The invention discloses a method and a system for instruction arbitration of an automatic driving automobile chassis domain. The method comprises the following steps: determining a main function instruction with the highest priority based on the priority levels of functions corresponding to function instructions when a plurality of function instructions are received; determining at least one auxiliary function instruction which is allowed to be superposed to the main function instruction with the highest priority in the plurality of function instructions; respectively setting a threshold valueof a transverse force corresponding to a transverse instruction and a threshold value of a longitudinal force corresponding to a longitudinal instruction based on the main function instruction and the at least one auxiliary function instruction superposed to the main function instruction with the highest priority,; and coordinating the transverse force corresponding to the transverse instructionand the longitudinal force corresponding to the longitudinal instruction to make coordinate points formed by the transverse force and the longitudinal force within the range of an attachment ellipse.Function interaction under complex working conditions can be processed, and expansion of an automatic driving function is facilitated.

    本发明公开了一种自动驾驶汽车底盘域的指令仲裁方法及系统,方法包括:在接收到多个功能指令时,基于功能指令对应的功能的优先级高低,确定一个优先级最高的主功能指令;在多个功能指令中确定出允许叠加到优先级最高的主功能指令的至少一个辅助功能指令;基于主功能指令以及叠加到优先级最高的主功能指令的至少一个辅助功能指令,分别设置横向指令对应的横向力的阈值以及纵向指令对应的纵向力的阈值;协调横向指令对应的横向力和纵向指令对应的纵向力,以使横向力和纵向力构成的坐标点在附着椭圆范围内。本发明能够处理复杂工况下功能的交互,有利于自动驾驶功能的扩展。


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    Title :

    Method and system for instruction arbitration of automatic driving automobile chassis domain


    Additional title:

    一种自动驾驶汽车底盘域的指令仲裁方法及系统


    Contributors:
    FANG CHENXI (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR