Integrated control framework of in-vehicle road noise active silencing system and electric control suspension system

Abstract

The invention relates to an integrated control framework of an in-vehicle road noise active silencing system and an electric control suspension system, the framework comprises a control layer, the control layer is connected with a whole vehicle end, a driver input module and an environment input module, the control layer comprises a whole vehicle state estimation-measurement signal input layer, a cooperative control layer and an actuator physical layer, a first output end of the driver input module is connected with the whole vehicle state estimation-measurement signal input layer, a second output end of the environment input module is connected with the whole vehicle state estimation-measurement signal input layer, and a third output end of the whole vehicle state estimation-measurement signal input layer is connected with the cooperative control layer. The fourth output end of the cooperative control layer is connected with the actuator physical layer, and the fifth output end of the actuator physical layer is connected with the whole vehicle end. Compared with the prior art, the method has the advantages that the tampering area positioning precision and robustness are enhanced, and the like.

Description

Technical Field

[0001] The present invention relates to the technical fields of vehicle active noise reduction and vehicle chassis dynamics control, and particularly relates to an integrated control architecture for an in-vehicle road noise active cancellation system and an electronically controlled suspension system. Background Art

[0002] Under the background of the rapid development of intelligent driving and intelligent cockpits, electronically controlled suspensions that can significantly improve the ride comfort and ground safety of vehicles have become the focus of technological competition. At the same time, active control of in-vehicle road noise has become a research and development hotspot due to its excellent noise cancellation effect in the low-frequency band and high integration with in-vehicle sound field intelligent management. The installation rates of both in-vehicle road noise active cancellation systems and electronically controlled suspension systems are increasing rapidly, and the coexistence of the two in vehicles in the future has become an inevitable trend.

[0003] Road surface unevenness, as an excitation source, through the transmission path composed of the tire and suspension systems, stimulates vehicle vibrations and in-vehicle road noise problems. From the generation mechanism and transmission path of in-vehicle vibration and noise problems, the electronically controlled suspension system and the in-vehicle road noise active cancellation system are strongly coupled and closely related. However, currently, these two systems operate in independent architectures, which not only increases additional sensor devices and development costs but also restricts the collaborative work between the electronically controlled suspension system and the road noise control system. Summary of the Invention

[0004] The purpose of the present invention is to provide an integrated control architecture for an in-vehicle road noise active cancellation system and an electronically controlled suspension system, which solves the problems of sensor redundancy, high development costs, and inability to achieve collaborative control caused by the independence of the two systems in the prior art.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An integrated control architecture for an in-vehicle road noise active cancellation system and an electronically controlled suspension system, the architecture includes a control layer, the control layer is connected to the vehicle end, the driver input module, and the environment input module. The control layer includes a vehicle state estimation-measurement signal input layer, a collaborative control layer, and an actuator physical layer. The first output end of the driver input module is connected to the vehicle state estimation-measurement signal input layer, the second output end of the environment input module is connected to the vehicle state estimation-measurement signal input layer, the third output end of the vehicle state estimation-measurement signal input layer is connected to the collaborative control layer, the fourth output end of the collaborative control layer is connected to the actuator physical layer, and the fifth output end of the actuator physical layer is connected to the vehicle end;

[0007] The output end of the vehicle end is connected to the first input end of the vehicle state estimation-measurement signal input layer and the second input end of the collaborative control layer, and the sixth output end of the actuator physical layer is connected to the second input end.

[0008] Further, the vehicle state estimation - measurement signal input layer includes a suspension estimation - measurement signal module and a noise cancellation estimation - measurement signal module. The output of the suspension estimation - measurement signal module, the third output terminal of the vehicle state estimation - measurement signal input layer is divided into the third - one output terminal of the suspension estimation - measurement signal module and the third - two output terminal of the noise cancellation estimation - measurement signal module.

