Vehicle chassis domain control architecture, control method and vehicle

Abstract

The invention provides a vehicle chassis domain control architecture, a control method and a vehicle. An input information management module in the control architecture can receive environmental perception information of a driving domain and determine state estimation information based on the environmental perception information. Environment perception information, state estimation information and decision information are input into a mode management module, the mode management module determines a control mode, and a chassis actuator is controlled by a longitudinal, lateral and vertical motion comprehensive control module according to the control mode on the basis of an expected motion target. A plurality of modules cooperate with each other, and unified motion control is carried out on a chassis actuator through a control mode, an expected motion target and a corresponding dynamics electronic control system. The situation that in the prior art, decision information generated in a driving domain is directly sent to a chassis actuator to be executed, a dynamics electronic control system is crossed, and consequently the power performance is low can be avoided. Therefore, the method can coordinate each dynamic electronic control system, ensure the dynamic performance and ensure the driving safety at the same time.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a control architecture, a control method and a vehicle in a vehicle chassis domain in the field of vehicle technology. Background Art

[0002] With the development of vehicle technology and artificial intelligence technology, as well as people's higher requirements for travel convenience, safety and comfort, autonomous vehicles have entered people's lives. However, there are also more and more problems related to autonomous vehicles, including the safety issues of autonomous vehicles.

[0003] At present, the decision-making planning module in the dynamic control algorithm of the autonomous driving vehicle is directly connected to the chassis actuator in the chassis domain of the autonomous driving vehicle, without considering the influence of the dynamic electronic control system in the chassis domain. When the autonomous driving vehicle is driving under harsh driving conditions, the above control method of the chassis actuator is difficult to ensure the dynamic performance of the autonomous driving vehicle, which is very likely to cause the autonomous driving vehicle to become unstable or even cause a traffic accident.

[0004] Therefore, there is an urgent need for a vehicle chassis domain control architecture that can coordinate the various dynamic electronic control systems in the chassis domain of the autonomous driving vehicle to ensure the dynamic performance of the autonomous driving vehicle while ensuring driving safety. Summary of the invention

[0005] The present application provides a control architecture, a control method and a vehicle in the vehicle chassis domain, which can coordinate various dynamic electronic control systems in the vehicle chassis domain to ensure the dynamic performance of the autonomous driving vehicle while ensuring driving safety.

[0006] In a first aspect, a control architecture for a chassis domain of a vehicle is provided, the control architecture comprising: an input information management module, for receiving environmental perception information and decision information in a driving domain of an autonomous vehicle, and determining state estimation information based on the environmental perception information, the decision information being information determined by the driving domain based on the environmental perception information for controlling the driving of the autonomous vehicle, the state estimation information being estimated state information related to the driving of the autonomous vehicle; a mode management module, for determining a control mode based on the environmental perception information, the state estimation information and the decision information, the control mode being used to indicate a selection method for multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle; a longitudinal, lateral and vertical motion integrated control module, for controlling the chassis actuators of the chassis domain based on a desired motion target in accordance with the control mode, the desired motion target being related to the driving intention of the vehicle user.

[0007] In the above technical solution, the input information management module in the control architecture of the vehicle chassis domain can receive the environmental perception information of the driving domain in the autonomous driving vehicle, and determine the state estimation information based on the environmental perception information. Further, the environmental perception information, state estimation information and decision information are input into the mode management module, and the control mode is determined by the mode management module, and then the longitudinal, lateral and vertical motion integrated control module controls the chassis actuator in the chassis domain according to the control mode based on the desired motion target. In other words, multiple modules in the control architecture of the vehicle chassis domain work together to achieve unified motion control of the chassis actuator in the chassis domain through the control mode and the desired motion target determined by the environmental perception information, state estimation information and decision information, and the corresponding dynamic electronic control system. This can avoid the decision information generated in the driving domain in the traditional technology being directly sent to the chassis actuator for execution, and crossing multiple dynamic electronic control systems, thereby resulting in low dynamic performance of the autonomous driving vehicle. Therefore, this method can coordinate the various dynamic electronic control systems in the vehicle chassis domain, ensure the dynamic performance of the autonomous driving vehicle, and ensure driving safety at the same time.

[0008] In conjunction with the first aspect, in some possible implementations, the longitudinal, lateral and vertical motion integrated control module is specifically used to determine a plurality of control signals based on a desired motion target according to the control mode;

[0009] The control architecture further includes: an actuator coordination module, which is used to arbitrate the multiple control signals, obtain a signal arbitration result, and control the chassis actuator based on the signal arbitration result.

[0010] In the above technical solution, before executing the control signal, the actuator coordination module arbitrates multiple control signals, which can reasonably determine the execution order of multiple control signals based on the current driving environment of the autonomous driving vehicle. This can avoid instability or safety hazards of the autonomous driving vehicle caused by control signal conflicts or errors.

[0011] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, the control architecture further includes: a motion decision module, which is used to determine the desired motion target based on the state information of the vehicle user and the state estimation information.

[0012] In the above technical solution, the method determines the desired motion target based on the state information of the vehicle user and the state estimation information through the motion decision module. In this way, the control process of the autonomous driving vehicle does not completely rely on the decision information obtained by the intelligent driving domain, but also considers the driving needs of the vehicle user, which can increase the sense of participation of the vehicle user and improve the vehicle experience. In addition, by considering the driving needs of the vehicle user, the driving habits of the vehicle user can be better simulated, the manual intervention of the vehicle user can be reduced, and the riding comfort of the vehicle user can be improved.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the control mode includes a target control system among the multiple dynamic electronic control systems, and a control method of the target control system, which control method includes an independent control method, an integrated control method or a coordinated control method.

[0014] In the above technical solution, the mode management module determines the control mode, which gives one or more control systems required for the autonomous driving vehicle to execute decision information and the way in which the control systems control the autonomous driving vehicle. In this way, the longitudinal and lateral integrated motion control module can directly control the chassis actuator according to the control mode and the desired motion target through the target control system managed within it. This can ensure the driving safety control of the autonomous driving vehicle and also meet the driving intention of the vehicle user.

[0015] In combination with the first aspect and the above implementations, in some possible implementations, the longitudinal, lateral and vertical motion integrated control module includes a longitudinal motion management module and / or a lateral motion management module and / or a vertical motion management module, and / or a roll and pitch management module;

[0016] In the case where the control mode includes the target control system in the multiple dynamic electronic control systems and the control mode of the target control system is an independent control mode, the management module corresponding to the target control system is used to control the chassis actuator through each target control system to achieve the desired motion target, and the management module includes at least one of the longitudinal motion management module, the lateral motion management module, the vertical motion management module, and the roll and pitch management module;

[0017] When the control mode includes a target control system and the control mode of the target control system is an integrated control mode, the longitudinal, lateral and vertical motion integrated control module is used to perform functional upward movement of the target control system and control the chassis actuator to achieve the desired motion target;

[0018] When the control mode includes a target control system and the control method of the target control system is a coordinated control method, the longitudinal, lateral and vertical motion integrated control module is used to coordinate the target control system, and control the chassis actuator through the coordinated control system to achieve the desired motion target.

