基于FSAC赛车的VCU整车控制策略开发  

Development of VCU vehicle control strategy based on FSAC racing car

作　　者：李柯志 徐延海 李美斌 陈芃里 李嘉蕤 LI Kezhi;XU Yanhai;LI Meibin;CHEN Pengli;LI Jiarui(School of Automotive and Transportation,Xihua University,Chengdu 610039,Sichuan,China)

机构地区：[1]西华大学汽车与交通学院,四川省成都市610039

出　　处：《农业装备与车辆工程》2023年第8期170-176,共7页Agricultural Equipment & Vehicle Engineering

摘　　要：在中国大学生无人驾驶方程式大赛(FSAC)中,整车控制器是纯电动赛车底层运动控制的核心,负责根据规划决策层的指令以及赛车实时状态,实现赛车运动控制、整车能量管理、比赛任务选择及故障处理等功能。为满足FSAC赛事规则,针对FSAC赛车进行VCU整车控制策略的开发。基于Simulink软件搭建整车控制策略模型,并实现代码的自动生成,将生成的代码烧写至赛车的整车控制器;将赛车安全系统融入无人系统的各个状态,保证了系统的完整性。不考虑环境感知层和规划决策层的搭建和调试,最后的实验验证基于搭载完整的无人驾驶系统的FSAC赛车进行,测试数据充分验证了整车控制策略的有效性和赛车安全系统的可靠性。In the Formula Student Autonomous of China(FSAC),the vehicle controller unit was the core of the underlying motion control of the pure electric racing car,responsible for motion control,whole vehicle energy management,race task selection and fault handling of the racing car according to the operation instruction of the planning and decision level as well as the real-time status of the racing car.In order to comply with FSAC rules,the entire vehicle control strategy of VCU was developed for FSAC racing cars,the entire vehicle control model was constructed based on Simulink software,and automatic code generation was implemented.The generated code was then burned into the vehicle controller unit of the race car,and the racing safety system was integrated into the various states of the autonomous system,ensuring the integrity of the system.Disregarding the building and debugging of the environment sensing layer and the planning and decision layer,the final experimental validation was conducted based on the FSAC racing car equipped with a complete autonomous system,and the test data fully verified the effectiveness of the whole vehicle control strategy and the reliability of the racing car safety system.

关 键 词：FSAC赛车 整车控制器 整车控制策略 软件系统开发 

分 类 号：U463.6[机械工程—车辆工程]