基于CAN总线的车用惯性测量单元研究

Research on Vehicle Inertial Measurement Unit Based on CAN Bus

汽车电子稳定控制系统ESC的控制目标是横摆角速度和质心侧偏角,其中横摆角速度可以由横摆角速度传感器直接测得,而质心侧偏角则是由横摆角速度和侧向加速度计算得到,侧向加速度由侧向加速度传感器测得。针对传统的横摆角速度传感器和侧向加速度传感器是独立的装置,需要分别将信号发送给ESC,安装比较繁琐。设计一种惯性测量单元将横摆角速度传感器,侧向加速度传感器以及纵向加速度传感器集成在一起,并通过CAN总线将3组惯性信号发送给ESC。测试结果表明,该惯性测量单元可满足ESC的使用要求。

The control target of vehicle electronic stability control system is yawing angular velocity and the center of mass side-slip angle,the yawing angular velocity can be measured directly by the yawing angular velocity sensor,and the center of mass side-slip angle is calculated by the yawing angular velocity and lateral acceleration,the lateral acceleration measured by lateral acceleration sensors.Traditional yawing angular velocity sensor and lateral acceleration sensor are independent,the signal is sent to the ESC respectively,and troublesome to install.The inertial measurement unit was designed,by which integrates yawing angular velocity sensor,lateral acceleration sensor and the longitudinal acceleration sensor together,and the three sets of inertial signals were sent to ESC through CAN bus.The test result shows that the inertial measurement unit meets the demand of the ESC.