[0009] Further, the coordinated control layer includes an electronic control suspension controller and an in - vehicle road noise active noise cancellation controller. The second input terminal of the coordinated control layer is divided into the input terminal of the electronic control suspension controller and the input terminal of the in - vehicle road noise active noise cancellation controller. The fourth output terminal of the coordinated control layer is divided into the fourth - one output terminal of the electronic control suspension controller and the fourth - two output terminal of the in - vehicle road noise active noise cancellation controller.

[0010] The third - one output terminal of the suspension estimation - measurement signal module is connected to the electronic control suspension controller, and the third - two output terminal of the noise cancellation estimation - measurement signal module is connected to the in - vehicle road noise active noise cancellation controller.

[0011] Further, the actuator physical layer includes a suspension actuator and an active noise cancellation actuator. Both the suspension actuator and the active noise cancellation actuator are connected to the sixth output terminal of the actuator physical layer. The fourth - one output terminal of the electronic control suspension controller is connected to the suspension actuator, and the fourth - two output terminal of the in - vehicle road noise active noise cancellation controller is connected to the active noise cancellation actuator. The fifth output terminal of the actuator physical layer is divided into the fifth - one output terminal of the suspension actuator and the fifth - two output terminal of the active noise cancellation controller.

[0012] Further, the coordinated control layer further includes a coordinated strategy module.

[0013] Further, the fourth - one output terminal and the fourth - two output terminal are connected to the coordinated strategy module. The first coordinated strategy output terminal of the coordinated strategy module is connected to the suspension actuator, and the second coordinated strategy output terminal of the coordinated strategy module is connected to the active noise cancellation actuator.

[0014] Further, the coordinated control layer further includes a main controller.

[0015] Further, the third - one output terminal and the third - two output terminal are connected to the main controller, and the output terminal of the main controller is connected to the electronic control suspension controller and the in - vehicle road noise active noise cancellation controller.

[0016] Further, the coordinated control layer is a central multivariable controller.

[0017] Further, the driver input module includes driving mode, steering intention, acceleration intention, and braking intention. The environment input module includes road condition information and external interference information.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] Through the integrated control architecture, the present invention integrates the control of the in-vehicle road noise active noise cancellation system and the electronic control suspension system within the same control system, realizing the integration of vehicle suspension control and noise control systems, reducing the number of sensors, lowering the development cost, and providing an architectural basis for the collaborative work of the in-vehicle road noise active noise cancellation and the electronic control suspension under one control framework, improving the collaborative efficiency and overall performance of the system, thereby achieving a collaborative improvement in in-vehicle vibration and noise comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the integrated control architecture of the in-vehicle road noise active noise cancellation system and the electronic control suspension system according to the present invention;

[0021] Figure 2 Schematic diagram of the first embodiment of the integrated control architecture of the in-vehicle road noise active noise cancellation system and the electronic control suspension system according to the present invention, where the architecture in the figure is a parallel architecture;

[0022] Figure 3 Schematic diagram of the second embodiment of the integrated control architecture of the in-vehicle road noise active noise cancellation system and the electronic control suspension system according to the present invention, where the architecture in the figure is a distributed collaborative architecture;

[0023] Figure 4 Schematic diagram of the third embodiment of the integrated control architecture of the in-vehicle road noise active noise cancellation system and the electronic control suspension system according to the present invention, where the architecture in the figure is a centralized collaborative architecture.

[0024] Figure 5 Schematic diagram of the fourth embodiment of the integrated control architecture of the in-vehicle road noise active noise cancellation system and the electronic control suspension system according to the present invention, where the architecture in the figure is a supervisory collaborative architecture;

[0025] In the figure, vehicle end 1, control layer 2, driver input module 3, environment input module 4, first output end 5, second output end 6, first input end 7, second input end 8, sixth output end 9, vehicle state estimation - measurement signal input layer 21, collaborative control layer 22, actuator physical layer 23, suspension estimation - measurement signal module 211, noise cancellation estimation - measurement signal module 212, third output end 24, third one output end 241, third two output end 242, electronic control suspension controller 221, in-vehicle road noise active noise cancellation controller 222, fourth output end 25, fourth one output end 251, fourth two output end 252, suspension actuator 231, active noise cancellation actuator 232, fifth output end 26, fifth one output end 261, fifth two output end 262, first collaborative strategy output end 271, second collaborative strategy output end 272, main controller 2231. Detailed Implementation Modes

