A software system for intelligent chassis operation control

Abstract

The application discloses a kind of software systems for intelligent chassis operation control, the system of the application includes data interface layer, information processing layer, motion control layer, control interface layer;Data interface layer is used to provide the uniform interface of required data to information processing layer.Processing data from the data interface layer is transmitted to information processing layer.Motion control layer generates control target based on the data of information processing layer, and calls control interface layer to complete chassis motion control.Control interface layer is used to encapsulate and execute the interaction interface of mechanism.The application proposes a software architecture considering chassis execution capability, cross-system, cross-domain fusion control in the field of intelligent chassis, meets the demand of high-level automatic driving for chassis system failure operation.The architecture can shield the difference of self-driving system, sensor hardware and execution mechanism, adapt to different application scenarios, and seamlessly interact with the above components, improve the compatibility and flexibility of chassis system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a software system for intelligent chassis operation control. BACKGROUND

[0002] The intelligent chassis is the cornerstone of the landing of L3 and above high-level automatic driving and is the necessary condition for realizing L3 and above high-level automatic driving. The traditional software architecture for L3 and below cannot meet the failure operation requirements of L3 and above high-level automatic driving. How to design an intelligent chassis software architecture that meets the high-level automatic driving is a key task for the development of intelligent chassis technology.

[0003] The current chassis software architecture mainly adopts a distributed software architecture. There are the following problems: on the one hand, each controller controls independently without signal interaction, when a single point of the steering system or brake system fails, it is easy to cause the overall system to fail, resulting in the vehicle being unable to meet the failure operation requirements of high-level automatic driving; on the other hand, the existing software architecture does not consider the execution capability of the chassis actuator, and does not fully evaluate whether the chassis can effectively complete the control instructions planned by the autonomous driving domain, especially in the high-level automatic driving operation scenario, which seriously affects the operation safety and efficiency of the vehicle; finally, the existing chassis software architecture cannot fully integrate with the autonomous driving domain, limiting the potential of the chassis system, and in the case of automatic driving system failure, the current chassis cannot complete the dynamic driving task (DDT), and cannot meet the requirements of high-level automatic driving for failure operation. SUMMARY

[0004] The present application aims to at least partially solve one of the problems in the related art.

[0005] To this end, the present application provides a software system for intelligent chassis operation control, on the one hand, when the chassis system fails or the autonomous driving system fails, it can realize cross-system and cross-domain fusion control to maintain the vehicle to continue running and meet the requirements of high-level automatic driving failure operation; on the other hand, based on the execution capability of the chassis itself, secondary motion planning is carried out to improve the safety, comfort and limit control of the autonomous driving vehicle operation, and to ensure the safe operation of the vehicle.

[0006] To achieve the above purpose, the present application provides a software system for intelligent chassis operation control, comprising a data interface layer, an information processing layer, a motion control layer and a control interface layer; wherein,

[0007] The data interface layer is used to build a unified data interaction interface with the autonomous driving domain, the cockpit domain and the vehicle controller.

[0008] The information processing layer is configured to perform data analysis on various data transmitted from the data interface layer, and to interact with the vehicle self-driving domain and the cockpit domain according to the data analysis result;

[0009] The motion control layer is configured to generate a control target based on the data of the information processing layer, and to call the control interface layer to complete chassis motion control.

[0010] The control interface layer is configured to build a unified interface for interacting with actuators, shield the difference data of actuators, adapt the actuators, and define the data structure and communication service interface of the actuators, so as to complete the control interaction between the motion control layer and the actuators.

[0011] The software system for intelligent chassis operation control according to the embodiments of the present application can further have the following additional technical features:

[0012] In an embodiment of the present application, the data interface layer is configured to define a unified data structure, shield hardware difference data and system difference data, and provide a unified interface of required data to the information processing layer.

[0013] In an embodiment of the present application, the data analysis includes sensor signal processing, vehicle state parameter estimation, vehicle dynamics model solving, chassis fault monitoring, chassis safety boundary, chassis execution capability analysis, and driving intention and driving mode analysis.

[0014] In an embodiment of the present application, the motion control layer includes a chassis control target layer, a chassis kinematics control layer, and a chassis dynamics control layer.

