Intelligent driving system and active suspension system based on cooperative perception and control

Abstract

The application relates to the technical field of intelligent automobiles, and discloses an intelligent driving system and an active suspension system based on cooperative sensing and control, wherein the active suspension system comprises a sensing sensor group, a suspension control module and a suspension execution mechanism; the sensing sensor group is used for collecting road surface information in front of a vehicle and forming road surface sensing data; the suspension control module is used for formulating a suspension target control instruction and a corresponding expected lateral and longitudinal motion state, transmitting the suspension target control instruction and the corresponding expected lateral and longitudinal motion state to the intelligent driving system, generating a reference control instruction by the intelligent driving system, and arbitrating and deciding a comprehensive control instruction by the suspension control module to control the operation of the suspension execution mechanism. The intelligent driving control module of the intelligent driving system is used for formulating a basic control instruction to control the cooperative control of lateral, longitudinal and vertical motions of the vehicle. The application can cooperatively realize three-way cooperative control of the lateral, longitudinal and vertical motions of the vehicle, and is helpful to improving the driving stability and riding comfort of the vehicle on obstacle road conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent vehicles, in particular to an intelligent driving system and an active suspension system based on collaborative perception and control. BACKGROUND

[0002] In recent years, with the rapid development of artificial intelligence technology, vehicle automatic driving technology has made a major breakthrough, especially the great progress in sensing technology and intelligent control technology, which has significantly improved the environmental perception, intelligent decision-making and control in the field of vehicle application, so that automatic driving can be realized in various scenarios.

[0003] At present, the existing automatic driving technology can not only realize the vehicle trajectory tracking control under the established driving route, but also can real-time plan the vehicle motion trajectory or motion mode in complex traffic environment. Specifically, the existing intelligent driving system can control the lateral and longitudinal motion of the vehicle by collaboratively controlling the steering system, power system and braking system of the vehicle, so as to control the intelligent steering, lane changing and other motion actions of the vehicle. However, in actual application scenarios, in addition to the changes in the lateral and longitudinal directions, there are also vertical changes, such as deceleration strips, damaged road surfaces, undulating road surfaces, etc. When the vehicle drives in such road scenarios, it will produce bumps; for example, in the emergency braking deceleration working condition, the vehicle will appear "nodding" action (the vehicle appears high-frequency vertical motion) due to the influence of strong braking, which will affect the driving stability and driving experience of the vehicle. However, the existing intelligent driving system which can only control the lateral and longitudinal motion cannot solve this problem.

[0004] In view of this situation, the active suspension system provided in the vehicle can adjust the four-wheel suspension characteristics (such as high-speed suspension, damping, stabilizer bar torque) of the vehicle by sensing the road surface conditions and the vehicle motion state, so as to realize the vertical control of the vehicle, which can effectively improve the driving comfort and driving stability in a certain working condition (such as below a certain speed). However, when the working condition exceeds the applicable range, the performance of the active suspension system will be greatly reduced, and the vertical motion of the vehicle is still difficult to be stably controlled. SUMMARY

[0005] The present application aims to provide an intelligent driving system and an active suspension system based on collaborative perception and control, which can collaboratively realize three-way collaborative control of the lateral, longitudinal and vertical motion of the vehicle, and help to improve the driving stability and driving comfort of the vehicle in obstacle road conditions.

[0006] To achieve the above-mentioned purpose, the basic scheme provided by the present application is as follows:

[0007] Scheme One

[0008] The active suspension system based on collaborative perception and control comprises a perception sensor group, a suspension control module and a suspension execution mechanism; the perception sensor group is used for collecting road surface information in front of the vehicle and forming road surface perception data; the suspension control module is communicatively connected with an intelligent driving system of the vehicle and receives vehicle running state data and driver operation instruction data transmitted by the intelligent driving system;

[0009] The suspension control module is used for receiving the road surface perception data and extracting road features therefrom, extracting obstacle data from the road features, generating suspension target control instructions and corresponding expected lateral and longitudinal motion states based on the obstacle data, the vehicle running state data and the driver operation instruction data, transmitting the suspension target control instructions and the corresponding expected lateral and longitudinal motion states to the intelligent driving system, and generating reference control instructions by the intelligent driving system; the suspension control module arbitrates the comprehensive control instructions according to the suspension target control instructions and the reference control instructions, and controls the suspension execution mechanism to operate according to the comprehensive control instructions.

