基于CANoe的无驾驶舱车辆控制方法

A Hands-Free Vehicle Control Method Based on CANoe

在无驾驶舱的无人驾驶车辆开发阶段,传感器与底盘标定需要能初步控制车辆进行运动,如果通过智能驾驶控制器单独开发移动车辆的功能,还需要考虑交互方式、开发时间等问题,不利于项目进度控制。对于整车主机厂开发线控底盘性能校验而言,如果放在使用场景中去记录测试数据,并根据离线数据调整性能参数,则效率较低。笔者尝试通过经常用于车辆开发的CANoe工具建立一个使用较少资源即可进行车辆控制的工程,可以实现CANoe连接车辆CAN总线后通过键盘控制车辆移动,并可以在交互界面设计请求参数,同时输出一些需要的性能参数。经实际验证,测试工程能够满足实际使用需求,且仅需要改变报文ID即可用于其他车辆,通用性较好,可以减少此类型车辆开发过程中的开发成本,利于无驾驶舱车辆前期开发和主机厂对于线控执行器的一些验证。

In the development stage of an unmanned vehicle without a cockpit,the sensor and chassis calibration need to be able to initially control the movement of the vehicle.If the functions of the mobile vehicle are developed separately through the intelligent driving controller,it is also necessary to consider issues such as interaction mode and development time,which is not conducive to Project progress control.For the performance verification of the wire-controlled chassis developed by the OEM,if it is placed in the use scene to record the test data and adjust the performance parameters based on the offline data,the efficiency is low.The author tried to use the CANoe tool that is often used for vehicle development to establish a vehicle control project that uses less resources.After CANoe is connected to the vehicle CAN bus,the vehicle can be controlled by the keyboard to move,and the interactive interface can be designed to request parameters and output at the same time Some required performance parameters.After actual verification,the test project can meet the actual use requirements,and only needs to change the message ID to be used in other vehicles.It has good versatility and can reduce the development cost during the development of this type of vehicle,which is beneficial to the early development and Some verifications by the OEM for wire-controlled actuators.