Vehicle longitudinal, lateral and vertical coupling domain control system and method

Abstract

The present invention provides a vehicle longitudinal, lateral and vertical coupling domain control system and method. The system includes: an on-vehicle sensing system, a longitudinal, lateral and vertical coupling domain controller, and a longitudinal, lateral and vertical coupling execution system; the on-vehicle sensing system, with its first end connected to the first end of the longitudinal, lateral and vertical coupling domain controller and its second end connected to the first end of the longitudinal, lateral and vertical coupling execution system, is used to collect vehicle state information and environmental information and send them to the longitudinal, lateral and vertical coupling domain controller; the longitudinal, lateral and vertical coupling domain controller, with its second end connected to the second end of the longitudinal, lateral and vertical coupling execution system, is used to generate a control message based on the vehicle state information and environmental information and send the control message to the longitudinal, lateral and vertical coupling execution system; the longitudinal, lateral and vertical coupling execution system is used to receive the control message and control the vehicle according to the control message. The present invention can take into account the control of the longitudinal, lateral and vertical degrees of freedom of the vehicle, and effectively ensure the stability and smoothness of the distributed drive vehicle under all working conditions through the control of multiple degrees of freedom.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle longitudinal, lateral and vertical coupling domain control system and method. Background Art

[0002] Distributed drive vehicles adopt a fully-by-wire integrated chassis, with by-wire drive ability, by-wire braking ability and by-wire steering ability. The whole vehicle can be equipped with complex sensing and control systems, and is an important test platform for realizing intelligent driving.

[0003] When performing vehicle dynamics control on distributed drive vehicles, due to the highly nonlinear dynamic characteristics and parameter uncertainties of distributed drive vehicles, the complexity of vehicle dynamics control is increased. In the prior art, the methods of active steering and optimal distribution of tire torques are usually adopted to perform vehicle dynamics control to improve the stability of vehicle handling. However, this method only restricts the longitudinal and lateral degrees of freedom of the vehicle, and it is difficult to ensure the stability and smoothness of distributed drive vehicles under all working conditions. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle longitudinal, lateral and vertical coupling domain control system and method to solve the problem that it is difficult to ensure the stability and smoothness of distributed drive vehicles under all working conditions in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a vehicle longitudinal, lateral and vertical coupling domain control system, including: an on-vehicle sensing system, a longitudinal, lateral and vertical coupling domain controller, and a longitudinal, lateral and vertical coupling execution system;

[0006] The on-vehicle sensing system, with its first end connected to the first end of the longitudinal, lateral and vertical coupling domain controller and its second end connected to the first end of the longitudinal, lateral and vertical coupling execution system, is used to collect vehicle state information and environmental information, and send the vehicle state information and the environmental information to the longitudinal, lateral and vertical coupling domain controller;

[0007] The longitudinal, lateral and vertical coupling domain controller, with its second end connected to the second end of the longitudinal, lateral and vertical coupling execution system, is used to receive the vehicle state information and the environmental information, generate a control message based on the vehicle state information and the environmental information, and send the control message to the longitudinal, lateral and vertical coupling execution system;

[0008] The longitudinal, lateral and vertical coupling execution system is used to receive the control message and control the vehicle longitudinally, laterally and vertically according to the control message.

[0009] In a possible implementation manner, the longitudinal, lateral and vertical coupling domain controller includes: a vehicle-electricity-circuit coupling model module, a driving intention recognition module, and a multi-mode coordinated switching control module;

[0010] The vehicle-electricity-road coupling model module has its first end connected to the first end of the vehicle-mounted sensing system, its second end connected to the first end of the driving intention recognition module, and its third end connected to the first end of the multi-mode coordinated switching control module. It is used to receive the vehicle state information and the environment information, calculate the first dynamic responses in the longitudinal, lateral, and vertical directions of the vehicle based on the longitudinal-lateral-vertical coupling dynamics model, the vehicle state information, and the environment information, calculate the second dynamic response of the road surface to the vehicle when the vehicle drives over the road surface based on the road surface response characteristic model, the vehicle state information, and the environment information, calculate the third dynamic response of the motor rotation and electromagnetic excitation to the vehicle based on the motor motion and response characteristic model, the vehicle state information, and the environment information, determine the current state of the vehicle according to the first dynamic response, the second dynamic response, and the third dynamic response, and send the current state of the vehicle to the driving intention recognition module and the multi-mode coordinated switching control module;

[0011] The driving intention recognition module has its second end connected to the first end of the multi-mode coordinated switching control module. It is used to receive the current state of the vehicle, determine the target state of the vehicle according to the current state of the vehicle and the driver operation feedback information, and send the target state of the vehicle to the multi-mode coordinated switching control module;

[0012] The multi-mode coordinated switching control module has its second end connected to the second end of the longitudinal-lateral-vertical coupling execution system. It is used to receive the current state of the vehicle and the target state of the vehicle, arbitrate the complexity of the working conditions according to the vehicle state information, the environment information, the current state of the vehicle, and the target state of the vehicle, and determine the switching control instruction of the vehicle driving mode based on the complexity of the working conditions.

[0013] In a possible implementation, the longitudinal-lateral-vertical coupling domain controller further includes: a parameter calculation module;

[0014] The first end of the vehicle-electricity-road coupling model module is connected to the first end of the vehicle-mounted sensing system through the first end and the second end of the parameter calculation module;

[0015] The third end of the parameter calculation module is connected to the first end of the multi-mode coordinated switching control module. It is used to perform preprocessing of data filtering and data fusion on the vehicle state information and the environment information, calculate the body pose, road topography, and road surface parameters based on the preprocessed vehicle state information and environment information, and send the body pose, the road topography, and the road surface parameters to the vehicle-electricity-road coupling model module and the multi-mode coordinated switching control module.

[0016] In a possible implementation, the parameter calculation module includes: an environment perception module and a parameter estimation module;

[0017] The environment perception module, with its first end connected to the first end of the vehicle-mounted sensing system, its second end connected to the first end of the parameter estimation module, and its third end connected to the first end of the multi-mode coordination and switching control module, is configured to perform preprocessing of data filtering and data fusion on the vehicle state information and the environment information to obtain target vehicle state information and target environment information, and send the target vehicle state information and the target environment information to the parameter estimation module and the multi-mode coordination and switching control module;

[0018] The parameter estimation module, with its second end connected to the first end of the vehicle-electricity-road coupling model module and its third end connected to the first end of the multi-mode coordination and switching control module, is configured to receive the target vehicle state information and the target environment information, calculate the body pose based on the target vehicle state information, estimate the road topography and road surface parameters based on the target environment information, and send the body pose, the road topography, and the road surface parameters to the vehicle-electricity-road coupling model module and the multi-mode coordination and switching control module.