[0010] The working principle and advantages of the scheme are as follows:

[0011] In the scheme, the conventional intelligent driving system and the active suspension system are combined through communication interaction between the suspension control module and the intelligent driving system. The active suspension system can feed back decision reference information to the intelligent driving system by using its own perception and decision functions, so as to facilitate the intelligent driving system to make a three-way (lateral, longitudinal and vertical) joint decision; and the adaptation degree of the decision of the suspension control module to the overall running state of the vehicle is improved. In particular, when the working condition exceeds the applicable range of the active suspension system, the reference control instructions given by the intelligent driving system can assist the active suspension system to make effective vertical motion control decisions in time, which helps to improve the performance of the active suspension system and further improve the driving stability and ride comfort of the vehicle in obstacle road conditions.

[0012] Scheme two

[0013] The intelligent driving system based on collaborative perception and control comprises an intelligent driving perception module and an intelligent driving control module; the intelligent driving perception module is used for collecting surrounding environment information of the vehicle and forming environment perception data; the intelligent driving control module is communicatively connected with a steer-by-wire system, a brake-by-wire system, a drive-by-wire system and an active suspension system; the intelligent driving control module is also communicatively connected with the intelligent driving perception module and the active suspension system;

[0014] The intelligent driving control module is used for receiving operation instruction data of a driver, vehicle running state data, environment perception data collected by an intelligent driving perception module, and road obstacle information, suspension target control instruction and corresponding expected lateral and longitudinal motion state output by the active suspension system; and according to the above received basic data, the lateral, longitudinal and vertical motion trajectories of the vehicle are cooperatively planned, and are converted into basic control instructions; and the basic control instructions are transmitted to the steer-by-wire system, brake-by-wire system, drive-by-wire system and active suspension system; the steer-by-wire system, brake-by-wire system, drive-by-wire system and active suspension system cooperatively control the lateral, longitudinal and vertical motion of the vehicle according to the basic control instructions.

[0015] The working principle and advantages of the present scheme are that:

[0016] In the present scheme, the intelligent driving module cooperatively controls the steer-by-wire system, brake-by-wire system, drive-by-wire system and active suspension system, thereby realizing comprehensive cooperative planning and control of the lateral, longitudinal and vertical motion trajectories of the vehicle, which helps to improve the driving stability and driving comfort of the vehicle. Among them, the intelligent driving module can obtain the front road obstacle information and the vertical target control demand based on the intelligent driving perception module and the active suspension system, and then cooperate with the intelligent planning function of the intelligent driving module itself, so as to effectively realize the cooperative planning and optimization of the three-direction motion, thereby achieving better driving effect. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall architecture of the active suspension system of the first embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the perception data identification and fusion process of the active suspension system of the first embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the suspension control instruction arbitration calculation process of the active suspension system of the first embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the overall architecture of the intelligent driving system of the second embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the intelligent driving vehicle lateral, longitudinal and vertical cooperative control process of the intelligent driving system of the second embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be further described in detail through specific embodiments:

[0023] Embodiment One

[0024] The embodiment is basically as shown in the accompanying drawings Figure 1As shown: the active suspension system based on cooperative perception and control, including a perception sensor group, a suspension control module and a suspension actuator.

[0025] The perception sensor group is used to collect road surface information in front of the vehicle and form road surface perception data. The perception sensor group includes a binocular camera for collecting image data of the road surface in front of the vehicle and a multi-line active radar for collecting point cloud data of the road surface in front of the vehicle. In this embodiment, the perception sensor group is installed at the front surface of the vehicle, and the FOV (field of view) of the binocular camera is adjusted to be maximum so as to fully collect the front road surface information. Wherein, the image data collected by the binocular camera and the point cloud data collected by the multi-line active radar are compared and fused to generate obstacle data.

