Control-by-wire chassis domain, method and apparatus for control-by-wire chassis domain control

Abstract

The invention relates to the technical field of automobile control, and discloses a drive-by-wire chassis domain, and a method and equipment for control of the drive-by-wire chassis domain, the drive-by-wire chassis domain comprises a central domain control module, a plurality of peripheral domain control modules and a plurality of corner module control modules; the central domain control module comprises an arbitration unit, a failure analysis unit and a plurality of central domain control units, and the central domain control module is used for obtaining a vehicle control instruction, processing the vehicle control instruction based on the plurality of central domain control units and sending an obtained reasonable arbitration result to the peripheral domain control module; the peripheral domain control module is connected with the central domain control module, the peripheral domain control module comprises a failure detection unit, and the peripheral domain control module is used for receiving a reasonable arbitration result and sending an obtained feasible arbitration result to the corner module control module; and the corner module control module is connected with the central domain control module and the peripheral domain control module, and is used for acquiring and executing a feasible arbitration result.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a by-wire chassis domain, a method and a device for controlling the by-wire chassis domain. Background Art

[0002] In recent years, with the rapid development of L4 and L5 level autonomous driving and vehicle-cloud collaboration technologies, vehicles need to be equipped with more sensors and complex electronic devices. As a result, the risk of hardware failures also increases accordingly. For example, failures of sensors such as lidar or cameras may cause the vehicle to be unable to accurately perceive the surrounding environment, affecting the safety of autonomous driving.

[0003] The chassis control systems in related technologies usually rely on a single control unit and a simple bus structure. Due to the limitations of the system architecture, the chassis control systems in related technologies have a low tolerance for hardware failures. Once a key component fails, such as the actuator failure of the braking system, it may cause the vehicle to lose control, increasing the risk of traffic accidents. Summary of the Invention

[0004] In view of this, the present invention provides a by-wire chassis domain, a method and a device for controlling the by-wire chassis domain, so as to solve the problem that the chassis control system in related technologies has a low tolerance for hardware failures, and once a key component fails, it may cause the vehicle to lose control, increasing the risk of traffic accidents.

[0005] In a first aspect, the present invention provides a by-wire chassis domain, including: a central domain control module, a plurality of peripheral domain control modules, and a plurality of corner module control modules; the central domain control module includes an arbitration unit, a failure analysis unit, and a plurality of central domain control units. The central domain control module is configured to obtain a vehicle control instruction, process the vehicle control instruction based on the plurality of central domain control units to obtain a plurality of control strategies, perform arbitration processing on the plurality of control strategies based on the arbitration unit to obtain an arbitration result, and judge whether the arbitration result is reasonable based on the failure analysis unit. If the arbitration result is reasonable, send the reasonable arbitration result to the peripheral domain control module; the peripheral domain control module is connected to the central domain control module, and the peripheral domain control module includes a failure detection unit. The peripheral domain control module is configured to receive the reasonable arbitration result, verify the feasibility of the reasonable arbitration result based on the failure detection unit. If the reasonable arbitration result is feasible, send the feasible arbitration result to the corner module control module; the corner module control module is connected to the central domain control module and the peripheral domain control module, and the corner module control module is configured to obtain and execute the feasible arbitration result.

[0006] In an alternative embodiment, the multiple corner module control modules are connected to the central domain control module and the peripheral domain control module, and include: the multiple corner module control modules include a first corner module control module, a second corner module control module, a third corner module control module, and a fourth corner module control module; the peripheral domain control module includes a first peripheral domain control module and a second peripheral domain control module; the first corner module control module is connected to the first peripheral domain control module through a first data transmission channel; the first peripheral domain control module is connected to the second corner module control module through the first data transmission channel; the second corner module control module is connected to the central domain control module through the first data transmission channel; the central domain control module is connected to the fourth corner module control module through the first data transmission channel; the fourth corner module control module is connected to the second peripheral domain control module through the first data transmission channel; the second peripheral domain control module is connected to the third corner module control module through the first data transmission channel; the third corner module control module is connected to the central domain control module through the first data transmission channel; the central domain control module is connected to the first corner module control module through the first data transmission channel.

[0007] In an alternative embodiment, the multiple corner module control modules are connected to the central domain control module and the peripheral domain control module, and further include: the first corner module control module is connected to the central domain control module through a second data transmission channel; the first peripheral domain control module is connected to the central domain control module through the second data transmission channel; the second corner module control module is connected to the central domain control module through the second data transmission channel; the third corner module control module is connected to the central domain control module through the second data transmission channel; the second peripheral domain control module is connected to the central domain control module through the second data transmission channel; the fourth corner module control module is connected to the central domain control module through the second data transmission channel.

[0008] In an alternative embodiment, the aforementioned steer-by-wire chassis domain further includes performing communication between the corner module control module and the peripheral domain control module, and between the corner module control module and the central domain control module based on the first data transmission channel; in the case of a failure of the first data transmission channel, performing communication between the central domain control module and the corner module control module, and between the central domain control module and the peripheral domain control module based on the second data transmission channel.

[0009] In an alternative embodiment, the aforementioned by-wire chassis domain further includes that the first data transmission channel is a time-sensitive network Ethernet, and the second data transmission channel is a controller area network with variable rate.

[0010] In an alternative embodiment, the corner module control module includes a corner module controller, multiple sensors, a driving unit, a braking unit, a steering unit, a suspension unit, a first control circuit, and a second control circuit; wherein, the multiple sensors are connected to the corner module controller through a third data transmission channel; the driving unit, the braking unit, the steering unit, and the suspension unit are connected to the corner module controller; the corner module controller controls at least one of the following units, namely the driving unit, the braking unit, the steering unit, and the suspension unit, through the first control circuit or the second control circuit.

