Automatic driving system and automatic driving method for vehicle, and vehicle

Abstract

The invention provides an automatic driving system of a vehicle, an automatic driving method, the vehicle, computer equipment and a computer readable storage medium. The automatic driving system comprises an upper-layer intelligent driving system configured to receive an automatic driving request from a user and generate driving path planning information; the control module comprises an automatic driving control unit, and the automatic driving control unit is configured to generate a control instruction based on driving path planning information from an upper-layer intelligent driving system; and the execution module comprises a chassis controller, and the chassis controller is configured to control a chassis of the vehicle based on the control instruction from the automatic driving control unit. According to the automatic driving system, by providing the automatic driving control unit, automatic driving of the vehicle is achieved under the condition that the vehicle does not need to support a high-level automatic driving control interface.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to the field of automatic driving of vehicles. More specifically, the present invention relates to an automatic driving system for a vehicle, an automatic driving method, a vehicle applying the automatic driving system, a computer device executing the automatic driving method, and a computer-readable storage medium executing the automatic driving method. Background Art

[0002] The current vehicle's Advanced Driver Assistance System (ADAS) usually has basic functions such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), and Traffic Jam Assistant (TJA), which can support basic assisted driving needs of vehicles such as steering wheel angle control, brake deceleration control, and pedal acceleration control interface. However, the current ADAS cannot achieve the precise distance control, speed control, lateral tracking, and other requirements required for high-level autonomous driving functions.

[0003] Therefore, it is necessary to provide a system that can achieve high-level autonomous driving. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide an automatic driving system for a vehicle, which enables the vehicle to achieve a high level of automatic driving functions in a cost-effective and reliable manner.

[0005] To this end, according to one aspect of the present invention, there is provided an automatic driving system for a vehicle, the automatic driving system comprising: an upper-layer intelligent driving system, the upper-layer intelligent driving system being configured to receive an automatic driving request from a user and generate driving path planning information; a control module, the control module comprising an automatic driving control unit, the automatic driving control unit being configured to generate control instructions based on the driving path planning information from the upper-layer intelligent driving system; and an execution module, the execution module comprising a chassis controller, the chassis controller being configured to control the chassis of the vehicle based on the control instructions from the automatic driving control unit.

[0006] According to the above technical concept, the present invention may further include any one or more of the following optional forms.

[0007] In some optional forms, the autonomous driving control unit is configured on the vehicle controller.

[0008] In certain optional forms, the automatic driving control unit includes a lateral control model, which is configured to generate a steering wheel angle signal of the vehicle based on the driving path planning information.

[0009] In certain optional forms, the lateral control model is configured as at least one of a Stanley control model, a linear quadratic regulator control model, and a model predictive control model.

[0010] In certain optional forms, the automatic driving control unit includes a longitudinal control model, which is configured to generate a pedal opening signal and / or a braking deceleration signal of the vehicle based on the driving path planning information.

[0011] In certain optional forms, the longitudinal control model is configured as an acceleration tracking model and / or a proportional-integral-derivative control model.

[0012] In certain optional forms, the acceleration tracking model is configured to operate in a cruise mode of the vehicle and the proportional integral derivative control model is configured to operate in a parking mode of the vehicle.

[0013] In certain optional forms, the longitudinal control model is configured as a model reference control model and / or a vehicle dynamics model.

[0014] In certain optional forms, the autonomous driving control unit includes a state machine model, which is configured to: detect the operating modes of the upper-level intelligent driving system and the chassis, and convert the current state of the state machine model into an autonomous driving state based on the detected operating mode, and feed back the converted autonomous driving state to the upper-level intelligent driving system to implement autonomous driving.

[0015] In certain optional forms, the autonomous driving control unit includes a signal forwarding model, which is configured to forward the status information of the vehicle to the upper-level intelligent driving system in real time.

[0016] In certain optional forms, the status information of the vehicle includes at least one of vehicle speed, wheel speed, current steering wheel angle, and current acceleration.

[0017] In certain optional forms, the autonomous driving control unit includes a handshake model, which is configured to communicate with the upper-level intelligent driving system and the chassis controller via a handshake protocol respectively.

