CN110979349B

CN110979349B - Control instruction distribution method and system for chassis domain of automatic driving automobile

Info

Publication number: CN110979349B
Application number: CN201911258951.8A
Authority: CN
Inventors: 方晨曦
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2021-11-23
Anticipated expiration: 2039-12-10
Also published as: CN110979349A

Abstract

The invention discloses a control instruction distribution method and a control instruction distribution system for an automatic driving automobile chassis domain, wherein the method comprises the following steps: determining a capacity threshold for each actuator based on control commands, wherein the control commands include: a portrait instruction and/or a landscape instruction; acquiring the priority of an actuator corresponding to the control command, and distributing the control command by combining the capacity threshold of each actuator from high to low according to the priority and the capacity threshold of each actuator. When the invention is used for processing the function interaction under the complex working condition, the control instruction of the chassis domain can be more flexibly distributed by simultaneously considering the priority of the actuator corresponding to the control instruction and the capability threshold of each actuator.

Description

Control instruction distribution method and system for chassis domain of automatic driving automobile

Technical Field

The invention relates to the technical field of automobile electronics, in particular to a control instruction distribution method and system for an automatic driving automobile chassis domain.

Background

The existing control command distribution method for the automobile chassis area generally adopts one-to-one distribution, namely, an acceleration control command is distributed to a driving controller, a deceleration control command is distributed to a braking controller, and a steering control command is distributed to a steering controller.

Currently, as the number of chassis execution controllers increases, there are multiple controllers that can execute one instruction. For example, the braking command can be executed by a brake-by-wire system and also can be executed by a stable control system.

Therefore, the conventional one-to-one allocation method of control commands to the chassis domain has no flexibility.

Disclosure of Invention

In view of this, the invention provides a method and a system for allocating control commands of an automotive chassis domain, which can flexibly allocate the control commands of the chassis domain when processing functional interaction under complex working conditions.

The invention provides a control instruction distribution method of an automatic driving automobile chassis domain, which comprises the following steps:

determining a capacity threshold for each actuator based on control commands, wherein the control commands include: a portrait instruction and/or a landscape instruction;

acquiring the priority of an actuator corresponding to the control instruction;

and distributing the control commands by combining the capacity threshold of each actuator from high priority to low priority based on the priority and the capacity threshold of each actuator.

Preferably, the method further comprises:

when an actuator fails, adjusting a capacity threshold corresponding to the actuator based on fault information of the actuator;

correspondingly, based on the priority and the capacity threshold of each actuator, the control instruction is distributed by combining the capacity threshold of each actuator from high to low in priority, and the method comprises the following steps:

and distributing the control command by combining the adjusted capacity threshold of each actuator from high priority to low priority based on the priority and the adjusted capacity threshold of each actuator.

Preferably, the capability threshold comprises: an actuator's performance threshold and an actuator's responsiveness threshold; each actuator comprises an actuator capable of responding to the longitudinal command or the transverse command; the allocating the control commands by combining the capacity threshold of each actuator from high to low in priority based on the priority and the capacity threshold of each actuator comprises:

and based on the priority and the capacity threshold of each actuator, allocating the priority from high to low according to the response capacity threshold of the actuator, and reallocating the rest of the control instruction.

Preferably, the control instructions include: a portrait command and a landscape command; each actuator at least comprises an actuator which can respond to the longitudinal command and the transverse command simultaneously; the capability threshold includes: an actuator's performance threshold and an actuator's responsiveness threshold; the allocating the control commands by combining the capacity threshold of each actuator from high to low in priority based on the priority and the capacity threshold of each actuator comprises:

based on the priority and the capability threshold of each actuator, firstly distributing according to the response capability threshold of the actuator in a mode that the priority is from high to low, and redistributing the rest of the control instruction;

calculating a sum of a percentage of an execution capacity threshold of a vertical command and a percentage of an execution capacity threshold of a lateral command assigned to an actuator capable of responding to the vertical command and the lateral command, and a sum of a percentage of a response capacity threshold of the vertical command and a percentage of a response capacity threshold of the lateral command;

