces. This control system enables autonomous vehicles to actively brake, steer, and drive when encountering uneven road surfaces, employing appropriate strategies to adjust the vehicle's driving state in real time. This significantly improves vehicle comfort and smoothness, and enhances the safety performance of autonomous vehicles on special road surfaces.

[0091] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An adaptive control method for uneven road surfaces in the chassis domain of intelligent driving, characterized in that, include: Step S1: In autonomous driving mode, based on the road condition information of the current driving surface and the wheel acceleration of the vehicle, determine whether to activate the uneven road surface adaptive passage mode. Step S2: When the uneven road surface adaptive passage mode is enabled, the vehicle collects road condition data ahead and draws a real-time data map of the road conditions ahead, and classifies the road surface type according to the degree and distribution of road surface unevenness. Step S3: Different control strategies are used to control the vehicle to pass through uneven road surfaces for different road surface types. The control strategies include drive control strategy, braking priority control strategy, steering priority control strategy and adaptive control strategy. In step S1, the determination of whether to activate the uneven road surface adaptive passage mode is based on the road condition information of the current driving surface and the vehicle's wheel acceleration, specifically includes: Step S11: Collect the road surface excitation pulse signal of the current driving road through the vehicle speed sensor and wheel speed sensor, and perform signal processing to obtain wheel acceleration; Step S12: Determine the wheel acceleration based on a preset wheel acceleration threshold. If the wheel acceleration is greater than or equal to the wheel acceleration threshold, then determine that it is an uneven road surface and activate the uneven road surface adaptive passage mode. The road surface types include a first road surface type, a second road surface type, a third road surface type, and other road surface types. A drive priority control strategy is adopted for the first road surface type, a braking priority control strategy is adopted for the second road surface type, a steering priority control strategy is adopted for the third road surface type, and no adaptive control strategy is adopted for the other road surface types. The first road surface type is a slightly uneven road surface. For the first road surface type, a drive priority control strategy is adopted, including: Based on the collected road condition data, the first road surface type is further subdivided into a first road segment and a second road segment, wherein, For the first road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset first percentage within a preset first time period, and after passing through the first road segment, the vehicle speed is decreased uniformly to the original value within the first time period. For the second road segment, when entering the road segment, the vehicle speed is increased uniformly by a preset second percentage within a preset second time period, and after passing through the second road segment, the vehicle speed is decreased uniformly to the original value within the second time period. During the passage through uneven road surfaces of the first road type, the damping parameters of the vehicle suspension are increased; The third road surface type is a steerable, uneven road surface. In step S3, a steering priority control strategy is adopted for the third road surface type, including: rotating the vehicle's steering wheel at a preset rotation speed according to the following formula within a certain steering time, and returning the steering wheel to center at the specified rotation speed after the rotation is completed. ； Where L is the distance threshold, v is the current vehicle speed, and T is the turning time.

2. The intelligent driving chassis domain uneven road surface adaptive control method according to claim 1, characterized in that, The second road surface type is a severely uneven road surface. For this type, a braking priority control strategy is adopted, including: subdividing the second road surface type into a third segment and a fourth segment based on collected road condition data, wherein... For the third road segment, when entering the road segment, the vehicle speed is uniformly reduced by a preset third percentage within a preset third time period. After passing through the third road segment, the vehicle speed is uniformly increased back to the original value within the third time period. For the fourth road segment, when entering the road segment, the vehicle speed is uniformly reduced by a preset fourth percentage within a preset fourth time period. After passing through the fourth road segment, the vehicle speed is uniformly increased back to the original value within the fourth time period. During the passage through uneven road surfaces of the second road type, the damping parameters of the vehicle suspension are reduced.

3. The intelligent driving chassis domain uneven road surface adaptive control method according to claim 1, characterized in that, When the adaptive control strategy controls the vehicle, if the accelerator pedal travel reaches or exceeds a first preset value, or the brake pedal travel reaches or exceeds a second preset value, it is determined that the driver has taken over the vehicle and exits the automatic driving mode.

4. The intelligent driving chassis domain uneven road surface adaptive control method according to claim 1, characterized in that, When the adaptive control strategy is controlling the vehicle, if the suspension damper travel reaches or exceeds the third preset value, or the yaw acceleration reaches or exceeds the fourth preset value, it is determined that the vehicle's suspension is out of control, the automatic driving mode is exited, and the driver is reminded to take over the vehicle.

5. An intelligent driving chassis-domain uneven road surface adaptive control system, used to execute the intelligent driving chassis-domain uneven road surface adaptive control method according to any one of claims 1-4, characterized in that, include: Chassis domain controller, vehicle speed sensor, wheel speed sensor and front radar connected to the chassis domain controller; The chassis domain controller includes a chassis domain control module, which is connected to the uneven road drive control module, the uneven road braking control module, and the uneven road steering control module. The vehicle speed sensor and the wheel speed sensor are used to obtain road condition information of the current driving surface and the wheel acceleration of the vehicle. The chassis domain control module determines whether to activate the uneven road surface adaptive passage mode based on the road condition information of the current driving surface and the wheel acceleration of the vehicle. When the uneven road surface adaptive passage mode is enabled: The front radar is used to collect road condition data ahead of the vehicle and draw a real-time data map of the road conditions ahead. The chassis domain control module classifies the road surface type based on the unevenness and distribution of the road surface in the data map. For different road surface types, it signals and controls different control modules to use different control strategies to control the vehicle to pass through uneven road surfaces.

6. A car, characterized in that, This includes an intelligent driving chassis-based adaptive control system for uneven road surfaces as described in claim 5.

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