Vehicle chassis domain control architecture, control methods and vehicle

Abstract

This application provides a control architecture, control method, and vehicle for the vehicle chassis domain. In this control architecture, the input information management module receives environmental perception information from the driving domain and determines state estimation information based on this information. The environmental perception information, state estimation information, and decision information are input to the mode management module, which determines the control mode. The longitudinal, lateral, and vertical motion integrated control module then controls the chassis actuators according to the control mode and the desired motion target. Multiple modules work collaboratively to achieve unified motion control of the chassis actuators through the control mode, the desired motion target, and the corresponding dynamic electronic control system. This avoids the direct transmission of decision information generated in the driving domain to the chassis actuators for execution, bypassing the dynamic electronic control system and resulting in low dynamic performance, as is common in traditional technologies. Therefore, this method coordinates various dynamic electronic control systems, ensuring dynamic performance while guaranteeing driving safety.

Description

Technical Field

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

[0002] With the development of vehicle technology and artificial intelligence, and people's increasing demands for convenience, safety, and comfort in travel, autonomous vehicles are entering people's lives. However, this has also brought about more and more problems related to autonomous vehicles, including safety issues.

[0003] Currently, the decision-planning module in the dynamics control algorithm of autonomous vehicles is directly connected to the chassis actuators in the chassis domain, without considering the influence of the dynamics electronic control system in the chassis domain. When autonomous vehicles are driving under harsh driving conditions, the above-mentioned control method for chassis actuators is difficult to guarantee the dynamic performance of autonomous vehicles, which can easily cause instability or even traffic accidents.

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

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

[0006] Firstly, a control architecture for a vehicle chassis domain is provided, comprising: an input information management module for receiving environmental perception information and decision information from the driving domain of 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 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; a mode management module for determining a control mode based on the environmental perception information, the state estimation information, and the decision information, wherein the control mode indicates the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle; and a longitudinal, lateral, and vertical motion integrated control module for controlling the chassis actuators of the chassis domain according to the control mode based on a desired motion target, wherein the desired motion target is related to the driving intention of the vehicle user.

[0007] In the above technical solution, the input information management module in the vehicle chassis domain control architecture can receive environmental perception information from the driving domain of the autonomous vehicle and determine state estimation information based on the environmental perception information. Further, the environmental perception information, state estimation information, and decision information are input to the mode management module, which determines the control mode. Then, the longitudinal, lateral, and vertical motion integrated control module controls the chassis actuators in the chassis domain according to the control mode and the desired motion target. In other words, multiple modules in the vehicle chassis domain control architecture work together to achieve unified motion control of the chassis actuators in the chassis domain through the control mode and desired motion target determined by the environmental perception information, state estimation information, and decision information, as well as the corresponding dynamic electronic control system. This avoids the situation in traditional technologies where decision information generated in the driving domain is directly sent to the chassis actuators for execution, bypassing multiple dynamic electronic control systems, which can lead to low dynamic performance in autonomous vehicles. Therefore, this method can coordinate the various dynamic electronic control systems in the vehicle chassis domain, ensuring the dynamic performance of the autonomous vehicle while ensuring driving safety.

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

[0009] The control architecture also includes an actuator coordination module, which arbitrates the multiple control signals to obtain the signal arbitration result and controls the chassis actuator based on the signal arbitration result.

[0010] In the above technical solution, before executing the control signals, the actuator coordination module arbitrates multiple control signals. This allows for a reasonable determination of the execution order of multiple control signals based on the current driving environment of the autonomous vehicle. This avoids instability or safety hazards in the autonomous vehicle caused by control signal conflicts or errors.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the control architecture further includes: a motion decision module, used to determine the desired motion target based on the vehicle user's state information and the state estimation information.

[0012] In the above technical solution, the method determines the desired motion target based on the vehicle user's state information and the estimated state information through a motion decision module. This means that the control process of the autonomous vehicle does not entirely rely on the decision information obtained from the intelligent driving domain, but also considers the driving needs of the vehicle user, increasing the user's sense of participation and improving the user experience. Furthermore, by considering the user's driving needs, it can better simulate the user's driving habits, reducing manual intervention and thus improving the user's ride comfort.