[0015] The chassis control target layer is configured to calculate target values for coupling chassis execution capability and longitudinal, lateral and vertical control, so as to complete function arbitration and build a chassis control state machine.

[0016] The chassis kinematics control layer is configured to perform secondary motion planning and control of the chassis.

[0017] The chassis dynamics control layer is configured to perform lateral control, longitudinal control, vertical control, fusion control and limit control, and to complete regular working condition control and limit working condition control.

[0018] In an embodiment of the present application, the data interface layer includes a self-driving trajectory interface module, a self-driving sensor interface module, a fault interface module, a chassis sensor interface module, and a smart cockpit data interface module.

[0019] The self-driving trajectory interface module is a trajectory information interface newly added based on a command information interface, configured to receive and process trajectory information of the self-driving domain, perform trajectory tracking control at the chassis level, analyze the trajectory into actuator control commands, and form a control closed loop.

[0020] The self-driving sensing interface module is a sensing information interface newly added in the chassis domain for the self-driving domain, and is used for providing multi-dimensional data for chassis control;

[0021] The fault interface module is used for acquiring overall fault information.

[0022] The chassis sensing interface module is used for uniformly integrating chassis sensing data and constructing a unified data interface of the chassis sensor.

[0023] The intelligent cabin data interface module is used for providing a unified interaction interface with the intelligent cabin domain.

[0024] In an embodiment of the present application, the information processing layer includes an execution capability module, a driving intention / pattern analysis module, a sensing signal processing module, a state parameter estimation module, a model solving module, a fault monitoring module, and a safety boundary module.

[0025] The execution capability module is used for performing chassis execution capability calculation according to the sensing signal processing module, the state parameter estimation module, and the model solving module, obtaining a dynamic execution capability conforming to the vehicle running environment and the current state, and judging whether the trajectory information of the data interface layer is reasonable and whether it needs to be re-planned.

[0026] The driving intention / pattern analysis module is used for generating a control strategy according to a driving intention or a driving pattern, and directly calling the control strategy corresponding to the driving pattern when the vehicle runs in the set driving pattern.

[0027] The sensing signal processing module is used for performing data filtering, fusion, and precision processing according to sensor data configuration information.

[0028] The state parameter estimation module is used for performing vehicle running parameter identification and running state estimation, and providing input data for the execution capability module and the model solving module.

[0029] The model solving module is used for completing vehicle model multi-degree-of-freedom model solving, and is used for chassis execution capability judgment and control.

[0030] The fault monitoring module is used for analyzing the fault information acquired by the data interface layer, and performing fault prediction according to vehicle running data.

[0031] The safety boundary module is used for calculating a safety boundary according to the output data of the execution capability module and the solving result of the model solving module.

[0032] In an embodiment of the present application, the chassis control target layer includes a control target module, a motion state machine module, a driving pattern state machine module, and a function arbitration module.

[0033] The control target module is configured to generate optimal lateral-longitudinal-vertical control target values in line with chassis motion execution capabilities and taking into account vehicle comfort and maneuverability based on coupling dynamics and execution capabilities;

[0034] The motion state machine module is configured to make a judgment on normal planning and secondary motion planning, and to determine whether to start secondary motion planning to complete vehicle motion control according to execution capabilities and environmental conditions;

[0035] The driving mode state machine module is configured to generate a control strategy in line with requirements of a driving mode set by a user according to the driving mode, and to generate a control target that takes into account comfort and maneuverability in combination with the control target module;

[0036] The function arbitration module is configured to complete a control strategy in line with an actual running state of a vehicle in combination with execution capabilities, a driving mode, a running environment and a vehicle state, and to provide a control input basis for chassis dynamics control.

[0037] In an embodiment of the present application, the chassis dynamics control layer comprises:

[0038] The minimum self-driving backup module is configured to make a redundant backup under a self-driving domain fault, to complete system switching with the self-driving domain, and to realize roadside safe parking or in-lane safe parking.

[0039] The secondary motion planning module is configured to make secondary motion planning control of a dynamics limit working condition with the motion control module.

[0040] The stability trajectory re-planning module is configured to make stability trajectory re-planning and control within a chassis execution capability range with the stability trajectory tracking module.

