The invention provides an automobile chassis domain three-layer control architecture and a control method thereof, and the automobile chassis domain three-layer control architecture comprises a vehicle state estimation layer, a real-time control decision layer and a coordination control execution layer. The vehicle state estimation layer is used for reading a vehicle external sensor signal and a vehicle CAN signal to obtain road surface information and vehicle state information; the real-time control decision-making layer is used for judging whether the vehicle is unstable or not by adopting an energy phase plane method based on the road surface information and the vehicle state information, and obtaining target control parameters according to a judgment result; and the coordination control execution layer is used for carrying out coordination control on each control system by adopting an optimal control strategy based on the vehicle state information and the target control parameters. On the premise that the control precision and the response time in the vehicle running process are guaranteed, conflicts among all control systems can be reduced as much as possible, resources needed by the vehicle in the running process are saved, and therefore the maneuverability and stability of the vehicle are effectively improved.

    本发明提供一种汽车底盘域三层控制架构及其控制方法,其中的汽车底盘域三层控制架构包括车辆状态估计层、实时控制决策层和协调控制执行层,车辆状态估计层用于读取车辆外部传感器信号和车辆CAN信号获得路面信息和车辆状态信息;实时控制决策层用于基于路面信息和车辆状态信息,采用能量相平面法判断车辆是否失稳,并根据判断结果获得目标控制参数;协调控制执行层用于基于车辆状态信息和目标控制参数采用最优控制策略对各控制系统进行协调控制。本发明能够在保证车辆运行过程中的控制精度和响应时间的前提下,尽可能减少各个控制系统之间的冲突,节约车辆在运行过程中所需要的资源,从而有效地提高车辆的机动性和稳定性。


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    Title :

    Automobile chassis domain three-layer control architecture and control method thereof


    Additional title:

    汽车底盘域三层控制架构及其控制方法


    Contributors:
    DONG ZHISHENG (author) / LI CHAOJIAN (author) / ZHAO TIANYILANG (author) / ZHANG BOYU (author)

    Publication date :

    2023-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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