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

[0014] In the above technical solution, the mode management module determines the control mode, which provides one or more control systems required for the autonomous vehicle to execute decision-making information, as well as the methods by which these control systems control the autonomous vehicle. In this way, the longitudinal, lateral, and vertical motion integrated control module can directly control the chassis actuators through its internally managed target control system, which controls the chassis actuators according to the control mode and the desired motion target. This ensures safe driving control of the autonomous vehicle while also satisfying the driving intentions of the vehicle user.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, 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 tilt and pitch management module;

[0016] In the case where the target control system and the control mode of the target control system are independent control modes in the multiple dynamic electronic control systems, 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. 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] In the case where the control mode includes the target control system and the control method of the target control system is integrated control, the longitudinal, lateral and vertical motion integrated control module is used to move the function of the target control system upward and control the chassis actuator to achieve the desired motion target.

[0018] In the case where the control mode includes a target control system and the target control system is controlled in a coordinated manner, 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] The above technical solution describes the process of controlling the chassis actuators in the chassis domain to achieve the desired motion target when the target control system and the vehicle user have a desired motion target in the control mode, which includes multiple dynamic electronic control systems, and the control methods are independent control, integrated control, and coordinated control. Specifically, controlling the chassis actuators in independent control mode allows the use of a single control system, which avoids the influence of other control systems on the control system, making the control process more precise. Controlling the chassis actuators in integrated control mode comprehensively considers the overall control performance of multiple control systems, avoiding contradictory operations between chassis actuators that may occur due to independent control. Controlling the chassis actuators in coordinated control mode not only coordinates the chassis actuators in the chassis domain but also enables interaction between multiple control systems. This can significantly improve the performance of autonomous vehicles under complex driving conditions. By providing multiple control modes, this method can meet different driving needs or different driving conditions, enabling autonomous vehicles to achieve better performance in terms of power, economy, safety, and comfort.

[0020] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the target control system is a steering control system and the control method of the target control system is an independent control method, 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 realize the autonomous vehicle to perform lateral motion and / or yaw motion;

[0021] When the target control system is a steering control system and the target control system is an integrated control system, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to move 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 control the chassis actuator to realize the autonomous vehicle to perform lateral motion and / or yaw motion.

[0022] When the target control system is a steering control system and 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 to control the chassis actuator through the coordinated control system to realize the lateral motion and / or yaw motion of the autonomous vehicle.

[0023] In the above technical solution, taking the target control system as the steering control system and the vehicle user's desired motion target as lateral movement and / or yaw movement, and the steering control system's control methods as independent control, integrated control, and coordinated control, and taking the steering control system as an example including a rear-wheel steering control system, a front-wheel steering control system, a four-motor independent control system, and a torque vector control system, the process of controlling the chassis actuators in the chassis domain to achieve the desired motion target is given. Specifically, when controlling the chassis actuators in the independent control mode, any steering control system can achieve the desired motion target. Therefore, this method realizes the lateral movement and / or yaw movement of the autonomous vehicle through the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system, or the torque vector control system. This avoids interference between control systems caused by multiple steering control systems controlling simultaneously. When controlling the chassis actuators in the integrated control mode, the unified steering control system with functions moved upwards can accurately and quickly adjust the lateral movement and / or yaw movement state of the autonomous vehicle. When controlling the chassis actuators using a coordinated control approach, coordinating the multiple steering systems mentioned above allows for the coordinated control of different chassis actuators to achieve lateral and / or yaw movements in autonomous vehicles. This not only enables flexible adjustment of the chassis actuators' operating modes to achieve the vehicle user's desired motion objectives but also improves the versatility and safety of autonomous vehicles.

[0024] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the longitudinal, lateral and vertical motion integrated control module also includes multiple kinematic function modules, which are used to improve the driving performance of the autonomous vehicle, and the control mode is also used to select any kinematic function among the multiple kinematic function modules.

[0025] When the control mode is used to select the target kinematic function among the multiple kinematic function modules, the target kinematic function is used to control the chassis actuators in the chassis domain based on the desired motion target.

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

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

[0028] The input module is used to acquire environmental perception information collected by multiple sensors in the autonomous vehicle and transmit the environmental perception information to the input information management module.

[0029] The output module is used to output the control results after the chassis actuators in this chassis domain are controlled.

[0030] In the above technical solution, the input module transmits environmental perception information to the input information management module, enabling the input information management module to further process the environmental perception information and obtain state estimation information. This helps the mode management module determine the control mode, laying the foundation for achieving the desired motion target. Furthermore, the output module outputs the control results, allowing the vehicle user or other control systems to be aware of the response to the desired motion target. This ensures that if problems occur in the control process of the chassis actuators, the vehicle user can be notified promptly or remedial measures can be taken through other control systems.