[0026] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0027] The present invention proposes an integrated control architecture for an in-vehicle road noise active cancellation system and an electronic control suspension system. The architecture includes a control layer 2, and the control layer 2 is connected to the vehicle end 1, the driver input module 3, and the environment input module 4. The control layer 2 includes a vehicle state estimation-measurement signal input layer 21, a cooperative control layer 22, and an actuator physical layer 23. The first output end 5 of the driver input module 3 is connected to the vehicle state estimation-measurement signal input layer 21, the second output end 6 of the environment input module 4 is connected to the vehicle state estimation-measurement signal input layer 21, the third output end 24 of the vehicle state estimation-measurement signal input layer 21 is connected to the cooperative control layer 22, the fourth output end 25 of the cooperative control layer 22 is connected to the actuator physical layer 23, and the fifth output end 26 of the actuator physical layer 23 is connected to the vehicle end 1;

[0028] The output end of the vehicle end 1 is connected to the first input end 7 of the vehicle state estimation-measurement signal input layer 21 and the second input end 8 of the cooperative control layer 22, and the sixth output end 9 of the actuator physical layer 23 is connected to the second input end 8.

[0029] The vehicle state estimation-measurement signal input layer 21 includes a suspension estimation-measurement signal module 211 and a noise cancellation estimation-measurement signal module 212. The output of the suspension estimation-measurement signal module 211, the third output end 24 of the vehicle state estimation-measurement signal input layer 21 is divided into a first third output end 241 of the suspension estimation-measurement signal module 211 and a second third output end 242 of the noise cancellation estimation-measurement signal module 212.

[0030] The cooperative control layer 22 includes an electronic control suspension controller 221 and an in-vehicle road noise active cancellation controller 222. The second input end 8 of the cooperative control layer 22 is divided into the input end of the electronic control suspension controller 221 and the input end of the in-vehicle road noise active cancellation controller 222. The fourth output end 25 of the cooperative control layer 22 is divided into a first fourth output end 251 of the electronic control suspension controller 221 and a second fourth output end 252 of the in-vehicle road noise active cancellation controller 222.

[0031] The first third output end 241 of the suspension estimation-measurement signal module 211 is connected to the electronic control suspension controller 221, and the second third output end 242 of the noise cancellation estimation-measurement signal module 212 is connected to the in-vehicle road noise active cancellation controller 222.

[0032] The actuator physical layer 23 includes a suspension actuator 231 and an active noise cancellation actuator 232. Both the suspension actuator 231 and the active noise cancellation actuator 232 are connected to the sixth output terminal 9 of the actuator physical layer 23. The forty-first output terminal 251 of the electronic control suspension controller 221 is connected to the suspension actuator 231, and the forty-second output terminal 252 of the in-vehicle road noise active noise cancellation controller 222 is connected to the active noise cancellation actuator 232. The fifth output terminal 26 of the actuator physical layer 23 is divided into a fifty-first output terminal 261 of the suspension actuator 231 and a fifty-second output terminal 262 of the active noise cancellation controller 222.

[0033] The collaborative control layer 22 further includes a collaborative strategy module 223.

[0034] The forty-first output terminal 251 and the forty-second output terminal 252 are connected to the collaborative strategy module 223. The first collaborative strategy output terminal 271 of the collaborative strategy module 223 is connected to the suspension actuator 231, and the second collaborative strategy output terminal 272 of the collaborative strategy module 223 is connected to the active noise cancellation actuator 232.

[0035] The collaborative control layer 22 further includes a main controller 2231.

[0036] The thirty-first output terminal 241 and the thirty-second output terminal 242 are connected to the main controller 2231. The output terminal of the main controller 2231 is connected to the electronic control suspension controller 221 and the in-vehicle road noise active noise cancellation controller 222.