judging whether the sum of the percentage of the execution capacity threshold of the longitudinal instruction and the percentage of the execution capacity threshold of the transverse instruction and/or the sum of the percentage of the response capacity threshold of the longitudinal instruction and the percentage of the response capacity threshold of the transverse instruction exceeds one hundred percent, if so, then:

the longitudinal and lateral commands are adjusted such that the sum of the percentage of the longitudinal command's executability threshold and the percentage of the lateral command's executability threshold and the sum of the percentage of the longitudinal command's responsiveness threshold and the percentage of the lateral command's responsiveness threshold for the actuators capable of responding to the longitudinal and lateral commands do not exceed one hundred percent.

A control order distribution system for an automotive chassis area, comprising:

a determination module configured to determine a capacity threshold for each actuator based on a control command, wherein the control command comprises: a portrait instruction and/or a landscape instruction;

the acquisition module is used for acquiring the priority of the actuator corresponding to the control instruction;

and the distribution module is used for distributing the control commands by combining the capacity threshold values of the actuators in a high-to-low mode according to the priority and the capacity threshold values of the actuators.

Preferably, the system further comprises:

the adjusting module is used for adjusting the capacity threshold corresponding to the actuator based on the fault information of the actuator when the actuator has a fault;

correspondingly, when the assignment module performs assignment of the control command based on the priority and the capability threshold of each actuator, and combines the capability thresholds of each actuator in a manner that the priority is from high to low, the assignment module is specifically configured to:

Preferably, the capability threshold comprises: an actuator's performance threshold and an actuator's responsiveness threshold; each actuator comprises an actuator capable of responding to the longitudinal command or the transverse command;

when the allocation module performs allocation of the control instruction based on the priority and the capability threshold of each actuator by combining the capability thresholds of each actuator in a manner that the priority is from high to low, the allocation module is specifically configured to:

Preferably, the control instructions include: a portrait command and a landscape command; each actuator at least comprises an actuator which can respond to the longitudinal command and the transverse command simultaneously; the capability threshold includes: an actuator's performance threshold and an actuator's responsiveness threshold;

In summary, the invention discloses a control instruction allocation method for an auto-driven vehicle chassis domain, when a control instruction of the auto-driven vehicle chassis domain needs to be allocated, firstly determining the capability threshold of each actuator based on the control instruction, then obtaining the priority of the actuator corresponding to the control instruction, and finally allocating the control instruction by combining the capability thresholds of each actuator from high to low in a priority mode based on the priority and the capability thresholds of each actuator. When the invention is used for processing the function interaction under the complex working condition, the control instruction of the chassis domain can be more flexibly distributed by simultaneously considering the priority of the actuator corresponding to the control instruction and the capability threshold of each actuator.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a flowchart of a method of an embodiment 1 of a method for allocating control commands to a chassis domain of an autonomous vehicle according to the present invention;

FIG. 2 is a flowchart of a method of an embodiment 2 of a method for allocating control commands to a chassis of an autonomous vehicle according to the present invention;

FIG. 3 is a flowchart of a method of embodiment 3 of a method for allocating control commands to a chassis of an autonomous vehicle according to the present invention;

FIG. 4 is a flowchart of a method of an embodiment 4 of a method for allocating control commands to a chassis of an autonomous vehicle according to the present invention;

FIG. 5 is a schematic structural diagram of an embodiment 1 of a control instruction distribution system for an automotive chassis domain according to the present invention;

FIG. 6 is a schematic structural diagram of an embodiment 2 of a control instruction distribution system for an automotive chassis domain according to the present invention;

FIG. 7 is a schematic structural diagram of an embodiment 3 of a control instruction distribution system for an automotive chassis domain according to the present invention;

fig. 8 is a schematic structural diagram of an embodiment 4 of a control instruction distribution system for an automotive chassis domain, which is disclosed by the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a flowchart of a method of embodiment 1 is assigned to a control command of an automotive chassis domain, where the method may include the following steps:

s101, determining the capacity threshold of each actuator based on a control command, wherein the control command comprises: a portrait instruction and/or a landscape instruction;

when control instructions of an automatic driving automobile chassis domain need to be distributed, the actuators have different capacity thresholds under different control instructions, and after the control instructions are received, the capacity thresholds of the actuators are determined according to the control instructions.