[0031] Secondly, a control method for the chassis domain of a vehicle is provided. This control method includes: receiving environmental perception information and decision information from the driving domain of an autonomous vehicle; 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 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; determining a control mode based on the environmental perception information, the state estimation information, and the decision information, wherein the control mode indicates the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle; and controlling the chassis actuators of the chassis domain according to the control mode based on a desired motion target, wherein the desired motion target is related to the driving intention of the vehicle user.

[0032] Thirdly, a vehicle is provided that includes the control architecture described in the first aspect or any possible implementation thereof. Attached Figure Description

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

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

[0035] Figure 3 This is a schematic diagram of the structure of an input information management module provided in an embodiment of this application;

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

[0037] Figure 5 This is a schematic diagram of another vehicle chassis domain control architecture provided in an embodiment of this application;

[0038] Figure 6 This is a schematic flowchart of a vehicle chassis domain control method provided in an embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the structure of a vehicle chassis domain control device provided in an embodiment of this application;

[0040] Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0041] Figure 9 This is a schematic diagram of another vehicle structure provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0043] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0044] Figure 1 This is a schematic diagram of a scenario using an autonomous vehicle provided in an embodiment of this application.

[0045] For example, such as Figure 1 As shown, vehicle users can ride in autonomous vehicle A to their destination to complete related tasks. Currently, the decision-planning module in the dynamics control algorithm of autonomous vehicles is directly connected to the chassis actuators in the chassis domain, without considering the influence of the chassis domain's dynamics electronic control system. When autonomous vehicles operate under harsh driving conditions, the aforementioned control method for the chassis actuators is insufficient to guarantee the dynamic performance of the autonomous vehicle, easily leading to instability and even traffic accidents.

[0046] To address the aforementioned issues, this application provides a control architecture for the vehicle chassis domain, which can coordinate various dynamic electronic control systems in the chassis domain of an autonomous vehicle to ensure the dynamic performance of the autonomous vehicle while ensuring driving safety.

[0047] Figure 2 This is a schematic diagram of a control architecture for a vehicle chassis domain provided in an embodiment of this application.

[0048] For example, such as 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 motion integrated control module 203. The mode management module 202 is connected to the input information management module 201, and the longitudinal, lateral, and vertical motion integrated control module 203 is connected to the mode management module 202.

[0049] To provide a clearer explanation of the technical solutions provided in the embodiments of this application, the various modules in the control architecture will be introduced below.

[0050] The functions of the "Input Information Management Module" are described below.

[0051] In one possible implementation, the input information management module 201 is used to receive environmental perception information and decision information from the driving domain in the 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 scheme refers to the collection of electronic and electrical architectures responsible for realizing and controlling the autonomous driving functions within an autonomous vehicle. This driving domain is also known as the intelligent driving domain. The domain controller of the driving domain enables autonomous vehicles to have the capabilities of multi-sensor fusion, localization, path planning, and decision control. It typically requires the connection of multiple external cameras, millimeter-wave radar, lidar, and other devices to complete image recognition and data processing.

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

[0054] Furthermore, based on the perspectives of road environment, vehicle type, and weather type, the aforementioned environmental perception information, including road information, obstacle information, traffic information, vehicle information, and weather information, can be divided into three categories: the first category (road environment information), which includes road information, obstacle information, and traffic information; the second category (vehicle type information), which includes vehicle information; and the third category (weather type information), which includes weather information.

[0055] It should also be understood that the "decision information" in the above scheme specifically refers to the instruction information determined by the driving domain based on the environmental perception information and the control algorithm for controlling the driving of the autonomous vehicle. The main functions of the control algorithm are path tracking (controlling the autonomous vehicle to travel along a predetermined path), speed control (controlling the autonomous vehicle to maintain safe and efficient driving under different driving conditions), lateral control (controlling the autonomous vehicle to travel within the lane), and longitudinal control (controlling the longitudinal movement of the autonomous 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 estimated road state information, vehicle state information, and weather state information related to the driving of autonomous vehicles after further processing of the environmental perception information. This state estimation information includes the bumpiness of the road on which the autonomous vehicle is driving, the curvature of the curve ahead, and the road surface adhesion coefficient (road state information), the tire forces of the wheels in the autonomous vehicle, the boundary information of the autonomous vehicle reaching an unstable state, and the tire wear degree (vehicle state information), as well as the duration of the preset weather type and the time for warning of severe weather phenomena (weather state information).

[0057] Figure 3 This is a schematic diagram of the structure of an input information management module provided in an embodiment of this application.