[0037] The collaborative control layer 22 is a central multivariable controller.

[0038] As Figure 1 shown, in some embodiments of the present application, the present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronically controlled suspension system, including a vehicle state estimation-measurement signal input layer 21, a collaborative control layer 22, and an actuator physical layer 23. Figure 1 The common structure implementation is described in detail. According to the different forms of the collaborative control layer 22, the specific implementations are described separately under different architectures.

[0039] Further, the estimation-measurement signal input layer is used to receive relevant signals 5 and 6 from driver input and environmental input. The driver input signal includes, but is not limited to, driving mode, steering intention, acceleration intention, and braking intention. The environmental input signal includes, but is not limited to, road condition information and external interference information. Among them, the external interference information refers to interference factors such as incoherent noise and secondary path changes that affect the in-vehicle road noise control effect. The estimation-measurement signal input layer collects vehicle operation state data and environmental data through a variety of sensors and generates an estimated value of the vehicle state in combination with an estimation algorithm.

[0040] Further, the actuator physical layer 23 includes an electronically controlled suspension actuator, an in-vehicle road noise active noise cancellation system actuator, and their respective sub-controllers. Among them, the electronically controlled suspension controller sends control signals to the suspension sub-controller to adjust the operating state of the electronically controlled suspension actuator. The electronically controlled suspension actuator can adopt the following types: including but not limited to hydraulic adjustable shock absorbers, magnetorheological shock absorbers, linear motor actuators, and active hydraulic actuators, which optimize the vehicle dynamic performance by adjusting the damping and stiffness of the suspension system in real time. The in-vehicle road noise active noise cancellation system actuator is usually composed of one or more noise reduction speakers installed in the vehicle. The noise reduction speakers are arranged in the headrest area or the ceiling, and generate noise reduction waves according to the instructions of the active noise cancellation controller to cancel the low-frequency noise generated by road surface excitation and vehicle vibration noise.

[0041] Further, the operating state of the actuator physical layer (the fifth output terminal 26) is transmitted to the vehicle end 1, and the vehicle system responds to the suspension state and in-vehicle noise condition in real time. At the same time, the operating state information of the actuator (the sixth output terminal 9) is transmitted to the control layer 22 as a feedback signal for the sub-controller of the actuator, which is used for the lower-level closed-loop control of the actuator. In addition, the vehicle end state signal (the second input terminal 8) is fed back to the control layer for the upper-level closed-loop control of the actuator.

[0042] As Figure 2 shown, in some embodiments of the present application, the present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronically controlled suspension system. The architecture shown in the figure is a parallel architecture, including an estimation-measurement signal input layer 21, a cooperative control layer 22, and an actuator physical layer 23.

[0043] In the input layer 21, the in-vehicle road noise active noise cancellation system and the electronically controlled suspension system can communicate using networks such as CAN, LIN, and FlexRay to share some key sensing information or / and state estimation information 5, 6, including but not limited to sprung mass acceleration signals, unsprung mass acceleration signals, and suspension dynamic deflection signals. The input layer 21 transmits the obtained measurement signals and the vehicle state information (the third one output terminal 241, the third two output terminal 242) generated based on the estimation algorithm to the control layer 22. The cooperative control layer includes an electronically controlled suspension controller 221 and an in-vehicle road noise active noise cancellation controller 222. In the parallel architecture, the electronically controlled suspension controller and the in-vehicle road noise active noise cancellation controller work independently to achieve their independently designed control objectives, and respectively send control signals to the suspension actuator 231 and the active noise cancellation actuator 232 of the corresponding actuator physical layer.

[0044] In a parallel architecture, the road noise control system and the suspension control system operate independently, and both are managed by independent electronic control units (ECUs). This architecture can reduce the number of sensors and lower the computational load.

[0045] As Figure 3 shown, in some embodiments of the present application, the present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronically controlled suspension system. The architecture shown in the figure is a distributed collaborative architecture, including an estimation-measurement signal input layer 21, a collaborative control layer 22 containing collaborative strategies, and an actuator physical layer 23.