[0018] According to another aspect of the present invention, there is provided a method for automatic driving of a vehicle, the method comprising: receiving an automatic driving request from a user and generating driving path planning information; generating a control instruction based on the driving path planning information; and controlling a chassis of the vehicle based on the control instruction.

[0019] In certain optional forms, generating a control instruction based on the driving path planning information includes: generating a steering wheel angle signal of the vehicle based on the driving path planning information.

[0020] In certain optional forms, generating a control instruction based on the driving path planning information includes: generating a pedal opening signal and / or a brake deceleration signal of the vehicle based on the driving path planning information.

[0021] In certain optional forms, the method further includes: detecting the operating modes of the upper-level intelligent driving system and chassis of the vehicle, converting the current state into an autonomous driving state based on the detected operating mode, and feeding back the converted autonomous driving state to the upper-level intelligent driving system to implement autonomous driving.

[0022] In certain optional forms, the method further includes: forwarding the status information of the vehicle to an upper-level intelligent driving system of the vehicle in real time.

[0023] According to another aspect of the present invention, a vehicle is provided, comprising the above-mentioned automatic driving system for the vehicle.

[0024] According to another aspect of the present invention, a computer device is provided, which includes a memory, a processor, and instructions stored in the memory and executable by the processor, wherein the processor implements the above-mentioned vehicle automatic driving method when executing the instructions.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the above-mentioned method for autonomous driving of a vehicle.

[0026] The autonomous driving system of the present invention embeds a control module equipped with an autonomous driving control unit between the vehicle chassis and the upper-level intelligent driving system. This can achieve the vehicle's high-level autonomous driving function without the need for the vehicle to support a high-level autonomous driving control interface, without changing the software and hardware architecture of the vehicle-side ADAS system, and without changing the algorithm framework of the upper-level intelligent driving system. This provides vehicles that support traditional ADAS systems with the ability to become high-level autonomous driving vehicle platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features and advantages of the present invention will be better understood through the following optional embodiments described in detail in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A schematic diagram of an automatic driving system for a vehicle according to an embodiment of the present invention is shown;

[0029] Figure 2 A flow chart showing an automatic driving method for a vehicle according to an embodiment of the present invention is shown;

[0030] Figure 3 A flowchart showing an automatic driving method for a vehicle according to another embodiment of the present invention; and

[0031] Figure 4 A schematic diagram of a computer device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0032] The implementation and use of the embodiments are discussed in detail below. However, it should be understood that the specific embodiments discussed are merely illustrative of specific ways to implement and use the invention, and are not intended to limit the scope of the invention.

[0033] In addition, the flowcharts and block diagrams in the accompanying drawings illustrate possible implementation architectures, functions, and operations of the methods and systems according to various embodiments of the present invention. It should be noted that the functions marked in the blocks may also occur in an order different from that marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved.

[0034] As used herein, “lateral” and “longitudinal” are relative to the direction of travel of the vehicle. “Lateral” refers to the left-right direction or axle direction of the vehicle, and “longitudinal” refers to the front-rear direction of the vehicle.

[0035] During the driving process of the vehicle, the automatic driving system can reduce or eliminate human driving errors, thereby reducing the risk of traffic accidents. The inventors found that most vehicles are currently equipped with ADAS systems, which are usually used to provide auxiliary functions and cannot achieve high-level automatic driving of the vehicle.

[0036] Reference Figure 1 , Figure 1 A schematic diagram of an automatic driving system for a vehicle according to an embodiment of the present invention is shown.

[0037] The automatic driving system 100 of the vehicle of the present invention includes an upper-level intelligent driving system 110, a control module 120 and an execution module 130. Specifically, the upper-level intelligent driving system 110 is used to receive an automatic driving request from a user and generate driving path planning information based on the automatic driving request. The control module 120 communicates with the upper-level intelligent driving system 110 through a controller area network (Controller Area Network, referred to as CAN) channel, and the control module 120 includes an automatic driving control unit 122, which is used to receive the driving path planning information of the upper-level intelligent driving system 110 and generate control instructions based on the driving path planning information. The execution module 130 communicates with the control module 120 through a CAN channel, and the execution module 130 includes a chassis controller 131, which is used to receive the control instructions of the automatic driving control unit 122 and control the chassis of the vehicle based on the control instructions.