[0026] The suspension control module is in communication connection with the intelligent driving system of the vehicle, and receives the vehicle running state data and the driver's operation instruction data transmitted by the intelligent driving system. Specifically, the suspension control module and the intelligent driving control module of the intelligent driving system are connected through a private bus. The perception sensor group is connected with the suspension control module and the intelligent driving system through a perception bus; the suspension control module is also connected with other related systems (such as steering system control unit, brake system control unit, power system control unit, etc.) of the vehicle through a vehicle bus.

[0027] The suspension control module is used to receive the road surface perception data and extract the road features therefrom, and extract the obstacle data from the road features, such as Figure 2 As shown, and generate suspension target control instructions and corresponding expected lateral and longitudinal motion states based on the obstacle data, vehicle running state data and driver's operation instruction data, and transmit them to the intelligent driving system, and generate reference control instructions by the intelligent driving system.

[0028] Specifically, the obstacle data includes obstacle type (such as speed bump, manhole cover, etc.), obstacle position and obstacle coverage range. The suspension target control instructions include four-wheel height adjustment instructions, buffer force adjustment instructions, stabilizer bar torque adjustment instructions, etc.; the corresponding expected vehicle lateral and longitudinal motion states include vehicle speed, steering wheel angle range, etc.

[0029] The suspension control module arbitrates the decision of the comprehensive control instructions according to the suspension target control instructions and the reference control instructions, and controls the operation of the suspension actuator according to the comprehensive control instructions. Specifically, the arbitration strategy is: when the intelligent driving system requests control, the reference control instructions are the final suspension control instructions, i.e. the comprehensive control instructions; when the intelligent driving system does not request control, the suspension target control instructions are the final suspension control instructions, i.e. the comprehensive control instructions; as Figure 3 As shown.

[0030] The suspension control module calculates the drive current for controlling the suspension actuators (e.g., air spring drive solenoid valve, CDC damper damping control, electronic stabilizer rod torque control) based on the comprehensive control commands; and outputs the drive current to the suspension actuators through hard wires to achieve suspension dynamic characteristic adjustment.

[0031] In addition, the suspension actuators feed back real-time status signals (e.g., suspension height, vertical acceleration) to the suspension control module in real time. The suspension control module then sends the real-time status of the suspension system (e.g., fault information, whether it is under control, current height) to the vehicle's human-machine interface system via the vehicle bus, displaying it to the driver.

[0032] This embodiment provides an active suspension system based on collaborative perception and control, which has the functions of perception information analysis and autonomous decision-making. It can coordinate with the vehicle's intelligent driving system to achieve collaborative control of the vehicle in the lateral, longitudinal, and vertical directions, providing a method to improve driving comfort in intelligent driving scenarios.

[0033] Example 2

[0034] The basic implementation examples are as follows: Figure 4 As shown: An intelligent driving system based on collaborative perception and control includes an intelligent driving perception module and an intelligent driving control module.

[0035] The intelligent driving perception module is used to collect information about the vehicle's surrounding environment and generate environmental perception data. Specifically, the intelligent driving perception module includes cameras, millimeter-wave radar, lidar, and ultrasonic radar sensors installed on the vehicle. The surrounding environment information includes information about vehicles, pedestrians, traffic signs, and feasible areas around the vehicle.

[0036] The intelligent driving control module establishes control connections with the steer-by-wire system, brake-by-wire system, and power-by-wire system via the vehicle bus. The intelligent driving control module also establishes a communication connection with the intelligent driving perception module via the intelligent driving perception bus; the intelligent driving control module establishes a control connection with the active suspension system via the suspension's proprietary bus, and establishes a perception connection (in this embodiment, this refers to establishing a perception connection with the forward-facing perception sensors of the active suspension system for road obstacles).