[0046] Further, compared with the parallel architecture, the distributed collaborative architecture adds a collaborative strategy module 223. The collaborative strategy receives the outputs from the electronically controlled suspension controller (the fourth-one output terminal 251) and the in-vehicle road noise active noise cancellation controller (the fourth-two output terminal 252), and based on modules such as a pre-designed integrated acoustic-vibration collaborative target, control priority, and potential conflict detection function, respectively outputs the control correction amounts of the corresponding controllers (the first collaborative strategy output terminal 271, the second collaborative strategy output terminal 272) to the suspension actuator 231 and the active noise cancellation actuator 232.

[0047] Further, the operating state of the actuator physical layer is transmitted to the vehicle end 1, and the vehicle system responds in real time to the suspension state and the in-vehicle noise condition. At the same time, the vehicle end state signal 8 is fed back to the collaborative control layer for guiding the dynamic adjustment of the collaborative strategy parameters.

[0048] In the distributed collaborative architecture, although the road noise control system and the suspension control system are still managed by independent ECUs, an additional layer of collaborative strategy is added, alleviating the problem of the lack of collaborative rules in the parallel architecture and eliminating the need for extensive modifications to individual systems.

[0049] As Figure 4 shown, in some embodiments of the present application, the present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronically controlled suspension system. The architecture shown in the figure is a centralized collaborative architecture, including an estimation-measurement signal input layer 21, a collaborative control layer, namely a central multivariable main controller 22, and an actuator physical layer 23.

[0050] Further, compared with the distributed collaborative architecture, the centralized collaborative architecture eliminates the independent controllers, integrates the in-vehicle road noise active noise cancellation controller and the electronically controlled suspension controller in the central multivariable main controller 22, and all relevant control parameters and state information are stored inside the central controller. This controller is responsible for formulating control decisions for the electronically controlled suspension and the road noise cancellation system based on a pre-designed integrated acoustic-vibration comfort target and transmitting control signals (the fourth-one output terminal 251 and the fourth-two output terminal 252) to the actuators located at the bottom layer.

[0051] Further, the operating state of the actuator physical layer is transmitted to the vehicle end 1, and the vehicle system responds to the suspension state and the in-vehicle noise condition in real time. At the same time, the vehicle end state signal (the second input end 8) is fed back to the multi-variable main controller to adjust the control parameters of the main controller and form an upper-layer closed-loop control.

[0052] In the centralized collaborative architecture, the central multi-variable main controller can use the information stored internally to coordinate the road noise control system and the suspension control system simultaneously, so as to achieve the collaborative control goal and overall optimization.

[0053] As Figure 5 shown, in some embodiments of the present application, the present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronically controlled suspension system. The architecture shown in the figure is a supervised collaborative architecture, including an estimation-measurement signal input layer 21, a collaborative control layer 22, and an actuator physical layer 23.

[0054] Further, the supervised collaborative architecture combines the characteristics of the centralized collaborative architecture and the parallel architecture, realizing a hierarchical control topology structure. This architecture can be implemented by adding sub-controllers of each system on the basis of the centralized collaborative architecture, or adding a main controller on the basis of the parallel architecture.

[0055] Further, the main controller 223 in the collaborative control layer 22 classifies the current driving situation based on the input layer signals 241 and 242, allows actuator intervention according to the predefined priority, and detects whether there is a fault in the system. At the same time, the expected target value is calculated based on the pre-designed acoustic-vibration integrated collaborative target and input into the electronically controlled suspension controller 221 and the in-vehicle road noise active noise cancellation controller 222 respectively. In this architecture, the subsystem controllers can be designed and verified relatively independently.

[0056] The supervised collaborative architecture improves the modularity of the system through hierarchical control, making it highly adaptable in terms of control strategy expansion and collaborative optimization of different subsystems. Therefore, this architecture is suitable for the integrated optimization of road noise and suspension control at the vehicle level.