[0019] In the above technical scheme, a process is given for controlling the chassis actuator in the chassis domain to achieve the desired motion target when the control mode includes a target control system in multiple dynamic electronic control systems and the vehicle user has an expected motion target, and the control modes are independent control mode, integrated control mode and coordinated control mode respectively. Specifically, by controlling the chassis actuator in an independent control mode, a certain control system can be used alone, which can avoid the influence of other control systems on the control system and make the control process more accurate. By controlling the chassis actuator in an integrated control mode, the overall control performance of multiple control systems can be comprehensively considered to avoid the conflicting operations between the various chassis actuators that may be caused by independent control. By controlling the chassis actuator in a coordinated control mode, not only can the chassis actuator in the chassis domain be coordinated, but also multiple control systems can be interacted. This can better improve the performance of the autonomous driving vehicle under complex driving conditions. By providing multiple control modes, the method can meet different driving needs or different driving conditions, so that the autonomous driving vehicle can achieve better performance in multiple performance indicators such as power, economy, safety and comfort.

[0020] In combination with the first aspect and the above implementations, in some possible implementations, when the target control system is a steering control system and the control mode of the target control system is an independent control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module corresponding to the steering control system is used to control the chassis actuator through the managed rear-wheel steering control system or front-wheel steering control system or four-motor independent control system or torque vector control system to achieve lateral motion and / or yaw motion of the autonomous driving vehicle;

[0021] When the target control system is a steering control system and the control mode of the target control system is an integrated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to perform functional upward transfer of the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system, and the torque vector control system, and control the chassis actuator to achieve lateral motion and / or yaw motion of the autonomous driving vehicle;

[0022] When the target control system is a steering control system and the control mode of the target control system is a coordinated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to coordinate the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system, and control the chassis actuator through the coordinated control system to realize lateral motion and / or yaw motion of the autonomous driving vehicle.

[0023] In the above technical scheme, taking the target control system as the steering control system and the vehicle user having the desired motion target of lateral motion and / or yaw motion, and the control modes of the steering control system are independent control mode, integrated control mode and coordinated control mode respectively, and the steering control system includes a rear-wheel steering control system and a front-wheel steering control system and a four-motor independent control system and a torque vector control system as an example, a process of controlling the chassis actuator in the chassis domain to achieve the desired motion target is given. Specifically, when the chassis actuator is controlled in an independent control mode, any steering control system can be realized. Therefore, the method realizes the lateral motion and / or yaw motion of the autonomous driving vehicle through the rear-wheel steering control system or the front-wheel steering control system or the four-motor independent control system or the torque vector control system. This can avoid interference between control systems caused by simultaneous control of multiple steering control systems. When the chassis actuator is controlled in an integrated control mode, it is realized by the unified steering control system after the function is moved up, and the lateral motion state and / or yaw motion state of the autonomous driving vehicle can be adjusted accurately and faster. When the chassis actuators are controlled in a coordinated control manner, the above-mentioned multiple steering systems are coordinated to coordinate and control different chassis actuators to achieve lateral movement and / or yaw movement of the autonomous driving vehicle. This can not only flexibly adjust the working mode of the chassis actuators to achieve the movement goals expected by the vehicle user, but also improve the versatility and safety of the autonomous driving vehicle.

[0024] In combination with the first aspect and the above implementations, in some possible implementations, the longitudinal, lateral and vertical motion integrated control module further includes a plurality of kinematic function modules, the kinematic function modules are used to improve the driving performance of the autonomous driving vehicle, and the control mode is further used to select any kinematic function in the plurality of kinematic function modules;

[0025] In case that the control mode is used to select a target kinematics function among the plurality of kinematics function modules, the target kinematics function is used to control the chassis actuators of the chassis domain based on a desired motion target.

[0026] In the above technical solution, the longitudinal, lateral and vertical motion integrated control module in the method also provides a kinematic function module in addition to the dynamic electronic control system. This can enrich the driving functions of the autonomous driving vehicle. When the control mode is used to select the target kinematic function in multiple kinematic function modules, the target kinematic function can be used to control the chassis actuator in the chassis domain based on the desired motion target. This method can provide more convenience for vehicle users, further enhance safety, and also improve riding pleasure.

[0027] In combination with the first aspect and the above implementations, in some possible implementations, the control architecture further includes:

[0028] An input module, used to obtain environmental perception information collected by multiple sensors in the autonomous driving vehicle, and transmit the environmental perception information to the input information management module;

[0029] The output module is used to output the control result after the chassis actuator in the chassis domain is controlled.

[0030] In the above technical solution, the input module transmits the environmental perception information to the input information management module, so that the input information management module can further process the environmental perception information to obtain state estimation information, thereby helping the mode management module to determine the control mode and lay the foundation for achieving the desired motion target. In addition, the output module outputs the control result, so that the vehicle user or other control system can know the response result to the desired motion target, so that when there is a problem in the control process of the chassis actuator, the vehicle user can be notified in time or other control systems can be used to remedy the problem in time.

[0031] In a second aspect, a control method for a chassis domain of a vehicle is provided, the control method comprising: receiving environmental perception information and decision information in a driving domain of an autonomous vehicle, and determining state estimation information based on the environmental perception information, the decision information being information determined by the driving domain based on the environmental perception information for controlling the driving of the autonomous vehicle, the state estimation information being estimated state information related to the driving of the autonomous vehicle; determining a control mode based on the environmental perception information, the state estimation information and the decision information, the control mode being used to indicate a selection method for multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle; and controlling the chassis actuators of the chassis domain based on a desired motion target in accordance with the control mode, the desired motion target being related to the driving intention of the vehicle user.

[0032] In a third aspect, a vehicle is provided, comprising the control architecture of the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of a scenario using an autonomous driving vehicle provided in an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of a control architecture of a vehicle chassis domain provided in an embodiment of the present application;

[0035] Figure 3 is a structural diagram of an input information management module provided in an embodiment of the present application;

[0036] Figure 4 It is a structural schematic diagram of a longitudinal, lateral and vertical motion integrated control module provided in an embodiment of the present application;

[0037] Figure 5 is a schematic diagram of another vehicle chassis domain control architecture provided by an embodiment of the present application;

[0038] Figure 6 is a schematic flow chart of a vehicle chassis domain control method provided in an embodiment of the present application;

[0039] Figure 7 It is a structural schematic diagram of a vehicle chassis domain control device provided in an embodiment of the present application;

[0040] Figure 8 is a structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0041] Fig. 9 It is a schematic diagram of the structure of another vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0043] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0044] Figure 1 It is a schematic diagram of a scenario using an autonomous driving vehicle provided in an embodiment of the present application.

[0045] For example, Figure 1 As shown, the vehicle user can take the autonomous driving vehicle A to the destination to complete related matters. At present, the decision-making planning module in the dynamic control algorithm of the autonomous driving vehicle is directly connected to the chassis actuator in the chassis domain of the autonomous driving vehicle, and the influence of the dynamic electronic control system in the chassis domain is not considered. When the autonomous driving vehicle is driving under harsh driving conditions, the above control method of the chassis actuator is difficult to ensure the dynamic performance of the autonomous driving vehicle, which can easily cause the autonomous driving vehicle to become unstable or even cause a traffic accident.

