The invention relates to a chassis domain controller for automatic driving, a control method and a vehicle, and the controller comprises a state estimation and prediction module which is used for receiving and processing a plurality of received sensor signals, so as to calculate an extreme state signal of the vehicle; the safety state machine module determines whether the automatic driving domain operates normally or not according to the verification signal, and sends an automatic driving degradation signal; meanwhile, whether the vehicle enters an extreme dynamic control state or not is judged according to the received vehicle extreme state signal; the automatic driving redundancy module selects whether to start or not according to the received automatic driving degradation signal and generates an emergency stop track signal; the trajectory tracking control module is used for receiving the trajectory signal and generating a longitudinal and transverse motion control signal in combination with the received vehicle extreme state signal; the chassis dynamics control module is used for receiving the longitudinal and transverse motion control signals, generating control signals of all parts of the vehicle in combination with the received vehicle extreme state signals and sending the control signals to execution mechanism controllers in the corresponding parts.

    本发明涉及一种面向自动驾驶的底盘域控制器、控制方法及车辆,其包括:状态估计与预测模块用于接收并处理接收到的多种传感器信号,以计算得到车辆极端状态信号;安全状态机模块根据校验信号确定自动驾驶域是否正常运行,并发送自动驾驶降级信号;同时根据接收到的车辆极端状态信号判断车辆是否进入极端动力学控制状态;自动驾驶冗余模块根据接收到的自动驾驶降级信号选择是否启动,生成紧急停止轨迹信号;轨迹跟踪控制模块用于接收轨迹信号,并结合接收到的车辆极端状态信号生成纵横向运动控制信号;底盘动力学控制模块用于接收纵横向运动控制信号,结合接收到的车辆极端状态信号生成车辆各个部件的控制信号,发送至相应部件内的执行机构控制器。


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    Titel :

    Chassis domain controller for automatic driving, control method and vehicle


    Weitere Titelangaben:

    一种面向自动驾驶的底盘域控制器、控制方法及车辆


    Beteiligte:
    HE CHENGKUN (Autor:in) / ZHANG JUNZHI (Autor:in) / MA RUIHAI (Autor:in) / ZHANG JUNFENG (Autor:in)

    Erscheinungsdatum :

    2023-01-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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