[0041] The emergency parking trajectory re-planning module is configured to make chassis emergency parking motion planning and control under an emergency working condition without passing through the self-driving domain with the emergency parking trajectory tracking module.

[0042] The fault trajectory re-planning module is configured to make motion trajectory planning and control under a chassis fault with the fault trajectory tracking module.

[0043] The limit motion trajectory re-planning module is configured to make trajectory planning and control under limit motion with the limit motion trajectory tracking module.

[0044] In an embodiment of the present application, the chassis dynamics control layer comprises a longitudinal control module, a lateral control module, a vertical control module, a fusion control module, a failure control module and a limit control module; wherein,

[0045] The longitudinal control module is configured to make longitudinal slip rate, braking force, braking torque and the like control.

[0046] The lateral control module is used for controlling steering wheel turning angle, torque, etc.

[0047] The vertical control module is used for controlling suspension height, damping, stiffness, etc.

[0048] The fusion control module is used for combined control of longitudinal, lateral and vertical directions.

[0049] The failure control module is used for chassis redundancy fault-tolerant control.

[0050] The limit control module is used for control in a limit power working condition.

[0051] In an embodiment of the present application, the control interface layer comprises a longitudinal control interface, a lateral control interface, a vertical control interface and a solenoid valve control interface, wherein,

[0052] The longitudinal control interface is used for shielding difference data of a brake actuator, and converting a longitudinal control target of the chassis dynamics control layer into a command that can be executed by the brake actuator.

[0053] The lateral control interface is used for shielding difference data of a steering mechanism, and converting a lateral control target of the chassis dynamics control layer into a command that can be executed by the steering mechanism.

[0054] The vertical control interface is used for shielding difference data of a suspension mechanism, and converting a vertical control target of the chassis dynamics control layer into a command that can be executed by the suspension mechanism.

[0055] The solenoid valve control interface is used for converting a control target into a control command for a solenoid valve of an actuator, and realizing direct valve body control of the control command.

[0056] The software system for intelligent chassis operation control in the embodiment of the present application can effectively evaluate the execution capability of the chassis, perform secondary motion planning based on the execution capability of the chassis itself, improve the safety, comfort and limit control of vehicle operation, and guarantee the safe operation of the vehicle. The system architecture is independent of the basic hardware and physical architecture, and has high flexibility and adaptability. It can meet the control requirements of chassis function domain control, adapt to the requirements of quasi-central domain control plus regional control, and also meet the requirements of central domain control.

[0057] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0058] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0059] Figure 1 is an architecture diagram of a software system for intelligent chassis operation control according to an embodiment of the present application;

[0060] Figure 2 is a schematic diagram of a software data interface layer of intelligent chassis operation control according to an embodiment of the present application;

[0061] Figure 3 is a schematic diagram of a software information processing layer of intelligent chassis operation control according to an embodiment of the present application;

[0062] Figure 4 is a schematic diagram of a software motion control layer of intelligent chassis operation control according to an embodiment of the present application;

[0063] Figure 5 is a schematic diagram of a software control interface layer of intelligent chassis operation control according to an embodiment of the present application;

[0064] Figure 6 is a schematic diagram of the overall architecture of intelligent chassis operation control software according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0066] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0067] The software system for intelligent chassis operation control according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0068] Figure 1 The structure diagram of the software system for intelligent chassis operation control of the present application is shown in Figure 1 , and includes:

[0069] a data interface layer, an information processing layer, a motion control layer, and a control interface layer; wherein,

[0070] The data interface layer is configured to construct a data interaction interface unified with the self-driving domain, the cockpit domain, and the vehicle controller.

[0071] The information processing layer is used for data analysis on various data transmitted from the data interface layer, so as to interact with the vehicle self-driving domain and the cabin domain according to the data analysis result;

[0072] The motion control layer is used for generating a control target based on the data of the information processing layer, and calling the control interface layer to complete chassis motion control.

[0073] The control interface layer is used for constructing a unified interface interacting with an actuator, shielding the difference data of the actuator, adapting the actuator, and defining the data structure and communication service interface of the actuator, so as to complete the control interaction between the motion control layer and the underlying actuator.

