无人驾驶汽车转向控制单元设计  

Design of autonomous vehicle steering control unit

作　　者：付其军[1] 丁润涛[1] 王豪[1] 李志杰[1] 

机构地区：[1]天津大学电子信息工程学院,天津300072

出　　处：《电子测量技术》2007年第3期66-67,114,共3页Electronic Measurement Technology

摘　　要：无人驾驶汽车转向控制单元控制转向系统工作,是实现无人驾驶的关键技术。本文介绍了一种结构简单、易于实现且工作可靠的无人驾驶汽车转向控制单元设计方案。无人驾驶汽车转向控制单元通过CAN总线接收来自中央控制系统发送的转向指令,并按一定的控制策略控制转向系统工作,实现自动转向。文中给出了转向控制单元硬件电路与控制策略设计思路。对设计的转向控制单元进行了实车试验,结果表明,该单元能够控制转向系统实现准确、快速、平稳转向,满足了无人驾驶汽车转向要求。Autonomous vehicle steering control unit is the key to realize autonomous driving. This paper introduces a design method of autonomous vehicle steering control unit which is simple and reliable. Steering control unit receives the steering instructions emitted by central control system through CAN bus. Steering control unit controls the steering system according to some control strategy. Design of hardware and control strategy is given. Experiments on vehicles have shown that the steering system can steer accurately, smoothly and rapidly. This system can meet the steering request of autonomous vehicles.

关 键 词：无人驾驶汽车 转向控制单元 CAN总线 

分 类 号：TN29[电子电信—物理电子学]