[0019] In a possible implementation, the vertical-horizontal-longitudinal coupling domain controller further includes: a safety diagnosis and fault tolerance module;

[0020] The safety diagnosis and fault tolerance module, with its first end respectively connected to the third end of the vehicle-electricity-road coupling model module, the second end of the driving intention recognition module, and the third end of the parameter calculation module, and its second end connected to the third end of the multi-mode coordination and switching control module, is configured to receive the current vehicle state and the target vehicle state, determine the vehicle driving safety level according to the current vehicle state and the target vehicle state, diagnose the operating state of the vehicle vertical-horizontal-longitudinal coupling domain control system according to the communication state among the vehicle-mounted sensing system, the vertical-horizontal-longitudinal coupling domain controller, and the vertical-horizontal-longitudinal coupling execution system, and perform fault tolerance compensation on the failed components in the vertical-horizontal-longitudinal coupling execution system according to the vehicle driving safety level and the operating state, and send the fault tolerance compensation result to the multi-mode coordination and switching control module;

[0021] The multi-mode coordination and switching control module is configured to arbitrate the working condition complexity according to the fault tolerance compensation result, the target vehicle state information, the target environment information, the current vehicle state, and the target vehicle state, determine the switching control instruction of the vehicle driving mode based on the working condition complexity, generate the control message according to the fault tolerance compensation result and the switching control instruction, and send the control message to the vertical-horizontal-longitudinal coupling execution system.

[0022] In a possible implementation, the longitudinal-lateral-vertical coupling execution system includes: a longitudinal unit, a lateral unit, and a vertical unit;

[0023] The first end of the longitudinal unit, the first end of the lateral unit, and the first end of the vertical unit are all connected to the second end of the vehicle-mounted sensing system;

[0024] The second end of the longitudinal unit, the second end of the lateral unit, and the second end of the vertical unit are all connected to the second end of the longitudinal-lateral-vertical coupling domain controller;

[0025] The longitudinal unit is configured to control the rotational speed of the driving motor, the motor negative feedback current, and the tire slip ratio of the vehicle based on the control message;

[0026] The lateral unit is configured to control the steering motor angle and the steering motor rotational speed of the vehicle based on the control message;

[0027] The vertical unit is configured to control the suspension damping, the suspension stiffness, and the suspension dynamic deflection of the vehicle based on the control message.

[0028] In a possible implementation, the vehicle state information includes first vehicle state information and second vehicle state information; wherein, the first vehicle state information is used to characterize the information of the vehicle in the longitudinal, lateral, and vertical directions after the longitudinal-lateral-vertical coupling execution system controls the vehicle according to the control message, and the second vehicle state information is used to characterize the vehicle pose information;

[0029] The vehicle-mounted sensing system includes: an actuator monitoring system;

[0030] The first end of the actuator monitoring system is connected to the first end of the longitudinal-lateral-vertical coupling domain controller, and the second end is connected to the first end of the longitudinal-lateral-vertical coupling execution system, and is configured to collect the first vehicle state information and send the first vehicle state information to the longitudinal-lateral-vertical coupling domain controller.

[0031] In a possible implementation, the vehicle-mounted sensing system further includes: a camera, a radar, a GPS unit, and an IMU unit;

[0032] The first end of the camera, the first end of the radar, the first end of the GPS unit, and the first end of the IMU unit are all connected to the first end of the longitudinal-lateral-vertical coupling domain controller;

[0033] The camera, the radar, the GPS unit, and the IMU unit are configured to collect the second vehicle state information and the environmental information, and send the second vehicle state information and the environmental information to the longitudinal-lateral-vertical coupling domain controller.

[0034] In a second aspect, an embodiment of the present invention provides a vehicle, including the vehicle longitudinal, lateral and vertical coupling domain control system described in the above first aspect or any possible implementation manner of the first aspect.

[0035] In a third aspect, an embodiment of the present invention provides a vehicle longitudinal, lateral and vertical coupling domain control method. Based on the vehicle longitudinal, lateral and vertical coupling domain control system described in the above first aspect or any possible implementation manner of the first aspect, the vehicle longitudinal, lateral and vertical coupling domain control method includes:

[0036] Obtain vehicle state information and environmental information;

[0037] Generate a control message according to the vehicle state information and the environmental information, so that the longitudinal, lateral and vertical coupling execution system controls the vehicle longitudinally, laterally and vertically according to the control message.

[0038] An embodiment of the present invention provides a vehicle longitudinal, lateral and vertical coupling domain control system and method. The control system includes three major parts: an on-vehicle sensing system, a longitudinal, lateral and vertical coupling domain controller, and a longitudinal, lateral and vertical coupling execution system. By sending the vehicle state information and environmental information collected by the on-vehicle sensing system to the longitudinal, lateral and vertical coupling domain controller, and then the longitudinal, lateral and vertical coupling domain controller generates a control message based on the vehicle state information and environmental information and sends it to the longitudinal, lateral and vertical coupling execution system, and then the longitudinal, lateral and vertical coupling execution system controls the vehicle longitudinally, laterally and vertically according to the control message. In this way, the optimized coordinated control of the vehicle's longitudinal, lateral and vertical degrees of freedom is taken into account, improving the accuracy and safety of vehicle control, and thus effectively ensuring the stability and smoothness of the distributed drive vehicle under all working conditions through precise control of multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 is a schematic diagram of the architecture of the vehicle longitudinal, lateral and vertical coupling domain control system provided by an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of the architecture of the longitudinal, lateral and vertical coupling domain controller provided by an embodiment of the present invention;

[0042] FIG. 3(a) is a schematic diagram of the longitudinal and lateral models in the longitudinal, lateral and vertical coupling dynamics model of the vehicle provided by an embodiment of the present invention;

[0043] Figure 3(b) is a schematic diagram of the vertical model in the longitudinal, lateral, and vertical coupling dynamics model of the vehicle provided by an embodiment of the present invention;

[0044] Figure 4 is a schematic structural diagram of a longitudinal, lateral, and vertical coupling domain controller provided by another embodiment of the present invention;

[0045] Figure 5 is a schematic structural diagram of a parameter calculation module provided by an embodiment of the present invention;

[0046] Figure 6 is a schematic structural diagram of a longitudinal, lateral, and vertical coupling domain controller provided by still another embodiment of the present invention;

[0047] Figure 7 is a schematic architecture diagram of an on-vehicle sensing system provided by an embodiment of the present invention;

[0048] Figure 8 is a detailed architecture diagram of a vehicle longitudinal, lateral, and vertical coupling domain control system provided by an embodiment of the present invention;

[0049] Figure 9 is a flowchart of the implementation of a vehicle longitudinal, lateral, and vertical coupling domain control method provided by an embodiment of the present invention;

[0050] Figure 10 is a schematic diagram of an electronic device provided by an embodiment of the present invention. Detailed Embodiments

[0051] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of the present invention.