[0058] For example, such as Figure 3 As shown, the input information management module 201 includes a signal integration submodule 2011 and a signal extension submodule 2022, specifically used for: filtering 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 state estimation information based on the target environmental perception information through the signal extension 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. This chassis domain controller is responsible for controlling the autonomous vehicle during operation, 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 selecting environmental perception information related to transmission control, driving control, steering control, and braking control from the environmental perception information as target environmental perception information.

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

[0062] The functions of the "Mode Management Module" are described below.

[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. The control mode is used to indicate the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle.

[0064] It should be understood that the "control mode" in the above scheme specifically refers to one or more control systems (target control systems) selected from the multiple dynamic electronic control systems, and the manner in which the control systems control the autonomous vehicle. This manner includes independent control, integrated control, or coordinated control. Independent control means that each control system operates independently, without relying on the input or feedback of other control systems. Integrated control means that the control functions of multiple control systems are integrated into a unified control system, with the unified control system completing the control process. Coordinated control means that multiple control systems achieve the control process of the autonomous vehicle through information sharing and collaborative work.

[0065] It should also be understood that the "chassis domain" in the above scheme refers to the collection of electronic and electrical architectures responsible for realizing and controlling the lateral, longitudinal, and vertical control functions of autonomous vehicles. The domain controller of the chassis domain achieves integrated control by integrating the control functions of steering (lateral), braking, drive (longitudinal), and suspension (vertical) in the X, Y, and Z directions, and comprehensively coordinates the various dynamic electronic control systems of the chassis domain to complete the dynamic control and stability of autonomous vehicles 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-brake anti-pitch control system.

[0067] It should be understood that in the above scheme, the "traction control system" is used to prevent excessive slippage of the drive wheels of the autonomous vehicle during acceleration. The "steering control system" is used to control the driving direction of the autonomous vehicle. The "braking control system" is used to control the deceleration or stopping of the autonomous vehicle. The "dynamic stability control system" is used to control the driving direction of the autonomous vehicle by adjusting engine output and braking force distribution. The "hill start assist system" is a system that briefly maintains braking pressure to ensure a smooth start when starting on a slope. The "vertical control system" is used to control the vertical movement of the autonomous 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 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 geometry) 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 schemes, 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 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 one possible implementation, the control mode includes a target control system among the plurality of dynamic electronic control systems, and a control method for the target control system, which may include 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 scheme refers to one or more control systems selected from the plurality of dynamic electronic control systems based on the environmental perception information, the state estimation information, and the decision information. For any one of the one or more control systems, the autonomous vehicle meets the conditions for executing the control objective corresponding to that control system, which are determined by the environmental perception information and the state estimation information, while the decision information matches the control objective corresponding to that control system.

[0072] In the above technical solution, the mode management module determines the control mode, which provides one or more control systems required for the autonomous vehicle to execute decision-making information, as well as the methods by which these control systems control the autonomous vehicle. In this way, the longitudinal, lateral, and vertical motion integrated control module can directly control the chassis actuators through its internally managed target control system, which controls the chassis actuators according to the control mode and the desired motion target. This ensures safe driving control of the autonomous vehicle while also satisfying the driving intentions of the vehicle user.

[0073] In some embodiments, the mode management module 202 is specifically configured to: determine one or more candidate control systems from the plurality of dynamic electronic control systems based on the decision information; determine whether the autonomous vehicle can execute the control objective 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 among the one or more candidate control systems that can execute the control objective, determine the candidate control system as the target control system; if the number of target control systems is a preset number, determine the control method as an independent control method; if the number is not the preset number, determine the control method as an integrated control method or a coordinated control method based on the control objective of each target control system.

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

[0075] In some embodiments, the mode management module 202 is further configured to: determine the control mode as a coordinated control mode when the control objectives of the target control system are related; determine the control mode as an integrated control mode when the control objectives of the target control system are related and conflicting; and determine the control mode as an independent control mode when the control objectives of the target control system are not related and conflicting.

[0076] The functions of the "Longitudinal, Lateral and Vertical Motion Integrated Control Module" are described below.

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

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

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

[0080] It should also be understood that the longitudinal motion refers to the movement of the autonomous vehicle along its body axis, i.e., the forward and backward movement. The lateral motion refers to the movement of the autonomous vehicle perpendicular to its body axis, i.e., the left and right movement. The yaw motion refers to the rotation of the autonomous vehicle about an axis perpendicular to the ground, i.e., the left and right swaying of the front of the vehicle. The vertical motion refers to the movement of the autonomous vehicle perpendicular to the ground, i.e., the up and down movement. The roll motion refers to the rotation of the autonomous vehicle about its longitudinal axis when turning or subjected to lateral forces. The pitch motion refers to the rotation of the autonomous vehicle about its lateral axis when accelerating or braking.

