基于CAN协议的自动驾驶车辆线控系统研究  

Research on Line Control System for Autonomous Vehicles Based on CAN Protocol

作　　者：苏海东 张武 曹君 SU Haidong;ZHANG Wu;CAO Jun(Shaanxi Intelligent Network Automobile Research Institute Company Limited,Xi'an 710000,China;Xi'an Tsingniu Intelligent Driving Technology Company Limited,Xi'an 710021,China)

机构地区：[1]陕西智能网联汽车研究院有限公司,陕西西安710000 [2]西安青牛智驾科技有限公司,陕西西安710021

出　　处：《汽车实用技术》2024年第18期28-33,42,共7页Automobile Applied Technology

摘　　要：伴随着自动控制理念和汽车电子控制技术的进步,越来越多的线控技术在汽车领域开始应用。文章旨在探索智能汽车底盘和线控技术的应用,通过对试验车辆的硬件系统进行创新改装,包括线控转向和线控制动等关键部件的优化,同时集成特定传感器,通过CANTest软件解析信号帧数据变化规律,从而验证经硬件改造后试验车可以具备控制器局域网(CAN)通信功能。本研究能够为智能驾驶技术的发展提供实质性支持,对现有车辆进行线控改造及通讯控制提供了较为完善的方案。With the advancement of automatic control concept and automotive electronic control technology,more and more X-by-wire technology has been applied in the automotive field.This paper aims to explore the application of intelligent vehicle chassis and drive-by-wire technology.Through innovative modification of the hardware system of the experimental vehicle,including optimization of key components such as drive-by-wire steering and drive-by-wire control,and integration of specific sensors,CANTest software is used to analyze the change rule of signal frame data,so as to verify that the experimental vehicle have controller area network(CAN)communica-tion function after hardware modification.This research can provide substantial support for the development of intelligent driving technology,and provide a relatively perfect scheme for the existing vehicle drive-by-wire transformation and communication control.

关 键 词：自动驾驶车辆 线控底盘 智能驾驶 CAN通信 

分 类 号：U461[机械工程—车辆工程]