[0046] In order to solve the above problems, the present application provides a control architecture of the vehicle chassis domain, so as to coordinate the various dynamic electronic control systems in the chassis domain of the autonomous driving vehicle, ensure the dynamic performance of the autonomous driving vehicle, and ensure driving safety.

[0047] Figure 2 It is a schematic diagram of a control architecture of a vehicle chassis domain provided in an embodiment of the present application.

[0048] For example, Figure 2 As shown, the control architecture 200 includes: an input information management module 201, a mode management module 202 and a longitudinal, lateral and vertical movement integrated control module 203. The mode management module 202 is connected to the input information management module 201, and the longitudinal, lateral and vertical movement integrated control module 203 is connected to the mode management module 202.

[0049] In order to more clearly illustrate the technical solution provided by the embodiment of the present application, each module in the control architecture is first introduced below.

[0050] The functions of the "input information management module" are described as follows.

[0051] In one possible implementation, the input information management module 201 is used to receive environmental perception information and decision information in a driving domain of an autonomous vehicle, and determine state estimation information based on the environmental perception information. The decision information is information determined by the driving domain based on the environmental perception information for controlling the driving of the autonomous vehicle, and the state estimation information is estimated state information related to the driving of the autonomous vehicle.

[0052] It should be understood that the "driving domain" in the above solution refers to the collection of electronic and electrical architectures responsible for implementing and controlling the autonomous driving functions in autonomous vehicles. This driving domain is also called the intelligent driving domain. The domain controller of the driving domain enables the autonomous driving vehicle to have the capabilities of multi-sensor fusion, positioning, path planning, and decision control. It usually requires multiple external cameras, millimeter-wave radars, lidars and other equipment to complete image recognition and data processing.

[0053] It should also be understood that the "environmental perception information" in the above scheme refers to the information related to the driving of the autonomous driving vehicle directly collected by multiple sensors in the autonomous driving vehicle, and the environmental perception information includes road information, obstacle information, traffic information, vehicle information and weather information. The road information includes the location, type and condition of the lane line (whether there is water accumulation and potholes, etc.). The obstacle information includes the number, model, brand, color and license plate number of other vehicles around the autonomous driving vehicle, as well as the number, gender, age and height of pedestrians. The traffic information includes various traffic signs (such as speed limit signs and no-entry signs, etc.), traffic lights (such as red lights, green lights and yellow lights, etc.) and other road markings (such as zebra crossings and U-turn signs, etc.). The vehicle information includes the driving speed, wheel speed and steering wheel angle of the autonomous driving vehicle. The weather information includes weather type, temperature, humidity and wind speed, etc.

[0054] In addition, according to the perspective of road environment, vehicle type and weather type, the above-mentioned environmental perception information including road information, obstacle information, traffic information, vehicle information and weather information can be divided into three categories of information: the first category of information (road environment information) includes road information, obstacle information and traffic information; the second category of information (vehicle type information) includes vehicle information; the third category of information (weather type information) includes weather information.

[0055] It should also be understood that the "decision information" in the above scheme is specifically the instruction information used to control the driving of the autonomous driving vehicle determined by the driving domain based on the environmental perception information and the control algorithm. Among them, the main functions of the control algorithm are path tracking (controlling the autonomous driving vehicle to drive along a predetermined path), speed control (controlling the autonomous driving vehicle to maintain safe and efficient driving under different driving conditions), lateral control (controlling the autonomous driving vehicle to drive within the lane), and longitudinal control (controlling the longitudinal movement of the autonomous driving vehicle, including acceleration, deceleration and braking).

[0056] It should also be understood that the "state estimation information" in the above scheme specifically refers to the road state information, vehicle state information and weather state information related to the driving of the autonomous driving vehicle estimated after further processing of the environmental perception information. The state estimation information includes the degree of bumpiness of the road on which the autonomous driving vehicle is driving, the curvature of the curve ahead and the road adhesion coefficient (road state information), etc., the tire force of the wheels in the autonomous driving vehicle, the boundary information of the autonomous driving vehicle reaching an unstable state and the degree of wear of the tires (vehicle state information), etc., as well as the duration of the preset weather type and the time of warning of severe meteorological phenomena (weather state information), etc.

[0057] Figure 3 It is a structural diagram of an input information management module provided in an embodiment of the present application.

[0058] For example, Figure 3 As shown, the input information management module 201 includes a signal integration submodule 2011 and a signal expansion submodule 2022, which are specifically used for: filtering the environmental perception information based on the domain control function of the chassis domain through the signal integration submodule 2011 to obtain target environmental perception information; and determining the state estimation information based on the target environmental perception information through the signal expansion submodule 2022.

[0059] It should be understood that the "domain control function of the chassis domain" in the above scheme refers to a series of control and management capabilities possessed by the chassis domain controller of the chassis domain. The chassis domain controller is responsible for the control of the autonomous driving vehicle during the driving process, including transmission control, driving control, steering control and braking control. Specifically, "filtering the received environmental perception information according to the domain control function of the chassis domain to obtain target environmental perception information" means filtering out environmental perception information related to transmission control, driving control, steering control and braking control from the environmental perception information as the target environmental perception information.

[0060] In some embodiments, the input information management module 201 is further specifically used to: classify the environmental perception information according to the angle of the road environment, the angle of the vehicle type and the angle of the weather type through the signal extension submodule 2022 to obtain road environment information, vehicle type information and weather type information; determine the road state estimation information in the state estimation information based on the road environment information through the signal extension submodule 2022, and determine the vehicle state estimation information in the state estimation information based on the vehicle type information, and determine the weather state estimation information in the state estimation information based on the weather type information.

[0061] It should be understood that in the above scheme, "road state estimation information" corresponds to "road state information", "vehicle state estimation information" corresponds to "vehicle state information", and "weather state estimation information" corresponds to "weather state information".

[0062] The functions of the "mode management module" are described as follows.

[0063] In one possible implementation, the mode management module 202 is used to determine a control mode based on the environmental perception information, the state estimation information and the decision information, and the control mode is used to indicate a selection method for multiple dynamic electronic control systems in the chassis domain of the autonomous driving vehicle.

[0064] It should be understood that the "control mode" in the above scheme is specifically used to indicate one or more control systems (target control systems) selected from the multiple dynamic electronic control systems, and the way in which the control systems control the autonomous driving vehicle, which includes an independent control mode, an integrated control mode or a coordinated control mode. The independent control mode means that each control system is controlled separately and does not rely on the input or feedback of other control systems. The integrated control mode refers to integrating the control functions of multiple control systems into a unified control system, and the control process is completed by the unified control system. The coordinated control mode refers to the control process of the autonomous driving vehicle through information sharing and collaborative work between multiple control systems.

[0065] It should also be understood that the "chassis domain" in the above solution refers to the collection of electronic and electrical architectures responsible for implementing and controlling the lateral, longitudinal, and vertical control functions of the autonomous driving vehicle. The domain controller of the chassis domain integrates the control functions of the X, Y, and Z directions such as steering (lateral), braking, driving (longitudinal), and suspension (vertical) to achieve integrated control and fully coordinate the various dynamic electronic control systems of the chassis domain to achieve the dynamic control and stability of the autonomous driving vehicle in the best way.