[0074] In the embodiment of the application, the data interface layer is used for providing a unified interface for providing required data to the information processing layer. The information processing layer is used for processing data transmitted from the data interface layer. The motion control layer generates a control target based on the data of the information processing layer, and calls the control interface layer to complete chassis motion control. The control interface layer is used for encapsulating a unified interaction interface with an actuator.

[0075] In an embodiment of the application, the data interface layer is used for constructing a unified data interaction interface with a self-driving system, a cabin system and a sensor. A unified data structure is defined to shield hardware differences and system differences, and a unified interface for providing required data to the information processing layer is provided, so as to separate the chassis from other systems and the sensor interface and data. After the interactive system and the sensor are changed, only the data interface layer needs to be reconfigured, and other levels of the chassis application layer software do not need to be changed at all, so that the coupling degree of the intelligent chassis and the interactive system and the sensor is minimized.

[0076] Figure 2 A data interface layer schematic diagram is shown as Figure 2 As shown in the figure, the data interface layer 400 mainly realizes data interaction with the self-driving domain 100, the VCU 200 and the cabin domain 300. The data interface layer 400 includes a self-driving trajectory interface module 410, a self-driving sensor interface module 420, a fault interface module 430, a chassis sensor interface module 440 and a smart cabin data interface module 450.

[0077] The self-driving trajectory interface module 410 adds a trajectory information interface on the basis of the previous command information interface, receives and processes trajectory information of the self-driving domain 100, performs trajectory tracking control at the chassis level, analyzes the trajectory into an actuator control command, finally forms a control closed loop, and maximizes the execution capability of the chassis actuator. The self-driving sensing interface module 420 is a sensing information interface of the self-driving domain 100 newly added in the chassis domain, and provides multi-dimensional data for chassis control. The fault interface module 430 is used to obtain overall fault information, and the chassis sensing interface module 440 integrates chassis sensing data uniformly to construct a unified data interface of the chassis sensor. The intelligent cabin data interface module 450 provides a unified interaction interface with the intelligent cabin domain.

[0078] In an embodiment of the present application, the information processing layer is used for sensing signal processing, vehicle state parameter estimation, vehicle dynamics model solving, chassis fault monitoring, chassis safety boundary, chassis execution capability analysis, and driving intention and driving mode analysis, and interacts with the vehicle self-driving domain and the cabin domain based on the above data analysis results.

[0079] Figure 3 An information processing layer schematic diagram is shown as Figure 3 As shown, the information processing layer includes an execution capability module 1, a driving intention / mode analysis module 110, a sensing signal processing module 120, a state parameter estimation module 130, a model solving module 140, a fault monitoring module 150, and a safety boundary module 160. The execution capability module 1 performs chassis execution capability calculation according to the sensing signal processing module 120, the state parameter estimation module 130, and the model solving module 140, obtains the dynamics execution capability conforming to the vehicle running environment and the current state, judges whether the trajectory information of the data interface layer is reasonable, and whether it needs to be re-planned. The driving intention / mode analysis module 110 generates a control strategy according to the driving intention or the driving mode, and directly calls the control strategy corresponding to the driving mode when the vehicle runs in the set driving mode. The sensing signal processing module 120 performs data filtering, fusion, and precision processing according to the sensor data configuration information. The state parameter estimation module 130 performs vehicle running parameter identification and running state estimation, provides input for the execution capability module 1 and the model solving module 140, and provides a basis for chassis control. The model solving module 140 completes multi-degree-of-freedom model solving of the vehicle model, and is used for chassis execution capability judgment and control. The fault monitoring module 150 analyzes the fault information obtained from the data interface layer, and performs fault prediction according to the vehicle running data. The safety boundary module 160 obtains the safety boundary according to the output of the execution capability module 1 and the calculation of the model solving module 140.

[0080] In an embodiment of the present application, the motion control layer is divided into three layers, i.e., a chassis control target layer, a chassis kinematics control layer, and a chassis dynamics control layer. The chassis control target layer realizes calculation of target values of coupling chassis execution capability and longitudinal-lateral-vertical control, realizes function arbitration, and constructs a chassis control state machine; the chassis kinematics control layer completes secondary motion planning and control of the chassis; and the chassis dynamics control layer realizes lateral control, longitudinal control, vertical control, fusion control, and limit control, and completes regular working condition control and limit working condition control.

