Chassis control method and device, storage medium and vehicle

Abstract

The invention discloses a chassis control method and device, a storage medium and a vehicle. A whole vehicle driving signal of the vehicle is obtained, and the control state of the vehicle is determined based on the whole vehicle driving signal; target control parameters of the vehicle and stability conditions of the vehicle are determined according to the control state; determining a target execution system corresponding to the target control parameter in the chassis domain control system, and judging whether the target control parameter meets a stability condition or not; and when the target control parameter meets a stability condition, generating a control instruction corresponding to the target control parameter, and sending the control instruction to the target execution system. According to the control state of the vehicle, target control parameters needing to be compensated for the vehicle at the moment and stability conditions corresponding to the vehicle are calculated, then the chassis domain controller selects a target execution system corresponding to the target control parameters by considering the state of the vehicle and the execution capacity of all execution systems, and under the condition that the vehicle runs stably, the stability of the vehicle is guaranteed. And implementing the target control parameters by using the target execution system.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly relates to a chassis control method, device, storage medium, and vehicle. Background Art

[0002] With the continuous development of automotive electronic technology, the automotive mechanical system is gradually being transformed into a more intelligent electronic control system. The intelligent electronic control system in a vehicle can monitor the vehicle state through a large number of sensors and then achieve electronic control adjustment through electrical signals. Compared with the mechanical system, the electronic control adjustment is faster and more accurate. Currently, the chassis system in a vehicle consists of multiple electronic control systems with different functions working together to achieve vehicle control. Therefore, a control method that can coordinate multiple systems in the chassis is needed to achieve centralized control of the intelligent electronic control system. Summary of the Invention

[0003] The present application provides a chassis control method, device, storage medium, and vehicle, which can solve the technical problem that the execution systems and software functions in the chassis system in the related art cannot be coordinated and controlled.

[0004] In a first aspect, an embodiment of the present application provides a chassis control method, which includes:

[0005] Obtain the vehicle's overall vehicle driving signal, and determine the control state of the vehicle based on the overall vehicle driving signal;

[0006] Determine the target control parameter of the vehicle and the stability condition of the vehicle according to the control state;

[0007] Determine the target execution system corresponding to the target control parameter in the chassis domain control system, and judge whether the target control parameter meets the stability condition;

[0008] When the target control parameter meets the stability condition, generate a control instruction corresponding to the target control parameter, and send the control instruction to the target execution system, so that the target execution system executes the control instruction.

[0009] In a second aspect, an embodiment of the present application provides a chassis control device, which includes:

[0010] An acquisition module, configured to obtain the vehicle's overall vehicle driving signal, and determine the control state of the vehicle based on the overall vehicle driving signal;

[0011] A calculation module, configured to determine the target control parameter of the vehicle and the stability condition of the vehicle according to the control state;

[0012] An arbitration module, configured to determine a target execution system corresponding to the target control parameter in the chassis domain control system, and determine whether the target control parameter meets the stability condition;

[0013] An execution module, configured to generate a control instruction corresponding to the target control parameter and send the control instruction to the target execution system when the target control parameter meets the stability condition, so that the target execution system executes the control instruction.

[0014] In a third aspect, an embodiment of the present application provides a computer storage medium storing multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the steps of the above method.

[0015] In a fourth aspect, an embodiment of the present application provides a vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is suitable for being loaded and executed by the processor to perform the steps of the above method.

[0016] The beneficial effects brought by the technical solutions provided by some embodiments of the present application at least include:

[0017] The present application provides a chassis control method, which obtains the vehicle's overall vehicle driving signal, determines the vehicle's control state based on the overall vehicle driving signal; determines the vehicle's target control parameter and the vehicle's stability condition according to the control state; determines the target execution system corresponding to the target control parameter in the chassis domain control system, and determines whether the target control parameter meets the stability condition; when the target control parameter meets the stability condition, generates a control instruction corresponding to the target control parameter and sends the control instruction to the target execution system, so that the target execution system executes the control instruction. Since the vehicle's control state can illustrate the current control situation of the vehicle, then according to the vehicle's control state, the target control parameter that the chassis domain controller needs to compensate for the vehicle at this time and the stability condition corresponding to the vehicle when driving stably can be calculated. Furthermore, the chassis domain controller considers the vehicle's own state and the execution capabilities of each execution system, selects the target execution system corresponding to the target control parameter, rationally allocates the chassis execution capability resources of the vehicle, performs a stability judgment on the target control parameter, and uses the target execution system to implement the target control parameter while keeping the vehicle driving stably. In this way, the chassis domain controller performs collaborative control on multiple execution systems in the chassis, making the vehicle control more reasonable and smooth, which is beneficial to improving the intelligent level of the whole vehicle. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0019] Figure 1 Exemplary system architecture diagram of a chassis control method provided by an embodiment of the present application;

[0020] Figure 2 Flow schematic diagram of a chassis control method provided by an embodiment of the present application;

[0021] Figure 3 Flow schematic diagram of a chassis control method provided by an embodiment of the present application;

[0022] Figure 4 Implementation logic schematic diagram of a chassis control method provided by an embodiment of the present application;

[0023] Figure 5 Example diagram of the allocation strategy of a target execution system provided by an embodiment of the present application;

[0024] Figure 6 Flow schematic diagram of the allocation of a target execution system provided by an embodiment of the present application;

[0025] Figure 7 Structural block diagram of a chassis control device provided by an embodiment of the present application;

[0026] Figure 8 Structural schematic diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0027] To make the features and advantages of the present application more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0028] When the following description involves the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0029] With the popularization of vehicle intelligence and networking, the proportion of electronic and electrical components in vehicles has gradually increased. Intelligent functional systems such as advanced driver assistance systems and in-vehicle multimedia entertainment systems have gradually become vehicle configurations that consumers pay attention to. The increasingly complex systems have a demand for the number of sensors and electronic control units (ECUs). For example, cameras and millimeter-wave radars are required for autonomous driving functions; co-pilot entertainment screens and head-up display systems (HUDs) are required for multimedia entertainment systems. Each system in the vehicle is usually distributed and processes and responds independently, which easily leads to insufficient interaction and coordination capabilities and poor coupling between systems. With the development of software functions in each system, there may also be a phenomenon of duplicate development between software functions. This makes the traditional distributed electronic and electrical architecture unable to cope with the increasingly complex system requirements. In this case, the concept of a centralized domain control unit (DCU), that is, the domain controller, came into being.

[0030] For vehicles, as an important part of the vehicle, the chassis system has more and more functions and its design has gradually become complex during the process of vehicle intelligence. At the same time, the number of electronic control systems and functional modules of the chassis (such as rear-wheel steering, active stabilizer bar, electronic differential, etc.) are also increasing. Insufficient interaction and coordination capabilities between systems will lead to deterioration of the overall vehicle performance and even affect the user's driving experience.

[0031] Therefore, the embodiments of this application provide a chassis control method, which obtains the vehicle's overall driving signal, determines the control state of the vehicle based on the overall driving signal; determines the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state; determines the target execution system corresponding to the target control parameters in the chassis domain control system, and judges whether the target control parameters meet the stability conditions; when the target control parameters meet the stability conditions, generate a control instruction corresponding to the target control parameters and send the control instruction to the target execution system, so that the target execution system executes the control instruction to solve the technical problem of insufficient coordination ability of each execution system in the above-mentioned chassis system.

[0032] Please refer to Figure 1 , Figure 1 which is an exemplary system architecture diagram of a chassis control method provided by the embodiments of this application.

[0033] As Figure 1As shown, the system architecture may include a vehicle 101, a network 102, and a server 103. The network 102 is used to provide a medium for the communication link between the vehicle 101 and the server 103. The network 102 may include various types of wired communication links or wireless communication links. For example, the wired communication links include optical fibers, twisted pairs, or coaxial cables, etc., and the wireless communication links include Bluetooth communication links, Wireless-Fidelity (Wi-Fi) communication links, or microwave communication links, etc.

[0034] The vehicle 101 can interact with the server 103 through the network 102 to receive messages from the server 103 or send messages to the server 103. Or the vehicle 101 can interact with the server 103 through the network 102, and then receive messages or data sent by other users to the server 103. The vehicle 101 can be hardware or software. When the vehicle 101 is hardware, it can be various electronic devices, including but not limited to smart watches, smart phones, tablet computers, laptop portable computers, and desktop computers, etc. When the vehicle 101 is software, it can be installed in the above-listed electronic devices, and it can be implemented as multiple software or software modules (for example, used to provide distributed services), or it can be implemented as a single software or software module, which is not specifically limited here.

[0035] The vehicle 101 may further include a chassis domain control system 104. The chassis domain control system 104 includes a chassis domain controller 1041 and an execution system 1042. The chassis domain controller 1041 and the execution system 1042 are connected by a hard wire or a local area network bus (CAN bus) to transmit signals and data to each other.

[0036] In the embodiment of this application, the vehicle 101 can obtain the vehicle's overall driving signal, and determine the control state of the vehicle based on the overall driving signal; then, the vehicle 101 determines the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state; further, the vehicle 101 determines the target execution system corresponding to the target control parameters in the chassis domain control system, and judges whether the target control parameters meet the stability conditions; finally, when the target control parameters meet the stability conditions, the vehicle 101 generates a control instruction corresponding to the target control parameters, and sends the control instruction to the target execution system, so that the target execution system executes the control instruction.

[0037] Server 103 may be a business server that provides various services. It should be noted that server 103 can be hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster composed of multiple servers or as a single server. When server 103 is software, it can be implemented as multiple software or software modules (such as those used to provide distributed services) or as a single software or software module, and specific limitations are not made here.

[0038] Alternatively, the system architecture may not include server 103. In other words, server 103 can be an optional device in the embodiments of this specification. That is, the method provided in the embodiments of this specification can be applied to a system structure that only includes vehicle 101, and the embodiments of this application do not make any limitations in this regard.

[0039] It should be understood that Figure 1 the numbers of vehicles, networks, and servers in

[0040] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a chassis control method provided by the embodiments of this application. The execution subject of the embodiments of this application can be a vehicle that executes chassis control, or a chassis domain controller in the vehicle that executes the chassis control method, or a chassis control service in the vehicle that executes the chassis control method. For ease of description, the following takes the execution subject as the chassis domain controller in the vehicle as an example to introduce the specific execution process of the chassis control method.

[0041] As Figure 2 shown, the chassis control method is applied to a chassis domain controller. The chassis domain controller belongs to the chassis domain control system in the vehicle, and this method may at least include:

[0042] S202, obtain the vehicle's overall vehicle driving signal, and determine the vehicle's control state based on the overall vehicle driving signal.