[0057] The driver input module 3 includes driving mode, steering intention, acceleration intention, and braking intention, and the environment input module 4 includes road condition information and external interference information.

[0058] The present invention proposes an integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system. The architecture includes an estimation-measurement signal input layer, a control layer, and an actuator physical layer. The estimation-measurement signal input layer receives input signals from the driver and the environment and is used to transmit measurement signals and vehicle state estimation information to the control layer. The control layer includes at least one controller for outputting control signals for the in-vehicle road noise active noise cancellation system and the electronic control suspension system. The actuator physical layer includes an electronic control suspension system actuator and a road noise cancellation system actuator. This layer performs corresponding operations according to control instructions from the control layer to adjust the suspension state and the in-vehicle sound field state. According to the number and mutual relationship of the controllers, the integrated control architecture includes a parallel architecture and a collaborative architecture. By integrating the in-vehicle vibration and noise control system, the present invention provides an integrated architecture basis for the collaborative control of the in-vehicle road noise active noise cancellation system and the electronic control suspension system, effectively improving the acoustic comfort inside the vehicle and reducing the system cost while ensuring vehicle comfort and safety.

[0059] The present invention includes an estimation-measurement signal input layer, a control layer, and an actuator physical layer. The estimation-measurement signal input layer receives input signals from the driver and the environment. The driver input signals include, but are not limited to, driving mode, steering intention, acceleration intention, and braking intention. The environment input signals include, but are not limited to, road condition information and external interference information. The input layer obtains measurement signals using sensors, and obtains estimation signals using a state estimation algorithm, for transmitting measurement signals and vehicle state estimation information to the control layer. The control layer includes at least one controller for outputting control signals for the in-vehicle road noise active cancellation system and the electronic control suspension system. The actuator physical layer includes an electronic control suspension system actuator, a road noise cancellation system actuator, and their respective sub-controllers, which perform corresponding operations according to control instructions from the control layer to adjust the suspension state and the in-vehicle sound field state. The vehicle sensors in the estimation-measurement signal input layer include, but are not limited to, sprung mass acceleration sensors, unsprung mass acceleration sensors, suspension dynamic deflection sensors, vehicle body height sensors, throttle pedal position sensors, brake pedal position sensors, and vehicle speed sensors. The state estimation algorithm in the estimation-measurement signal input layer receives measurement signals from the vehicle sensors and outputs state estimation signals applicable to the control layer. The electronic control suspension system actuator in the actuator physical layer can be, but is not limited to, a hydraulically adjustable shock absorber, a magnetorheological shock absorber, a linear motor actuator, an active hydraulic actuator according to the suspension type. The road noise cancellation system actuator can be, but is not limited to, one or more noise reduction speakers in and / or above the headrest. Regarding the number and positional relationship of the controllers in the control layer, the integrated control architecture includes a parallel architecture and a collaborative architecture. The collaborative architecture, according to whether there is a main controller and the relationship between the collaborative layer and the control layer, further includes a distributed collaborative architecture, a centralized collaborative architecture, and a supervisory collaborative architecture.

[0060] Compared with the prior art, the present invention has the following beneficial effects: Through the integrated control architecture, the present invention integrates the control of the in-vehicle road noise active cancellation system and the electronic control suspension system within the same control system, realizing the integration of vehicle suspension control and noise control systems, reducing the number of sensors, lowering the development cost, and providing an architectural basis for the collaborative work of the in-vehicle road noise active cancellation and the electronic control suspension within one control framework, improving the collaborative efficiency and overall performance of the system, thereby achieving a collaborative improvement in in-vehicle vibration and noise comfort.