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments in conjunction with the accompanying drawings.

[0053] Currently, the method of active steering and optimized distribution of torques of each tire is usually adopted to improve the vehicle handling stability. However, this method only restricts the longitudinal and lateral degrees of freedom of the vehicle and ignores the coupling response of the vertical vibration to the vehicle control effect. Therefore, there is an urgent need for a control system that couples the longitudinal, lateral, and vertical axes of the vehicle to ensure the stability and smoothness of the distributed drive vehicle under all working conditions. Based on this, Figure 1 is a schematic architecture diagram of a vehicle longitudinal, lateral, and vertical coupling domain control system provided by an embodiment of the present invention. As Figure 1 shown, the vehicle longitudinal, lateral, and vertical coupling domain control system 1 provided by an embodiment of the present invention includes:

[0054] The vehicle-mounted sensing system 11, the longitudinal-lateral-vertical coupling domain controller 12, and the longitudinal-lateral-vertical coupling execution system 13.

[0055] The first end of the vehicle-mounted sensing system 11 is connected to the first end of the longitudinal-lateral-vertical coupling domain controller 12, and the second end of the vehicle-mounted sensing system 11 is connected to the first end of the longitudinal-lateral-vertical coupling execution system 13. The vehicle-mounted sensing system 11 is used to collect vehicle state information and environmental information, and send the vehicle state information and environmental information to the longitudinal-lateral-vertical coupling domain controller 12. Exemplarily, the environmental information can be collected by different data collection devices arranged on the vehicle. For example, the road image information collected by a camera, the data information observed by devices such as a radar, and the position information of the vehicle and / or the position information of the positioning point measured by a positioning device, etc. The vehicle state information can be collected by corresponding sensors arranged on the vehicle. For example, the vehicle speed information, the vehicle body position information, and the vehicle body attitude information are collected. The vehicle state information can also be collected by sensors arranged on different actuators of the vehicle. For example, the steering wheel state information, the suspension state information, and the drive motor state information are collected. This application does not make any limitations in this regard.

[0056] The second end of the longitudinal-lateral-vertical coupling domain controller 12 is connected to the second end of the longitudinal-lateral-vertical coupling execution system 13. The longitudinal-lateral-vertical coupling domain controller 12 is used to receive the vehicle state information and environmental information sent by the vehicle-mounted sensing system 11, and generate a control message based on the vehicle state information and environmental information. Then, the control message is sent to the longitudinal-lateral-vertical coupling execution system 13.

[0057] The longitudinal-lateral-vertical coupling execution system 13 is used to receive the control message sent by the longitudinal-lateral-vertical coupling domain controller 12, and control the longitudinal, lateral, and vertical directions of the vehicle according to the control message. Exemplarily, the longitudinal control of the vehicle can include controlling the drive motor speed, controlling the motor negative feedback current, and controlling the tire slip ratio, etc. The lateral control of the vehicle can include controlling the steering motor angle and controlling the steering motor speed, etc. The vertical control of the vehicle can include controlling the suspension damping, controlling the suspension stiffness, and controlling the suspension dynamic deflection, etc. This application does not make any limitations in this regard.

[0058] The vehicle longitudinal, lateral, and vertical coupling domain control system provided by the embodiments of the present invention includes three major parts: an on-vehicle sensing system 11, a longitudinal, lateral, and vertical coupling domain controller 12, and a longitudinal, lateral, and vertical coupling execution system 13. By sending the vehicle state information and environmental information collected by the on-vehicle sensing system 11 to the longitudinal, lateral, and vertical coupling domain controller 12, and then the longitudinal, lateral, and vertical coupling domain controller 12 generates a control message based on the vehicle state information and environmental information and sends it to the longitudinal, lateral, and vertical coupling execution system 13. Then, the longitudinal, lateral, and vertical coupling execution system 13 performs corresponding control on the vehicle longitudinally, laterally, and vertically according to the control message. In this way, the optimized coordinated control of the vehicle's longitudinal, lateral, and vertical degrees of freedom is taken into account, improving the accuracy and safety of vehicle control. Thus, the stability and smoothness of the distributed drive vehicle during full working conditions are effectively ensured through precise control of multiple degrees of freedom.

[0059] Optionally, Figure 2 is a schematic diagram of the architecture of the longitudinal, lateral, and vertical coupling domain controller provided by the embodiments of the present invention. As Figure 2 shown, the longitudinal, lateral, and vertical coupling domain controller 12 includes: a vehicle-electricity-circuit coupling model module 121, a driving intention recognition module 122, and a multi-mode coordinated switching control module 123.

[0060] The first end of the vehicle-electricity-circuit coupling model module 121 is connected to the first end of the on-vehicle sensing system 11, the second end of the vehicle-electricity-circuit coupling model module 121 is connected to the first end of the driving intention recognition module 122, and the third end of the vehicle-electricity-circuit coupling model module 121 is connected to the first end of the multi-mode coordinated switching control module 123.

[0061] The vehicle-electricity-circuit coupling model module 121 is used to receive vehicle state information and environmental information, and calculate the first dynamic responses of the vehicle longitudinally, laterally, and vertically based on the longitudinal, lateral, and vertical coupling dynamics model, vehicle state information, and environmental information. Exemplarily, the first dynamic response can be changes in the vehicle's engine state, tire state, and suspension state, etc., and the present application does not limit this.

[0062] The vehicle-electricity-circuit coupling model module 121 is also used to calculate the second dynamic response of the road surface to the vehicle when the vehicle travels over the road surface based on the road surface response characteristic model, vehicle state information, and environmental information. Exemplarily, the second dynamic response can be road surface excitation and road surface secondary excitation, etc.

[0063] The vehicle-electricity-circuit coupling model module 121 is also used to calculate the third dynamic response of the vehicle to the rotation of the motor and electromagnetic excitation based on the motor motion and response characteristic model, vehicle state information, and environmental information. Exemplarily, the third dynamic response can be the dynamic response of the vehicle after being affected by the rotation of the motor and electromagnetic excitation.