[0011] In an alternative embodiment, the peripheral domain control module further includes: a first controller unit; the first control unit is configured to control the operation of the corner module control module based on a preset table when the reasonable arbitration result is not feasible; the preset table includes at least one of the following, a preset control parameter table, a fault response strategy table, an actuator safety boundary table, a dynamic state cache table, and a communication protocol mapping table.

[0012] In a second aspect, the present invention provides a method for by-wire chassis domain control, the method including: obtaining a vehicle control instruction, processing the vehicle control instruction based on each central domain control unit to obtain multiple control strategies, performing arbitration processing on the multiple control strategies to obtain an arbitration result, and determining whether the arbitration result is reasonable; if the arbitration result is reasonable, verifying whether the reasonable arbitration result is feasible, and if the reasonable arbitration result is feasible, executing the feasible arbitration result.

[0013] In some alternative embodiments, the aforementioned method for by-wire chassis domain control further includes that if the reasonable arbitration result is not feasible, running the vehicle control instruction based on a safety mode: the situation that the reasonable arbitration result is not feasible includes at least one of the following, sensor data conflict, communication data anomaly, and logic rule violation; if such a situation occurs, controlling the operation of the corner module control module based on the first controller unit.

[0014] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method for by-wire chassis domain control according to the first aspect or any corresponding embodiment thereof.

[0015] Fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method for by-wire chassis domain control according to the first aspect or any corresponding embodiment thereof.

[0016] Fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the method for by-wire chassis domain control according to the first aspect or any corresponding embodiment thereof.

[0017] Through multiple central domain control units, heterogeneous parallel processing of vehicle control instructions is performed to generate differentiated control strategies. The arbitration unit determines the optimal result based on the differentiated control strategies, and through the failure analysis unit, judges the rationality of the optimal result obtained by arbitration. Then, through the failure detection unit in the peripheral domain control module, feasibility verification is performed on the optimal result, and the feasible arbitration result that passes the feasibility verification is sent to the corner module control module for execution. In this way, the multi-mode redundancy of the central domain combined with the dual verification of the peripheral domain can block the downward transmission of abnormal instructions, improving the reliability of the by-wire chassis domain. At the same time, in the case of a failure of a single central domain control unit, the arbitration unit automatically switches weights, which can improve the fault tolerance of the entire system and reduce the risk of vehicle traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the related art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 Shows the schematic diagram of the device structure of the by-wire chassis domain according to the embodiment of the present invention;

[0020] Figure 2 Shows the schematic diagram of the connection between modules in the embodiment of the present invention;

[0021] Figure 3 Shows another schematic diagram of the connection between modules in the embodiment of the present invention;

[0022] Figure 4 Shows the schematic diagram of the structure of the corner module control module according to the embodiment of the present invention;

[0023] Figure 5 Shows the schematic diagram of the flow of the method for by-wire chassis domain control according to the embodiment of the present invention;

[0024] Figure 6The structural schematic diagram of the device for steer-by-wire chassis domain control according to an embodiment of the present invention is shown;

[0025] Figure 7 Another schematic diagram of the steer-by-wire chassis domain structure according to an embodiment of the present invention is shown;

[0026] Figure 8 It is the hardware structural schematic diagram of the computer device according to an embodiment of the present invention. Specific embodiments

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] In the centralized control method in the related art, it is difficult to meet the requirements of autonomous vehicles for real-time performance and flexibility. To improve the reliability and safety of the chassis control system, it is necessary to redesign at the hardware level, a series of chassis architectures from the controller to the actuator, and adopt a multi-level redundancy design.

[0029] Figure 1 The structural schematic diagram of the device in the steer-by-wire chassis domain according to an embodiment of the present invention is shown. As Figure 1 shown, an embodiment of the present invention provides a steer-by-wire chassis domain, including: a central domain control module 11, a plurality of peripheral domain control modules, and a plurality of corner module control modules; the central domain control module 11 includes an arbitration unit 111, a failure analysis unit 112, and a plurality of central domain control units. The central domain control module 11 is configured to obtain a vehicle control instruction, process the vehicle control instruction based on the plurality of central domain control units to obtain a plurality of control strategies, perform arbitration processing on the plurality of control strategies based on the arbitration unit 111 to obtain an arbitration result, and judge whether the arbitration result is reasonable based on the failure analysis unit 112. If the arbitration result is reasonable, send the reasonable arbitration result to the peripheral domain control module; the peripheral domain control module is connected to the central domain control module 11, and the peripheral domain control module includes a failure detection unit. The peripheral domain control module is configured to receive the reasonable arbitration result and verify the feasibility of the reasonable arbitration result based on the failure detection unit. If the reasonable arbitration result is feasible, send the feasible arbitration result to the corner module control module; the corner module control module is connected to the central domain control module 11 and the peripheral domain control module, and the corner module control module is configured to obtain and execute the feasible arbitration result.

[0030] In this embodiment, the number of central domain control units can be determined based on the actual application conditions of the steer-by-wire chassis domain. For example, the number of central domain control units can be set to 2, 3, 4, 5, etc. Figure 1 Taking three as an example, the steer-by-wire chassis domain provided by the embodiments of the present invention will be described. As Figure 1 shown, the central domain control module 11 includes a first central domain control unit 113, a second central domain control unit 114, and a third central domain control unit 115. The central domain control units in the central domain control module 11 are all connected to the arbitration unit 111.

[0031] Specifically, for the vehicle control instructions obtained from the user or the upper-level assisted driving module, the vehicle control instructions are processed in a heterogeneous parallel manner through each central domain control unit to generate differentiated vehicle control strategies. For example, the first central domain control unit 113 uses model predictive control to generate a dynamic trajectory; the second central domain control unit 114 outputs a conservative braking instruction based on a preset rule library; the third central domain control unit 115 optimizes torque distribution through reinforcement learning.