[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, which 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-brake anti-pitch control system.

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

[0083] For example, such as 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 tilt and pitch management module 2034.

[0084] In the case where the target control system and the control mode of the target control system are independent control modes in the multiple dynamic electronic control systems, 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. 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] In the case where the control mode includes the target control system and the control method of the target control system is integrated control, the longitudinal, lateral and vertical motion integrated control module 203 is used to move the function of the target control system upward and control the chassis actuator to achieve the desired motion target.

[0086] In the case where the control mode includes a target control system and the control method of the target control system is a coordinated control mode, 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 scheme 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 "shifting the functions of the target control system upwards" in the above scheme refers to centralizing the functions of each target control system into a higher-level control system, thereby achieving centralized management of each target control system. Furthermore, "coordinating the target control systems" in the above scheme refers to optimizing each target control system and controlling them to work collaboratively.

[0089] The above technical solution describes the process of controlling the chassis actuators in the chassis domain to achieve the desired motion target when the target control system and the vehicle user have a desired motion target in the control mode, which includes multiple dynamic electronic control systems, and the control methods are independent control, integrated control, and coordinated control. Specifically, controlling the chassis actuators in independent control mode allows the use of a single control system, which avoids the influence of other control systems on the control system, making the control process more precise. Controlling the chassis actuators in integrated control mode comprehensively considers the overall control performance of multiple control systems, avoiding contradictory operations between chassis actuators that may occur due to independent control. Controlling the chassis actuators in coordinated control mode not only coordinates the chassis actuators in the chassis domain but also enables interaction between multiple control systems. This can significantly improve the performance of autonomous vehicles under complex driving conditions. By providing multiple control modes, this method can meet different driving needs or different driving conditions, enabling autonomous vehicles to achieve better performance in terms of power, economy, safety, and comfort.

[0090] In one possible implementation, the target control system is a steering control system and the control mode of the target control system is an independent control mode. When 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 realize the autonomous vehicle to perform lateral motion and / or yaw motion.

[0091] When the target control system is a steering control system and 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 move 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 control the chassis actuator to realize the autonomous vehicle to perform lateral motion and / or yaw motion.

[0092] When the target control system is a steering control system and 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 to control the chassis actuator through the coordinated control system to realize the lateral motion and / or yaw motion of the autonomous vehicle.

[0093] In the above technical solution, taking the target control system as the steering control system and the vehicle user's desired motion target as lateral movement and / or yaw movement, and the steering control system's control methods as independent control, integrated control, and coordinated control, and taking the steering control system as an example including a rear-wheel steering control system, a front-wheel steering control system, a four-motor independent control system, and a torque vector control system, the process of controlling the chassis actuators in the chassis domain to achieve the desired motion target is given. Specifically, when controlling the chassis actuators in the independent control mode, any steering control system can achieve the desired motion target. Therefore, this method realizes the lateral movement and / or yaw movement of the autonomous vehicle through the rear-wheel steering control system, the front-wheel steering control system, the four-motor independent control system, or the torque vector control system. This avoids interference between control systems caused by multiple steering control systems controlling simultaneously. When controlling the chassis actuators in the integrated control mode, the unified steering control system with functions moved upwards can accurately and quickly adjust the lateral movement and / or yaw movement state of the autonomous vehicle. When controlling the chassis actuators using a coordinated control approach, coordinating the multiple steering systems mentioned above allows for the coordinated control of different chassis actuators to achieve lateral and / or yaw movements in autonomous vehicles. This not only enables flexible adjustment of the chassis actuators' operating modes to achieve the vehicle user's desired motion objectives but also improves the versatility and safety of autonomous vehicles.

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

[0095] When the control mode is used to select the target kinematic function among the plurality of kinematic function modules 2035, the target kinematic function is used to control the chassis actuators of the chassis domain based on the desired motion target.

