The invention relates to the technical field of automobile automatic driving control, in particular to an automatic driving oriented software architecture, a chassis domain controller and a chassis domain system. The information layer obtains a vehicle fault instruction and an emergency parking instruction. The motion coordination layer triggers a vehicle fault mode and an emergency parking mode, and obtains an emergency parking control signal and a longitudinal and transverse control signal. The dynamic control layer obtains a dynamic control target quantity according to the emergency parking control signal or the longitudinal and transverse control signal; and the fault-tolerant control layer performs fault-tolerant control according to the vehicle fault information. And the actuator control layer converts the dynamic control target quantity and the fault-tolerant control target quantity into actual control signals to control an actuator. Therefore, a software architecture is designed from a centralized architecture, decoupling development of software and hardware, centralized processing of all information, unified integrated scheduling of functions, comprehensive consideration of vehicles, drivers and faults and cross-domain interactive fusion are realized, and the control precision and operation safety of the vehicles are improved.
本发明涉及汽车自动驾驶控制技术领域,具体涉及面向自动驾驶的软件架构、底盘域控制器及底盘域系统。信息层获取车辆故障指令和应急停车指令。运动协调层触发车辆故障模式和触发应急停车模式,并获取应急停车控制信号和纵横垂向控制信号。动力学控制层根据应急停车控制信号或纵横垂向控制信号获取动力学控制目标量;容错控制层根据车辆故障信息进行容错控制。执行器控制层将动力学控制目标量和容错控制目标量转化为实际控制信号,对执行器进行控制。这样从集中式架构出发设计软件架构,实现软硬件解耦开发,对所有信息进行集中处理,对功能进行统一集成调度,综合考虑车辆、驾驶员、故障、跨域交互融合,提高了车辆的控制精度和运行安全。
Software architecture for automatic driving, chassis domain controller and chassis domain system
面向自动驾驶的软件架构、底盘域控制器及底盘域系统
2024-04-19
Patent
Electronic Resource
Chinese
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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