Wherein, the control instruction can be sent by an upper module, such as: the system comprises a chassis arbitration module, a high-speed automatic driving module, an urban road automatic driving module, an automatic cruising module, a stability control module and the like. The control command may include a longitudinal command and/or a transverse command, wherein the longitudinal command may be an acceleration command or a deceleration command, and the transverse command is a steering wheel angle.

Wherein, the actuator may include: EPS (Electric Power Steering), EPB (Electric Park Brake), ESP (Electronic Stability Program), IBooster (Brake-by-wire), Power control system, suspension control system, and the like.

For a lateral instruction, the capability threshold of the EPS is: 200-200 DEG, 800 DEG/s; the capacity thresholds of the ESP are: -100 to 100 °, 1200 °/s; the EPB capability thresholds are: -100 to 100 °, 200 °/s; the capacity thresholds for the suspension control system are: -30 DEG, 200 DEG/s.

For a vertical instruction, the capability threshold for Ibooster is: 0 to-2 g and-20 g/s; the capability threshold of a VCU (new energy vehicle controller) is: 0-1 g, 2 g/s; the capacity thresholds of the ESP are: 0 to-1 g and-20 g/s; the EPB capability thresholds are: 0 to-0.2 g and-2 g/s; wherein g is 10 m/s.

S102, acquiring the priority of an actuator corresponding to the control instruction;

and meanwhile, acquiring the priority of the actuator corresponding to the control command. For example, for a lateral command, the priority of the executor is from high to low as: EPS, ESP, EPB, suspension control system; for vertical commands, the priority of the actuator is from high to low: iboost, VCU, ESP, EPB.

And S103, distributing control commands by combining the capacity threshold values of the various actuators from high to low in priority based on the priority and the capacity threshold values of the various actuators.

After the capacity threshold value of each actuator corresponding to the control instruction is determined and the priority of the actuator corresponding to the control instruction is obtained, the control instruction is distributed according to the priority of the actuator from high to low by combining the capacity threshold values of the actuators.

In summary, when a control command of a chassis domain of an autonomous vehicle needs to be distributed, the capability threshold of each actuator is determined based on the control command, then the priority of the actuator corresponding to the control command is obtained, and finally the control command is distributed in combination with the capability threshold of each actuator from high to low in priority based on the priority and the capability threshold of each actuator. When the invention is used for processing the function interaction under the complex working condition, the control instruction of the chassis domain can be more flexibly distributed by simultaneously considering the priority of the actuator corresponding to the control instruction and the capability threshold of each actuator.

As shown in fig. 2, a flowchart of a method of embodiment 2 of allocating control commands to a chassis of an autonomous vehicle according to the present invention is shown, where the method may include the following steps:

s201, determining the capacity threshold of each actuator based on a control command, wherein the control command comprises: a portrait instruction and/or a landscape instruction;

Wherein, the actuator may include: EPS (Electric Power Steering), EPB (Electric Park Brake), ESP (Electronic Stability Program), IBooster, Power control system, suspension control system, and the like.

S202, when the actuator fails, adjusting a corresponding capacity threshold of the actuator based on the failure information of the actuator;

when an actuator needing to execute a control command fails, the capacity threshold of the actuator can be timely adjusted according to the failure condition of the actuator. The adjustment principle may be: the actuator capacity threshold is adjusted to 0 when the actuator fails 100%, and to 50% of normal when the actuator fails 50%.

