The invention discloses an auxiliary driving system and a vehicle, and the system comprises a state observer which is used for processing the received data of each sensor of the vehicle, and obtaining a state quantity; the man-machine interaction converter is used for determining a virtual control target of the whole vehicle according to the received actual driving control information capable of reflecting the driving intention of the user, the state quantity and a preset actual control strategy; the top-layer controller is used for determining a top-layer control quantity for the top-layer controller according to the virtual control target, the state quantity and a preset virtual control strategy; the distributor is used for performing dynamic control distribution according to the top-layer control quantity and the state quantity to obtain a bottom-layer control quantity for a bottom-layer controller; and the bottom layer controller is used for controlling motors of all wheels of the vehicle according to the bottom layer control quantity and the state quantity, so that the motors drive the wheels according to the bottom layer control quantity, and the vehicle runs according to the driving intention. According to the embodiment of the invention, the vehicle can be assisted to realize omni-directional control.

    本申请公开了一种辅助驾驶系统及车辆,其中辅助驾驶系统包括:状态观测器,用于对接收的车辆的各传感器数据进行处理,得到状态量;人机交互转换器,用于根据接收的能够体现用户的驾驶意图的实际驾驶操控信息、状态量和预设实际操控策略,确定整车的虚拟控制目标;顶层控制器,用于根据虚拟控制目标、状态量和预设虚拟控制策略,确定用于顶层控制器的顶层控制量;分配器,用于根据顶层控制量和状态量进行动力学控制分配,得到用于底层控制器的底层控制量;底层控制器,用于根据底层控制量和状态量控制车辆的各车轮的电机,用以电机按照底层控制量驱动车轮,使得车辆按照驾驶意图行驶。根据本申请实施例,能够辅助车辆实现全向控制。


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    Title :

    Auxiliary driving system and vehicle


    Additional title:

    一种辅助驾驶系统及车辆


    Contributors:
    WEI BINGCHUAN (author) / YU SHU'ANG (author) / LI BOXIN (author) / ZHENG GANGTIE (author)

    Publication date :

    2024-08-23


    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



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