[0064] The vehicle - electricity - road coupling model module 121 is further configured to determine the current state of the vehicle according to the first dynamic response, the second dynamic response, and the third dynamic response, and send the current state of the vehicle to the driving intention recognition module and the multi - mode coordination switching control module. In this embodiment, the current state of the vehicle is accurately calculated through the vehicle - electricity - road coupling model, which is beneficial to the subsequent reasonable determination of the target state of the vehicle, and further facilitates the realization of the coupled control of the distributed - drive vehicle in the longitudinal, lateral, and vertical directions to ensure the stable driving of the distributed - drive vehicle.

[0065] Figure 3(a) is a schematic diagram of the longitudinal and lateral models in the longitudinal - lateral - vertical coupling dynamics model of the vehicle provided by the embodiment of the present invention, and Figure 3(b) is a schematic diagram of the vertical model in the longitudinal - lateral - vertical coupling dynamics model of the vehicle provided by the embodiment of the present invention. Please refer to Figure 3(a) and Figure 3(b) together. In this embodiment, the current state of the vehicle is calculated based on the dynamic relationship reflected by the longitudinal - lateral - vertical coupling dynamics model. Specifically, in Figure 3(a), v y represents the lateral velocity of the vehicle, v x represents the longitudinal velocity of the vehicle, and γ represents the yaw angular velocity of the vehicle. F yf and F yr respectively represent the lateral forces on the front and rear tires of the vehicle, and F xf and F xr respectively represent the longitudinal forces on the front and rear tires of the vehicle. In Figure 3(b), z represents the vertical displacement at the centroid of the vehicle body. θ represents the pitch angle of the vehicle body, and z tf and z tr respectively represent the vertical displacements of the front and rear unsprung masses. m tf and m tr respectively represent the front and rear unsprung (including the motor) masses. k tf and k tr respectively represent the front and rear tire stiffnesses, k sf and k sr respectively represent the front and rear suspension stiffnesses, c sf and c sr respectively represent the front and rear suspension damping coefficients, F ef and F er respectively represent the resultant vertical excitation forces of the front and rear motors, B o and L o respectively represent the amplitude and wavelength of the road surface unevenness, q r represents the road surface unevenness excitation, and w r represents the vertical vibration displacement of the road surface.

[0066] Optionally, the vehicle-electricity-road coupling model module 121 presets the longitudinal, lateral, and vertical coupling dynamics model of a distributed drive vehicle, the road surface response characteristic model, and the motor motion and response characteristic model. Based on this vehicle-electricity-road coupling model, the current state of the vehicle can be accurately calculated, and the state of the vehicle at a certain moment can also be predicted. Specifically, while considering the longitudinal, lateral, and vertical three-way coupling dynamics characteristics of the distributed drive vehicle, the vehicle-electricity-road coupling model also takes into account the influence of road surface excitation and drive motor excitation on the vehicle dynamics performance. In this way, through the longitudinal, lateral, and vertical coupling dynamics model, the road surface response characteristic model, and the motor motion and response characteristic model, the vehicle-electricity-road coupling parameters in the longitudinal, lateral, and vertical directions of the vehicle can be accurately determined and predicted, thus effectively improving the influence of the model mismatch problem on the vehicle stability and ride comfort control, and effectively increasing the flexibility of vehicle control.

[0067] As Figure 2 shown, the second end of the driving intention recognition module 122 is connected to the first end of the multi-mode coordinated switching control module 123. The driving intention recognition module 122 is used to receive the current state of the vehicle sent by the vehicle-electricity-road coupling model module 121, determine the target state of the vehicle according to the current state of the vehicle and the driver operation feedback information, and send the target state of the vehicle to the multi-mode coordinated switching control module 123.

[0068] Optionally, the driver operation feedback information may include the control angle of the driver on the brake pedal, the control information of the driver on the steering wheel, etc. In this embodiment, the driving intention recognition module 122 is based on the current state of the vehicle and further combines the driver operation feedback information to predict the target state of the vehicle after the driver performs the vehicle control operation. In this way, after accurately determining the target state of the distributed drive vehicle, it is beneficial for subsequent modules to analyze the potential safety hazards that may exist in the distributed drive vehicle in the target state of the vehicle, and then perform fault reminders or fault tolerance control on these potential safety hazards.

[0069] The second end of the multi-mode coordinated switching control module 123 is connected to the second end of the longitudinal, lateral, and vertical coupling execution system 13. The multi-mode coordinated switching control module 123 is used to receive the current state of the vehicle and the target state of the vehicle, arbitrate the complexity of the working conditions according to the vehicle state information, the environmental information, the current state of the vehicle, and the target state of the vehicle, and determine the switching control instruction of the vehicle driving mode based on the complexity of the working conditions.

[0070] In this embodiment, the multi-mode coordinated switching control module 123 may preset multiple different driving modes such as congested driving, narrow driving, and bumpy driving. After analyzing the road, environment, current vehicle state, target vehicle state, and vehicle failure components around the vehicle, the multi-mode coordinated switching control module 123 arbitrates the complexity of the current driving condition of the distributed drive vehicle, and determines the switching control instruction of the driving mode of the vehicle according to different condition complexities. Optionally, after determining the switching control instruction, it is sent to the vehicle longitudinal, lateral, and vertical coupling execution system 13, so that the vehicle longitudinal, lateral, and vertical coupling execution system 13 can perform corresponding coordinated control on different actuators below to ensure the stability and smoothness of vehicle driving.

[0071] Optionally, Figure 4 is a schematic structural diagram of the longitudinal, lateral, and vertical coupling domain controller provided in another embodiment of the present invention. As Figure 4 shown, the longitudinal, lateral, and vertical coupling domain controller 12 further includes: a parameter calculation module 124.

[0072] The first end of the vehicle-electricity-road coupling model module 121 is connected to the first end of the on-vehicle sensing system 11 through the first end and the second end of the parameter calculation module 124.

[0073] The third end of the parameter calculation module 124 is connected to the first end of the multi-mode coordinated switching control module 123. The parameter calculation module 124 is used to perform preprocessing of data filtering and data fusion on vehicle state information and environmental information, calculate the body pose, road topography, and road surface parameters based on the preprocessed vehicle state information and environmental information, and send the body pose, road topography, and road surface parameters to the vehicle-electricity-road coupling model module 121 and the multi-mode coordinated switching control module 123.

[0074] Optionally, Figure 5 is a schematic structural diagram of the parameter calculation module provided in an embodiment of the present invention. As Figure 5 shown, the parameter calculation module 124 includes: an environment perception module 1241 and a parameter estimation module 1242.