[0066] In some embodiments, the dynamic electronic control system includes a traction control system, a steering control system, a braking control system, a dynamic stability control system, a hill start assist system, a vertical control system, an active suspension anti-pitch / roll control system, and a drive braking anti-pitch control system.

[0067] It should be understood that in the above scheme, the "traction control system" is used to prevent the driving wheels of the autonomous driving vehicle from excessively slipping during acceleration. The "steering control system" is used to control the driving direction of the autonomous driving vehicle. The "brake control system" is used to control the autonomous driving vehicle to decelerate or stop. The "dynamic stability control system" is used to control the driving direction of the autonomous driving vehicle by adjusting the engine output and the braking force distribution. The "hill start assist system" is a system that briefly maintains the brake pressure when starting on a slope to ensure a smooth start. The "vertical control system" is used to control the vertical movement of the autonomous driving vehicle. The "active suspension anti-pitch / roll control system" refers to a system that reduces the pitch and roll of the vehicle body by adjusting the stiffness and damping of the suspension when the autonomous driving vehicle accelerates, brakes or turns. The "drive brake anti-pitch control system" refers to a system that reduces the sinking or lifting of the front or rear of the vehicle body by adjusting the parameters of the suspension system (such as spring stiffness, spring preload and suspension geometric parameters, etc.) when the vehicle accelerates or brakes.

[0068] In some embodiments, the steering control system includes a rear-wheel steering control system, a front-wheel steering control system, a four-motor independent control system, and a torque vectoring control system.

[0069] It should be understood that in the above scheme, the "rear-wheel steering control system" refers to a system that assists vehicle steering by controlling the steering angle of the rear wheels in an autonomous vehicle. The "front-wheel steering control system" refers to a system that achieves vehicle steering by controlling the steering angle of the front wheels in an autonomous vehicle. The "four-motor independent control system" refers to a system that controls the steering and drive of the four wheels in an autonomous vehicle respectively through four independent motors. The "torque vectoring control system" refers to a system that achieves steering by controlling the torque distribution between the left and right wheels of an autonomous vehicle.

[0070] In a possible implementation, the control mode includes a target control system among the multiple dynamic electronic control systems, and a control method of the target control system, which includes an independent control method, an integrated control method or a coordinated control method.

[0071] It should be understood that the "target control system" in the above solution is one or more control systems selected from the multiple dynamic electronic control systems based on the environmental perception information, the state estimation information and the decision information. For any of the one or more control systems, the autonomous driving vehicle meets the conditions for executing the control target corresponding to the control system, the conditions are determined by the environmental perception information and the state estimation information, and the decision information matches the control target corresponding to the control system.

[0072] In the above technical solution, the mode management module determines the control mode, which gives one or more control systems required for the autonomous driving vehicle to execute decision information and the way in which the control systems control the autonomous driving vehicle. In this way, the longitudinal and lateral integrated motion control module can directly control the chassis actuator according to the control mode and the desired motion target through the target control system managed within it. This can ensure the driving safety control of the autonomous driving vehicle and also meet the driving intention of the vehicle user.

[0073] In some embodiments, the mode management module 202 is specifically used to: determine one or more candidate control systems from the multiple dynamic electronic control systems based on the decision information; determine whether the autonomous driving vehicle can execute the control objectives corresponding to the one or more candidate control systems based on the environmental perception information and the state estimation information; if there is a candidate control system that can execute the control objectives among the one or more candidate control systems, determine the candidate control system as the target control system; if the number of target control systems is a preset number, determine that the control mode is an independent control mode; if the number is not the preset number, determine that the control mode is an integrated control mode or a coordinated control mode based on the control objectives of each target control system.

[0074] It should be understood that the "preset number" in the above solution is 1.

[0075] In some embodiments, the mode management module 202 is specifically used to: when the control targets of the target control system are associated, determine that the control mode is a coordinated control mode; when the control targets of the target control system are associated and conflicting, determine that the control mode is an integrated control mode; when the control targets of the target control system are not associated and conflicting, determine that the control mode is an independent control mode.

[0076] The functions of the "longitudinal, lateral and vertical motion integrated control module" are described as follows.

[0077] In a possible implementation, the longitudinal, lateral and vertical motion integrated control module 203 is used to control the chassis actuators of the chassis domain according to the control mode based on the expected motion target, and the expected motion target is related to the driving intention of the vehicle user.

[0078] It should be understood that the "desired motion target" in the above solution refers to the motion state that the vehicle user expects the autonomous driving vehicle to achieve, and the desired motion target includes the desired linear motion target and rotational motion target. The linear motion target includes the longitudinal motion target, the lateral motion target and the vertical motion target. The rotational motion target includes the roll motion target, the yaw motion target and the pitch motion target.

[0079] It should also be understood that the "integrated control module for longitudinal, lateral and vertical motions" in the above scheme is used to manage longitudinal motion and / or lateral motion (and yaw motion) and / or vertical motion, and / or roll motion and pitch motion. Correspondingly, the integrated control module for longitudinal, lateral and vertical motions specifically includes a longitudinal motion management module and / or a lateral motion management module and / or a vertical motion management module, and / or a roll and pitch management module.

[0080] It should also be understood that the longitudinal movement refers to the movement of the autonomous driving vehicle along the axis of its body, that is, the movement in the front-to-back direction. The lateral movement refers to the movement of the autonomous driving vehicle in a direction perpendicular to the axis of its body, that is, the movement in the left-right direction. The yaw movement refers to the movement of the autonomous driving vehicle rotating around an axis perpendicular to the ground, that is, the movement of the front of the vehicle swinging left and right. The vertical movement refers to the movement of the autonomous driving vehicle in a direction perpendicular to the ground, that is, the movement in the up-and-down direction. The roll movement refers to the movement of the autonomous driving vehicle's body rotating around its longitudinal axis when the autonomous driving vehicle turns or is subjected to lateral force. The pitch movement refers to the movement of the autonomous vehicle's body rotating around its lateral axis when the autonomous vehicle accelerates or brakes.

[0081] In some embodiments, the longitudinal motion management module is specifically used to manage the traction control system, the braking control system, the dynamic stability control system and the hill start assist system, the lateral motion management module is used to manage the steering control system, the steering control system is specifically used to manage the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system, the vertical motion management module is specifically used to manage the vertical control system, and the roll and pitch management module is specifically used to manage the active suspension anti-pitch / roll control system and the drive braking anti-pitch control system.

[0082] Figure 4 It is a structural schematic diagram of a longitudinal, lateral and vertical motion integrated control module provided in an embodiment of the present application.