[0032] The arbitration unit 111 performs weighted averaging on multiple control strategies from the central domain control units based on confidence weights to determine the arbitration result. Alternatively, the arbitration unit 111 determines the arbitration result among multiple control strategies from the central domain control units based on the vehicle state. Among them, the confidence weights can be determined by the historical success rate of the algorithm or the consistency of sensor data. The arbitration unit 111 can use data distribution services to achieve arbitration communication at the microsecond level, which can reduce arbitration latency.

[0033] The failure analysis unit 112 is connected to the arbitration unit 111. The failure analysis unit 112 can judge the rationality of the arbitration result separately through physical rule verification or a data-driven model, or can also judge the rationality of the arbitration result through physical rule verification and a data-driven model at the same time. For example, physical rule verification can be to judge whether the arbitration result is reasonable by whether the maximum lateral acceleration is less than the preset lateral acceleration threshold. Specifically, if the deviation between the steering wheel angle and the predicted value of the yaw rate in the arbitration result > 15%, it is determined that the arbitration result fails.

[0034] The central domain control module 11 sends the reasonable arbitration result to multiple peripheral domain control modules. The number of peripheral domain control modules can also be determined based on the operating conditions of the steer-by-wire chassis domain. The number of peripheral domain control modules can be set to two or four, etc. Figure 1 Taking the number of peripheral domain control modules being set to two as an example, an exemplary description of the steer-by-wire chassis domain of the embodiments of the present invention is given. As Figure 1As shown in the figure, the steer-by-wire chassis domain includes a first peripheral domain control module 12 and a second peripheral domain control module 13. Both the first peripheral domain control module 12 and the second peripheral domain control module 13 can obtain a reasonable arbitration result from the central domain control module 11.

[0035] In this embodiment, the first peripheral domain control module 12 can be used to monitor and control the operating state of the vehicle's front wheels. The first peripheral domain control module 12 includes a first failure detection unit 121. The second peripheral domain control module 13 can be used to monitor and control the operating state of the vehicle's rear wheels. The second peripheral domain control module 13 includes a second failure detection unit 131. The first failure detection unit 121 can perform a feasibility check on the reasonable arbitration result based on the sensor data of the front wheels and the physical limits of the actuators. Similarly, the second failure detection unit 131 can also perform a feasibility check on the reasonable arbitration result based on the sensor data of the rear wheels and the physical limits of the actuators.

[0036] The feasibility check includes at least one of rule check and model check. For example, the rule check can be whether the brake pressure command exceeds the maximum pressure build-up rate of the ESP hydraulic valve, and the model check can be predicting the vehicle state based on the Kalman filter and comparing the expected effect of the command, such as whether the deceleration matches the target value.

[0037] The corner module control module can be determined based on the operating conditions of the steer-by-wire chassis domain. The number of corner module control modules can be set to two or four. In the embodiment of the present invention, taking the number of corner module control modules set to four as an example, the steer-by-wire chassis domain of the embodiment of the present invention is described. As Figure 1 shown in the figure, the steer-by-wire chassis domain includes a first corner module control module 14, a second corner module control module 15, a third corner module control module 16, and a fourth corner module control module 17. After each corner module control module obtains a feasible arbitration result, it executes the feasible arbitration result and transmits the execution result of the feasible arbitration result back to the peripheral and control module and the central domain control module to form a closed-loop control chain for the upper-level module to dynamically adjust the strategy.

[0038] For example, applying the steer-by-wire chassis domain of the embodiment of the present invention to an emergency obstacle avoidance application scenario, the first central domain control unit 113 plans an aggressive obstacle avoidance path, the second central domain control unit 114 generates a conservative braking command, the arbitration unit 111 selects the plan with the lowest overall risk based on the aggressive obstacle avoidance path and the conservative braking command, and the failure analysis unit determines whether the plan with the lowest overall risk is reasonable. If it is reasonable, it is sent to the peripheral domain control module, and the peripheral domain control module performs a secondary check in combination with the sensor data. For example, it excludes the steering over-limit command and sends the secondary check result to the corner module, and the corner module performs precise execution of steering and braking.

[0039] In this way, through multiple central domain control units, heterogeneous parallel processing of vehicle control instructions is carried out to generate differentiated control strategies. The arbitration unit determines the optimal result based on the differentiated control strategies, and the failure analysis unit judges the rationality of the optimal result obtained by arbitration. Then, the feasibility verification of the optimal result is carried out through the failure detection unit in the peripheral domain control module, and the feasible arbitration result that passes the feasibility verification is sent to the corner module control module for execution. In this way, the multi-mode redundancy of the central domain combined with the double verification of the peripheral domain can block the downward transmission of abnormal instructions and improve the reliability of the by-wire chassis domain. At the same time, in the case of a failure of a single central domain control unit, the arbitration unit automatically switches the weight, which can improve the fault tolerance of the entire system and reduce the risk of vehicle traffic accidents.

[0040] In some alternative embodiments, a plurality of corner module control modules are connected to the central domain control module 11 and the peripheral domain control module, including: the plurality of corner module control modules include a first corner module control module 14, a second corner module control module 15, a third corner module control module 16, and a fourth corner module control module 17; the peripheral domain control module includes a first peripheral domain control module 12 and a second peripheral domain control module 13; the first corner module control module 14 is connected to the first peripheral domain control module 12 through a first data transmission channel 21; the first peripheral domain control module 12 is connected to the second corner module control module 15 through the first data transmission channel 21; the second corner module control module 15 is connected to the central domain control module 11 through the first data transmission channel 21; the central domain control module 11 is connected to the fourth corner module control module 17 through the first data transmission channel 21; the fourth corner module control module 17 is connected to the second peripheral domain control module 13 through the first data transmission channel 21; the second peripheral domain control module 13 is connected to the third corner module control module 16 through the first data transmission channel 21; the third corner module control module 16 is connected to the central domain control module 11 through the first data transmission channel 21; the central domain control module 11 is connected to the first corner module control module 14 through the first data transmission channel 21.