[0043] Optionally, since various electronic control execution systems in the distributed chassis system work independently, with the improvement of the hardware and software development levels in the electronic control execution systems, the requirements for the stability of the chassis system are also getting higher and higher. Compared with the current independent chassis system, if the various execution systems can have a mature cooperative control ability, the overall vehicle performance can be effectively improved. In order to perform cooperative control on the various execution systems in the chassis system and achieve reasonable allocation of control resources, the vehicle can use the chassis domain controller to perform cooperative control on various traditional distributed execution systems. Specifically, the chassis system in the vehicle can be a chassis domain control system, and the chassis domain control system includes a chassis domain controller.

[0044] Optionally, the control information usually received by the vehicle itself can reflect the current state information of the vehicle, the driving operation information of the user on the vehicle, etc. Through this control information, it is possible to determine what kind of control the vehicle currently needs and what the required control parameters are. That is to say, the chassis domain controller can determine the specific control quantity parameters required by the vehicle based on the current control state information of the vehicle. Then, in order to meet the user's control requirements for the vehicle, it is necessary for the chassis domain controller to first determine the control state of the vehicle, and then analyze the control state of the vehicle to clarify the user's control intention for the vehicle, and subsequently issue control commands that meet the user's needs to the relevant execution systems in the chassis.

[0045] Furthermore, there are a large number of sensors in the vehicle. The sensors can continuously collect signals related to the dynamic characteristics of the vehicle during the vehicle's driving process. And various execution systems in the vehicle chassis will also continuously send the control signals collected and generated by themselves to the chassis domain controller during the vehicle's driving process. Then, in fact, the chassis domain controller can obtain the vehicle's overall driving signals through the sensors and the execution systems, and by analyzing the overall driving signals, it can determine the control state of the vehicle.

[0046] S204. Determine the target control parameters of the vehicle and the vehicle's stability conditions according to the control state.

[0047] Optionally, after determining the control state of the vehicle, it can be determined through the control state what kind of control the vehicle currently needs and what the required control parameters are. That is to say, the chassis domain controller can determine the target control parameters required by the vehicle based on the control state information of the vehicle. Subsequently, controlling the execution systems in the chassis to achieve the target control parameters can meet the user's control requirements for the vehicle.

[0048] Optionally, each control exerted by the chassis domain control system on the vehicle may affect the driving stability of the vehicle. Specifically, when the execution systems in the chassis achieve the target control parameters, the control state of the vehicle will change, and the change in the control state may lead to a change in the vehicle's stability. Vehicle instability will pose a great safety hazard to the vehicle and the user. Before the target control parameters are achieved, it can be first judged whether the target control parameters will cause a change in the vehicle's stability. If the target control parameters will cause the vehicle to become unstable, it means that the target control parameters are not suitable for controlling the vehicle.

[0049] Furthermore, in order to verify the influence of the target control parameter on the vehicle's stable state, the current stability condition of the vehicle can be determined according to the control state. The stability condition can be the stability boundary formula corresponding to the vehicle's stable state. For example, the sideslip angle of the center of mass is the angle between the direction of the vehicle's center-of-mass velocity and the direction of the vehicle's head. The value of the sideslip angle of the center of mass indicates the vehicle's speed and degree of deviation. Therefore, the sideslip angle of the center of mass is a parameter that can effectively judge the vehicle's stability. Then, it can be determined whether the vehicle is in a stable state by the sideslip angle of the center of mass. When calculating the vehicle's stability through the sideslip angle of the center of mass, the following parameters are usually also required as limiting conditions: vehicle speed, yaw rate, road surface friction coefficient, longitudinal acceleration, road surface gradient, lateral force, etc. Finally, the vehicle's stability boundary is calculated jointly by multiple physical parameters. However, by simplifying the stability boundary formula, a simplified stability boundary formula that is only related to the preset calibration parameters C1, C2, and the sideslip angle β of the center of mass can be obtained:

[0050]

[0051] Among them, the preset calibration parameters C1 and C2 are empirical data obtained through calibration after real vehicle tests, is the sideslip angular velocity of the center of mass. When the value of the sideslip angle β of the center of mass satisfies the above formula, the vehicle is stable. If not, it means the vehicle is unstable. Using the stability condition to verify the target control parameter is beneficial to ensuring the control of the vehicle under stable driving conditions, avoiding the vehicle instability caused by the control amount calculated by the chassis domain controller, and protecting the driving safety of users.

[0052] S206. Determine the target execution system corresponding to the target control parameter in the chassis domain control system, and judge whether the target control parameter meets the stability condition.

[0053] Optionally, when the same target control parameter is implemented using different execution systems, the change in the vehicle state is also different. Therefore, before judging whether the target control parameter meets the vehicle's stability condition, the specific target execution system for implementing the target control parameter should be clarified, so as to more accurately predict the impact of the target control parameter on the vehicle's stability.

[0054] Optionally, within the chassis domain control system, there are various types of execution systems, where the execution systems may include, but are not limited to, the front-wheel steering system, the rear-wheel steering system, the braking system, the active suspension system, and the power system. Each execution system is responsible for different controls of the vehicle. For example, the braking system is mainly responsible for decelerating and braking the vehicle, and the rear-wheel steering system is mainly responsible for adjusting the direction of the rear wheels of the vehicle to achieve control of the overall direction of the vehicle. In some scenarios, it is also necessary for multiple execution systems to work together. For example, the braking system and the rear-wheel steering system can jointly control the steering direction and steering speed of the vehicle. Based on this, in the embodiments of this application, it is necessary to determine the target execution system for implementing this control among all execution systems according to the target control parameter, that is, to determine the target execution system corresponding to the target control parameter in the chassis domain control system.

