主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2024, Vol. 49 ›› Issue (18): 28-33,42.DOI: 10.16638/j.cnki.1671-7988.2024.018.005

• 智能网联汽车 • 上一篇    

基于 CAN 协议的自动驾驶车辆线控系统研究

苏海东 1，张 武 1，曹 君 2   

  1. 1.陕西智能网联汽车研究院有限公司； 2.西安青牛智驾科技有限公司
  • 发布日期:2024-09-23
  • 通讯作者: 苏海东
  • 作者简介:苏海东（1982－），男，硕士，工程师，研究方向为线控制动、自动驾驶，E-mail:shd_sicv@163.com。

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

SU Haidong1 , ZHANG Wu1 , CAO Jun2   

  1. 1.Shaanxi Intelligent Network Automobile Research Institute Company Limited; 2.Xi'an Tsingniu Intelligent Driving Technology Company Limited
  • Published:2024-09-23
  • Contact: SU Haidong

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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。

关键词: 自动驾驶车辆；线控底盘；智能驾驶；CAN 通信

Abstract: 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) communication 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.

Key words: Autonomous vehicles; Wire-controlled chassis; Intelligent driving; CAN communication