[0075] The first end of the environment perception module 1241 is connected to the first end of the on-vehicle sensing system 11, the second end of the environment perception module 1241 is connected to the first end of the parameter estimation module 1242, and the third end of the environment perception module 1241 is connected to the first end of the multi-mode coordinated switching control module 123.

[0076] The environment perception module 1241 is used to perform preprocessing of data filtering and data fusion on vehicle state information and environmental information, obtain target vehicle state information and target environmental information, and send the target vehicle state information and target environmental information to the parameter estimation module 1242 and the multi-mode coordinated switching control module 123.

[0077] The second end of the parameter estimation module 1242 is connected to the first end of the vehicle-electricity-road coupling model module 121, and the third end of the parameter estimation module 1242 is connected to the first end of the multi-mode coordination switching control module 123.

[0078] The parameter estimation module 1242 is configured to receive the target vehicle state information and the target environment information, calculate the body pose based on the target vehicle state information, estimate the road topography and road surface parameters based on the target environment information, and send the body pose, road topography, and road surface parameters to the vehicle-electricity-road coupling model module 121 and the multi-mode coordination switching control module 123.

[0079] In this embodiment, after the environment perception module 1241 obtains the vehicle state information and the environment information, it can perform preprocessing of data filtering and data fusion on the vehicle state information and the environment information based on a preset Kalman filtering algorithm to obtain the target vehicle state information and the target environment information.

[0080] The vehicle state information and the environment information are often collected by various sensors, and these information are generally noisy at any moment. The Kalman filtering algorithm can utilize the dynamic information of the vehicle and the surrounding environment to filter out the noise in the vehicle state information and the environment information, so as to obtain the high-precision target vehicle state information and the target environment information. In this way, it is beneficial for the subsequent parameter estimation module 1242 to calculate accurate data such as the body pose and road surface parameters based on the target vehicle state information and the target environment information.

[0081] Optionally, since the vehicle state information and the environment information cannot be directly obtained by the vehicle-mounted sensing system 11 completely. Therefore, for some data that cannot be directly collected by various sensors, such as the body pose, the centroid side slip angle, the road surface unevenness, etc., a separate calculation unit needs to be designed for calculation. Based on this, in this embodiment, the parameter estimation module 1242 is set to calculate these parameters. Optionally, the parameter estimation module 1242 calculates the body pose based on the target vehicle state information and estimates the road topography and road surface parameters based on the target environment information.

[0082] Optionally, Figure 6 is a schematic structural diagram of the longitudinal, lateral and vertical coupling domain controller provided in another embodiment of the present invention, as Figure 6 shown, the longitudinal, lateral and vertical coupling domain controller 12 further includes: a safety diagnosis and fault tolerance module 125.

[0083] The first end of the safety diagnosis and fault tolerance module 125 is respectively connected to the third end of the vehicle-electricity-road coupling model module 121, the second end of the driving intention recognition module 122, and the third end of the parameter calculation module 124 (i.e., the third end of the environment perception module 1241 and the third end of the parameter estimation module 1242). The second end of the safety diagnosis and fault tolerance module 125 is connected to the third end of the multi-mode coordination switching control module 123.

[0084] The safety diagnosis and fault tolerance module 125 is used to receive the current state of the vehicle and the target state of the vehicle, determine the driving safety level of the vehicle according to the current state of the vehicle and the target state of the vehicle, diagnose the operating state of the vehicle's vertical-horizontal-longitudinal coupling domain control system 1 according to the communication state among the vehicle-mounted sensing system 11, the vertical-horizontal-longitudinal coupling domain controller 12, and the vertical-horizontal-longitudinal coupling execution system 13, and perform fault tolerance compensation on the failed components in the vertical-horizontal-longitudinal coupling execution system 13 according to the driving safety level and the operating state of the vehicle, and send the fault tolerance compensation result to the multi-mode coordination switching control module 123. Exemplarily, diagnosing the operating state of the vehicle's vertical-horizontal-longitudinal coupling domain control system 1 may include: diagnosing whether the control messages of the vertical-horizontal-longitudinal coupling domain controller are sent and received normally, whether the feedback information of each execution component in the vehicle's vertical-horizontal-longitudinal coupling execution system is sent normally, whether the communication of each hardware (such as sensors) is normal, etc. This application does not make any limitations in this regard.

[0085] Optionally, the safety diagnosis and fault tolerance module 125 can query the faults of various sensors and each execution component in the vertical-horizontal-longitudinal coupling execution system 13 by diagnosing the fault codes through the communication bus of the vehicle (i.e., the CAN bus). When the safety diagnosis and fault tolerance module 125 receives a fault code, it first determines the source of the fault code (for example, steering motor, suspension, etc.), and determines whether the fault type affects the vehicle's driving according to the vehicle's target state (for example, whether it affects the vehicle's steering according to the vehicle's target state, whether it affects the vehicle's center of mass height lift according to the vehicle's target state, etc.). When it is determined that the fault type affects the vehicle's driving according to the vehicle's target state, the safety diagnosis and fault tolerance module 125 performs fault tolerance compensation on various sensors with faults or each execution component in the vertical-horizontal-longitudinal coupling execution system 13. For example, when the lateral unit fails and the vehicle cannot be steered through the steering mechanism, at this time, the safety diagnosis and fault tolerance module 125 can perform electronic differential through the longitudinal unit, so as to achieve fault tolerance compensation for the failed components in the vertical-horizontal-longitudinal coupling execution system 13. That is, the motion control of a certain mechanism is used to equivalently replace the motion requirements of a certain failed component.

[0086] In addition, when various sensors or components in the longitudinal, lateral, and vertical coupling execution system do not malfunction, but data such as vehicle steering gradient, lateral acceleration, and yaw rate are abnormal, that is, when the vehicle experiences dynamic instability phenomena such as oversteering, sideslip, and roll, the safety diagnosis and fault tolerance module 125 determines that the vehicle state at this time does not meet the vehicle driving safety. At this time, the safety diagnosis and fault tolerance module 125 will design a replacement plan for the execution components in the vehicle that cannot execute control commands as required according to the vehicle driving safety to ensure the driving safety of the vehicle. Generally speaking, the factors affecting vehicle driving safety can include hardware failure and data loss failure. For data loss failure, it means that the hardware involved will also be unable to execute control commands as required. Therefore, both of these failures can ultimately be handled as hardware failures. That is, when a component (vehicle hardware) of the vehicle fails, the motion control of other components can be used to equivalently replace the motion requirements of the failed component, thereby performing control compensation for the failed component. For example, when the steering wheel fails, that is, the driver cannot control the vehicle steering through the steering wheel. At this time, four-wheel differential control can be used to achieve fault tolerance compensation for the steering wheel.