[0037] The intelligent driving control module is configured to receive the operation instruction data of the driver, the vehicle operation state data, the environment perception data collected by the intelligent driving perception module, and the road obstacle information, the suspension target control instruction and the corresponding expected lateral and longitudinal motion state output by the active suspension system; and according to the above received basic data, the lateral, longitudinal and vertical motion trajectories of the vehicle are cooperatively planned, and the basic control instruction is converted; and the basic control instruction is transmitted to the steer-by-wire system, the brake-by-wire system, the drive-by-wire system and the active suspension system; the steer-by-wire system, the brake-by-wire system, the drive-by-wire system and the active suspension system cooperatively control the lateral, longitudinal and vertical motion of the vehicle according to the basic control instruction, as shown in Figure 5

[0038] The active suspension system includes a forward perception sensor, a suspension control unit and a suspension actuator. The forward perception sensor is arranged on the front surface of the vehicle body and is configured to collect the road information in front of the vehicle and convert it into road perception data; the road information in front of the vehicle includes the information of the front traffic participants (such as vehicles, cyclists, pedestrians, etc.) and the information of the road obstacles (such as speed bumps, gravel blocks, manhole covers, road potholes, etc.). The road perception data includes the type, position, speed and direction of the front traffic participants; and the size and distance from the vehicle of the front road obstacles. The forward perception sensor is in communication connection with the suspension control unit and the intelligent driving control module through a suspension perception bus.

[0039] The suspension control unit is configured to receive the basic control instruction (for example: the adjustment instruction of the height, damping force and stabilizer bar torque of the four-wheel suspension), and arbitrate to calculate the final suspension control instruction for controlling the suspension actuator (for example: the air spring, CDC shock absorber and electric control stabilizer bar) to adjust the four-wheel suspension characteristics according to the final suspension control instruction. At the same time, the current suspension system state information (for example: whether it is controllable and whether it is controlled), the current action information of the suspension (for example: the current four-wheel suspension height, damping force and stabilizer bar torque), the driver's suspension setting information (for example: the driver's suspension height setting and damping gear setting), the suspension target control instruction and the corresponding expected lateral and longitudinal motion state (for example: the steering angle state corresponding to the steer-by-wire system, the vehicle speed state corresponding to the brake-by-wire system and the drive-by-wire system, etc.) are sent to the intelligent driving control module.

[0040] ​The steer-by-wire system is an execution system for realizing vehicle lateral motion control. The basic control instructions received by the steer-by-wire system include target steering angle, virtual steering wheel torque, etc. The steer-by-wire system executes steering action according to the basic control instructions, and sends steer-by-wire system state information (such as whether it is controllable, whether it is controlled), steering execution action information (such as steering wheel angle), and driver steering operation behavior information (such as driver steering torque) to the intelligent driving control module.

[0041] The brake-by-wire system is an execution system for realizing vehicle longitudinal motion control. The basic control instructions received by the brake-by-wire system include target deceleration, brake torque, etc. The brake-by-wire system executes brake deceleration action according to the basic control instructions, and sends brake system state information (such as whether it is controllable, whether it is controlled), vehicle attitude information (such as lateral, longitudinal acceleration, yaw angular velocity, driving direction), and driver brake operation behavior information (such as brake pedal opening, stepping state) to the intelligent driving control module.

[0042] The power-by-wire system is an execution system for realizing vehicle longitudinal motion control. The basic control instructions received by the power-by-wire system include target output torque, etc. The power-by-wire system controls the driving torque output according to the basic control instructions, and sends power system state information (such as whether it is controllable, whether it is controlled), power current information (such as output torque, gear position), and driver torque request information (such as accelerator pedal opening, gear shifting operation, driver demand torque) to the intelligent driving control module.

[0043] The intelligent driving control module also establishes a communication connection with the human-machine interaction system; the human-machine interaction system includes an interface module for driver interaction with the intelligent driving system, an intelligent driving operation device, and an information display device. The intelligent driving control module also transmits the state information of the intelligent driving system to the information display device in real time, so that the driver can intuitively and timely confirm the state of the intelligent driving system. The state information includes whether the intelligent driving system is activated, whether it is faulty, perception scene reconstruction information, etc. The intelligent driving operation device is used to collect the operation control instructions of the driver and send them to the intelligent driving control module, so that the driver can open, close, and set the intelligent driving function of the intelligent driving control module.