[0055] Optionally, after the chassis domain controller calculates the target control parameter and determines the target execution system corresponding to the target control parameter, it can determine whether the target control parameter meets the stability condition. The specific judgment process can be to predict the value of the preset stability parameter of the vehicle after the target control parameter is applied to the vehicle, and compare the predicted value of the preset stability parameter with the stable threshold range of the preset stability parameter in the stability condition. If the predicted value exceeds the stable threshold range, it means that there is a risk of vehicle instability after the target control parameter is implemented by the target execution system; if the predicted value does not exceed the stable threshold range, it means that the stability of the vehicle can still be ensured after the target control parameter is implemented by the target execution system. In this case, the target control parameter can be used to control the vehicle.

[0056] S208. When the target control parameter meets the stability condition, generate a control instruction corresponding to the target control parameter, and send the control instruction to the target execution system so that the target execution system executes the control instruction.

[0057] Optionally, when the target control parameter meets the stability condition, it means that the target control parameter can be achieved when the vehicle is driving stably. Then, it can further instruct the target execution system to achieve the target control parameter. Considering that each execution system in the chassis domain control system is driven based on a control instruction, in the embodiments of this application, the chassis domain controller generates a corresponding control instruction according to the target control parameter, and sends the control instruction to the target execution system so that the target execution system executes the control instruction after receiving the control instruction and achieves the target control parameter according to the control instruction, completing the control operation that meets the user's needs.

[0058] Optionally, if the target control parameter does not meet the stability condition, which means that implementing the target control parameter by the target execution system will cause the vehicle to have a risk of instability. Then, to ensure the stable driving of the vehicle, the target control parameter is not used to control the vehicle. Specifically, a downgrading process or recalculation method can be selected. Among them, recalculation refers to the process of re-obtaining the vehicle's overall driving signal and calculating a new target control parameter according to the new overall driving signal. The downgrading process means downgrading the chassis domain controller. The chassis domain controller is downgraded to an independent controller at the same level as the execution system. In the chassis domain control system, the chassis domain controller no longer distributes control instructions to each execution system, but is downgraded to a traditional distributed chassis domain control system. Each execution system controls and processes the vehicle in a distributed control manner.

[0059] In an embodiment of the present application, a chassis control method is provided. The vehicle's overall driving signal is obtained, and the control state of the vehicle is determined based on the overall driving signal; the target control parameter of the vehicle and the stability condition of the vehicle are determined according to the control state; the target execution system corresponding to the target control parameter in the chassis domain control system is determined, and it is judged whether the target control parameter meets the stability condition; when the target control parameter meets the stability condition, a control instruction corresponding to the target control parameter is generated, and the control instruction is sent to the target execution system so that the target execution system executes the control instruction. Since the control state of the vehicle can illustrate the current control situation of the vehicle, then according to the control state of the vehicle, the target control parameter that the chassis domain controller needs to compensate for the vehicle at this time and the stability condition corresponding to the vehicle during stable driving can be calculated. Further, the chassis domain controller selects a target execution system suitable for implementing the target control parameter, reasonably allocates the chassis execution ability resources of the vehicle, and also performs a stability judgment on the target control parameter, so as to use the target execution system to implement the target control parameter while keeping the vehicle driving stably. In this way, the chassis domain controller performs collaborative control on multiple execution systems in the chassis, making the vehicle control more reasonable and smooth, which is beneficial to improving the intelligent level of the whole vehicle.

[0060] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a chassis control method provided by an embodiment of the present application.

[0061] As Figure 3 shown, the chassis control method may at least include:

[0062] S302. Obtain the vehicle's overall driving signal, determine the control state of the vehicle based on the overall driving signal, and the control state at least includes the first state where the vehicle is currently located and the second state corresponding to the driver's intention for the vehicle.

[0063] Optionally, please refer to Figure 4 ,Figure 4 This is a schematic diagram of the implementation logic of a chassis control method provided by an embodiment of this application. As Figure 4 shown, the chassis domain controller can obtain the vehicle's overall driving signals from sensors and each execution system. The overall driving signals can reflect the vehicle's current state information, the driver's operation information on the vehicle, etc. For example, the overall driving signals may include wheel speed signals, yaw rate signals, acceleration signals, throttle pedal opening signals, brake pedal travel signals, steering wheel angle signals, etc. The chassis domain controller can determine various physical quantities related to the vehicle's control state based on these signals.

[0064] Specifically, physical quantities related to the current road conditions such as slope angle, side slope angle, road surface adhesion coefficient, etc. can be calculated; physical quantities related to the current vehicle conditions such as pitch angle, roll angle, wheel load, vehicle weight, yaw angle, slip ratio, center of mass position, center of mass sideslip angle, etc. can also be calculated; physical quantities related to the driver's intention such as steering wheel angle, brake pedal travel, throttle pedal opening, etc. can also be calculated. Generally speaking, these signals describe various aspects of information such as the vehicle condition, road condition, and driver's intention. Then, please refer to Figure 4 , and subdivide the control state. The vehicle control state can also specifically include two types of states, namely the first state where the vehicle is currently located, and the second state corresponding to the driver's intention for the vehicle.

[0065] S304. Determine the target control parameters of the vehicle according to the first state and the second state, and determine the vehicle's stability conditions according to the first state.

[0066] Optionally, the first state describes the vehicle's current control state, which means that the vehicle's current control parameters can be determined according to the first state. The second state describes the user's control requirements corresponding to the driver's intention, that is, the control parameters to be achieved corresponding to the driver's intention are determined according to the second state. Then the difference between the first state and the second state is the difference between the vehicle's current state and the user's expected state. Calculating the deviation value between the current control parameters and the control parameters to be achieved is the control amount that the chassis system needs to compensate for the vehicle this time. Based on this, the target control parameters can be determined according to this deviation value. Furthermore, please continue to refer to Figure 4 , and the chassis domain controller can determine the target control parameters of the vehicle according to the first state and the second state. The target control parameters are the specific control parameters calculated by the chassis domain controller to meet the user's control requirements and need to be executed on the vehicle.