[0087] The multi-mode coordinated switching control module 123 is used to determine the switching control command of the vehicle driving mode based on the fault tolerance compensation result, target vehicle state information, target environment information, current vehicle state, and arbitration of the vehicle target state working condition complexity, generate a control message according to the fault tolerance compensation result and the switching control command, and send the control message to the longitudinal, lateral, and vertical coupling execution system 13.

[0088] In this embodiment, the complexity of the arbitration vehicle driving working condition is jointly determined by macroscopic information such as vehicle state and environment, microscopic information such as current vehicle state and vehicle target state, and information such as fault tolerance compensation given by the safety diagnosis and fault tolerance module. For example, when the vehicle senses that there are obstacles in the front environment and the front road surface is a low adhesion road surface, in this case, the driving working condition of the vehicle can increase active obstacle avoidance control and handling stability control compared to normal driving. At this time, the vehicle driving mode can be controlled and adjusted accordingly to enable the vehicle to drive normally on the road in the current environment. Optionally, the vehicle driving mode can be switched in stages. For example, according to the number and size of obstacles, the change of the vehicle's own state, the number of failed execution components in the vehicle, and the difficulty of the solution for replacing the failed execution components to achieve functions, when switching the vehicle driving mode, it is switched in stages to adapt to the normal driving of the vehicle in different scenarios.

[0089] Optionally, the longitudinal, lateral, and vertical coupling execution system 13 includes: a longitudinal unit, a lateral unit, and a vertical unit.

[0090] The first end of the longitudinal unit, the first end of the lateral unit, and the first end of the vertical unit are all connected to the second end of the vehicle-mounted sensing system 11.

[0091] The second end of the longitudinal unit, the second end of the lateral unit, and the second end of the vertical unit are all connected to the second end of the vertical-longitudinal-lateral coupling domain controller 12.

[0092] The longitudinal unit is used to control the rotational speed of the driving motor of the vehicle, the motor negative feedback current, and the tire slip ratio based on the control message.

[0093] The lateral unit is used to control the steering motor angle and the steering motor rotational speed of the vehicle based on the control message.

[0094] The vertical unit is used to control the suspension damping, the suspension stiffness, and the suspension dynamic deflection of the vehicle based on the control message.

[0095] In this embodiment, the longitudinal unit may include a distributed drive motor, tires, a braking system, etc., and the longitudinal unit is used to control the vehicle speed and wheel speed. The lateral unit may include a steering motor, a connecting rod, a steering wheel, etc., and the lateral unit is used to control the steering motor rotation angle and rotational speed of the vehicle. The vertical unit is composed of an active suspension and is used to control the active suspension stiffness, damping, and suspension dynamic deflection of the vehicle.

[0096] The vehicle-mounted sensing system 11 is used to collect vehicle state information. Optionally, the vehicle state information may be composed of sensor information of a plurality of sensors arranged on vehicle components. Exemplarily, the vehicle components may include components in the three directions of vertical, longitudinal, and lateral of the vehicle. Optionally, the longitudinal components are exemplified as a drive motor, tires, a braking system, etc.; the lateral components are exemplified as a steering wheel, a steering motor, a connecting rod, etc.; the vertical components are exemplified as a suspension, etc.

[0097] Figure 7 It is a schematic diagram of the architecture of the vehicle-mounted sensing system provided by the embodiment of the present invention, as Figure 7 shown. Optionally, the vehicle state information includes first vehicle state information and second vehicle state information; wherein, the first vehicle state information is used to characterize the information of the vehicle in the longitudinal, lateral, and vertical directions after the vertical-longitudinal-lateral coupling execution system controls the vehicle in the longitudinal, lateral, and vertical directions according to the control message, and the second vehicle state information is used to characterize the vehicle pose information.

[0098] The vehicle-mounted sensing system 11 includes: an actuator monitoring system 111.

[0099] The first end of the actuator monitoring system 111 is connected to the first end of the vertical-longitudinal-lateral coupling domain controller 12, and the second end is connected to the first end of the vertical-longitudinal-lateral coupling execution system 13, and is used to collect the first vehicle state information and send the first vehicle state information to the vertical-longitudinal-lateral coupling domain controller 12.

[0100] In this embodiment, based on the feedback of the actuator monitoring system 111 on the current execution state of the longitudinal, lateral, and vertical coupling execution system 13, that is, based on the actuator monitoring system 111 monitoring the execution of control messages of the vehicle's longitudinal, lateral, and vertical units (for example, whether each unit executes actions according to the control message; whether the execution result reaches the reference value. Specific examples are as follows: the expected motor speed is 10 r / min, whether the actual speed reaches). Optionally, the actuator monitoring system 111 can be an information transceiver unit of vehicle chassis built-in sensors (such as steering wheel angle sensor, steering motor angle sensor, wheel speed sensor, etc.). Exemplarily, the actuator monitoring system 111 set in the vehicle-mounted sensing system 11 can specifically be composed of various sensors arranged on different actuators such as the steering wheel (example of vehicle lateral control), suspension (example of vehicle vertical control), and drive motor (example of vehicle longitudinal control). The actuator monitoring system 111 collects the sensor information set on different actuators and summarizes it to obtain the first vehicle state information. That is, the actuator monitoring system 111 monitors the response data of each component on the longitudinal, lateral, and vertical coupling execution system 13 and summarizes these data to obtain the first vehicle state information.

[0101] Optionally, the vehicle-mounted sensing system 11 further includes a camera, a radar, a GPS unit, and an IMU unit.

[0102] The first ends of the camera, the radar, the GPS unit, and the IMU unit are all connected to the first end of the longitudinal, lateral, and vertical coupling domain controller 12.

[0103] The camera, the radar, the GPS unit, and the IMU unit are used to collect the second vehicle state information and environmental information, and send the second vehicle state information and environmental information to the longitudinal, lateral, and vertical coupling domain controller 12.

[0104] In this embodiment, various sensors such as cameras and radars can be used to collect road information such as obstacles around the vehicle, slopes of the road surface, and road unevenness, as well as the body surrounding environment information, and summarize them into environmental information and send it to the longitudinal, lateral, and vertical coupling domain controller 12. In addition, the second vehicle state information can also be collected through the GPS unit and the IMU unit. Exemplarily, the second vehicle state information can include: vehicle speed, longitude and latitude / position, body attitude (for example, pitch angle, roll angle, yaw angle and their speeds, etc.). In this way, the longitudinal, lateral, and vertical coupling domain controller 12 can calculate information such as the current state of the vehicle and the target state of the vehicle based on the environmental information, the first vehicle state information, and the second vehicle state information.