[0044] When planning the vertical motion trajectory of the vehicle in cooperation, the intelligent driving control module first identifies whether there is a passable obstacle on the forward road of the vehicle according to the received basic data, and sends corresponding basic control instructions to the active suspension system when there is a passable obstacle.

[0045] When the passability obstacle exists, the intelligent driving control module further judges the necessity of vehicle speed adjustment according to the state of the passability obstacle; and when the necessity of vehicle speed adjustment is greater than a preset threshold, corresponding basic control instructions are sent to the line control braking system and the line control power system. Here, the basic control instructions can include requests for raising the vehicle body height, reducing the damping, and controlling the electrically controlled stabilizer bar torque.

[0046] When the intelligent driving control module cooperatively plans the vertical motion trajectory of the vehicle, the current lateral and longitudinal motion trajectories are further analyzed to analyze the working condition of the vehicle, and corresponding basic control instructions are sent to the active suspension system. For example, when the vehicle is in a high-speed cornering working condition, the corresponding basic control instructions are requests for increasing the suspension damping force and the roll stiffness; when the vehicle is in an emergency braking working condition, the corresponding basic control instructions are a request for increasing the suspension damping force.

[0047] The following describes the use scenarios of the intelligent driving system in combination with several application cases:

[0048] (1) Use scenario of the adaptive cruise function of the intelligent driving system

[0049] The intelligent driving perception module perceives the front traffic participants and road obstacle information to form environmental perception data. The human-machine interaction system is installed on the vehicle instrument panel, and the setting buttons, instrument icons, and text images of the adaptive cruise function are set on the intelligent driving operating device. The driver can operate the adaptive cruise function (for example, on / off, vehicle speed adjustment, time interval adjustment) through the setting buttons, and can also observe the state of the adaptive cruise system through the display icons (for example, whether it is activated, whether it is faulty, set vehicle speed, time interval) and text image information (for example, follow-up warning prompt text, vehicle, and speed reduction zone scenario reconstruction image) on the information display device.

[0050] When the adaptive cruise function is activated, the intelligent driving control module cooperatively plans and controls the longitudinal and vertical motion according to the received environmental perception data, driver operation instruction data, and vehicle running state data, and calculates the basic control instructions: when the vehicle is on a flat road, the intelligent driving control module requests the line control braking system and the line control power system to make the vehicle cruise at the set speed or follow the vehicle at the set time interval, without controlling the active suspension system; when a passable obstacle (for example, a speed reduction zone or a manhole cover) is detected in front of the vehicle, the intelligent driving control module requests the active suspension system to adjust the suspension characteristics (for example, raise the vehicle body height, reduce the damping, and control the electrically controlled stabilizer bar torque), and judges whether the vehicle speed needs to be appropriately reduced to ensure driving comfort, to request the line control braking system or the line control power system to control the vehicle speed to achieve good comfort during the passing process based on the set speed and the following time interval, while displaying the image and prompt text information of the front obstacle in the human-machine interaction module to prompt the driver.

[0051] (2) Emergency braking assistance function of intelligent driving system

[0052] The intelligent driving perception module perceives the front traffic participants to form the environment perception data. The human-computer interaction system is installed on the vehicle instrument desk, and the setting button and instrument icon of the emergency braking assistance of the intelligent driving operation device are set. The driver opens / closes the emergency braking assistance function through the setting button, and can observe the emergency braking assistance state through the display icon (for example: whether to open, whether to trigger, whether to fail) on the information display device.