[0041] Figure 2 It shows a schematic connection diagram between modules in an embodiment of the present invention. As Figure 2 shown, the green solid lines in the figure are used to represent a data transmission channel established between modules through the first data transmission channel 21. As Figure 2 can be seen, a circular data transmission channel is formed among the first corner module control module 14, the first peripheral domain control module 12, the second corner module control module 15, the central domain control module 11, the fourth corner module control module 17, and the third corner module control module 16.

[0042] As Figure 2In the shown bidirectional ring topology, each node has two communication interfaces. For example, the first corner module control module 14 has a first interface of the first data transmission channel connected to the first peripheral domain control module 12 and a second interface of the first data transmission channel connected to the central domain control module 11. In this way, when a certain line or node fails, data can be transmitted in a detour through the other direction. By fault tolerance through redundant paths, the communication reliability can be improved. At the same time, each node can send and receive data simultaneously, which can improve the bandwidth utilization rate.

[0043] Apply the wire-controlled chassis domain of the embodiment of the present invention to the application scenario of emergency braking instruction transmission. The braking instruction is synchronously transmitted through two paths, clockwise (central domain control module 11 → fourth corner module control module 17 → second peripheral domain control module 13) and counterclockwise (central domain control module 11 → first corner module control module 14 → first peripheral domain control module 12), which can improve the instruction delivery rate and communication reliability. In the multi-node cooperative control scenario, the four-wheel torque distribution instructions are distributed in parallel in the ring network, and the receiving time deviation of each corner module is relatively low, enabling precise synchronous control of the four independent motors. In addition, malicious data packets are intercepted by multi-node verification during ring transmission, and illegal nodes are isolated through heartbeat packet anomaly detection, which can improve the security and stability of the system.

[0044] In some optional embodiments, multiple corner module control modules are connected to the central domain control module 11 and the peripheral domain control module, and further include: the first corner module control module 14 is connected to the central domain control module 11 through the second data transmission channel 31; the first peripheral domain control module 12 is connected to the central domain control module 11 through the second data transmission channel 31; the second corner module control module 15 is connected to the central domain control module 11 through the second data transmission channel 31; the third corner module control module 16 is connected to the central domain control module 11 through the second data transmission channel 31; the second peripheral domain control module 13 is connected to the central domain control module 11 through the second data transmission channel 31; the fourth corner module control module 17 is connected to the central domain control module 11 through the second data transmission channel 31.

[0045] Figure 3 Another schematic diagram showing the connections between modules in the embodiment of the present invention is shown. As Figure 3 shown, the purple solid lines in the figure are used to represent another data transmission channel established between modules through the second data transmission channel 31. As Figure 3 can be seen, a star-shaped data transmission channel is formed between the central domain control module 11 and the first corner module control module 14, the first peripheral domain control module 12, the second corner module control module 15, the fourth corner module control module 17, and the third corner module control module 16.

[0046] The star-shaped data transmission channel enables a single-hop communication path between the central domain control module 11 and each corner module control module or the peripheral domain control module node, which can reduce the end-to-end transmission delay. The central domain control module 11 allocates independent time slots for each node through time division multiple access (TDMA), avoiding bus contention and enabling hard real-time performance. At the same time, the central domain control module 11 uniformly collects all node status information, such as communication quality or load rate, etc., which can realize the global network health assessment and improve the fault diagnosis efficiency.

[0047] In some alternative embodiments, the aforementioned by-wire chassis domain further includes: communicating between the corner module control module and the peripheral domain control module, and between the corner module control module and the central domain control module based on the first data transmission channel; in the case of a failure of the first data transmission channel, communicating between the central domain control module and the corner module control module, and between the central domain control module and the peripheral domain control module based on the second data transmission channel.

[0048] In this embodiment, the by-wire chassis domain can achieve full-link fault tolerance at the communication level through a dual-channel heterogeneous redundant structure. First, the ring-shaped data transmission channel established through the first data transmission channel 21 can transmit highly reliable control instructions. Utilizing the redundant path characteristics of the ring topology, the instruction reachability can still be maintained in the event of a single-channel failure. In addition, the star-shaped data transmission channel established through the second data transmission channel 31 can transmit low-latency large data streams. The star topology provides point-to-point direct connections, which can improve bandwidth utilization.

[0049] In this way, the by-wire chassis domain adopting the dual-channel redundant architecture can achieve a functional safety transition and meet the requirements of the ISO26262 standard.

[0050] In some alternative embodiments, the aforementioned by-wire chassis domain further includes: the first data transmission channel 21 is a Time-Sensitive Network Ethernet (TSN for short), and the second data transmission channel 31 is a Controller Area Network with Flexible Data-Rate (CAN FD for short).

[0051] In this embodiment, adopting TSN Ethernet as the backbone data transmission channel can provide precise time synchronization and low latency guarantee; at the same time, configuring CAN FD as the redundant transmission link can quickly take over data transmission when the backbone data transmission channel fails. Both data transmission channels adopt AES-256 encryption and CRC check technology, which can ensure data integrity and confidentiality at the link and network levels.