[0067] In a feasible implementation manner, taking the vehicle in a steering scenario as an example, in the steering scenario, the driver's intention to control the vehicle to steer can be determined through the steering wheel angle signal. At this time, the chassis domain controller can determine the current actual yaw parameter of the vehicle according to the first state, and determine the desired yaw parameter that the driver hopes the vehicle to achieve according to the second state. The deviation yaw parameter obtained by comparing the actual yaw parameter and the desired yaw parameter is the target control parameter calculated by the chassis domain controller.

[0068] Optionally, in order to ensure the stability of the vehicle running state, it is also necessary to determine the stability condition of the vehicle according to the control state of the vehicle, and the stability condition of the vehicle is mainly generated through the current state information of the vehicle. Then, in the embodiments of the present application, the stability condition of the vehicle can also be determined according to the first state.

[0069] Furthermore, for a moving vehicle, not only does the whole vehicle have a stability boundary, but the execution capabilities of each execution system also have certain boundaries. As the state of the whole vehicle and the state of each execution system itself change, the upper and lower limits of the execution capabilities of the execution system will also change. That is to say, when the target control parameter is executed, it may not only affect the stability of the whole vehicle, but also exceed the execution capability boundaries of some execution systems. For the target control parameter that exceeds the execution capability boundary, the execution system does not have sufficient execution capabilities to achieve it. Therefore, when determining the stability condition of the vehicle according to the first state, the stability condition specifically includes the overall vehicle stability condition corresponding to the vehicle, and the execution stability condition corresponding to each execution system in the chassis domain control system. So as to facilitate subsequent judgment on whether the target control parameter meets the stability condition, not only judging the impact of the vehicle on the overall vehicle stability, but also judging the impact of the target control parameter on the execution capability stability of the target execution system.

[0070] Optionally, similar to the vehicle stability condition, the execution stability condition of the execution system can be the execution ability boundary threshold corresponding to the execution ability of the execution system. In a feasible implementation manner, taking the braking system in the chassis domain control system as an example, the execution ability of the braking system is reflected in the magnitude of the braking force it can achieve. Generally, the greater the road surface friction coefficient and the greater the vehicle load (i.e., wheel load), the greater the braking force that the vehicle can provide. Therefore, the braking force is equal to the product of the wheel load and the adhesion coefficient. Then, the execution ability boundary of the braking system can be obtained each time through the wheel load value and the adhesion coefficient value in the first state. In another feasible implementation manner, taking the rear-wheel steering system in the chassis domain control system as an example, the execution ability of the rear-wheel steering system is reflected in the magnitude of the rear-wheel steering angle it can achieve. As the vehicle speed increases, the limit value of the rear-wheel steering angle decreases, and the adjustment ability decreases. The rear-wheel steering angles of the rear-wheel steering system in different vehicle speed scenarios can be obtained through actual vehicle tests to obtain an empirical value, and a correspondence table between the rear-wheel steering angle boundary and the vehicle speed can be obtained. Subsequently, the rear-wheel steering ability boundary of the rear-wheel steering system corresponding to the vehicle at the current vehicle speed can be determined by looking up the table.

[0071] S306. Determine the vehicle's current overall vehicle stability level according to the first state, where the overall vehicle stability level is used to describe the stability degree of the vehicle's overall operation state.

[0072] Optionally, when determining the target execution system corresponding to the target control parameter in the chassis domain control system, there may be multiple execution systems that can achieve the target control parameter. However, when different execution systems execute the same target control parameter, the impact on vehicle stability will also be different. Therefore, when specifically selecting the target execution system, it is also necessary to consider the current scenario, state, etc. of the vehicle. In the embodiments of the present application, when selecting the target execution system, first determine the vehicle's current overall vehicle stability level according to the first state that the vehicle is currently in. The overall vehicle stability level describes the stability degree of the vehicle's overall operation state. Each overall vehicle stability level can correspond to an execution system allocation mode. Subsequently, the corresponding execution system allocation mode can be determined according to the overall vehicle stability level, and the execution system in the execution system allocation mode is selected as the target execution system corresponding to the target control parameter.

[0073] Optionally, please refer to Figure 5 , Figure 5 which is an example diagram of an allocation strategy for the target execution system provided by the embodiments of the present application. As Figure 5As shown, for all the execution systems in the chassis domain control system, various possible execution modes of various execution systems, including the execution modes of multi-system combined execution and single-system independent execution, are set as different execution system allocation modes. When determining the target execution system corresponding to the target control parameter, according to the vehicle stability level and the target control parameter, the execution system allocation mode corresponding to the vehicle stability level is determined, and the target execution system for realizing the target control parameter is allocated according to this execution system allocation mode.