[0053] When the emergency braking assistance function is opened, the intelligent driving control module cooperates to plan and control the longitudinal, vertical motion according to the environment perception data, the operation instruction data of the driver, and the vehicle running state data, and calculates the basic control instruction: adjusts the stiffness and damping characteristics of the front and rear axle suspensions (for example: raises the front axle height and the front and rear axle damping) while requesting the vehicle to brake in emergency, avoids the brake lock caused by the nodding of the vehicle during the emergency braking, and makes the braking process more stable and the braking efficiency higher. At the same time, the emergency braking trigger information is displayed in the human-computer interaction module to prompt the driver.

[0054] (3) Integrated cruise function of intelligent driving system

[0055] The intelligent driving perception module perceives the surrounding traffic information to form the environment perception data. The human-computer interaction system is installed on the vehicle instrument desk, and the setting button, instrument icon and text image of the integrated cruise of the intelligent driving operation device are set. The driver operates the integrated cruise function (for example: on / off, vehicle speed adjustment, time-distance adjustment) through the setting button, and can observe the integrated cruise state through the display icon (for example: whether to activate, whether to fail, set vehicle speed, time-distance) and text image information (for example: follow-up warning prompt text, vehicle, speed reduction zone, and scene reconstruction image) on the information display device.

[0056] When the integrated cruise function is activated, the intelligent driving control module cooperates to plan and control the lateral, longitudinal, and vertical motion according to the received environment perception data, the operation instruction data of the driver, and the vehicle running state data, and calculates the basic control instruction: when the vehicle enters a curve at high speed, the intelligent driving control unit requests the control of the line control active suspension system to adjust the suspension characteristics (for example: raise the height of the outer wheels, four-wheel damping, and electric control stabilizer bar torque) to improve the vehicle driving stability; so as to reduce the vehicle understeering, and requests the control of the line control steering system to pass the curve with a smaller steering angle; at the same time, requests the control of the line control braking system and the line control power system to ensure stable curve passing according to the current vehicle speed or a smaller speed reduction, and improves the cruise commuting efficiency. At the same time, the reconstruction image of the surrounding traffic scene and the prompt text information are displayed in the human-computer interaction module to prompt the driver.

[0057] The intelligent driving system based on collaborative perception and control provided by the embodiment can fully link the active suspension system, realize three-way collaborative control of lateral, longitudinal and vertical motion under the intelligent driving function, and help improve the driving stability and driving comfort of the vehicle.

[0058] In particular, compared with the existing intelligent driving system, the environment perception module of the existing system is mainly used for detecting traffic information, and the detection range and detection target are quite different from the active suspension system. Specifically, the environment perception of the intelligent driving system monitors the traffic targets (vehicles, traffic lights, etc.) in a large range around the vehicle, while the environment perception of the active suspension system only monitors low obstacles and bumpy road conditions on the front road surface. This leads to the existing intelligent driving system being difficult to accurately detect low obstacles and bumpy information on the front road surface for suspension control, and there is an information barrier between the two. In the present scheme, the active suspension system and the intelligent driving system are combined through the bus. The active suspension system can more accurately identify the front road information through the multi-sensor fusion scheme for front road information detection, and send the perception results to the intelligent driving control module. That is, by using the perception advantage of the active suspension system, the perception ability of the intelligent driving system for the front road condition is greatly improved, thereby improving the accuracy and timeliness of the intelligent driving system in suspension control.

[0059] In addition, in actual application, the existing active suspension system is easily affected by the response speed and adjustment range of the actuator, and only has good performance under specific working conditions. In the present scheme, the active suspension system after linkage can send the suspension capability evaluation information and the expected vehicle state (such as the suspension target control instruction and the corresponding expected lateral and longitudinal motion state) to the intelligent driving control module, so that the intelligent driving control module can better calculate and decide the suspension control instruction, realize the best collaborative control, and simultaneously optimize the performance of the active suspension system itself. The performance of both the active suspension system and the intelligent driving system can be improved, and has strong practical application value.

[0060] Embodiment Three

[0061] The intelligent driving system based on collaborative perception and control replaces the active suspension system in Embodiment Two with the active suspension system based on collaborative perception and control in Embodiment One, and removes the repeated mechanisms (such as the camera and radar with repeated information collection types and areas) in the perception sensor group and the intelligent driving perception module.