[0081] Figure 4 A motion control layer schematic diagram is shown. As shown in Figure 4 the motion control layer is divided into a chassis control target layer, a chassis kinematics control layer, and a chassis dynamics control layer from top to bottom.

[0082] The chassis control target layer is divided into a control target module, a motion state machine module, a driving mode state machine module, and a function arbitration module. The control target module generates optimal lateral-longitudinal-vertical control target values in line with chassis motion execution capability based on coupled dynamics and execution capability, taking into account vehicle comfort and handling. The motion state machine module judges normal planning and secondary motion planning, and judges whether to start secondary motion planning to complete vehicle motion control according to execution capability and environmental conditions. The driving mode state machine module generates a control strategy in line with the requirements of the driving mode set by the user, and fuses with the control target module to generate a control target that takes into account comfort and handling. The function arbitration module is an overall control strategy arbitration module, which combines execution capability, driving mode, running environment, and vehicle state to complete a control strategy in line with the actual running state of the vehicle, and provides control input basis for the chassis dynamics control.

[0083] The chassis kinematics control layer includes a minimum self-driving backup module to realize redundant backup under self-driving domain failure, complete system switching with the self-driving domain, and realize roadside safe parking or in-lane safe parking; a secondary motion planning module and a motion control module to realize secondary motion planning control of dynamics limit working conditions; a stability trajectory re-planning module and a stability trajectory tracking module to realize stability trajectory re-planning and control within the execution capability range of the chassis; an emergency parking trajectory re-planning module and an emergency parking trajectory tracking module to realize chassis emergency parking motion planning and control under emergency working conditions without going through the self-driving domain; a fault trajectory re-planning module and a fault trajectory tracking module to realize motion trajectory planning and control under chassis failure; and a limit motion trajectory re-planning and limit motion trajectory tracking module to realize trajectory planning and control under limit motion. The above modules are triggered to realize closed-loop motion planning and control at the chassis level under the condition of meeting the chassis control execution conditions, and together with the information processing layer modules, fully exert the execution capability of the chassis itself.

[0084] The chassis dynamics control layer includes a longitudinal control module, a lateral control module, a vertical control module, a fusion control module, a failure control module and an extreme control module. The longitudinal control realizes control of longitudinal slip rate, braking force, braking torque, etc. The lateral control module realizes control of steering wheel angle, torque, etc. The vertical control realizes control of suspension height, damping, stiffness. The fusion control realizes combined control of longitudinal, lateral and vertical. The failure operation control realizes chassis redundancy fault-tolerant control. The extreme control realizes control in an extreme power working condition. Finally, cross-system redundancy control is realized, and fusion control is realized. The chassis failure operation control under chassis failure is realized from the chassis level, such as differential braking to realize steering.

[0085] In an embodiment of the present application, a control interface layer is used to build a standard and unified interface for interaction with actuators, to shield the differences between actuators, to quickly adapt to actuators, to define data structures and communication service interfaces of actuators such as driving, braking, steering and suspension, to complete control interaction between the motion control layer and the underlying actuators, and to realize separation of chassis control and actuators. After the actuators are changed, only the control interface layer needs to be reconfigured, and other parts of the software architecture do not need to be changed, thereby greatly reducing the coupling degree of the chassis control and the actuators and improving the flexibility and maintainability of the chassis system.

[0086] Figure 5 A control interface layer schematic diagram is shown. As shown in Figure 5 The control interface 1000 includes a longitudinal control interface 1100, a lateral control interface 1200, a vertical control interface 1300 and a solenoid valve control interface 1400. The longitudinal control interface 1100 shields the differences between brake actuators, converts the longitudinal control targets of the chassis dynamics control layer into commands that can be executed by the brake actuators, the lateral control interface 1200 shields the differences between steering mechanisms, converts the lateral control targets of the chassis dynamics control layer into commands that can be executed by the steering mechanisms, the vertical control interface 1300 shields the differences between suspension mechanisms, converts the vertical control targets of the chassis dynamics control layer into commands that can be executed by the suspension mechanisms, and the solenoid valve control interface 1400 converts control targets into control commands for actuator solenoid valves to realize direct valve body control. Decoupling with actuators is realized through the control interface layer. After replacing the actuators, only the control interface layer needs to be adjusted, and the code in the upper level does not need to be adjusted.