[0083] For example, Figure 4 As shown, the longitudinal, lateral and vertical motion integrated control module 203 includes a longitudinal motion management module 2031 and / or a lateral motion management module 2032 and / or a vertical motion management module 2033 and / or a roll and pitch management module 2034;

[0084] In the case where the control mode includes the target control system in the multiple dynamic electronic control systems and the control mode of the target control system is an independent control mode, the management module corresponding to the target control system is used to control the chassis actuator through each target control system to achieve the desired motion target, and the management module includes at least one of the longitudinal motion management module 2031, the lateral motion management module 2032, the vertical motion management module 2033, and the roll and pitch management module 2034;

[0085] When the control mode includes the target control system and the control mode of the target control system is an integrated control mode, the longitudinal, lateral and vertical motion integrated control module 203 is used to perform functional upward migration of the target control system and control the chassis actuator to achieve the desired motion target;

[0086] When the control mode includes a target control system and the control method of the target control system is a coordinated control method, the longitudinal, lateral and vertical motion integrated control module 203 is used to coordinate the target control system and control the chassis actuator through the target control system to achieve the desired motion target.

[0087] It should be understood that the “management module corresponding to the target control system” in the above solution means that there is a corresponding relationship between the management module and the target control system. Specifically, the management module is used to manage the target control system.

[0088] It should also be understood that "upward migration of the functions of the target control system" in the above scheme refers to centralizing the functions of each target control system into a higher-level control system to achieve centralized management of each target control system. In addition, "coordinating the target control system" in the above scheme refers to optimizing each target control system and controlling the target control systems to work together.

[0089] In the above technical scheme, a process is given for controlling the chassis actuator in the chassis domain to achieve the desired motion target when the control mode includes a target control system in multiple dynamic electronic control systems and the vehicle user has an expected motion target, and the control modes are independent control mode, integrated control mode and coordinated control mode respectively. Specifically, by controlling the chassis actuator in an independent control mode, a certain control system can be used alone, which can avoid the influence of other control systems on the control system and make the control process more accurate. By controlling the chassis actuator in an integrated control mode, the overall control performance of multiple control systems can be comprehensively considered to avoid the conflicting operations between the various chassis actuators that may be caused by independent control. By controlling the chassis actuator in a coordinated control mode, not only can the chassis actuator in the chassis domain be coordinated, but also multiple control systems can be interacted. This can better improve the performance of the autonomous driving vehicle under complex driving conditions. By providing multiple control modes, the method can meet different driving needs or different driving conditions, so that the autonomous driving vehicle can achieve better performance in multiple performance indicators such as power, economy, safety and comfort.

[0090] In a possible implementation, when the target control system is a steering control system and the control mode of the target control system is an independent control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module 2032 corresponding to the steering control system is used to control the chassis actuator through the managed rear-wheel steering control system or front-wheel steering control system or four-motor independent control system or torque vector control system to achieve lateral motion and / or yaw motion of the autonomous driving vehicle;

[0091] When the target control system is a steering control system and the control mode of the target control system is an integrated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module 2032 is used to perform functional upward transfer of the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system, and the torque vector control system, and control the chassis actuator to achieve lateral motion and / or yaw motion of the autonomous driving vehicle;

[0092] When the target control system is a steering control system and the control mode of the target control system is a coordinated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module 2032 is used to coordinate the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system, and control the chassis actuator through the coordinated control system to realize lateral motion and / or yaw motion of the autonomous driving vehicle.

[0093] In the above technical scheme, taking the target control system as the steering control system and the vehicle user having the desired motion target of lateral motion and / or yaw motion, and the control modes of the steering control system are independent control mode, integrated control mode and coordinated control mode respectively, and the steering control system includes a rear-wheel steering control system and a front-wheel steering control system and a four-motor independent control system and a torque vector control system as an example, a process of controlling the chassis actuator in the chassis domain to achieve the desired motion target is given. Specifically, when the chassis actuator is controlled in an independent control mode, any steering control system can be realized. Therefore, the method realizes the lateral motion and / or yaw motion of the autonomous driving vehicle through the rear-wheel steering control system or the front-wheel steering control system or the four-motor independent control system or the torque vector control system. This can avoid interference between control systems caused by simultaneous control of multiple steering control systems. When the chassis actuator is controlled in an integrated control mode, it is realized by the unified steering control system after the function is moved up, and the lateral motion state and / or yaw motion state of the autonomous driving vehicle can be adjusted accurately and faster. When the chassis actuators are controlled in a coordinated control manner, the above-mentioned multiple steering systems are coordinated to coordinate and control different chassis actuators to achieve lateral movement and / or yaw movement of the autonomous driving vehicle. This can not only flexibly adjust the working mode of the chassis actuators to achieve the movement goals expected by the vehicle user, but also improve the versatility and safety of the autonomous driving vehicle.

[0094] In a possible implementation, the longitudinal, lateral and vertical motion integrated control module 203 further includes a plurality of kinematic function modules 2035, the kinematic function modules 2035 are used to improve the driving performance of the autonomous driving vehicle, and the control mode is also used to select any kinematic function 2035 from the plurality of kinematic function modules 2035;

[0095] In case that the control mode is used to select a target kinematics function among the plurality of kinematics function modules 2035, the target kinematics function is used to control the chassis actuators of the chassis domain based on a desired motion target.

[0096] It should be understood that the "kinematic function module" in the above scheme refers to a special function module of the autonomous driving vehicle, which is used to focus on the geometric motion characteristics of the autonomous driving vehicle, that is, the position, speed and acceleration of the autonomous driving vehicle in space. The kinematic function module is specifically used to describe and control the motion trajectory of the autonomous driving vehicle, and does not directly involve the dynamic characteristics that the dynamic electronic control system focuses on.

[0097] In some embodiments, the multiple kinematic function modules include a low-speed off-road cruise function, an intelligent driving interactive control function, an on-the-spot steering function, a lateral movement function, an automatic drift function, a wading function, a failure redundancy control function and a single-pedal mode.

[0098] It should be understood that in the above scheme, the "low-speed off-road cruise function" is used for low-speed driving in off-road scenarios, and the autonomous driving vehicle can drive at a relatively stable speed in complex off-road conditions (such as rugged mountain roads, muddy trails and sandy land, etc.). The "intelligent driving interactive control function" is used to emphasize the interactive relationship between the autonomous driving vehicle and the vehicle user, allowing the vehicle user to operate the relevant functions of the autonomous driving vehicle through various methods such as voice recognition, gesture control or touch screen. The "on-site steering function" allows the autonomous driving vehicle to achieve steering in a smaller space. The "lateral movement function" allows the autonomous driving vehicle to move laterally. The "automatic drift function" allows the autonomous driving vehicle to automatically enter the drift state under specific road conditions or driving scenarios. The "wading function" allows the autonomous driving vehicle to safely pass through a certain depth of water. The "failure redundancy control function" is a safety assurance function, which means that when a key system of the autonomous driving vehicle fails, a backup system or strategy is used to ensure that the autonomous driving vehicle still maintains a certain degree of safety and controllability. The "single pedal mode" is used to control the acceleration and deceleration of the autonomous driving vehicle through one pedal (usually the accelerator pedal). When the pedal is pressed, it accelerates, and when the pedal is released, energy is automatically recovered and decelerated.

[0099] In the above technical solution, the longitudinal, lateral and vertical motion integrated control module in the method also provides a kinematic function module in addition to the dynamic electronic control system. This can enrich the driving functions of the autonomous driving vehicle. When the control mode is used to select the target kinematic function in multiple kinematic function modules, the target kinematic function can be used to control the chassis actuator in the chassis domain based on the desired motion target. This method can provide more convenience for vehicle users, further enhance safety, and also improve riding pleasure.