[0052] In this way, the TSN Ethernet serves as the main transmission channel and is equipped with a CAN FD backup link. Data security transmission is achieved through AES-256 encryption and CRC check, which can meet the requirements of high real-time performance and high reliability. At the same time, through the dual-channel heterogeneous architecture of TSN Ethernet and CAN FD, and the complementary advantages at the protocol layer, the collaborative optimization of high real-time control and high-reliable redundancy is realized, and the transmission of high real-time performance and data security can be achieved.

[0053] Figure 4 The structural schematic diagram of the corner module control module according to the embodiment of the present invention is shown. As Figure 4 shown, in some optional embodiments, the corner module control module 41 includes a corner module controller 42, multiple sensors, a driving unit 43, a braking unit 44, a steering unit 45, a suspension unit 46, a first control circuit 47, and a second control circuit 48. Among them, the multiple sensors are connected to the corner module controller through a third data transmission channel; the driving unit, the braking unit, the steering unit, and the suspension unit are connected to the corner module controller; the corner module controller controls at least one of the following units, namely, the driving unit, the braking unit, the steering unit, and the suspension unit, through the first control circuit or the second control circuit.

[0054] In this embodiment, the multiple sensors may include an inertial measurement unit (IMU) sensor 401, a tire rotation speed sensor 402, a first temperature sensor 403 for detecting the temperature of the driving motor, a driving motor rotation speed sensor 404 for detecting the rotation speed of the driving motor, a driving motor torque sensor 405 for detecting the torque of the driving motor, a second temperature sensor 406 for detecting the temperature of the braking motor, a braking motor rotation speed sensor 407 for detecting the rotation speed of the braking motor, a braking clamping force sensor 408 for detecting the braking clamping force, a brake disc temperature sensor 409 for detecting the temperature of the brake disc, a third temperature sensor 410 for detecting the temperature of the steering motor, a rotor angle sensor 411 for detecting the rotor angle of the steering motor, a steering motor end angle sensor 412 for detecting the end angle of the steering motor, an actuator position sensor 413 for detecting the position of the suspension motor actuator, a suspension motor temperature sensor 414 for detecting the temperature of the suspension motor, a thrust sensor 415 for detecting the thrust of the suspension motor, and a suspension height sensor 416 for detecting the suspension height, etc.

[0055] Each corner module control module includes the aforementioned multiple sensors. The aforementioned multiple sensors are all connected to the corner module controller through sensing communication lines. In each corner module control module, the drive unit, brake unit, steering unit, and suspension unit all integrate independent sensor data fusion and redundancy control strategies. In the case of detecting the failure of a single corner module control module, it automatically switches to the backup module, which can ensure that the vehicle is in a controllable state.

[0056] Based on the structure of modular connection of four independent corner module control modules and the load-bearing chassis, each corner module control module highly integrates the functions of driving, steering, braking, and suspension. Each corner module control module is equipped with a corner module controller. Peripheral domain control modules are provided at the front and rear "virtual axles" of the whole vehicle. At the same time, the behavior of the whole vehicle is controlled by the central domain control module.

[0057] The sensors provided in each corner module control module are also connected to the peripheral domain control module to transmit sensor data to the peripheral domain control module. The first failure detection unit 121 or the second failure detection unit 131 can, when verifying the feasibility of a reasonable arbitration result, combine the sensor data to verify the feasibility of the reasonable arbitration result. In this way, multi-dimensional cross-verification can be achieved, which can improve the coverage of failure modes.

[0058] In this way, by integrating the drive, brake, steering, and suspension devices into a single corner module control module, the device-driven chassis architecture in the related technology is reconstructed. The chassis domain can be modularly modeled and organized according to the actual functions, and a new distributed drive-by-wire chassis domain architecture can be obtained.

[0059] At the same time, a multi-level degradation strategy can be adopted. The first-level degradation can be to switch to redundant sensors and alarm in the case of sensor failure; the second-level degradation can be to adjust the control algorithm in the case of failure of the drive unit, brake unit, steering unit, or suspension unit; the third-level degradation can be to enable the safety mode in the case of communication interruption.

[0060] In some alternative embodiments, the peripheral domain control module further includes: a first controller unit; a first control unit for controlling the operation of the corner module control module based on a preset table when a reasonable arbitration result is not feasible; the preset table includes at least one of the following, a preset control parameter table, a fault response strategy table, an actuator safety boundary table, a dynamic state cache table, and a communication protocol mapping table.

[0061] In this embodiment, a preset control parameter table is provided, including basic control parameters and dynamic compensation parameters. Among them, the basic control parameters include a steering angle-vehicle speed mapping table, a braking pressure-deceleration curve, etc.; the dynamic compensation parameters include a road surface adhesion coefficient correction factor or a load distribution coefficient, etc. Based on the preset control parameter table, it can be ensured that when there is no main control data input, the first controller can generate conservative control instructions based on the vehicle's basic physical model.

[0062] The fault response strategy table includes a fault code-action mapping and a degradation mode priority list; the fault response rules can be defined according to vehicle safety standards to achieve fast mode switching. The actuator safety boundary table includes the maximum angular velocity of steer-by-wire or the torque limit of the drive motor; it can prevent the first controller's instructions from exceeding the physical limits of the actuator. The actuator includes a drive unit, a braking unit, a steering unit, and a suspension unit.

[0063] The dynamic state cache table includes the last valid instruction of the main controller or the historical data of the sensor, etc.; it can achieve hot synchronization of the data between the primary and backup controllers and support smooth switching. The communication protocol mapping table includes a signal verification algorithm or a signal parsing rule, etc.; it can ensure that the first controller can correctly parse the bus data and prevent misoperations caused by protocol incompatibility.

[0064] In this way, by setting the backup controller in the peripheral domain control module, that is, the first controller, the probability of systemic failure can be reduced, and the stability and reliability of the system can be improved.