[0038] In this way, the autonomous driving system 100 provided by the present invention can realize the autonomous driving function of the vehicle by embedding a control module 120 equipped with an autonomous driving control unit 122 between the upper-level intelligent driving system 110 and the chassis of the vehicle without changing the chassis structure of the vehicle.

[0039] In some embodiments, the autonomous driving control unit 122 can be mounted on the vehicle control unit (VCU) 121. In this way, the autonomous driving system 100 of the present invention can complete performance calibrations such as engine performance, suspension performance, and steering performance on the vehicle control unit 121 without the need to calibrate different actuators separately, where the actuators can be, for example, the vehicle's engine actuators, suspension actuators, steering actuators, etc. In addition, the algorithm provided by the autonomous driving control unit 122 of the autonomous driving system 100 of the present invention can be integrated on a mass-produced vehicle control unit with high stability.

[0040] like Figure 1As shown in , the automatic driving control unit 122 may include a lateral control model 123, which may generate a steering wheel angle signal of the vehicle based on the driving path planning information generated by the upper-level intelligent driving system 110. Specifically, after the vehicle controller 121 receives the driving path planning information from the upper-level intelligent driving system 110, the lateral control model 123 in the vehicle controller 121 may select a preview point for lateral control from the driving path planning information, and calculate the current required steering wheel angle according to the heading error and lateral position error between the current vehicle body and the preview point, wherein the preview point for lateral control is a point related to the lateral position and heading angle of the vehicle. In this way, the lateral control model 123 may convert the driving path planning information generated by the upper-level intelligent driving system 110 into a steering wheel angle signal to realize automatic driving lateral control, so that the vehicle remains stable during driving, prevents lateral slippage, skidding or loss of control, maintains the vehicle on a predetermined trajectory, and improves driving stability and safety.

[0041] In some embodiments, the lateral control model 123 may be a Stanley control model. The Stanley control model may be used for path tracking in a complex road environment, may allow the vehicle to adjust the path in real time to adapt to the road conditions in front of the vehicle, and may work when the GPS signal is poor or unavailable. It is understood that the lateral control model 123 is not limited thereto, for example, the lateral control model 123 may be a Linear Quadratic Regulator (LQR) control model, a Model Predictive Control (MPC) model, etc.

[0042] Continue to refer to Figure 1, the automatic driving control unit 122 may also include a longitudinal control model 124, which may generate a pedal opening signal and a brake deceleration signal of the vehicle based on the driving path planning information generated by the upper-level intelligent driving system 110. Specifically, after the vehicle controller 121 receives the driving path planning information of the upper-level intelligent driving system 110, the longitudinal control model 124 in the vehicle controller 121 may select a preview point for longitudinal control from the driving path planning information, and calculate the current required accelerator pedal opening and brake deceleration according to information such as driving speed, acceleration, and driving distance in the preview point, wherein the preview point for longitudinal control is the front position that the automatic driving system 100 is watching or paying attention to on the road. In this way, the longitudinal control model 124 may convert the driving path planning information generated by the upper-level intelligent driving system 110 into a pedal opening signal and a brake deceleration signal to realize the longitudinal control of the automatic driving, thereby ensuring that the vehicle drives safely and smoothly in the longitudinal direction, maintaining a safe following distance between the vehicle and the vehicle in front, reducing the bumps and discomfort during driving, and providing a more comfortable driving experience.

[0043] In some embodiments, the longitudinal control model 124 may be an acceleration tracking model and / or a proportional-integral-derivative (PID) control model. The acceleration tracking model may allow for more precise control of the vehicle's speed to meet specific speed requirements, and may adjust the vehicle's acceleration according to the speed curve so that the vehicle can travel according to the desired speed curve. In addition, the PID control model may respond quickly to changes in control inputs, and may quickly adjust acceleration or braking force to allow the vehicle to reach a desired speed while maintaining stability, and the PID control model may also adapt to different vehicle and environmental conditions by only appropriately adjusting the PID parameters. It is to be understood that the longitudinal control model 124 is not limited thereto, and for example, the longitudinal control model 124 may be a model reference control (Model Reference Control) model, a vehicle dynamics control model, or the like.

[0044] In certain embodiments, the acceleration tracking model is used to operate in a cruise mode of the vehicle, in which the vehicle can autonomously drive on a highway or similar road, maintain a certain speed and stay in a lane without the driver continuously operating the accelerator, brake and steering wheel. Specifically, the acceleration tracking model can convert the acceleration information of the preview point of the longitudinal control into the pedal opening information and the brake deceleration information to achieve the longitudinal control of the vehicle in the cruise mode.

[0045] In addition, the PID control model is used to operate in the parking mode of the vehicle, and the parking mode can help the driver to park the vehicle safely in the parking space without the driver's direct intervention. Specifically, the PID control model can convert the distance control information and speed control information included in the driving path planning information from the upper-level intelligent driving system 110 into pedal opening information and brake deceleration information to achieve longitudinal control of the vehicle parking mode.

[0046] In some embodiments, the automatic driving control unit 122 further includes a state machine model 125, which is used to detect the working mode of the upper-level intelligent driving system 110 and the chassis of the vehicle. In particular, the state machine model 125 can detect the upper-level intelligent driving system 110 and the chassis of the vehicle, such as state information, fault information, and driver intervention information, wherein the state information can include, for example, the suspension height, suspension position, brake temperature, brake pressure, steering wheel position, etc. of the wheels, and the driver intervention information can include, for example, automatic driving requests, brake pedal inputs, steering wheel inputs, etc. The state machine model 125 can also determine whether a state transition can be performed based on the detected working mode and in combination with the current control mode and control state of the upper-level intelligent driving system 110, thereby converting the current state of the state machine model 125 into an automatic driving state, and feeding back the converted automatic driving state to the upper-level intelligent driving system 110 to implement automatic driving. In this way, it can help manage the state and behavior of the autonomous driving system 100, improve the stability and maintainability of the system, ensure that the system operates correctly in different operating modes and switches smoothly when necessary, and also make the autonomous driving system 100 more flexible and able to adapt to different driving scenarios and needs.

[0047] Additionally, the state machine model 125 can be built by using the StateFlow module to implement control handshake and control state jump between the upper-level intelligent driving system 110 and the vehicle chassis through the handshake model 127 included in the automatic driving control unit 122, thereby ensuring the control stability of the upper-level intelligent driving system 110.

[0048] In some embodiments, the automatic driving control unit 122 may also include a signal forwarding model 126, which can work continuously and forward the vehicle's status information to the upper-level intelligent driving system 110 in real time. Specifically, the signal forwarding model 126 can feed back signals such as vehicle speed, wheel speed, current steering wheel angle, current acceleration, etc. of the vehicle to the upper-level intelligent driving system 110 in real time. In this way, by transmitting the vehicle's status information in real time, the accuracy and precision of the decision-making of the upper-level intelligent driving system 110 can be improved, and the upper-level intelligent driving system 110 can perceive changes in driving scenes and traffic conditions more quickly and take appropriate actions to ensure driving safety. In addition, the signal forwarding model 126 can be configured as needed to selectively transmit different vehicle status information, making the automatic driving system 100 more flexible and customizable as needed.

[0049] In some embodiments, the autonomous driving control unit 122 may further include a handshake model 127, which is used to shake hands with the upper-level intelligent driving system 110 and the chassis controller 131, respectively, to ensure that the upper-level intelligent driving system 110 and the chassis of the vehicle are continuously controllable.

[0050] Reference Figure 2 , Figure 2 A flow chart of an automatic driving method for a vehicle according to an embodiment of the present invention is shown.

[0051] In this embodiment, the automatic driving method of a vehicle includes the following steps:

[0052] Step S101: Receive an autonomous driving request from a user and generate driving path planning information.