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

[0097] In some embodiments, the plurality of kinematic function modules include low-speed off-road cruise function, intelligent driving interaction control function, stationary steering function, lateral movement function, automatic drift function, wading function, failure redundancy control function, and one-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, allowing the autonomous vehicle to drive at a relatively stable speed in complex off-road conditions (such as rugged mountain roads, muddy trails, and sand). The "intelligent driving interaction control function" emphasizes the interaction between the autonomous vehicle and the user, allowing the user to operate the relevant functions of the autonomous vehicle through various methods such as voice recognition, gesture control, or touchscreen. The "stationary turning function" allows the autonomous vehicle to turn in a small space. The "lateral movement function" allows the autonomous vehicle to move laterally. The "automatic drift function" allows the autonomous vehicle to automatically enter a drift state under specific road conditions or driving scenarios. The "wading function" allows the autonomous vehicle to safely pass through water of a certain depth. The "failure redundancy control function" is a safety assurance function, referring to the use of backup systems or strategies to ensure that the autonomous vehicle still maintains a certain level of safety and controllability when a critical system of the autonomous vehicle fails. The "one-pedal mode" is used to control the acceleration and deceleration of the autonomous vehicle through a single pedal (usually the accelerator pedal). Depressing the pedal accelerates the vehicle, and releasing the pedal automatically performs energy recovery and decelerates it.

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

[0100] The following describes the other modules included in the control architecture 200.

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

[0102] For example, such as 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 also includes: the actuator coordination module 204, which is used to arbitrate the multiple control signals, obtain the signal arbitration result, and control the chassis actuator based on the signal arbitration result.

[0104] It should be understood that "arbitrating multiple control signals" in the above scheme means that when multiple control signals compete for control of the chassis actuators at the same time, priority arbitration of multiple control signals is required, and / or, arbitration of multiple control signals is required based on the importance of different functions of the autonomous vehicle.

[0105] In some embodiments, the emergency braking signal has a higher priority than comfort adjustment signals during normal driving. If the autonomous vehicle detects an impending collision and triggers an emergency braking signal, the emergency braking signal will be given the highest priority during the arbitration process. The brake actuators in the chassis actuators will prioritize the emergency braking operation, temporarily suspending other comfort adjustment signals (such as suspension comfort adjustment signals).

[0106] In some embodiments, control signals that maintain the driving stability of an autonomous vehicle (such as rollover prevention control signals) are of higher importance than control signals that improve ride comfort (such as seat posture control signals). When resources are limited or actuator responsiveness is limited, control signals that ensure the execution of critical functions are prioritized.

[0107] It should be understood that the "signal arbitration result" in the above scheme refers to multiple control signals arranged in the order of execution.

[0108] In the above technical solution, before executing the control signals, the actuator coordination module arbitrates multiple control signals. This allows for a reasonable determination of the execution order of multiple control signals based on the current driving environment of the autonomous vehicle. This avoids instability or safety hazards in the autonomous 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 to 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 completeness of the control signals. "Coordination" refers to coordinating at least two control signals when their control results conflict. "Classification" refers to classifying multiple control signals according to chassis actuators. For example, control signals related to suspension actuators are grouped into one category, and control signals related to brake actuators are grouped into another.

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

[0112] It should be understood that the "state information" in the above scheme includes the behavioral state information and emotional state information of the vehicle user. The state information of the vehicle user can be obtained by collecting images of the vehicle user through cameras in the autonomous vehicle and processing the images through image processing technology.

[0113] In the above technical solution, the method determines the desired motion target based on the vehicle user's state information and the estimated state information through a motion decision module. This means that the control process of the autonomous vehicle does not entirely rely on the decision information obtained from the intelligent driving domain, but also considers the driving needs of the vehicle user, increasing the user's sense of participation and improving the user experience. Furthermore, by considering the user's driving needs, it can better simulate the user's driving habits, reducing manual intervention and thus improving the user's ride comfort.

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

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

[0116] In the above technical solution, the input module transmits environmental perception information to the input information management module, enabling the input information management module to further process the environmental perception information and obtain state estimation information. This helps the mode management module determine the control mode, laying the foundation for achieving the desired motion target. Furthermore, the output module outputs the control results, allowing the vehicle user or other control systems to be aware of the response to the desired motion target. This ensures that if problems occur in the control process of the chassis actuators, the vehicle user can be notified promptly or remedial measures can be taken through other control systems.

[0117] In some embodiments, the input module includes a bus signal input submodule and a key frame signal verification submodule. Specifically, the input module is used to acquire environmental perception information collected by multiple sensors in the autonomous 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 transmit the environmental perception information to the input information management module if the environmental perception information has not been tampered with.

[0118] In some embodiments, the input module further includes a unified calibration submodule and a vehicle model signal mapping submodule. The unified calibration submodule is used to calibrate the values ​​in the main control module and calibrate their corresponding constant values. The vehicle model signal mapping submodule is used to map the same signals 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. Specifically, the output module is used to output the control result through the bus signal output submodule after controlling the chassis actuator in the chassis domain, and to monitor the vehicle user or other control systems through the monitoring signal output submodule after the control result is output. The other control systems are related to the dynamic electronic control system corresponding to the chassis actuator.