[0065] In some alternative embodiments, the steer-by-wire chassis domain provided by the embodiments of the present invention further includes a dual power supply and a dual control unit (MCU). Combining the multi-channel actuator redundancy design of the foregoing multiple corner module control modules can ensure that the steer-by-wire chassis domain can still operate stably in the case of a single-point failure. At the same time, the overall design of the steer-by-wire chassis domain meets the requirements of ISO26262, ISO 21434, SOTIF, and electromagnetic compatibility, and can constitute a full-life-cycle safety guarantee system.

[0066] In the hardware redundancy design, a dual power supply scheme (dual batteries and UPS circuit) is adopted to ensure that the system can quickly switch to the backup power supply when any power supply fails; the central domain control unit adopts a heterogeneous MCU design, and the Byzantine fault tolerance algorithm is used to achieve multi-channel data arbitration; in terms of the actuator, each subsystem (braking, steering, driving, suspension) is equipped with a primary and a backup actuator, and combined with an independent sensor fusion module. When the primary mechanism is abnormal, the system automatically switches to the backup mechanism to ensure that the vehicle is always in a controlled state.

[0067] By adopting a dual power supply (such as dual batteries and UPS circuit), heterogeneous dual MCUs, and multi-channel actuator redundancy, it can be ensured that the system remains stable in the case of a single-point failure.

[0068] An embodiment of a method for wire-controlled chassis domain control is provided by the present invention. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0069] In this embodiment, a method for wire-controlled chassis domain control is provided, which can be used for the application of high-level autonomous driving in new energy vehicles. For example, it is applicable to the application of L4 and L5 levels of autonomous driving in new energy vehicles. Figure 5 The flowchart of the method for wire-controlled chassis domain control according to the embodiment of the present invention is shown, as Figure 5 shown, the process includes the following steps:

[0070] Step S501, obtain a vehicle control instruction, process the vehicle control instruction based on each central domain control unit to obtain multiple control strategies, perform arbitration processing on the multiple control strategies to obtain an arbitration result, and determine whether the arbitration result is reasonable.

[0071] In this step, for the obtained vehicle control instruction from the user or the upper-level assisted driving module, the vehicle control instruction is processed in a heterogeneous parallel manner through each central domain control unit to generate differentiated vehicle control strategies. The arbitration unit 111 performs weighted averaging on the multiple control strategies from the central domain control unit based on the confidence weight to determine the arbitration result. Or, the arbitration unit 111 determines the arbitration result among the multiple control strategies from the central domain control unit based on the vehicle state. The failure analysis unit 112 is connected to the arbitration unit 111. The failure analysis unit 112 can judge the reasonableness of the arbitration result alone through physical rule verification or a data-driven model, or can also judge the reasonableness of the arbitration result through physical rule verification and a data-driven model at the same time.

[0072] Step S502, if the arbitration result is reasonable, check whether the reasonable arbitration result is feasible. If the reasonable arbitration result is feasible, execute the feasible arbitration result.

[0073] In this step, the central domain control module 11 sends the reasonable arbitration result to multiple peripheral domain control modules. Perform feasibility verification on the reasonable arbitration result. The feasibility verification includes at least one of rule verification and model verification. After each corner module control module obtains the feasible arbitration result, it executes the feasible arbitration result and returns the execution result of the feasible arbitration result to the peripheral and control module and the central domain control module to form a closed-loop control chain for the upper-level module to dynamically adjust the strategy.

[0074] The method for wire-controlled chassis domain control provided in this embodiment heterogeneous parallel processes vehicle control instructions through multiple central domain control units to generate differentiated control strategies, determines the optimal result based on the differentiated control strategies, judges the rationality of the optimal result obtained through arbitration, then performs a feasibility check on the optimal result, and sends the feasible arbitration result that passes the feasibility check to the corner module control module for execution; in this way, the multi-mode redundancy of the central domain combined with the double verification of the peripheral domain can block the downward transmission of abnormal instructions, improving the reliability of the wire-controlled chassis domain; at the same time, in the case of a single central domain control unit failure, the arbitration unit automatically switches the weight, which can improve the fault tolerance of the entire system and reduce the risk of vehicle traffic accidents.

[0075] In some alternative embodiments, the aforementioned method for wire-controlled chassis domain control further includes, if the reasonable arbitration result is not feasible, running the vehicle control instruction based on the safety mode: the reasonable arbitration result not being feasible includes at least one of the following situations, sensor data conflict, communication data anomaly, and logic rule violation; if the above situations occur, control the corner module control module to run based on the first controller unit.

[0076] In this embodiment, sensor data conflict includes that multi-source data such as wheel speed, steering angle, IMU, etc. exceed physical constraints, for example, yaw rate > road surface adhesion limit. Communication data anomaly includes that the main controller instruction is periodically lost or the check code is incorrect, etc. Logic rule violation includes that braking and acceleration instructions are activated simultaneously, the steering angle does not match the vehicle speed, etc.

[0077] If at least one of sensor data conflict, communication data anomaly, and logic rule violation occurs, the corner module control module can be controlled to run based on the first controller unit.

[0078] In this way, the probability of systemic failure can be reduced, and the stability and reliability of the system can be improved.

[0079] In some alternative embodiments, based on the multi-channel data arbitration and automatic degradation control strategy of the Byzantine fault tolerance algorithm, the control strategy can be switched, and it can be switched to the minimum risk mode. In the case of a single central domain control unit failure, the normal operation of the wire-controlled chassis domain can still be ensured. The central domain control module can centrally receive and process data from each sensor, and can implement decision distribution through a redundancy algorithm. Redundant design and automatic degradation control can be performed on the power supply, central domain control unit, and corner module control module based on a multi-layer security strategy.