[0053] In step S101, the upper-level intelligent driving system 110 may receive an autonomous driving request. After receiving the user's autonomous driving request, the upper-level intelligent driving system 110 will start working and continue to shake hands with the state machine model 125. After the handshake is successful, the upper-level intelligent driving system 110 will issue driving path planning information.

[0054] Step S102: Generate control instructions based on driving path planning information.

[0055] In step S102 , a control instruction may be generated by the automatic driving control unit 122 in response to the driving path planning information.

[0056] Step S103: Control the chassis of the vehicle based on the control instruction.

[0057] In step S103 , the chassis of the vehicle may be controlled by the chassis controller 131 in response to the control instruction.

[0058] In this way, the autonomous driving method of the present embodiment achieves a high level of autonomous driving for the vehicle, providing vehicles supporting traditional ADAS systems with the ability to become autonomous driving vehicle platforms.

[0059] Reference Figure 3 , Figure 3 A flowchart of an automatic driving method for a vehicle according to another embodiment of the present invention is shown.

[0060] In this embodiment, the automatic driving method of a vehicle includes the following steps:

[0061] Step S210: Forward the vehicle status information to the upper-level intelligent driving system in real time.

[0062] In step S210 , the vehicle information such as vehicle speed, wheel speed, current steering wheel angle, etc. may be forwarded in real time to the upper-level intelligent driving system 110 through the signal forwarding model 126 .

[0063] In particular, step S210 can be performed continuously so that the vehicle status information can always be forwarded to the upper-level intelligent driving system 110 to ensure the accuracy of the decision-making of the upper-level intelligent driving system 110.

[0064] Step S220: Detect the status of the upper-level intelligent driving system 110 and the vehicle chassis, and convert the current state of the state machine model 125 into an autonomous driving state based on the detected status, and feed back the converted autonomous driving state to the upper-level intelligent driving system 110.

[0065] In step S210, after starting work, the state machine model 125 can be used to detect status information, fault information, driver intervention information, etc. of the upper-level intelligent driving system 110 and the vehicle chassis, and based on the detected status and combined with the current control mode and control status of the upper-level intelligent driving system 110, the correct autonomous driving state jump is performed, and the converted autonomous driving state is fed back to the upper-level intelligent driving system 110.

[0066] Step S230: Continue to exchange data with the chassis controller according to the vehicle chassis handshake protocol.

[0067] In step S230 , data interaction may be performed with the chassis controller 131 through the handshake model 127 , thereby ensuring that the chassis of the vehicle is continuously controllable.

[0068] Step S240: Receive an autonomous driving request from a user and generate driving path planning information.

[0069] In step S240, the upper-level intelligent driving system 110 may receive an autonomous driving request. After receiving the user's autonomous driving request, the upper-level intelligent driving system 110 will start working and continue to shake hands with the state machine model 125. After the handshake is successful, the upper-level intelligent driving system 110 will issue driving path planning information.

[0070] Step S250: Generate control instructions based on the driving path planning information.

[0071] In step S250, a control instruction may be generated by the automatic driving control unit 122 in response to the driving path planning information.

[0072] Step S250 also includes step S251: generating a steering wheel angle signal based on driving path planning information.

[0073] In step S251, after the automatic driving control unit 122 receives the driving path planning information, the lateral control model 123 in the automatic driving control unit 122 will select the preview point of lateral control from the driving path planning information, and calculate the current required steering wheel angle based on the heading error and lateral position error between the current vehicle body and the preview point.

[0074] Step S250 also includes step S252: generating a pedal opening signal and a braking deceleration signal based on the driving path planning information.

[0075] In step S252, after the automatic driving control unit 122 receives the driving path planning information, the longitudinal control model 124 in the automatic driving control unit 122 will select the preview point of the longitudinal control from the driving path planning information, and calculate the currently required pedal opening information and braking deceleration information based on the driving speed, acceleration, driving distance and other information in the preview point.

[0076] Step S260: Control the chassis of the vehicle based on the control instruction.