[0100] The “other modules included in the control architecture 200 ” are described as follows.

[0101] Figure 5 It is a schematic diagram of another vehicle chassis domain control architecture provided in an embodiment of the present application.

[0102] For example, Figure 5 As shown, the longitudinal, lateral and vertical motion integrated control module 203 is specifically used to determine multiple control signals based on the desired motion target according to the control mode;

[0103] The control architecture 200 further includes: the actuator coordination module 204, which is used to arbitrate the multiple control signals, obtain a signal arbitration result, and control the chassis actuator based on the signal arbitration result.

[0104] It should be understood that the "arbitration of multiple control signals" in the above scheme means that when multiple control signals simultaneously compete for control of the chassis actuator, it is necessary to perform priority arbitration on the multiple control signals, and / or to arbitrate the multiple control signals based on the importance of different functions of the autonomous driving vehicle.

[0105] In some embodiments, the emergency braking signal has a higher priority than the comfort adjustment signal during normal driving. If the autonomous vehicle detects that the vehicle is about to collide and triggers the emergency braking signal, the emergency braking signal will be given the highest priority during the arbitration process, and the brake actuator in the chassis actuator will perform the emergency braking operation first, temporarily putting aside other comfort adjustment signals (such as suspension comfort adjustment signals, etc.).

[0106] In some embodiments, control signals for maintaining driving stability of the autonomous vehicle (such as anti-rollover control signals) are more important than control signals for improving ride comfort (such as control signals for adjusting seat posture). When resources are limited or the actuator response capability is limited, control signals for ensuring important functions are executed first.

[0107] It should be understood that the “signal arbitration result” in the above solution refers to a plurality of control signals arranged in an execution order.

[0108] In the above technical solution, before executing the control signal, the actuator coordination module arbitrates multiple control signals, which can reasonably determine the execution order of multiple control signals based on the current driving environment of the autonomous driving vehicle. This can avoid instability or safety hazards of the autonomous driving vehicle caused by control signal conflicts or errors.

[0109] In some embodiments, the actuator coordination module is specifically used to verify, coordinate, arbitrate and classify the multiple control signals, obtain a signal arbitration result, and control the chassis actuator based on the signal arbitration result.

[0110] It should be understood that in the above scheme, "verification" refers to verifying the accuracy and integrity of the control signal. "Coordination" refers to coordinating at least two control signals when there is a conflict in the control results of at least two control signals among multiple control signals. "Classification" refers to classifying multiple control signals according to chassis actuators. For example, control signals related to suspension actuators are classified into one category, and control signals related to brake actuators are classified into another category.

[0111] In a possible implementation, the control architecture 200 further includes: a motion decision module 205, configured to determine the desired motion target based on the state information of the vehicle user and the state estimation information.

[0112] It should be understood that the "status information" in the above scheme includes the behavioral status information and emotional status information of the vehicle user. The image of the vehicle user can be collected by the camera in the autonomous driving vehicle, and the image can be processed by image processing technology to obtain the status information of the vehicle user.

[0113] In the above technical solution, the method determines the desired motion target based on the state information of the vehicle user and the state estimation information through the motion decision module. In this way, the control process of the autonomous driving vehicle does not completely rely on the decision information obtained by the intelligent driving domain, but also considers the driving needs of the vehicle user, which can increase the sense of participation of the vehicle user and improve the vehicle experience. In addition, by considering the driving needs of the vehicle user, the driving habits of the vehicle user can be better simulated, the manual intervention of the vehicle user can be reduced, and the riding comfort of the vehicle user can be improved.

[0114] In one possible implementation, the control architecture 200 also includes: an input module 206, used to obtain environmental perception information collected by multiple sensors in the autonomous driving vehicle, and transmit the environmental perception information to the input information management module; an output module 207, used to output the control result after controlling the chassis actuator in the chassis domain.

[0115] It should be understood that the "environmental perception information" in the above solution is directly collected by multiple sensors and is related to the driving of the autonomous vehicle. For example, the screen brightness of the entertainment display screen does not belong to environmental perception information, but the driving speed does.

[0116] In the above technical solution, the input module transmits the environmental perception information to the input information management module, so that the input information management module can further process the environmental perception information to obtain state estimation information, thereby helping the mode management module to determine the control mode and lay the foundation for achieving the desired motion target. In addition, the output module outputs the control result, so that the vehicle user or other control system can know the response result to the desired motion target, so that when there is a problem in the control process of the chassis actuator, the vehicle user can be notified in time or other control systems can be used to remedy the problem in time.

[0117] In some embodiments, the input module includes a bus signal input submodule and a key frame signal verification submodule. The input module is specifically used to obtain environmental perception information collected by multiple sensors in the autonomous driving vehicle through the bus signal input submodule, verify the environmental perception information through the key frame signal verification submodule to determine whether the environmental perception information has been tampered with, and if the environmental perception information has not been tampered with, transmit the environmental perception information to the input information management module.

[0118] In some embodiments, the input module also includes a unified calibration submodule and a vehicle model signal mapping submodule. The unified calibration submodule is used to calibrate the numerical values ​​in the main control module and calibrate the corresponding constant values. The vehicle model signal mapping submodule is used to map the same signal in different vehicle models. The main control module includes an input information management module, a mode management module, a longitudinal, lateral and vertical motion integrated control module, an actuator coordination module and a motion decision module.

[0119] In some embodiments, the output module includes a bus signal output submodule and a monitoring signal output submodule. The output module is specifically used to output the control result through the bus signal output submodule after controlling the chassis actuator in the chassis domain, and after the control result is output, monitor the vehicle user or other control system through the monitoring signal output submodule, and the other control system is related to the dynamic electronic control system corresponding to the chassis actuator.

[0120] Figure 6 It is a schematic flow chart of a vehicle chassis domain control method provided in an embodiment of the present application.

[0121] It should be understood that the vehicle chassis domain control method provided in the embodiment of the present application can be applied to an autonomous driving vehicle. Specifically, the vehicle chassis domain control method can be applied to a vehicle controller in the autonomous driving vehicle.

[0122] For example, Figure 6 As shown, the control method 600 includes:

[0123] Step 601, the vehicle controller receives environmental perception information and decision information of the driving domain in the autonomous driving vehicle, and determines state estimation information based on the environmental perception information. The decision information is information determined by the driving domain based on the environmental perception information for controlling the driving of the autonomous driving vehicle, and the state estimation information is estimated state information related to the driving of the autonomous driving vehicle.

[0124] It should be understood that the specific meanings and corresponding implementations of the "driving domain", "environmental perception information", "decision-making information" and "state estimation information" in the above step 601 can be referred to the specific meanings and corresponding implementations of the "driving domain", "environmental perception information", "decision-making information" and "state estimation information" when describing the functions of the "input information management module" in the aforementioned scheme, and will not be repeated here.

[0125] It should also be understood that the specific process of "determining state estimation information based on environmental perception information" in the above step 601 is the same as Figure 3 The corresponding process of "determining state estimation information" is the same and will not be repeated here.

