基于CAN_FD总线的线控制动系统设计

Design of Brake-by-wire System Based on CAN_FD

针对于汽车单轮制动执行器故障问题,提出了冗余结构系统设计方案和三轮协同制动力分配策略,其中冗余结构系统设计通过双中央控制器,使制动执行器故障时汽车侧向偏移距离缩短,三轮协同制动力分配策略采用汽车行驶速度和驾驶员制动强度相结合的方式,确保汽车在单轮制动执行器故障时可以安全稳定停车;完成了线控制动系统的软硬件设计,搭建了实物验证平台,该平台共设计了6个控制节点,节点之间通过CAN_FD总线进行通信;实验结果表明,在单轮制动执行器故障时,冗余结构系统设计相比于非冗余结构系统设计在不同制动强度下最大缩短了15.85%的侧向偏移距离,三轮协同制动力分配策略可以确保安全稳定停车。

Aiming at the failure problem of automobile single-wheel brake actuator,the design scheme of the redundant structure system and the distribution strategy of the three-wheel cooperative braking force are proposed.The redundant structure system is designed with dual central controllers to shorten the lateral offset distance of the vehicle when the brake actuator fails.The three-wheel cooperative braking force distribution strategy combines vehicle driving speed and driver braking strength to ensure the safe and stable parking of the vehicle when the single-wheel brake actuator fails.The hardware and software design of the Brake-by-Wire system is completed,and the physical verification platform is built.In this platform,6 control nodes are designed,and the nodes communicate with each other through CAN_FD-bus.The experimental results show that when the single-wheel brake actuator fails,compared with the non-redundant system design,the redundant system design can shorten the maximum lateral offset distance by 15.85% under different braking strengths,and the three-wheel cooperative braking force distribution strategy can ensure the safe and stable stopping.