[0087] Further, Figure 6The running schematic diagram of a complete intelligent chassis software architecture is shown, and an execution control layer and an execution layer are arranged below the control interface layer, supporting a reserved execution mechanism control ECU, and together with the motion control layer described above, completing the final control of the execution mechanism, and the specific function implementation of the control execution layer and the motion control layer can be adjusted according to the specific control strategy. The entire architecture supports the demand of high-level automatic driving for intelligent chassis failure operation control, and the architecture considers the execution capability of the chassis itself, and the secondary motion planning closed-loop control can be realized at the chassis level, improving the safety, comfort and limit control of vehicle operation, and also improving the compatibility and flexibility of the chassis system.

[0088] The software system for intelligent chassis operation control according to the embodiment of the application can realize cross-system and cross-domain fusion control, maintain vehicle continuous operation, meet the demand of high-level automatic driving failure operation, effectively evaluate the execution capability of the chassis, perform secondary motion planning based on the execution capability of the chassis itself, improve the safety, comfort and limit control of vehicle operation, and guarantee the safe operation of the vehicle. Moreover, the system can shield the differences of the self-driving system, sensor hardware and execution mechanism, adapt to different application scenarios, seamlessly interact with the above components, and improve the compatibility and flexibility of the chassis system.

[0089] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0090] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

Claims

1. A software system for intelligent chassis operation control, characterized in that, Comprise a data interface layer, an information processing layer, a motion control layer, and a control interface layer, wherein The data interface layer is configured to construct a data interaction interface unified with a self-driving domain, a cabin domain, and a vehicle controller. The information processing layer is configured to perform data analysis on various data transmitted from the data interface layer, and to interact with the vehicle self-driving domain and the cabin domain according to the data analysis results. The motion control layer is configured to generate a control target based on the data of the information processing layer, and to call the control interface layer to complete chassis motion control. The control interface layer is configured to construct a unified interface for interacting with actuators, shield the difference data of the actuators, adapt the actuators, and define the data structure and communication service interface of the actuators, so as to complete the control interaction between the motion control layer and the actuators. The information processing layer comprises an execution capability module, a driving intention / pattern analysis module, a sensing signal processing module, a state parameter estimation module, a model solving module, a fault monitoring module, and a safety boundary module, wherein The execution capability module is configured to calculate the chassis execution capability based on the sensing signal processing module, the state parameter estimation module, and the model solving module, to obtain the dynamics execution capability conforming to the vehicle operating environment and the current state, and to determine whether the trajectory information of the data interface layer is reasonable and whether it needs to be re-planned. The driving intention / pattern analysis module is configured to generate a control strategy according to the driving intention or driving pattern, and to directly call the control strategy corresponding to the driving pattern when the vehicle is running in the set driving mode. The sensing signal processing module is configured to perform data filtering, fusion, and precision processing according to the sensor data configuration information. The state parameter estimation module is configured to identify the vehicle operating parameters and estimate the operating state, and to provide input data for the execution capability module and the model solving module. The model solving module is configured to complete multi-degree-of-freedom model solving of the vehicle model, and to be used for chassis execution capability judgment and control. The fault monitoring module is configured to analyze the fault information obtained from the data interface layer, and to predict faults according to the vehicle operating data. The safety boundary module is configured to calculate the safety boundary based on the output data of the execution capability module and the solving results of the model solving module.

2. The system of claim 1, wherein, The data interface layer is configured to define a unified data structure, shield hardware difference data and system difference data, and provide a unified interface of required data to the information processing layer.

3. The system of claim 1, wherein, The data analysis comprises sensing signal processing, vehicle state parameter estimation, vehicle dynamics model solving, chassis fault monitoring, chassis safety boundary, chassis execution capability analysis, and driving intention and driving pattern analysis.