[0074] In a feasible implementation manner, taking the vehicle in a steering scenario as an example, the target control parameter of the vehicle is usually the deviation yaw between the actual yaw parameter of the vehicle at present and the desired yaw parameter corresponding to the driver's intention. At this time, there are three execution system allocation modes in total: the execution system allocation strategy of Mode 1 is to achieve yaw compensation only through the rear-wheel steering system adjustment when the vehicle has a high overall stability; the execution system allocation strategy of Mode 2 is to achieve yaw compensation through the cooperation of the rear-wheel steering system and the braking system when the vehicle has a general overall stability; the execution system allocation strategy of Mode 3 is to achieve yaw compensation only through the braking system when the vehicle has a poor overall stability. Please refer to Figure 6 , Figure 6 which is a schematic diagram of the allocation process of a target execution system provided by an embodiment of the present application, as Figure 6As shown in the figure, the current vehicle stability level of the vehicle can be determined specifically by the vehicle speed, yaw rate, and yaw acceleration in the first state. Mode 1: When the yaw rate is less than the preset yaw rate threshold a, the yaw acceleration is less than the preset yaw acceleration threshold b, and the vehicle speed is lower than the preset vehicle speed threshold c, it is considered that the vehicle system is very stable. At this time, the vehicle stability is relatively high, and then the yaw compensation is achieved only through the rear-wheel steering system adjustment. Mode 2: When the yaw rate is less than the preset yaw rate threshold a, the yaw acceleration is less than the preset yaw acceleration threshold b, and the vehicle speed is higher than the preset vehicle speed threshold c, the vehicle stability is average. However, in the case of a high speed, the step signal of the rear-wheel steering angle may cause the vehicle to become unstable. Therefore, it is necessary to limit the adjustment ability of the rear-wheel steering angle, and the rear-wheel steering system and the braking system are used in cooperation to achieve yaw compensation. When the yaw rate is greater than the preset yaw rate threshold a, the yaw acceleration is greater than the preset yaw acceleration threshold b, and the vehicle speed is less than the preset vehicle speed threshold c, it is considered that the vehicle speed is slow but the steering angle is large, and the vehicle stability is average. Therefore, the rear-wheel steering system and the braking system are still used in cooperation to achieve yaw compensation. Mode 3: When the yaw rate is greater than the preset yaw rate threshold a, the yaw acceleration is greater than the preset yaw acceleration threshold b, and the vehicle speed is greater than the preset vehicle speed threshold c, it means that the vehicle has a large steering angle and a high vehicle speed at this time, and the vehicle is prone to instability. At this time, it is more reasonable and safe to achieve yaw compensation only through the braking system. Among them, the preset yaw rate threshold a, the preset yaw acceleration threshold b, and the preset vehicle speed threshold c are all empirical values obtained through actual vehicle tests.

[0075] S308. Determine the target execution system corresponding to the target control parameter in the chassis domain control system according to the vehicle stability level and the target control parameter.

[0076] Optionally, according to the vehicle stability level and the target control parameter, the target execution system that can be used to implement the target control parameter in the current scenario can be directly determined. After the target execution system is determined, the subsequent vehicle stability judgment is further carried out.

[0077] S310. Determine whether the target control parameter meets the vehicle stability condition.

[0078] Optionally, please continue to refer to Figure 4 , after determining the target execution system corresponding to the target control parameter, to ensure the stability of the vehicle during the control process, determine whether the target control parameter meets the vehicle stability condition, that is, the numerical value of the preset stability parameter of the vehicle can be predicted after the vehicle is applied with the target control parameter, and the predicted numerical value of the preset stability parameter is compared with the stable threshold range of the preset stability parameter in the stability condition, and the vehicle's current ability to use the target control parameter is determined according to the comparison result.

[0079] S312. When the target control parameter meets the vehicle stability condition, determine whether the target control parameter meets the target execution stability condition corresponding to the target execution system.

[0080] Optionally, when the target control parameter meets the vehicle stability condition, it indicates that the target control parameter will not cause the vehicle to lose stability. Then, further determine whether the target control parameter exceeds the execution ability boundary of the target execution system, that is, determine whether the target control parameter meets the target execution stability condition corresponding to the target execution system.

[0081] S314. If the target control parameter meets the target execution stability condition, generate a control instruction corresponding to the target control parameter and send the control instruction to the target execution system so that the target execution system executes the control instruction.

[0082] Optionally, if the target control parameter meets the target execution stability condition, it means that the target control parameter can be normally implemented by the target execution system when the vehicle is driving stably. Please continue to refer to Figure 4 At this time, a control instruction corresponding to the target control parameter can be generated and sent to the target execution system so that the target execution system executes the control instruction.

[0083] In the embodiment of the present application, a chassis control method is provided. Obtain the control state of the vehicle. The control state at least includes the first state in which the vehicle is currently located and the second state corresponding to the driver's intention for the vehicle. The first state describes the current control situation of the vehicle, and the second state describes the user control requirements corresponding to the driver's intention. The deviation between the first state and the second state is the target control parameter that the chassis domain control system needs to achieve. Determine the stability condition of the vehicle according to the first state. The stability condition includes the vehicle's overall vehicle stability condition and the execution stability condition corresponding to each execution system in the chassis domain control system. Subsequently, not only judge the impact of the target control parameter on the overall vehicle stability, but also judge the impact of the target control parameter on the execution ability stability of the target execution system. Determine the overall vehicle stability level in which the vehicle is currently located according to the first state, and determine the allocation of the target execution system according to the overall vehicle stability level. The chassis domain controller can reasonably allocate the resources of the execution system according to the actual situation of the whole vehicle and achieve the coordinated control of multiple execution systems.