[0080] In the hierarchical control logic, the central domain control module includes an execution layer, a decision-making layer, a collaborative control layer, and a cloud collaborative layer, which not only realizes centralized decision-making but also ensures distributed execution, improving the global collaborative response ability. Among them, the execution layer directly controls each physical actuator, adopts a real-time operating system (RTOS) with dual MCU redundancy, and has an extremely short response time; the decision-making layer realizes the dynamic adjustment of the vehicle based on multi-sensor data and using PID and fuzzy control algorithms; the collaborative control layer realizes cross-module information sharing and joint decision-making of subsystems such as braking, steering, and driving; the cloud collaborative layer realizes data interaction with external platforms and global path planning through V2X and wireless communication. At the same time, the system integrates an automatic degradation control strategy. When a key module is detected to be abnormal, it immediately switches to the minimum risk mode to ensure that the vehicle can still maintain basic safety control under non-ideal conditions, and records detailed logs through a real-time fault monitoring module for subsequent diagnosis and maintenance.

[0081] In the full-life cycle safety design, systematic fault tree analysis (FTA) is carried out, and Watchdog, memory protection, and ECC verification are introduced in the hardware; multiple error detection and recovery mechanisms are set in the software; at the same time, at the communication level, a multi-level security protection network is constructed through encryption protocols such as MACsec and IPsec and measures such as VLAN and physical isolation.

[0082] In software redundancy and automatic degradation, a multi-channel data arbitration mechanism based on the Byzantine fault tolerance algorithm is used. When a key module is detected to be abnormal, it quickly switches to the minimum risk mode and synchronously records the fault log to provide a basis for subsequent fault diagnosis.

[0083] The actuators in the drive-by-wire chassis domain adopt corner module control modules. Each corner module control module can independently realize the functions of driving, steering, braking, and suspension. The chassis' motion control of the whole vehicle is realized by the distributed control of the central domain control module over four corner module control modules. The underlying motion behavior of a single corner module control module is realized by the corner module controller inside the single corner module control module. The corner module control module includes braking, steering, driving, and suspension subsystems, and each subsystem is set with a primary and backup redundancy mechanism, which can realize fault self-diagnosis and automatic switching.

[0084] The central domain control module includes an automatic degradation control strategy and a real-time fault monitoring module. When a key module is detected to be abnormal, it automatically switches to the minimum risk mode and records detailed fault logs to assist subsequent maintenance.

[0085] In this way, reliable chassis control can be achieved through the collaborative optimization of software and hardware.

[0086] In this embodiment, a device for wire-controlled chassis domain control is also provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be elaborated again. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0087] This embodiment provides a device for wire-controlled chassis domain control. Figure 6 The structural schematic diagram of the device for wire-controlled chassis domain control according to the embodiment of the present invention is shown. As Figure 6 shown, the device for wire-controlled chassis domain control according to the embodiment of the present invention includes:

[0088] A judgment module 601, configured to obtain a vehicle control instruction, process the vehicle control instruction based on each central domain control unit to obtain a plurality of control strategies, perform arbitration processing on the plurality of control strategies to obtain an arbitration result, and judge whether the arbitration result is reasonable.

[0089] A verification module 602, configured to, if the arbitration result is reasonable, verify whether the reasonable arbitration result is feasible, and if the reasonable arbitration result is feasible, execute the feasible arbitration result.

[0090] In some alternative implementation manners, the aforementioned device for wire-controlled chassis domain control further includes:

[0091] A control module, configured to, if the reasonable arbitration result is not feasible, run the vehicle control instruction based on a safety mode: the situation where the reasonable arbitration result is not feasible includes at least one of the following: sensor data conflict, communication data anomaly, and logic rule violation; if the foregoing situation occurs, control the control module of the angle module to run based on the first controller unit.

[0092] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0093] The device for wire-controlled chassis domain control in this embodiment is presented in the form of functional units. Here, the unit refers to an application specific integrated circuit (ASIC) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0094] The embodiment of the present invention also provides a computer device having the above-mentioned Figure 6 device for wire-controlled chassis domain control.

[0095] Figure 7Another schematic diagram of the steer-by-wire chassis domain structure according to an embodiment of the present invention is shown. As Figure 7 shown, the central domain control module includes a central domain control unit CdU1, a central domain control unit CdU2, and a central domain control unit CdU3. The aforementioned central domain control units are connected to an arbitration unit Arbiter, and the arbitration unit Arbiter is connected to a failure analysis system. A reasonable arbitration result obtained based on the failure analysis system is sent to the peripheral domain control unit PdU. Through a failure detection unit FdU provided in the peripheral domain control unit PdU, the feasibility of the reasonable arbitration result is verified. If the reasonable arbitration result is feasible, the feasible arbitration result is sent to the corner module control module. Based on Figure 7 the failure detection unit FdU in, which represents the failure detection unit.

[0096] Among them, the corner module control module includes a corner module controller ECU, a control circuit 1, a control circuit 2, various sensors, an execution unit, and an execution device. Based on Figure 7 the in-vehicle Ethernet gateway in, that is Figure 7 the double yellow line in represents the first data transmission channel. Based on Figure 7 the communication CANBUS backup in, that is Figure 7 the purple line in represents the second data transmission channel. Based on Figure 7 the sensing communication line in, that is Figure 7 the green line in represents the third data transmission channel.

[0097] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a computer device provided by an optional embodiment of the present invention. As Figure 8 shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of a graphical user interface on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 8 In

[0098] The processor 10 may be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 may further include a hardware chip. The above-mentioned hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device may be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0099] Among them, the aforementioned memory 20 stores instructions that can be executed by at least one processor 10, so that the aforementioned at least one processor 10 executes the method shown in the above embodiments.