[0062] The intelligent driving system based on cooperative sensing and control provided by the embodiment can better cooperatively process sensing information, and the active suspension system has autonomous decision function, can share the data processing load of the intelligent driving system, and supports intelligent adjustment of vertical movement in a non-intelligent driving working condition.

[0063] The above is only an embodiment of the present application, and common knowledge of specific structures and characteristics in the scheme is not described in detail. A person skilled in the art knows all ordinary technical knowledge in the field of the present application before the filing date or the priority date, can know all prior art in the field, and has the ability to apply conventional experimental means before that date. A person skilled in the art can improve and implement the present scheme based on the disclosure given in the present application and in combination with their own ability. Some typical known structures or known methods should not be an obstacle for a person skilled in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be considered as the protection scope of the present application. These will not affect the implementation effect and practicality of the patent.

Claims

1. An intelligent driving system based on collaborative perception and control, characterized in that, It includes an intelligent driving perception module and an intelligent driving control module; the intelligent driving perception module is used to collect information about the vehicle's surrounding environment and form environmental perception data; the intelligent driving control module establishes control connections with the steer-by-wire system, brake-by-wire system, power-by-wire system and active suspension system; the intelligent driving control module also establishes perception connections with the intelligent driving perception module and the active suspension system. The intelligent driving control module receives driver operation command data, vehicle operating status data, environmental perception data collected by the intelligent driving perception module, and road obstacle information, suspension target control commands, and corresponding desired lateral and longitudinal motion states output by the active suspension system. Based on the received basic data, it collaboratively plans the vehicle's lateral, longitudinal, and vertical motion trajectories and converts them into basic control commands. These basic control commands are then transmitted to the steer-by-wire system, brake-by-wire system, power-by-wire system, and active suspension system. The steer-by-wire system, brake-by-wire system, power-by-wire system, and active suspension system then coordinate the control of the vehicle's lateral, longitudinal, and vertical motion according to the basic control commands. The active suspension system includes a forward sensing sensor, a suspension control unit, and a suspension actuator; the forward sensing sensor establishes a communication connection with the suspension control unit and the intelligent driving control module through a suspension sensing bus; The suspension control unit is used to receive basic control commands and arbitrate and calculate the final suspension control commands, which are used to control the suspension actuators to adjust the four-wheel suspension characteristics according to the final suspension control commands; at the same time, it sends the current suspension system status information, the current suspension action information, the driver's suspension settings information, and the suspension target control commands and corresponding desired lateral and longitudinal motion states to the intelligent driving control module. When the intelligent driving control module is coordinating the planning of the vehicle's vertical motion trajectory, it first identifies whether there are passable obstacles on the road ahead of the vehicle based on the received basic data, and sends the corresponding basic control commands to the active suspension system when there are passable obstacles. When there is a passable obstacle, the intelligent driving control module also determines the necessity of adjusting the vehicle speed based on the state of the passable obstacle; and when the necessity of adjusting the vehicle speed is greater than a preset threshold, it sends the corresponding basic control commands to the brake-by-wire system and the power-by-wire system. When the intelligent driving control module is coordinating the planning of the vehicle's vertical motion trajectory, it also analyzes the vehicle's operating conditions based on the current lateral and longitudinal motion trajectories and sends corresponding basic control commands to the active suspension system.

2. The intelligent driving system based on collaborative perception and control according to claim 1, characterized in that, The intelligent driving control module also establishes a communication connection with the human-machine interaction system; the human-machine interaction system includes an interface module for the driver to interact with the intelligent driving system, an intelligent driving operation device, and an information display device.

3. The intelligent driving system based on collaborative perception and control according to claim 2, characterized in that, The intelligent driving control module also transmits the status information of the intelligent driving system to the information display device in real time.

4. The intelligent driving system based on collaborative perception and control according to claim 1, characterized in that, The intelligent driving perception module includes cameras, millimeter-wave radar, lidar, and ultrasonic radar sensors installed on the vehicle.

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