For example, the EPS uses six-phase motors, wherein when one group of motors fails, the capacity threshold is reduced from the previous-200 DEG and 800 DEG/s to-200 DEG and 400 DEG/s. If the ESP motor fails and is not operational, the capacity threshold is reduced to 0.

S203, acquiring the priority of an actuator corresponding to the control instruction;

And S204, distributing the control command by combining the adjusted capacity threshold of each actuator from high priority to low priority based on the priority and the adjusted capacity threshold of each actuator.

After the adjusted capacity threshold value of each actuator corresponding to the control instruction is determined and the priority of the actuator corresponding to the control instruction is obtained, the control instruction is distributed according to the priority of the actuator from high to low by combining the adjusted capacity threshold values of the actuators.

In summary, in this embodiment, based on the above embodiments, when an actuator executing a control command fails, the capability threshold of the actuator can be timely adjusted according to the failure condition of the actuator, and further, when the actuator fails, the control command can be flexibly allocated according to the capability threshold adjusted by the actuator.

As shown in fig. 3, a flowchart of a method of embodiment 3 for allocating control commands of an automotive chassis domain according to the present invention is shown, where the method may include the following steps:

s301, determining the capacity threshold of each actuator based on a control command, wherein the control command comprises: a portrait instruction and/or a landscape instruction; the capability thresholds include: an actuator's performance threshold and an actuator's responsiveness threshold; each actuator comprises an actuator capable of responding to a longitudinal command or a transverse command;

For a lateral instruction, the capability threshold of the EPS is: 200-200 DEG, 800 DEG/s; the capacity thresholds of the ESP are: -100 to 100 °, 1200 °/s; the EPB capability thresholds are: -100 to 100 °, 200 °/s; the capacity thresholds for the suspension control system are: -30 DEG, 200 DEG/s. Wherein the capability threshold comprises: an actuator's performance capability threshold and an actuator's responsiveness threshold. For example, the capacity threshold of EPS is-200 DEG to 200 DEG, and 800 DEG/s is the response capacity threshold.

S302, acquiring the priority of an actuator corresponding to the control instruction;

And S303, based on the priority and the capability threshold of each actuator, allocating according to the response capability threshold of the actuator in a mode that the priority is from high to low, and reallocating the rest of the control command.

Taking the horizontal direction command as an example, if the current horizontal state is 0 °, the horizontal direction command is 100 ° and 1000 °/s, the allocation result is EPS: 80 °, 800 °/s, ESP: 20 DEG and 200 DEG/s. In the process of distributing the transverse command, the transverse command is firstly distributed according to a response capability threshold, for example, the response capability threshold of the EPS is 800 degrees/s, if the transverse command requires 1000 degrees/s, the ESP is required to share 200 degrees/s. If the required rotation angle is X, the EPS is divided into X0.8, and the ESP is divided into X0.2.

If the current horizontal state is 0 degrees, the horizontal command is 300 degrees and 1000 degrees/s, the first allocation result is EPS: 200 °, 800 °/s, ESP: 50 °, 200 °/s, the remaining 50 ° is allocated a second time as ESP: 50 DEG, 1000 DEG/s. The second distribution is executed later, and is not executed simultaneously with the first distribution, so that the angular speed at each moment is ensured to be consistent with the instruction.

It should be noted that the allocation principle of the vertical instruction is the same as that of the horizontal instruction, and is not described herein again.

As shown in fig. 4, a flowchart of a method of embodiment 4 is assigned to a control command of an automotive chassis domain, where the method may include the following steps:

s401, determining the capacity threshold of each actuator based on a control command, wherein the control command comprises: a portrait command and a landscape command; each actuator at least comprises an actuator which can respond to the longitudinal command and the transverse command simultaneously; the capability thresholds include: an actuator's performance threshold and an actuator's responsiveness threshold;

S402, acquiring the priority of an actuator corresponding to the control instruction;