[0100] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the computer device and the like. In addition, the memory 20 may include a high-speed random access memory, and may further include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The memory 20 may include a volatile memory, for example, a random access memory; the memory may also include a non-volatile memory, for example, a flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above-mentioned types of memories.

[0102] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means, Figure 7 Taking the connection through the bus as an example.

[0103] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (for example, a light emitting diode), and a tactile feedback device (for example, a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0104] The embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0105] A part of the present invention can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present invention can be invoked or provided. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible by the computer.

[0106] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A wire-controlled chassis domain, characterized in that, Comprising: A central domain control module, a plurality of peripheral domain control modules, and a plurality of corner module control modules; The central domain control module includes an arbitration unit, a failure analysis unit, and a plurality of central domain control units. The central domain control module is configured to obtain a vehicle control instruction, process the vehicle control instruction based on the plurality of central domain control units to obtain a plurality of control strategies, perform arbitration processing on the plurality of control strategies based on the arbitration unit to obtain an arbitration result, and determine whether the arbitration result is reasonable based on the failure analysis unit. If the arbitration result is reasonable, send the reasonable arbitration result to the peripheral domain control module; The peripheral domain control module is connected to the central domain control module. The peripheral domain control module includes a failure detection unit. The peripheral domain control module is configured to receive the reasonable arbitration result, verify the feasibility of the reasonable arbitration result based on the failure detection unit. If the reasonable arbitration result is feasible, send the feasible arbitration result to the corner module control module; The corner module control module is connected to the central domain control module and the peripheral domain control module. The corner module control module is configured to obtain and execute the feasible arbitration result.

2. The by-wire chassis domain according to claim 1, characterized in that The plurality of corner module control modules are connected to the central domain control module and the peripheral domain control module, and include: The plurality of corner module control modules include a first corner module control module, a second corner module control module, a third corner module control module, and a fourth corner module control module; The peripheral domain control module includes a first peripheral domain control module and a second peripheral domain control module; The first corner module control module is connected to the first peripheral domain control module through a first data transmission channel; the first peripheral domain control module is connected to the second corner module control module through the first data transmission channel; the second corner module control module is connected to the central domain control module through the first data transmission channel; the central domain control module is connected to the fourth corner module control module through the first data transmission channel; the fourth corner module control module is connected to the second peripheral domain control module through the first data transmission channel; the second peripheral domain control module is connected to the third corner module control module through the first data transmission channel; the third corner module control module is connected to the central domain control module through the first data transmission channel; the central domain control module is connected to the first corner module control module through the first data transmission channel.

3. The by-wire chassis domain according to claim 2, characterized in that The plurality of corner module control modules are connected to the central domain control module and the peripheral domain control module, and further include: The first corner module control module is connected to the central domain control module through a second data transmission channel; the first peripheral domain control module is connected to the central domain control module through the second data transmission channel; the second corner module control module is connected to the central domain control module through the second data transmission channel; the third corner module control module is connected to the central domain control module through the second data transmission channel; the second peripheral domain control module is connected to the central domain control module through the second data transmission channel; the fourth corner module control module is connected to the central domain control module through the second data transmission channel.

4. The steer-by-wire chassis domain according to claim 3, wherein It further includes: Based on the first data transmission channel, communication is performed between the corner module control module and the peripheral domain control module, and between the corner module control module and the central domain control module. In the case of a failure of the first data transmission channel, communication is performed between the central domain control module and the corner module control module, and between the central domain control module and the peripheral domain control module based on the second data transmission channel.

5. The wire-controlled chassis domain according to claim 3, characterized in that, It further includes: The first data transmission channel is a time-sensitive network Ethernet, and the second data transmission channel is a controller area network with variable bit rate.

6. The steer-by-wire chassis domain according to any one of claims 1 to 5, characterized in that The corner module control module includes a corner module controller, multiple sensors, a drive unit, a braking unit, a steering unit, a suspension unit, a first control circuit, and a second control circuit; Among them, the multiple sensors are connected to the corner module controller through a third data transmission channel; The drive unit, the braking unit, the steering unit, and the suspension unit are connected to the corner module controller; The corner module controller controls at least one of the following units, the drive unit, the braking unit, the steering unit, and the suspension unit, through the first control circuit or the second control circuit.

7. The steer-by-wire chassis domain according to claim 1, characterized in that The peripheral domain control module further includes: a first controller unit; The first control unit is used to control the operation of the corner module control module based on a preset table in the case where the reasonable arbitration result is not feasible; The preset table includes at least one of the following, a preset control parameter table, a fault response strategy table, an actuator safety boundary table, a dynamic state cache table, and a communication protocol mapping table.

8. A method for in-wireless-chassis domain control, characterized in that, The method includes: Obtain a vehicle control instruction, process the vehicle control instruction based on each central domain control unit to obtain multiple control strategies, perform arbitration processing on the multiple control strategies to obtain an arbitration result, and determine whether the arbitration result is reasonable; If the arbitration result is reasonable, verify whether the reasonable arbitration result is feasible. If the reasonable arbitration result is feasible, execute the feasible arbitration result.

9. The method for wire-controlled chassis domain control according to claim 8, wherein, It further includes that if the reasonable arbitration result is not feasible, run the vehicle control instruction based on a safety mode: The situations where the reasonable arbitration result is not feasible include at least one of the following, sensor data conflict, communication data anomaly, and logic rule violation; If such a situation occurs, control the operation of the corner module control module based on the first controller unit.

10. A computer device, characterized in that, It includes: A memory and a processor, which are communicatively connected to each other. Computer instructions are stored in the memory, and the processor executes the computer instructions to execute the method for steer-by-wire chassis domain control according to claim 8 or 9.

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