无人方程式赛车VCU软件设计

Design of VCU software of driverless formula racing car

整车控制器(vehicle control unit,VCU)作为无人驾驶方程式赛车的重要组成部分,直接影响赛车的稳定性、灵敏性和控制性。为满足中国大学生无人驾驶方程式大赛(Formula Student Autonomous China,FSAC)规则要求,分析了赛车状态机需求,以MC9S12XET256单片机为主控芯片,基于控制器局域网络(controller area network,CAN)通信技术,设计了整车控制器软件系统,针对模数转换(analog to digital converter,A/D)采样技术、轮速测量技术及通信技术3个功能模块进行详细阐述,并进行实验。实验测试证明,所设计的控制器能够较好地完成无人驾驶方程式赛车的控制任务。

Vehicle control unit(VCU),which plays an important role on driverless formula racing car,directly affects the stability,rapidity and control of the racing car.In order to meet the requirements of FSAC(Formula Student Autonomous China)rules,the demand of the racing state maching was analyzed,the MC9S12XET256 micro-controller was used as the main controller,and the software of VCU was designed based on controller area network(CAN).Three functional modules of A/D sampling,wheel speed measurement and communication were introduced in details,and experiments were carrid out.Experimental results show that the VCU can complete the control task of driverless fomula car well.