[0105] Figure 8 This is a detailed architecture diagram of the vehicle longitudinal, lateral, and vertical coupling domain control system provided by the embodiment of the present invention. The specific connection relationships between each module and sub-module can be referred toFigure 8 。

[0106] An embodiment of the present invention further provides a vehicle, including the vehicle longitudinal, lateral and vertical coupling domain control system 1 as described in the first aspect above or any possible implementation manner of the first aspect.

[0107] An embodiment of the present invention further provides a vehicle longitudinal, lateral and vertical coupling domain control method, based on the vehicle longitudinal, lateral and vertical coupling domain control system 1 as described in the first aspect above or any possible implementation manner of the first aspect. Figure 9 For the implementation flowchart of the vehicle longitudinal, lateral and vertical coupling domain control method provided by the embodiment of the present invention, please refer to Figure 1 and Figure 9 , the vehicle longitudinal, lateral and vertical coupling domain control method includes:

[0108] Step 901: Obtain vehicle state information and environmental information.

[0109] In step 901, the vehicle state information and environmental information collected by the vehicle-mounted sensing system 11 are obtained, so that the subsequent longitudinal, lateral and vertical coupling domain controller can perform data processing and analysis based on the vehicle state information and environmental information, and generate control messages for controlling the actions of each actuator component in the longitudinal, lateral and vertical coupling execution system.

[0110] Step 902: Generate control messages according to the vehicle state information and environmental information, so that the longitudinal, lateral and vertical coupling execution system controls the vehicle longitudinally, laterally and vertically according to the control messages.

[0111] In step 902, the longitudinal, lateral and vertical coupling domain controller 12 analyzes and calculates the vehicle state information and environmental information, and generates control messages for controlling the actions of each actuator component in the longitudinal, lateral and vertical coupling execution system. In this way, the longitudinal, lateral and vertical coupling execution system 13 can control the vehicle longitudinally, laterally and vertically according to the control messages, so as to realize the multi-degree-of-freedom control of the vehicle in the longitudinal, lateral and vertical directions.

[0112] An embodiment of the present invention provides a vehicle longitudinal, lateral and vertical coupling domain control method. By sending the vehicle state information and environmental information collected by the vehicle-mounted sensing system to the longitudinal, lateral and vertical coupling domain controller, and then the longitudinal, lateral and vertical coupling domain controller generates control messages based on the vehicle state information and environmental information and sends them to the longitudinal, lateral and vertical coupling execution system, and then the longitudinal, lateral and vertical coupling execution system performs corresponding control on the vehicle longitudinally, laterally and vertically according to the control messages. In this way, the optimized coordinated control of the vehicle's longitudinal, lateral and vertical degrees of freedom is taken into account, the accuracy and safety of vehicle control are improved, and the stability and smoothness of the distributed drive vehicle under all working conditions are effectively ensured through precise control of multiple degrees of freedom.

[0113] It should be understood that the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0114] Figure 10 FIG. is a schematic diagram of an electronic device provided by an embodiment of the present invention. As Figure 10 shown, the electronic device 5 in this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps in the above embodiment of the vehicle longitudinal, lateral, and vertical coupling domain control method, such as Figure 9 the steps 901 to 902 shown.

[0115] Exemplarily, the computer program 52 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 51 and executed by the processor 50 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 52 in the electronic device 5.

[0116] The electronic device 5 can include the vehicle longitudinal, lateral, and vertical coupling domain control system 1 as described in the first aspect or any possible implementation manner of the first aspect above. The electronic device 5 can include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that Figure 10 this is only an example of the electronic device 5 and does not constitute a limitation to the electronic device 5. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0117] The so-called processor 50 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0118] The memory 51 may be an internal storage unit of the electronic device 5, such as a hard disk or memory of the electronic device 5. The memory 51 may also be an external storage device of the electronic device 5, such as a plug-in hard disk equipped on the electronic device 5, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 51 may also include both an internal storage unit and an external storage device of the electronic device 5. The memory 51 is used to store the computer program and other programs and data required by the electronic device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be described in detail here.

[0120] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0122] In the embodiments provided by the present invention, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0124] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above vehicle longitudinal and vertical coupling domain control method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0126] The embodiments described above 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 foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle longitudinal, lateral and vertical coupling domain control system, characterized in that Including: A vehicle-mounted sensing system, a longitudinal-lateral-vertical coupling domain controller, and a longitudinal-lateral-vertical coupling execution system; The vehicle-mounted sensing system, with its first end connected to the first end of the longitudinal-lateral-vertical coupling domain controller and its second end connected to the first end of the longitudinal-lateral-vertical coupling execution system, is used to collect vehicle state information and environmental information, and send the vehicle state information and the environmental information to the longitudinal-lateral-vertical coupling domain controller; The longitudinal-lateral-vertical coupling domain controller, with its second end connected to the second end of the longitudinal-lateral-vertical coupling execution system, is used to receive the vehicle state information and the environmental information, generate a control message based on the vehicle state information and the environmental information, and send the control message to the longitudinal-lateral-vertical coupling execution system; The longitudinal-lateral-vertical coupling execution system is used to receive the control message and control the vehicle longitudinally, laterally, and vertically according to the control message; The longitudinal-lateral-vertical coupling domain controller includes: a vehicle-electricity-circuit coupling model module, a driving intention recognition module, and a multi-mode coordination switching control module; The vehicle-electricity-circuit coupling model module, with its first end connected to the first end of the vehicle-mounted sensing system, its second end connected to the first end of the driving intention recognition module, and its third end connected to the first end of the multi-mode coordination switching control module, is used to receive the vehicle state information and the environmental information, calculate the first dynamic responses of the vehicle longitudinally, laterally, and vertically based on the longitudinal-lateral-vertical coupling dynamics model, the vehicle state information, and the environmental information, calculate the second dynamic response of the road surface to the vehicle when the vehicle travels over the road surface based on the road surface response characteristic model, the vehicle state information, and the environmental information, calculate the third dynamic response of the motor rotation and electromagnetic excitation to the vehicle based on the motor motion and response characteristic model, the vehicle state information, and the environmental information, determine the current state of the vehicle according to the first dynamic response, the second dynamic response, and the third dynamic response, and send the current state of the vehicle to the driving intention recognition module and the multi-mode coordination switching control module; The driving intention recognition module, with its second end connected to the first end of the multi-mode coordination switching control module, is used to receive the current state of the vehicle, determine the target state of the vehicle according to the current state of the vehicle and the driver operation feedback information, and send the target state of the vehicle to the multi-mode coordination switching control module; The multi-mode coordination switching control module, with its second end connected to the second end of the longitudinal-lateral-vertical coupling execution system, is used to receive the current state of the vehicle and the target state of the vehicle, arbitrate the complexity of the working conditions according to the vehicle state information, the environmental information, the current state of the vehicle, and the target state of the vehicle, and determine the switching control instruction of the vehicle driving mode based on the complexity of the working conditions.