S403, based on the priority and the capability threshold of each actuator, allocating according to the response capability threshold of the actuator in a mode that the priority is from high to low, and reallocating the rest of the control instruction; calculating a sum of a percentage of an execution capacity threshold of a vertical command and a percentage of an execution capacity threshold of a lateral command assigned to an actuator capable of responding to the vertical command and the lateral command, and a sum of a percentage of a response capacity threshold of the vertical command and a percentage of a response capacity threshold of the lateral command; judging whether the sum of the percentage of the execution capacity threshold of the longitudinal instruction and the percentage of the execution capacity threshold of the transverse instruction and/or the sum of the percentage of the response capacity threshold of the longitudinal instruction and the percentage of the response capacity threshold of the transverse instruction exceeds one hundred percent, if so, then: the longitudinal command and the lateral command are adjusted such that the sum of the percentage of the execution capability threshold of the longitudinal command and the percentage of the execution capability threshold of the lateral command and the sum of the percentage of the response capability threshold of the longitudinal command and the percentage of the response capability threshold of the lateral command of the actuator capable of responding to the longitudinal command and the lateral command do not exceed one hundred percent.

If the EPB steering capacity threshold is-100 degrees and 200 degrees/s, the braking capacity threshold is 0.2 g-2 g/s.

If the transverse command assigns 20 degrees and 40 degrees/s to EPB steering, the longitudinal command assigns 0.18g and 1.8g/s to EPB braking. These four numbers account for EPB capacity (20%/20%) and 90%/90%), respectively, and the sum exceeds the EPB capacity threshold (100%), with brake override (90%/90%), and only 10% of capacity can be allocated to steering. The EPB is diverted to 10 °, 20 °/s and transferred to the suspension control system 10 °, 20 °/s.

As another example, the EPB requires 10, 200/s laterally, requires 0.2g of deceleration longitudinally, and the longitudinal command has taken up the full EPB capability. At this time, the lateral command is transferred to the next-stage suspension control system of the priority.

In summary, the control instruction allocation method for the chassis domain of the autonomous vehicle provided by the invention can allow a plurality of actuators to execute one control instruction in parallel, can flexibly adjust and allocate the control instruction when the actuators have faults, and can coordinate the longitudinal instruction and the transverse instruction while utilizing the capability of each actuator to the maximum extent.

As shown in fig. 5, which is a schematic structural diagram of an embodiment 1 of a control instruction distribution system for an automotive chassis domain, the system may include:

a determining module 501, configured to determine a capacity threshold of each actuator based on a control instruction, where the control instruction includes: a portrait instruction and/or a landscape instruction;

an obtaining module 502, configured to obtain a priority of an actuator corresponding to the control instruction;

and the allocating module 503 is configured to allocate the control instruction according to the priority and the capability threshold of each actuator by combining the capability thresholds of each actuator from high to low.

The scheme of the control command distribution system for the chassis domain of the autonomous vehicle provided in this embodiment is detailed in the embodiment shown in fig. 1, and is not described herein again.

As shown in fig. 6, which is a schematic structural diagram of an embodiment 2 of a control instruction distribution system for an automotive chassis domain, the system may include:

a determining module 601, configured to determine a capacity threshold of each actuator based on a control instruction, where the control instruction includes: a portrait instruction and/or a landscape instruction;

the adjusting module 602 is configured to, when the actuator fails, adjust a capability threshold corresponding to the actuator based on failure information of the actuator;

an obtaining module 603, configured to obtain a priority of an actuator corresponding to the control instruction;

And the allocating module 604 is configured to allocate the control command according to the priority and the adjusted capacity threshold of each actuator, in combination with the adjusted capacity threshold of each actuator, in a manner that the priority is from high to low.

The scheme of the control command distribution system for the chassis of the autonomous vehicle provided in this embodiment is detailed in the embodiment shown in fig. 2, and will not be described herein again.