[0084] Please refer to Figure 7 Figure 7 which is the structural block diagram of a chassis control device provided by the embodiment of the present application. As Figure 7 shown, the chassis control device 700 includes:

[0085] An acquisition module 710, configured to obtain the overall vehicle driving signal of the vehicle and determine the control state of the vehicle based on the overall vehicle driving signal. ​

[0086] A calculation module 720, configured to determine a target control parameter of the vehicle and a stability condition of the vehicle according to a control state;

[0087] An arbitration module 730, configured to determine a target execution system corresponding to the target control parameter in the chassis domain control system, and determine whether the target control parameter meets the stability condition;

[0088] An execution module 740, configured to generate a control instruction corresponding to the target control parameter and send the control instruction to the target execution system when the target control parameter meets the stability condition, so that the target execution system executes the control instruction.

[0089] Optionally, the control state at least includes a first state in which the vehicle is currently located and a second state corresponding to the driver intention for the vehicle.

[0090] Optionally, the arbitration module 730 is further configured to determine an overall vehicle stability level in which the vehicle is currently located according to the first state, where the overall vehicle stability level is used to describe the stability degree of the overall vehicle operating state of the vehicle; and determine a target execution system corresponding to the target control parameter in the chassis domain control system according to the overall vehicle stability level and the target control parameter.

[0091] Optionally, the calculation module 720 is further configured to determine a target control parameter of the vehicle according to the first state and the second state, and determine a stability condition of the vehicle according to the first state.

[0092] Optionally, the calculation module 720 is further configured to determine a current control parameter of the vehicle according to the first state, and determine a to-be-implemented control parameter corresponding to the driver intention according to the second state; calculate a deviation value between the current control parameter and the to-be-implemented control parameter, and determine the target control parameter according to the deviation value.

[0093] Optionally, the stability condition of the vehicle includes an overall vehicle stability condition corresponding to the vehicle and an execution stability condition corresponding to each execution system in the chassis domain control system.

[0094] Optionally, the arbitration module 730 is further configured to determine whether the target control parameter meets the overall vehicle stability condition; when the target control parameter meets the overall vehicle stability condition, determine whether the target control parameter meets the target execution stability condition corresponding to the target execution system; the execution module 740 is further configured to generate a control instruction corresponding to the target control parameter if the target control parameter meets the target execution stability condition.

[0095] In an embodiment of the present application, a chassis control device is provided. Among them, an acquisition module is configured to obtain the vehicle's overall driving signal and determine the vehicle's control state based on the overall driving signal; a calculation module is configured to determine the vehicle's target control parameters and the vehicle's stability conditions according to the control state; an arbitration module is configured to determine the target execution system corresponding to the target control parameters in the chassis domain control system and judge whether the target control parameters meet the stability conditions; an execution module is configured to generate a control instruction corresponding to the target control parameters and send the control instruction to the target execution system when the target control parameters meet the stability conditions, so that the target execution system executes the control instruction. Since the vehicle's control state can illustrate the current control situation of the vehicle, then according to the vehicle's control state, the target control parameters that the chassis domain controller needs to compensate for the vehicle at this time and the stability conditions corresponding to the vehicle during stable driving can be calculated. Furthermore, the chassis domain controller considers the vehicle's own state and the execution capabilities of each execution system, selects the target execution system corresponding to the target control parameters, rationally allocates the chassis execution capability resources of the vehicle, makes a stability judgment on the target control parameters, and uses the target execution system to implement the target control parameters while keeping the vehicle driving stably. In this way, the chassis domain controller conducts collaborative control on multiple execution systems in the chassis, making the vehicle control more reasonable and smooth, which is beneficial to improving the intelligent level of the whole vehicle.

[0096] The embodiment of the present application also provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the steps of the method in any one of the above embodiments.

[0097] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a vehicle provided by the embodiment of the present application. As Figure 8 shown, the vehicle 800 may include: at least one vehicle processor 801, at least one network interface 804, a user interface 803, a memory 805, at least one communication bus 802, and a chassis domain controller 806.

[0098] Among them, the chassis domain controller 806 belongs to the chassis domain control system in the vehicle 800.

[0099] Among them, the communication bus 802 is used to realize the connection and communication between these components.

[0100] Among them, the user interface 803 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 803 may further include a standard wired interface and a wireless interface.

[0101] Among them, the network interface 804 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0102] Among them, the vehicle processor 801 may include one or more processing cores. The vehicle processor 801 connects various parts within the entire vehicle 800 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 805, and by calling the data stored in the memory 805, it executes various functions of the vehicle 800 and processes data. Optionally, the vehicle processor 801 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The vehicle processor 801 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the vehicle processor 801 and may be implemented separately through a single chip.

[0103] Among them, the memory 805 may include random access memory (RAM) and may also include read-only memory (ROM). Optionally, the memory 805 includes a non-transitory computer-readable storage medium. The memory 805 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 805 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. Optionally, the memory 805 may also be at least one storage device located far from the aforementioned vehicle processor 801. As Figure 8 shown, the memory 805, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a chassis control program.

[0104] In Figure 8In the vehicle 800 shown, the user interface 803 is mainly used to provide an interface for the user to input data and obtain the data input by the user; while the vehicle processor 801 can be used to call the chassis control program stored in the memory 805 and specifically perform the following operations:

[0105] Obtain the overall vehicle driving signal of the vehicle, determine the control state of the vehicle based on the overall vehicle driving signal; determine the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state; determine the target execution system corresponding to the target control parameters in the chassis domain control system, and judge whether the target control parameters meet the stability conditions; when the target control parameters meet the stability conditions, generate a control instruction corresponding to the target control parameters and send the control instruction to the target execution system so that the target execution system executes the control instruction.

[0106] In some embodiments, the control state at least includes a first state in which the vehicle is currently located and a second state corresponding to the driver's intention for the vehicle.