[0126] Step 602: The vehicle controller determines a control mode based on the environmental perception information, the state estimation information, and the decision information. The control mode is used to indicate a method of selecting multiple dynamic electronic control systems in the chassis domain of the autonomous driving vehicle.

[0127] It should be understood that the specific meanings and corresponding implementations of the "control mode", "chassis domain" and "dynamic electronic control system" in the above step 602 can be referred to the specific meanings and corresponding implementations of the "control mode", "chassis domain" and "dynamic electronic control system" when describing the functions of the "mode management module" in the aforementioned scheme, and will not be repeated here.

[0128] It should also be understood that the process of "determining the control mode based on environmental perception information, state estimation information and decision information" in the above step 602 is the same as the process of "determining the control mode" when describing the function of the "mode management module" in the aforementioned scheme, and will not be repeated here.

[0129] In some embodiments, the control mode includes a target control system among the plurality of dynamic electronic control systems, and a control method of the target control system, which control method includes an independent control method, an integrated control method or a coordinated control method.

[0130] It should be understood that the specific meanings and corresponding implementation methods of the "independent control mode", "integrated control mode" and "coordinated control mode" in the above scheme can refer to the specific meanings and corresponding implementation methods of the "independent control mode", "integrated control mode" and "coordinated control mode" when describing the function of the "mode management module" in the above scheme, and will not be repeated here.

[0131] Step 603: The vehicle controller controls the chassis actuator of the chassis domain according to the control mode based on the expected motion target, where the expected motion target is related to the driving intention of the vehicle user.

[0132] It should be understood that the specific meanings and corresponding implementations of the "desired motion target" and "longitudinal, lateral and vertical motion integrated control module" in the above step 603 can be referred to the specific meanings and corresponding implementations of the "desired motion target" and "longitudinal, lateral and vertical motion integrated control module" when describing the functions of the "longitudinal, lateral and vertical motion integrated control module" in the aforementioned scheme, and will not be repeated here.

[0133] It should also be understood that the process of "controlling the chassis actuator of the chassis domain according to the control mode based on the desired motion target" in the above step 603 is the same as the process of "controlling the chassis actuator of the chassis domain" when describing the function of the "longitudinal, lateral and vertical motion integrated control module" in the aforementioned scheme, and will not be repeated here.

[0134] In some embodiments, the vehicle controller in step 603 controls the chassis actuator in the chassis domain according to the control mode based on the desired motion target, including: the vehicle controller determines multiple control signals according to the control mode based on the desired motion target; the vehicle controller arbitrates the multiple control signals to obtain a signal arbitration result, and controls the chassis actuator based on the signal arbitration result.

[0135] It should be understood that the specific meanings and corresponding implementations of "arbitrating multiple control signals" and "signal arbitration results" in the above scheme can be referred to the specific meanings and corresponding implementations of "arbitrating multiple control signals" and "signal arbitration results" when describing the "other modules included in the control architecture 200" in the above scheme, and will not be repeated here.

[0136] In some embodiments, the method for determining the desired motion target in step 603 includes: the vehicle controller determines the desired motion target based on the state information of the vehicle user and the state estimation information.

[0137] It should be understood that the specific meaning and corresponding implementation of the "status information" in the above scheme can refer to the specific meaning and corresponding implementation of the "status information" when describing the "other modules included in the control architecture 200" in the above scheme, and will not be repeated here.

[0138] In some embodiments, the vehicle controller in step 603 controls the chassis actuators in the chassis domain according to the control mode based on the desired motion target, including: when the control mode includes the target control system in the multiple dynamic electronic control systems and the control mode of the target control system is an independent control mode, the vehicle controller controls the chassis actuators through each target control system to achieve the desired motion target; when the control mode includes the target control system and the control mode of the target control system is an integrated control mode, the vehicle controller moves up the function of the target control system and controls the chassis actuators to achieve the desired motion target; when the control mode includes the target control system and the control mode of the target control system is a coordinated control mode, the vehicle controller coordinates the target control system and controls the chassis actuators through the target control system to achieve the desired motion target.

[0139] In some embodiments, the vehicle controller in step 603 controls the chassis actuator of the chassis domain according to the control mode based on the desired motion target, including: when the target control system is a steering control system and the control mode of the target control system is an independent control mode, and the desired motion target is lateral motion and / or yaw motion, the vehicle controller controls the chassis actuator through the managed rear-wheel steering control system or front-wheel steering control system or four-motor independent control system or torque vector control system to achieve lateral motion and / or yaw motion of the autonomous driving vehicle; when the target control system is a steering control system and the control mode of the target control system is an integrated control mode, and the desired motion target is lateral motion and / or yaw In the case of motion, the vehicle controller transfers the functions of the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system upward, and controls the chassis actuator to realize lateral motion and / or yaw motion of the autonomous driving vehicle; when the target control system is a steering control system and the control mode of the target control system is a coordinated control mode, and the desired motion target is lateral motion and / or yaw motion, the vehicle controller coordinates the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system, and controls the chassis actuator through the coordinated control system to realize lateral motion and / or yaw motion of the autonomous driving vehicle.

[0140] Figure 7 It is a structural schematic diagram of a vehicle chassis domain control device provided in an embodiment of the present application.

[0141] For example, Figure 7 As shown, the device 700 includes:

[0142] The determination module 701 is used to:

[0143] Receive environmental perception information and decision information of a driving domain in an autonomous vehicle, and determine state estimation information based on the environmental perception information, wherein the decision information is information determined by the driving domain based on the environmental perception information and used to control the driving of the autonomous vehicle, and the state estimation information is estimated state information related to the driving of the autonomous vehicle;

[0144] Determine a control mode based on the environmental perception information, the state estimation information and the decision information, where the control mode is used to indicate a selection method for multiple dynamic electronic control systems in the chassis domain of the autonomous driving vehicle;

[0145] The control module 702 is used to control the chassis actuator of the chassis domain according to the control mode based on the expected motion target, and the expected motion target is related to the driving intention of the vehicle user.

[0146] Optionally, the control module 702 is specifically used to determine multiple control signals based on the desired motion target according to the control mode; arbitrate the multiple control signals to obtain a signal arbitration result, and control the chassis actuator based on the signal arbitration result.

[0147] Optionally, the determination module 701 is further used to determine the desired motion target based on the state information of the vehicle user and the state estimation information.

[0148] Optionally, the control mode includes a target control system among the multiple dynamic electronic control systems, and a control method of the target control system, which control method includes an independent control method, an integrated control method or a coordinated control method.

[0149] Optionally, the control module 702 is further specifically used for: when the control mode includes the target control system in the multiple dynamic electronic control systems and the control mode of the target control system is an independent control mode, controlling the chassis actuator through each target control system to achieve the desired motion target; when the control mode includes the target control system and the control mode of the target control system is an integrated control mode, up-shifting the function of the target control system and controlling the chassis actuator to achieve the desired motion target; when the control mode includes the target control system and the control mode of the target control system is a coordinated control mode, coordinating the target control system and controlling the chassis actuator through the target control system to achieve the desired motion target.

