Title:
CHASSIS DOMAIN CONTROLLER FOR AUTONOMOUS DRIVING, AND CONTROL METHOD AND VEHICLE
Document Type and Number:
WIPO Patent Application WO/2024/087091
Kind Code:
A1
Abstract:
The present invention relates to a chassis domain controller for autonomous driving, and a control method and a vehicle. The chassis domain controller comprises: a state estimation and prediction module, which is used for receiving and processing a plurality of received sensor signals, so as to obtain an extreme vehicle state signal by means of calculation; a safe state machine module, which determines, according to a verification signal, whether an autonomous driving domain is operating normally, sends an autonomous driving downgrade signal, and also determines, according to the received extreme vehicle state signal, whether a vehicle enters an extreme dynamics control state; an autonomous driving redundancy module, which chooses, according to the received autonomous driving downgrade signal, whether to start, and generates an emergency stop trajectory signal; a trajectory tracking control module, which is used for receiving a trajectory signal, and generating a longitudinal/transverse motion control signal by combining the trajectory signal with the received extreme vehicle state signal; and a chassis dynamics control module, which is used for receiving the longitudinal/transverse motion control signal, generating a control signal for each part of the vehicle by combining the longitudinal/transverse motion control signal with the received extreme vehicle state signal, and sending the control signal to an actuating mechanism controller in the corresponding part.
Inventors:
HE CHENGKUN (CN)
ZHANG JUNZHI (CN)
MA RUIHAI (CN)
ZHANG JUNFENG (CN)
ZHANG JUNZHI (CN)
MA RUIHAI (CN)
ZHANG JUNFENG (CN)
Application Number:
PCT/CN2022/127915
Publication Date:
May 02, 2024
Filing Date:
October 27, 2022
Export Citation:
Assignee:
UNIV TSINGHUA (CN)
International Classes:
B60W40/00; B60W50/029; B60W60/00
Foreign References:
| CN114084158A | 2022-02-25 | |||
| CN114228690A | 2022-03-25 | |||
| CN111497814A | 2020-08-07 | |||
| CN112071072A | 2020-12-11 | |||
| CN113734201A | 2021-12-03 | |||
| CN114954503A | 2022-08-30 | |||
| DE102020112822A1 | 2021-11-18 |
Attorney, Agent or Firm:
JEEKAI&PARTNERS (CN)
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