4. The system of claim 1, wherein, The motion control layer comprises a chassis control target layer, a chassis kinematics control layer, and a chassis dynamics control layer, wherein The chassis control target layer is configured to calculate target values for coupling chassis execution capability and longitudinal-lateral-vertical control, to complete function arbitration, and to construct a chassis control state machine. The chassis kinematics control layer is configured to perform secondary motion planning and control of the chassis. The chassis dynamics control layer is used for transverse control, longitudinal control, vertical control, fusion control and limit control, and completes conventional working condition control and limit working condition control.

5. The system of claim 2, wherein, The data interface layer includes a self-driving trajectory interface module, a self-driving sensing interface module, a fault interface module, a chassis sensing interface module and a smart cabin data interface module; wherein, The self-driving trajectory interface module is a trajectory information interface newly added based on a command information interface, is used for receiving and processing trajectory information of a self-driving domain, performing trajectory tracking control at a chassis level, analyzing the trajectory into an actuator control command, and forming a control closed loop; The self-driving sensing interface module is a sensing information interface newly added by the chassis domain for the self-driving domain, and is used for providing multi-dimensional data for chassis control; The fault interface module is used for acquiring overall fault information; The chassis sensing interface module is used for uniformly integrating chassis sensing data and constructing a unified data interface of chassis sensors; The smart cabin data interface module is used for providing a unified interaction interface with a smart cabin domain.

6. The system of claim 4, wherein, The chassis control target layer is divided into a control target module, a motion state machine module, a driving mode state machine module and a function arbitration module; wherein, The control target module is used for generating optimal transverse, longitudinal and vertical control target values in line with chassis motion execution capability and taking into account vehicle comfort and maneuverability based on coupled dynamics and execution capability; The motion state machine module is used for judging normal planning and secondary motion planning, and judging whether to start secondary motion planning to complete vehicle motion control according to execution capability and environmental conditions; The driving mode state machine module is used for generating a control strategy in line with a driving mode requirement according to a driving mode set by a user, and generating a control target taking into account comfort and maneuverability by fusing the control target module; The function arbitration module is used for completing a control strategy in line with an actual running state of a vehicle by combining execution capability, a driving mode, a running environment and a vehicle state, and providing a control input basis for chassis dynamics control.

7. The system of claim 4, wherein, The chassis kinematics control layer includes: A minimum self-driving backup module is used for redundancy backup under self-driving domain fault, completes system switching with the self-driving domain, and realizes roadside safe parking or in-lane safe parking; A secondary motion planning module and a motion control module perform secondary motion planning control of dynamics limit working conditions; A stability trajectory re-planning module and a stability trajectory tracking module perform stability trajectory re-planning and control within the execution capability range of the chassis; An emergency parking trajectory re-planning module and an emergency parking trajectory tracking module perform chassis emergency parking motion planning and control under emergency working conditions without passing through the self-driving domain; A fault trajectory re-planning module and a fault trajectory tracking module perform motion trajectory planning and control under chassis fault; An extreme motion trajectory re-planning and extreme motion trajectory tracking module perform trajectory planning and control under extreme motion.

8. The system of claim 4, wherein, The chassis dynamics control layer includes a longitudinal control module, a transverse control module, a vertical control module, a fusion control module, a failure control module and a limit control module; wherein, The longitudinal control module is used for longitudinal slip rate, braking force and braking torque control. The lateral control module is configured to control steering wheel angle and steering torque. The vertical control module is configured to control suspension height, damping, and stiffness. The fusion control module is configured to perform combined longitudinal, lateral, and vertical control. The failure control module is configured to perform chassis redundancy fault-tolerant control. The limit control module is configured to perform control in extreme power working conditions.

9. The system of claim 1, wherein, The control interface layer includes a longitudinal control interface, a lateral control interface, a vertical control interface, and a solenoid control interface, wherein, The longitudinal control interface is configured to shield the difference data of the brake actuator, and convert the longitudinal control target of the chassis dynamics control layer into a command that can be executed by the brake actuator. The lateral control interface is configured to shield the difference data of the steering mechanism, and convert the lateral control target of the chassis dynamics control layer into a command that can be executed by the steering mechanism. The vertical control interface is configured to shield the difference data of the suspension mechanism, and convert the vertical control target of the chassis dynamics control layer into a command that can be executed by the suspension mechanism. The solenoid control interface is configured to convert the control target into a control command for the solenoid of the actuator, so that the control command directly passes through the valve body.

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