[0120] Figure 6 This is a schematic flowchart of a vehicle chassis domain control method provided in an embodiment of this application.

[0121] It should be understood that the vehicle chassis domain control method provided in this application embodiment can be applied to autonomous vehicles. Specifically, the vehicle chassis domain control method can be applied to the vehicle controller in the autonomous vehicle.

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

[0123] Step 601: The vehicle controller receives environmental perception information and decision information from the driving domain in the autonomous 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 vehicle, and the state estimation information is estimated state information related to the driving of the autonomous vehicle.

[0124] It should be understood that the specific meanings and corresponding implementation methods of "driving domain", "environmental perception information", "decision information" and "state estimation information" in step 601 above can be found in the description of the function of "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 step 601 above is different from... 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. This control mode is used to indicate the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle.

[0127] It should be understood that the specific meanings and corresponding implementation methods of "control mode", "chassis domain" and "dynamic electronic control system" in step 602 above can be found in the description of the function of "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 step 602 above 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 for the target control system, which may include 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 "independent control mode", "integrated control mode" and "coordinated control mode" in the above scheme can be found in the description of the function of "mode management module" in the aforementioned scheme, and will not be repeated here.

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

[0132] It should be understood that the specific meanings and corresponding implementation methods of "desired motion target" and "integrated longitudinal, lateral, and vertical motion control module" in step 603 above can be found in the description of the function of the "integrated longitudinal, lateral, and vertical motion 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 actuators of the chassis domain according to the desired motion target based on the control mode” in step 603 above is the same as the process of “controlling the chassis actuators 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 desired motion target based on the control mode, including: the vehicle controller determines multiple control signals according to the desired motion target based on the control mode; 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 implementation methods of "arbitrating multiple control signals" and "signal arbitration results" in the above scheme can be referred to the specific meanings and corresponding implementation methods of "arbitrating multiple control signals" and "signal arbitration results" when describing "other modules included in the control architecture 200" in the aforementioned 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 determining 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 method of "status information" in the above scheme can be referred to the specific meaning and corresponding implementation method of "status information" when describing "other modules included in the control architecture 200" in the aforementioned 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 desired motion target based on the control mode, including: when the control mode includes the target control system and the control method of the target control system in the plurality of dynamic electronic control systems are independent control methods, 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 method of the target control system are integrated control methods, the vehicle controller moves the function of the target control system upward and controls the chassis actuators to achieve the desired motion target; when the control mode includes the target control system and the control method of the target control system are coordinated control methods, 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 actuators in the chassis domain according to the desired motion target based on the control mode, 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 movement and / or yaw movement, the vehicle controller controls the chassis actuators through the managed rear-wheel steering control system, front-wheel steering control system, four-motor independent control system, or torque vector control system to achieve lateral movement and / or yaw movement of the autonomous 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 movement and / or yaw movement. When in motion, the vehicle controller moves 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 upwards, and controls the chassis actuators to achieve lateral and / or yaw motion of the autonomous vehicle. When the target control system is the steering control system and the control mode of the target control system is the coordinated control mode, and the desired motion target is lateral 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 actuators through the coordinated control system to achieve lateral and / or yaw motion of the autonomous vehicle.

[0140] Figure 7 This is a schematic diagram of the structure of a vehicle chassis domain control device provided in an embodiment of this application.

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

[0142] Determine module 701, used for:

[0143] Receive environmental perception information and decision information from the driving domain in 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.

[0144] Based on the environmental perception information, the state estimation information, and the decision information, a control mode is determined, which indicates the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle.

[0145] The control module 702 is used to control the chassis actuators in the chassis domain according to the control mode based on a desired motion target, which is related to the driving intention of the vehicle user.

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

[0147] Optionally, the determining module 701 is further configured to determine the desired motion target based on the vehicle user's state information and the state estimation information.

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

[0149] Optionally, the control module 702 is further configured to: when the control mode includes the target control system and the control method of the target control system in the plurality of dynamic electronic control systems are independent control modes, control 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 method of the target control system are integrated control modes, shift the function of the target control system upward and control the chassis actuator to achieve the desired motion target; when the control mode includes the target control system and the control method of the target control system are coordinated control modes, coordinate the target control system and control the chassis actuator through the target control system to achieve the desired motion target.

