The invention provides a vehicle chassis domain control architecture, a control method and a vehicle. An input information management module in the control architecture can receive environmental perception information of a driving domain and determine state estimation information based on the environmental perception information. Environment perception information, state estimation information and decision information are input into a mode management module, the mode management module determines a control mode, and a chassis actuator is controlled by a longitudinal, lateral and vertical motion comprehensive control module according to the control mode on the basis of an expected motion target. A plurality of modules cooperate with each other, and unified motion control is carried out on a chassis actuator through a control mode, an expected motion target and a corresponding dynamics electronic control system. The situation that in the prior art, decision information generated in a driving domain is directly sent to a chassis actuator to be executed, a dynamics electronic control system is crossed, and consequently the power performance is low can be avoided. Therefore, the method can coordinate each dynamic electronic control system, ensure the dynamic performance and ensure the driving safety at the same time.
本申请提供车辆底盘域的控制架构、控制方法及车辆。该控制架构中输入信息管理模块能接收驾驶域的环境感知信息,并基于环境感知信息,确定状态估计信息。将环境感知信息、状态估计信息和决策信息输入至模式管理模块,由模式管理模块确定控制模式,由纵侧垂运动综合控制模块按照控制模式基于期望的运动目标,对底盘执行器进行控制。多个模块协同作用,通过控制模式和期望的运动目标,以及对应的动力学电子控制系统实现对底盘执行器进行统一的运动控制。这能避免传统技术中驾驶域生成的决策信息直接发送给底盘执行器进而执行,跨过动力学电子控制系统而导致动力性能低。因此,该方法能协调各动力学电子控制系统,保证动力学性能,同时确保驾驶安全。
Vehicle chassis domain control architecture, control method and vehicle
车辆底盘域的控制架构、控制方法及车辆
2025-02-18
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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