[0107] In some embodiments, when the vehicle processor 801 executes to determine the target execution system corresponding to the target control parameters in the chassis domain control system, it specifically performs the following steps: determine the overall vehicle stability level at which the vehicle is currently located according to the first state, and the overall vehicle stability level is used to describe the stability degree of the overall vehicle operation state of the vehicle; determine the target execution system corresponding to the target control parameters in the chassis domain control system according to the overall vehicle stability level and the target control parameters.

[0108] In some embodiments, when the vehicle processor 801 executes to determine the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state, it specifically performs the following steps: determine the target control parameters of the vehicle according to the first state and the second state, and determine the stability conditions of the vehicle according to the first state.

[0109] In some embodiments, when the vehicle processor 801 executes to determine the target control parameters of the vehicle according to the first state and the second state, it specifically performs the following steps: determine the current control parameters of the vehicle according to the first state, and determine the to-be-implemented control parameters corresponding to the driver's intention according to the second state; calculate the deviation value between the current control parameters and the to-be-implemented control parameters, and determine the target control parameters according to the deviation value.

[0110] In some embodiments, the stability conditions of the vehicle include the overall vehicle stability conditions corresponding to the vehicle and the execution stability conditions respectively corresponding to each execution system in the chassis domain control system.

[0111] In some embodiments, when the vehicle processor 801 determines whether a target control parameter meets the stability condition, it specifically performs the following steps: determining whether the target control parameter meets the vehicle stability condition; when the target control parameter meets the vehicle stability condition, determining whether the target control parameter meets the target execution stability condition corresponding to the target execution system; when the vehicle processor 801 generates a control instruction corresponding to the target control parameter when the target control parameter meets the stability condition, it specifically performs the following steps: if the target control parameter meets the target execution stability condition, generating a control instruction corresponding to the target control parameter.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or modules can be in electrical, mechanical or other forms.

[0113] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The above computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, the processes or functions described above in accordance with the embodiments of this specification are generated in whole or in part. The above computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions can be stored in a computer-readable storage medium or transmitted through the above computer-readable storage medium. The above computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The above computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The above available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a Digital Versatile Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc.

[0115] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0116] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] The above is a description of a chassis control method, device, storage medium, and vehicle provided by the present application. For those skilled in the art, according to the idea of the embodiments of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A chassis control method, characterized in that, Applied to a chassis domain controller, the chassis domain controller belongs to a chassis domain control system in a vehicle, and the method includes: Obtain the vehicle's overall driving signal, and determine the control state of the vehicle based on the overall driving signal; Determine the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state; Determine the target execution system corresponding to the target control parameter in the chassis domain control system, and judge whether the target control parameter meets the stability conditions; When the target control parameter meets the stability conditions, generate a control command corresponding to the target control parameter, and send the control command to the target execution system so that the target execution system executes the control command.

2. The method according to claim 1, characterized in that The control state at least includes a first state in which the vehicle is currently located and a second state corresponding to the driver's intention for the vehicle.

3. The method according to claim 2, characterized in that, The determining the target execution system corresponding to the target control parameter in the chassis domain control system includes: Determine the overall vehicle stability level at which the vehicle is currently located according to the first state, and the overall vehicle stability level is used to describe the stability degree of the overall vehicle operating state of the vehicle; Determine the target execution system corresponding to the target control parameter in the chassis domain control system according to the overall vehicle stability level and the target control parameter.

4. The method according to claim 2, wherein The determining the target control parameters of the vehicle and the stability conditions of the vehicle according to the control state includes: Determine the target control parameters of the vehicle according to the first state and the second state, and determine the stability conditions of the vehicle according to the first state.

5. The method according to claim 4, wherein The determining the target control parameters of the vehicle according to the first state and the second state includes: Determine the current control parameters of the vehicle according to the first state, and determine the to-be-implemented control parameters corresponding to the driver's intention according to the second state; Calculate the deviation value between the current control parameter and the to-be-implemented control parameter, and determine the target control parameter according to the deviation value.

6. The method according to claim 1, characterized in that The stability conditions of the vehicle include the overall vehicle stability conditions corresponding to the vehicle and the execution stability conditions respectively corresponding to each execution system in the chassis domain control system.

7. The method according to claim 6, wherein The judging whether the target control parameter meets the stability conditions includes: Judge whether the target control parameter meets the overall vehicle stability conditions; When the target control parameter meets the overall vehicle stability conditions, judge whether the target control parameter meets the target execution stability conditions corresponding to the target execution system; The generating a control command corresponding to the target control parameter when the target control parameter meets the stability conditions includes: If the target control parameter meets the target execution stability conditions, generate a control command corresponding to the target control parameter.

8. A chassis control device, characterized in that, Applied to a chassis domain controller, the chassis domain controller belongs to a chassis domain control system in a vehicle, and the device includes: An acquisition module, configured to obtain the vehicle's overall driving signal and determine the control state of the vehicle based on the overall driving signal; A calculation module, configured to determine a target control parameter of the vehicle and a stability condition of the vehicle according to the control state; An arbitration module, configured to determine a target execution system corresponding to the target control parameter in the chassis domain control system, and determine whether the target control parameter satisfies the stability condition; An execution module, configured to generate a control instruction corresponding to the target control parameter and send the control instruction to the target execution system when the target control parameter satisfies the stability condition, so that the target execution system executes the control instruction.

9. A computer storage medium, characterized in that, The computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to perform the steps of the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle includes the chassis domain control system according to any one of claims 1 to 7 above, and the vehicle is capable of performing the steps of the method according to any one of claims 1 to 7.

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