CHASSIS DOMAIN CONTROLLER FOR AUTOMATED DRIVING, AND CONTROL METHOD AND VEHICLE

A chassis domain controller for automated driving includes a state estimation and prediction module configured to receive and process sensor signals to compute an extreme vehicle state signal; a safety state machine module, configured to determine whether the autonomous driving domain is operating normally and transmit an autonomous driving degradation signal; while also determining whether the vehicle has entered an extreme dynamic control state. An autonomous driving redundancy module, configured to selectively activate based on the autonomous driving degradation signal; a trajectory tracking control module, configured to receive a trajectory signal and generate longitudinal and lateral motion control signals in combination with the received extreme vehicle state signal; a chassis dynamics control module, configured to receive the longitudinal and lateral motion control signals and generate control signals for individual vehicle components in combination with the received extreme vehicle state signal, transmitting them to the actuator controllers within the respective components.