As shown in fig. 7, which is a schematic structural diagram of an embodiment 3 of the control instruction distribution system for an automotive chassis domain disclosed in the present invention, the system may include:

a determining module 701, configured to determine a capacity threshold of each actuator based on a control instruction, where the control instruction includes: a portrait instruction and/or a landscape instruction; the capability thresholds include: an actuator's performance threshold and an actuator's responsiveness threshold; actuators capable of responding to longitudinal commands and transverse commands are not included in each actuator;

an obtaining module 702, configured to obtain a priority of an actuator corresponding to the control instruction;

and the allocating module 703 is configured to, based on the priority and the capability threshold of each actuator, allocate according to the response capability threshold of the actuator in a manner that the priority is from high to low, and reallocate the remaining part of the control instruction.

The scheme of the control command distribution system for the chassis of the autonomous vehicle provided in this embodiment is detailed in the embodiment shown in fig. 3, and will not be described herein again.

As shown in fig. 8, which is a schematic structural diagram of an embodiment 4 of a control instruction distribution system for an automotive chassis domain, the system may include:

a determining module 801, configured to determine a capacity threshold of each actuator based on a control instruction, where the control instruction includes: a portrait command and a landscape command; each actuator comprises at least one actuator capable of responding to the longitudinal command and the transverse command; the capability thresholds include: an actuator's performance threshold and an actuator's responsiveness threshold;

an obtaining module 802, configured to obtain a priority of an actuator corresponding to the control instruction;

The allocating module 803 is configured to, based on the priority and the capability threshold of each actuator, allocate according to the response capability threshold of the actuator in a manner that the priority is from high to low, and reallocate the remaining part of the control instruction; calculating whether the sum of the percentage of the execution capacity threshold of the longitudinal commands and the percentage of the execution capacity threshold of the transverse commands, which are distributed to the executors capable of responding to the longitudinal commands and the transverse commands, and/or the sum of the percentage of the response capacity threshold of the longitudinal commands and the percentage of the response capacity threshold of the transverse commands exceeds one hundred percent, if so, then: the longitudinal command and the lateral command are adjusted such that the sum of the percentage of the execution capability threshold of the longitudinal command and the percentage of the execution capability threshold of the lateral command and the sum of the percentage of the response capability threshold of the longitudinal command and the percentage of the response capability threshold of the lateral command of the actuator capable of responding to the longitudinal command and the lateral command do not exceed one hundred percent.

The scheme of the control command distribution system for the chassis of the autonomous vehicle provided in this embodiment is detailed in the embodiment shown in fig. 4, and will not be described herein again.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control instruction distribution method for an automatic driving automobile chassis domain is characterized by comprising the following steps:

determining a capacity threshold for each actuator based on control commands, wherein the control commands include: a portrait command and a landscape command; each actuator at least comprises an actuator which can respond to the longitudinal command and the transverse command simultaneously; the capability threshold includes: an actuator's performance threshold and an actuator's responsiveness threshold;

acquiring the priority of an actuator corresponding to the control instruction;

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the capability threshold comprises: an actuator's performance threshold and an actuator's responsiveness threshold; each actuator comprises an actuator capable of responding to the longitudinal command or the transverse command; the allocating the control commands by combining the capacity threshold of each actuator from high to low in priority based on the priority and the capacity threshold of each actuator comprises:

4. A control command distribution system for an automotive chassis, comprising:

a determination module configured to determine a capacity threshold for each actuator based on a control command, wherein the control command comprises: a portrait command and a landscape command; each actuator at least comprises an actuator which can respond to the longitudinal command and the transverse command simultaneously; the capability threshold includes: an actuator's performance threshold and an actuator's responsiveness threshold;

the allocation module is specifically used for allocating according to the response capacity threshold of the actuator in a mode that the priority is from high to low based on the priority and the capacity threshold of each actuator, and reallocating the rest of the control instruction;

5. The system of claim 4, further comprising:

6. The system of claim 4, wherein the capability threshold comprises: an actuator's performance threshold and an actuator's responsiveness threshold; each actuator comprises an actuator capable of responding to the longitudinal command or the transverse command;