[0077] In step S260 , all control instructions may be sent to the chassis controller 131 of the vehicle via the vehicle controller 121 , and the chassis controller 131 controls the chassis of the vehicle in response to the control instructions.

[0078] In this way, the autonomous driving method of this embodiment achieves a high level of autonomous driving for the vehicle without changing the software and hardware architecture of the vehicle's ADAS system and the internal structure of the vehicle chassis, providing vehicles that support traditional ADAS systems with the ability to become autonomous driving vehicle platforms.

[0079] Reference Figure 4 , Figure 4A schematic diagram of a computer device according to an embodiment of the present invention is shown.

[0080] The present invention also provides a computer device 200, such as Figure 4 As shown, the computer device 200 may include a memory 210 and a processor 220, and instructions 211 may be stored in the memory 210, and the instructions 211 may be executed by the processor 220, wherein the processor 220 implements the automatic driving method of the vehicle according to the above-mentioned embodiment when executing the instructions 211.

[0081] The computer device 200 of this embodiment can be a notebook, a desktop computer, a cloud server, etc. It is understandable that the components included in the computer device 200 are not limited to the memory 210 and the processor 220, and can vary depending on different needs. Exemplarily, the computer device 200 can also include multiple components ( Figure 4 ), including but not limited to: input units, such as a keyboard, a mouse, etc.; output units, such as a display, a speaker, etc.; storage units, such as semiconductor storage devices, magnetic surface storage devices, optical storage devices, etc.; and communication units, such as a network card, a wireless communication transceiver, etc.

[0082] In some embodiments, the memory 210 may include, for example, a random access memory (RAM) or a read-only memory (ROM). The memory 210 may be used to store instructions, programs, codes, and other programs and data required by the computer device 200, but is not limited thereto.

[0083] In addition, the processor 220 can be a central processing unit (CPU) or other general-purpose processors, such as a digital signal processing (DSP), a field programmable gate array (FPGA), a programmable logic array (PLA), etc.

[0084] In an exemplary embodiment of the present invention, a computer-readable storage medium is also provided, which has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the automatic driving method of the vehicle according to the above embodiment.

[0085] Alternatively, the computer-readable storage medium according to the present embodiment may be a ROM, a RAM, a semiconductor storage device, a magnetic surface storage device, an optical storage device, and the like.

[0086] The vehicle's automatic driving system 100 of the present invention embeds an automatic driving control unit 122 between the vehicle's chassis and the upper-level intelligent driving system 110, thereby realizing high-level automatic driving of the vehicle without the need for the vehicle to support a high-level automatic driving control interface, without changing the software and hardware architecture of the vehicle's ADAS system, and without changing the algorithm framework of the upper-level intelligent driving system 110, thereby providing vehicles supporting traditional ADAS systems with the ability to become automatic driving vehicle platforms. The automatic driving system 100 of the present invention has a clear architecture logic, high algorithm security, and can be used on mass-produced automotive-grade hardware.

[0087] In addition, the automatic driving system 100 of the present invention can support different types of vehicle chassis and different types of intelligent driving functions. For example, it can provide a high level of automatic driving capabilities for a large number of traditional trucks, so that traditional freight vehicles can have the ability to carry automatic driving functions, but with lower manufacturing costs.

[0088] It should be understood that the embodiments shown in the figures only illustrate optional configurations of the automatic driving system of the vehicle according to the present invention, but they are only illustrative and not restrictive, and other configurations may be adopted without departing from the spirit and scope of the present invention.

[0089] The technical content and technical features of the present invention have been disclosed above. However, it can be understood that under the creative ideas of the present invention, those skilled in the art can make various changes and improvements to the above disclosed concepts, but they all belong to the protection scope of the present invention. The description of the above embodiments is illustrative rather than restrictive, and the protection scope of the present invention is determined by the claims.

Claims

1. An automatic driving system for a vehicle, characterized in that: The automatic driving system (100) comprises: An upper-level intelligent driving system (110), the upper-level intelligent driving system (110) being configured to receive an automatic driving request from a user and generate driving path planning information; A control module (120), the control module (120) comprising an automatic driving control unit (122), the automatic driving control unit (122) being configured to generate a control instruction based on the driving path planning information from the upper-level intelligent driving system (110); An execution module (130), the execution module (130) comprising a chassis controller (131), the chassis controller (131) being configured to control the chassis of the vehicle based on the control instruction from the automatic driving control unit (122).

2. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) is configured on the vehicle controller (121).

3. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) comprises a lateral control model (123), and the lateral control model (123) is configured to generate a steering wheel angle signal of the vehicle based on the driving path planning information.

4. The automatic driving system for a vehicle according to claim 3, characterized in that: The lateral control model (123) is configured as at least one of a Stanley control model, a linear quadratic regulator control model, and a model predictive control model.

5. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) comprises a longitudinal control model (124), and the longitudinal control model (124) is configured to generate a pedal opening signal and / or a brake deceleration signal of the vehicle based on the driving path planning information.

6. The automatic driving system for a vehicle according to claim 5, characterized in that: The longitudinal control model (124) is configured as an acceleration tracking model and / or a proportional integral derivative control model.

7. The automatic driving system for a vehicle according to claim 6, characterized in that: The acceleration tracking model is configured to operate in a cruise mode of the vehicle, and the proportional-integral-derivative control model is configured to operate in a parking mode of the vehicle.

8. The automatic driving system for a vehicle according to claim 5, characterized in that: The longitudinal control model (124) is configured as a model reference control model and / or a vehicle dynamics model.

9. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) includes a state machine model (125), and the state machine model (125) is configured to: detect the working modes of the upper-level intelligent driving system (110) and the chassis, and convert the current state of the state machine model (125) into an automatic driving state based on the detected working mode, and feed back the converted automatic driving state to the upper-level intelligent driving system (110) to implement automatic driving.

10. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) comprises a signal forwarding model (126), and the signal forwarding model (126) is configured to forward the status information of the vehicle to the upper-level intelligent driving system (110) in real time.

11. The automatic driving system for a vehicle according to claim 10, characterized in that: The state information of the vehicle includes at least one of vehicle speed, wheel speed, current steering wheel angle, and current acceleration.

12. The automatic driving system for a vehicle according to claim 1, characterized in that: The automatic driving control unit (122) includes a handshake model (127), and the handshake model (127) is configured to communicate with the upper-level intelligent driving system (110) and the chassis controller (131) via a handshake protocol respectively.

13. A method for automatic driving of a vehicle, characterized in that: The autonomous driving method comprises: Receiving an autonomous driving request from a user and generating driving path planning information (S101; S240); Generating a control instruction based on the driving path planning information (S102; S250); The chassis of the vehicle is controlled based on the control instruction (S103; S260).

14. The automatic driving method for a vehicle according to claim 13, characterized in that: Generating a control instruction based on the driving path planning information includes: generating a steering wheel angle signal of the vehicle based on the driving path planning information (S251).

15. The automatic driving method for a vehicle according to claim 13, characterized in that: Generating a control instruction based on the driving path planning information includes: generating a pedal opening signal and / or a braking deceleration signal of the vehicle based on the driving path planning information (S252).

16. The automatic driving method for a vehicle according to claim 13, characterized in that: The method also includes: detecting the working modes of the upper-level intelligent driving system and chassis of the vehicle, converting the current state into an automatic driving state based on the detected working mode, and feeding back the converted automatic driving state to the upper-level intelligent driving system to implement automatic driving (S220).

17. The automatic driving method for a vehicle according to claim 13, characterized in that: The method also includes: forwarding the status information of the vehicle to the upper-level intelligent driving system of the vehicle in real time (S210).

18. A vehicle, characterized in that: The vehicle comprises an autonomous driving system for a vehicle according to any one of claims 1 to 12.

19. A computer device, characterized in that: The computer device (200) includes a memory (210), a processor (220), and instructions (211) stored in the memory (210) and executable by the processor (220), wherein the processor (220) implements the automatic driving method of the vehicle described in any one of claims 13 to 17 when executing the instructions (211).

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the automatic driving method of a vehicle according to any one of claims 13 to 17.

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