[0061] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in this technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. An integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system, characterized in that, The architecture includes a control layer (2), and the control layer (2) is connected to the vehicle end (1), the driver input module (3), and the environment input module (4). The control layer (2) includes a vehicle state estimation - measurement signal input layer (21), a cooperative control layer (22), and an actuator physical layer (23). The first output end (5) of the driver input module (3) is connected to the vehicle state estimation - measurement signal input layer (21), the second output end (6) of the environment input module (4) is connected to the vehicle state estimation - measurement signal input layer (21), the third output end (24) of the vehicle state estimation - measurement signal input layer (21) is connected to the cooperative control layer (22), the fourth output end (25) of the cooperative control layer (22) is connected to the actuator physical layer (23), and the fifth output end (26) of the actuator physical layer (23) is connected to the vehicle end (1); The output end of the vehicle end (1) is connected to the first input end (7) of the vehicle state estimation - measurement signal input layer (21) and the second input end (8) of the cooperative control layer (22), and the sixth output end (9) of the actuator physical layer (23) is connected to the second input end (8).

2. The integrated control architecture of an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 1, wherein The vehicle state estimation - measurement signal input layer (21) includes a suspension estimation - measurement signal module (211) and a noise cancellation estimation - measurement signal module (212). The output of the suspension estimation - measurement signal module (211), the third output end (24) of the vehicle state estimation - measurement signal input layer (21) is divided into a third - one output end (241) of the suspension estimation - measurement signal module (211) and a third - two output end (242) of the noise cancellation estimation - measurement signal module (212).

3. The integrated control architecture of an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 2, characterized in that, The cooperative control layer (22) includes an electronic control suspension controller (221) and an in - vehicle road noise active noise cancellation controller (222). The second input end (8) of the cooperative control layer (22) is divided into the input end of the electronic control suspension controller (221) and the input end of the in - vehicle road noise active noise cancellation controller (222). The fourth output end (25) of the cooperative control layer (22) is divided into a fourth - one output end (251) of the electronic control suspension controller (221) and a fourth - two output end (252) of the in - vehicle road noise active noise cancellation controller (222), The third - one output end (241) of the suspension estimation - measurement signal module (211) is connected to the electronic control suspension controller (221), and the third - two output end (242) of the noise cancellation estimation - measurement signal module (212) is connected to the in - vehicle road noise active noise cancellation controller (222).

4. An integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 3, characterized in that The actuator physical layer (23) includes a suspension actuator (231) and an active noise cancellation actuator (232). Both the suspension actuator (231) and the active noise cancellation actuator (232) are connected to the sixth output terminal (9) of the actuator physical layer (23). The forty-first output terminal (251) of the electronic control suspension controller (221) is connected to the suspension actuator (231). The forty-second output terminal (252) of the in-vehicle road noise active noise cancellation controller (222) is connected to the active noise cancellation actuator (232). The fifth output terminal (26) of the actuator physical layer (23) is divided into the fifty-first output terminal (261) of the suspension actuator (231) and the fifty-second output terminal (262) of the active noise cancellation controller (222).

5. An integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 4, characterized in that, The collaborative control layer (22) further includes a collaborative strategy module (223).

6. The integrated control architecture of an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 5, characterized in that, The forty-first output terminal (251) and the forty-second output terminal (252) are connected to the collaborative strategy module (223). The first collaborative strategy output terminal (271) of the collaborative strategy module (223) is connected to the suspension actuator (231). The second collaborative strategy output terminal (272) of the collaborative strategy module (223) is connected to the active noise cancellation actuator (232).

7. An integrated control architecture of an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 4, characterized in that, The collaborative control layer (22) further includes a main controller (2231).

8. An integrated control architecture of an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 7, characterized in that, The thirty-first output terminal (241) and the thirty-second output terminal (242) are connected to the main controller (2231). The output terminal of the main controller (2231) is connected to the electronic control suspension controller (221) and the in-vehicle road noise active noise cancellation controller (222).

9. An integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 1, characterized in that, The collaborative control layer (22) is a central multivariable controller.

10. An integrated control architecture for an in-vehicle road noise active noise cancellation system and an electronic control suspension system according to claim 1, characterized in that, The driver input module (3) includes driving mode, steering intention, acceleration intention, and braking intention. The environment input module (4) includes road condition information and external interference information.

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