2. The vehicle longitudinal, lateral and vertical coupling domain control system according to claim 1, wherein The longitudinal-lateral-vertical coupling domain controller further includes: a parameter calculation module; The first end of the vehicle-electricity-circuit coupling model module is connected to the first end of the vehicle-mounted sensing system through the first end of the parameter calculation module and the second end of the parameter calculation module; The third terminal of the parameter calculation module is connected to the first terminal of the multi-mode coordination and switching control module, and is used for preprocessing the vehicle state information and the environment information through data filtering and data fusion, calculating the vehicle body pose, road topography and road surface parameters based on the preprocessed vehicle state information and environment information, and sending the vehicle body pose, road topography and road surface parameters to the vehicle-electricity-road coupling model module and the multi-mode coordination and switching control module.

3. The vehicle longitudinal, lateral and vertical coupling domain control system according to claim 2, wherein The parameter calculation module includes: an environment perception module and a parameter estimation module; The environment perception module, with its first terminal connected to the first terminal of the vehicle-mounted sensing system, its second terminal connected to the first terminal of the parameter estimation module, and its third terminal connected to the first terminal of the multi-mode coordination and switching control module, is used for preprocessing the vehicle state information and the environment information through data filtering and data fusion to obtain the target vehicle state information and target environment information, and sending the target vehicle state information and the target environment information to the parameter estimation module and the multi-mode coordination and switching control module; The parameter estimation module, with its second terminal connected to the first terminal of the vehicle-electricity-road coupling model module and its third terminal connected to the first terminal of the multi-mode coordination and switching control module, is used for receiving the target vehicle state information and the target environment information, calculating the vehicle body pose based on the target vehicle state information, estimating the road topography and road surface parameters based on the target environment information, and sending the vehicle body pose, road topography and road surface parameters to the vehicle-electricity-road coupling model module and the multi-mode coordination and switching control module.

4. The vehicle longitudinal-lateral-vertical coupling domain control system according to claim 3, characterized in that The vertical and horizontal coupling domain controller further includes: a safety diagnosis and fault tolerance module; The safety diagnosis and fault tolerance module, with its first terminal respectively connected to the third terminal of the vehicle-electricity-road coupling model module, the second terminal of the driving intention recognition module, and the third terminal of the parameter calculation module, and its second terminal connected to the third terminal of the multi-mode coordination and switching control module, is used for receiving the current vehicle state and the target vehicle state, determining the vehicle driving safety level according to the current vehicle state and the target vehicle state, diagnosing the operating state of the vehicle vertical and horizontal coupling domain control system according to the communication state among the vehicle-mounted sensing system, the vertical and horizontal coupling domain controller and the vertical and horizontal coupling execution system, and performing fault tolerance compensation on the failed components in the vertical and horizontal coupling execution system according to the vehicle driving safety level and the operating state, and sending the fault tolerance compensation result to the multi-mode coordination and switching control module; The multi-mode coordination and switching control module is used for arbitrating the working condition complexity according to the fault tolerance compensation result, the target vehicle state information, the target environment information, the current vehicle state and the target vehicle state, determining the switching control instruction of the vehicle driving mode based on the working condition complexity, generating the control message according to the fault tolerance compensation result and the switching control instruction, and sending the control message to the vertical and horizontal coupling execution system.

5. The vehicle longitudinal-lateral-vertical coupling domain control system according to claim 1, characterized in that, The longitudinal, lateral, and vertical coupling execution system includes: a longitudinal unit, a lateral unit, and a vertical unit; The first end of the longitudinal unit, the first end of the lateral unit, and the first end of the vertical unit are all connected to the second end of the vehicle-mounted sensing system; The second end of the longitudinal unit, the second end of the lateral unit, and the second end of the vertical unit are all connected to the second end of the longitudinal, lateral, and vertical coupling domain controller; The longitudinal unit is used to control the rotational speed of the vehicle's drive motor, the motor negative feedback current, and the tire slip rate based on the control message; The lateral unit is used to control the steering motor angle and the steering motor rotational speed of the vehicle based on the control message; The vertical unit is used to control the suspension damping, suspension stiffness, and suspension dynamic deflection of the vehicle based on the control message; 6. The vehicle longitudinal, lateral and vertical coupling domain control system according to any one of claims 1 to 5, characterized in that The vehicle state information includes first vehicle state information and second vehicle state information; wherein, the first vehicle state information is used to characterize the longitudinal, lateral, and vertical information of the vehicle after the longitudinal, lateral, and vertical coupling execution system controls the vehicle according to the control message, and the second vehicle state information is used to characterize the vehicle pose information; The vehicle-mounted sensing system includes: an actuator monitoring system; The first end of the actuator monitoring system is connected to the first end of the longitudinal, lateral, and vertical coupling domain controller, and the second end is connected to the first end of the longitudinal, lateral, and vertical coupling execution system, and is used to collect the first vehicle state information and send the first vehicle state information to the longitudinal, lateral, and vertical coupling domain controller.

7. The vehicle longitudinal, lateral and vertical coupling domain control system according to claim 6, wherein The vehicle-mounted sensing system further includes: a camera, a radar, a GPS unit, and an IMU unit; The first end of the camera, the first end of the radar, the first end of the GPS unit, and the first end of the IMU unit are all connected to the first end of the longitudinal, lateral, and vertical coupling domain controller; The camera, the radar, the GPS unit, and the IMU unit are used to collect the second vehicle state information and the environmental information, and send the second vehicle state information and the environmental information to the longitudinal, lateral, and vertical coupling domain controller.

8. A vehicle, characterized in that, It includes the vehicle longitudinal, lateral, and vertical coupling domain control system according to any one of claims 1 to 7.

9. A vehicle longitudinal-lateral-vertical coupling domain control method, characterized in that, Based on the vehicle longitudinal, lateral, and vertical coupling domain control system according to any one of claims 1 to 7, the vehicle longitudinal, lateral, and vertical coupling domain control method includes: Obtain vehicle state information and environmental information; Generate a control message according to the vehicle state information and the environmental information, so that the longitudinal, lateral, and vertical coupling execution system controls the vehicle longitudinally, laterally, and vertically according to the control message.

Images