[0150] Optionally, the control module 702 is further configured to: control the chassis actuator through a managed rear-wheel steering control system, front-wheel steering control system, four-motor independent control system, or torque vector control system to achieve lateral and / or yaw motion of the autonomous vehicle when the target control system is a steering control system and the target control system is an independent control mode, and the desired motion target is lateral and / or yaw motion; and control the rear-wheel steering control system in an integrated control mode when the target control system is a steering control system and the target control system is an integrated control mode, and the desired motion target is lateral and / or yaw motion. The functions of the front wheel steering control system, the four-motor independent control system, and the torque vector control system are moved upwards, and the chassis actuators are controlled to achieve lateral and / or yaw movements of the autonomous vehicle. When the target control system is the steering control system and the control mode of the target control system is the coordinated control mode, and the desired motion target is lateral and / or yaw movements, 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 actuators are controlled through the coordinated control system to achieve lateral and / or yaw movements of the autonomous vehicle.

[0151] Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

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

[0153] Figure 9This is a schematic diagram of another vehicle structure provided in an embodiment of this application.

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

[0155] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle chassis domain control method provided in embodiments of this application.

[0156] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0157] When the functional modules are divided according to their respective functions, the device may also include a determination module and a control module, etc. It should be noted that all relevant content in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

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

[0159] When using 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 can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant executable program code.

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

[0161] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. 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 storing executable program code. When the executable program code is run on a computer, the computer performs the above-described related method steps to implement the vehicle chassis domain control method provided in the above embodiment.

[0163] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle chassis domain control method provided in the above embodiment.

[0164] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0165] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0167] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control architecture for a vehicle chassis domain, characterized in that, The control architecture includes: The input information management module is used to receive environmental perception information and decision information from the driving domain in the 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. The mode management module is used to determine the control mode based on the environmental perception information, the state estimation information and the decision information. The control mode is used to indicate the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle. The longitudinal, lateral, and vertical motion integrated control module is used to control the chassis actuators in the chassis domain according to the control mode and based on the desired motion target, wherein the desired motion target is related to the driving intention of the vehicle user. Specifically, when the control mode includes the target control system among the multiple dynamic electronic control systems and the control method of the target control system is an integrated control mode, the longitudinal, lateral, and vertical motion integrated control module is specifically used to shift the function of the target control system upward and control the chassis actuator to achieve the desired motion target.

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 multiple control signals based on the desired motion target according to the control mode. The control architecture further includes an actuator coordination module, which arbitrates the multiple control signals to obtain a signal arbitration result, and controls 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, used to determine the desired motion target based on the vehicle user's state information and the state estimation information.

4. The control architecture according to claim 1, characterized in that, The control mode includes the target control system in the plurality of dynamic electronic control systems, and the control method of the target control system, which includes independent control method, integrated control method or coordinated control method.

5. The control architecture according to claim 1 or 4, characterized in that, The integrated longitudinal, lateral, and vertical motion 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 tilt and pitch management module; When the control mode includes a target control system and 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. 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 modules. 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 further 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 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 realize the autonomous vehicle to perform lateral motion and / or yaw motion. When the target control system is a steering control system and the target control system is an integrated control system, and the desired motion target is lateral motion and / or yaw motion, the lateral motion management module is used to move 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 control the chassis actuators to realize the autonomous vehicle to perform lateral motion and / or yaw motion. When the target control system is a steering control system and 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 to control the chassis actuators through the coordinated control system to realize the lateral motion and / or yaw motion of the autonomous vehicle.

7. The control architecture according to claim 5, characterized in that, The longitudinal, lateral, and vertical motion integrated control module also includes multiple kinematic function modules, which are used to improve the driving performance of the autonomous vehicle. The control mode is also used to select any kinematic function among the multiple kinematic function modules. When the control mode is used to select a target kinematic function among the plurality of kinematic function modules, the target kinematic function is used to control the chassis actuators in the chassis domain based on the desired motion target.

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

9. A control method for the vehicle chassis domain, characterized in that, The control method includes: The system receives environmental perception information and decision information from the driving domain in an autonomous 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 vehicle, and the state estimation information is estimated state information related to the driving of the autonomous vehicle. Based on the environmental perception information, the state estimation information, and the decision information, a control mode is determined, which is used to indicate the selection method of multiple dynamic electronic control systems in the chassis domain of the autonomous vehicle. According to the control mode, the chassis actuators in the chassis domain are controlled based on the desired motion target, which is related to the driving intention of the vehicle user; The step of controlling the chassis actuators in the chassis domain according to the control mode based on the desired motion target includes: When the control mode includes the target control system in the plurality of dynamic electronic control systems and the control method of the target control system is an integrated control mode, the function of the target control system is shifted upward, and the chassis actuator is controlled to achieve the desired motion target.

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

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