[0150] Optionally, the control module 702 is further specifically used for: when the target control system is a steering control system and the control mode of the target control system is an independent control mode, and the desired motion target is lateral motion and / or yaw motion, controlling the chassis actuator through the managed rear-wheel steering control system or the front-wheel steering control system or the four-motor independent control system or the torque vector control system to achieve lateral motion and / or yaw motion of the autonomous driving vehicle; when the target control system is a steering control system and the control mode of the target control system is an integrated control mode, and the desired motion target is lateral motion and / or yaw motion, controlling the rear-wheel steering control system The functions of the system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system are shifted upward, and the chassis actuator is controlled to realize lateral movement and / or yaw movement of the autonomous driving vehicle; when the target control system is a steering control system and the control mode of the target control system is a coordinated control mode, and the desired movement target is lateral movement and / or yaw movement, the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system are coordinated, and the chassis actuator is controlled through the coordinated control system to realize lateral movement and / or yaw movement of the autonomous driving vehicle.

[0151] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0152] For example, Figure 8 As shown, the vehicle 800 includes: a memory 801 and a processor 802, wherein the memory 801 stores an executable program code 803, and the processor 802 is used to call and execute the executable program code 803 to perform a vehicle chassis domain control method.

[0153] Fig. 9It is a schematic diagram of the structure of another vehicle provided in an embodiment of the present application.

[0154] For example, Fig. 9 As shown, the vehicle 900 includes the control architecture 200 .

[0155] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle chassis domain control method provided in an embodiment of the present application.

[0156] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0157] In the case of dividing each functional module according to each function, the device may further include a determination module and a control module, etc. It should be noted that all relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0158] It should be understood that the device provided in this embodiment is used to execute the above-mentioned control method of the vehicle chassis domain, and thus can achieve the same effect as the above-mentioned implementation method.

[0159] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related executable program codes, etc.

[0160] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0161] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle chassis domain control method provided in the above embodiments.

[0162] This embodiment also provides a computer-readable storage medium, in which executable program code is stored. When the executable program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle chassis domain control method provided in the above embodiment.

[0163] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle chassis domain control method provided in the above embodiment.

[0164] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0165] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0166] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle chassis domain control architecture, characterized in that: The control architecture includes: An input information management module is used to receive environmental perception information and decision information of a driving domain in an autonomous driving vehicle, and determine state estimation information based on the environmental perception information, wherein the decision information is information determined by the driving domain based on the environmental perception information for controlling the driving of the autonomous driving vehicle, and the state estimation information is estimated state information related to the driving of the autonomous driving vehicle; A mode management module, configured to determine a control mode based on the environment perception information, the state estimation information, and the decision information, wherein the control mode is used to indicate a selection method for a plurality of dynamic electronic control systems in a chassis domain of the autonomous driving vehicle; The integrated longitudinal, lateral and vertical motion control module is used to control the chassis actuators in the chassis domain according to the control mode based on the expected motion target, and the expected motion target is related to the driving intention of the vehicle user.

2. The control architecture according to claim 1, characterized in that: The longitudinal, lateral and vertical motion integrated control module is specifically used to determine a plurality of control signals based on the desired motion target according to the control mode; The control architecture further includes: an actuator coordination module, which is used to arbitrate the multiple control signals, obtain a signal arbitration result, and control the chassis actuator based on the signal arbitration result.

3. The control architecture according to claim 1, characterized in that: The control architecture further includes a motion decision module for determining the desired motion target based on the state information of the vehicle user and the state estimation information.

4. The control architecture according to claim 1, characterized in that: The control mode includes a target control system among the multiple dynamic electronic control systems, and a control method of the target control system, wherein the control method includes an independent control method, an integrated control method or a coordinated control method.

5. The control architecture according to claim 1 or 4, characterized in that: The longitudinal, lateral and vertical motion integrated control module includes a longitudinal motion management module and / or a lateral motion management module and / or a vertical motion management module, and / or a roll and pitch management module; In the case where the control mode includes a target control system in the plurality of dynamic electronic control systems and the control mode of the target control system is an independent control mode, a management module corresponding to the target control system is used to control the chassis actuator through each target control system to achieve the desired motion target, and the management module includes at least one of the longitudinal motion management module, the lateral motion management module, the vertical motion management module, and the roll and pitch management module; In the case where the control mode includes a target control system and the control mode of the target control system is an integrated control mode, the longitudinal, lateral and vertical motion integrated control module is used to perform functional upward movement of the target control system and control the chassis actuator to achieve the desired motion target; When the control mode includes a target control system and the control method of the target control system is a coordinated control method, the longitudinal, lateral and vertical motion integrated control module is used to coordinate the target control system, and control the chassis actuator through the coordinated control system to achieve the desired motion target.

6. The control architecture according to claim 5, characterized in that: When the target control system is a steering control system and the control mode of the target control system is an independent control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module corresponding to the steering control system is used to control the chassis actuator through the managed rear-wheel steering control system or front-wheel steering control system or four-motor independent control system or torque vector control system to achieve lateral motion and / or yaw motion of the autonomous driving vehicle; In the case where the target control system is a steering control system and the control mode of the target control system is an integrated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to perform functional upward migration of the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system, and the torque vector control system, and control the chassis actuator to achieve lateral motion and / or yaw motion of the autonomous driving vehicle; When the target control system is a steering control system and the control mode of the target control system is a coordinated control mode, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to coordinate the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system and the torque vector control system, and control the chassis actuator through the coordinated control system to realize lateral motion and / or yaw motion of the autonomous driving vehicle.

7. The control architecture according to claim 5, characterized in that: The longitudinal, lateral and vertical motion integrated control module further includes a plurality of kinematic function modules, wherein the kinematic function modules are used to improve the driving performance of the automatic driving vehicle, and the control mode is further used to select any kinematic function among the plurality of kinematic function modules; In a case where the control mode is used to select a target kinematics function among the plurality of kinematics function modules, the target kinematics function is used to control chassis actuators of the chassis domain based on a desired motion target.

8. The control architecture according to claim 1, characterized in that: The control architecture also includes: An input module, used to obtain environmental perception information collected by multiple sensors in the autonomous driving vehicle, and transmit the environmental perception information to the input information management module; The output module is used to output the control result after the chassis actuator in the chassis domain is controlled.

9. A method for controlling a vehicle chassis domain, characterized in that: The control method comprises: Receiving environmental perception information and decision information of a driving domain in an autonomous vehicle, and determining state estimation information based on the environmental perception information, wherein the decision information is information determined by the driving domain based on the environmental perception information and used to control the driving of the autonomous vehicle, and the state estimation information is estimated state information related to the driving of the autonomous vehicle; Determine a control mode based on the environmental perception information, the state estimation information and the decision information, wherein the control mode is used to indicate a selection method for multiple dynamic electronic control systems in the chassis domain of the autonomous driving vehicle; The chassis actuators of the chassis domain are controlled according to the control mode based on a desired motion target, wherein the desired motion target is related to a driving intention of a vehicle user.

10. A vehicle, characterized in that: The vehicle comprises: a control architecture as described in any one of claims 1-8.

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