| 基于CAN总线的全自主移动车辆信息网络设计 |
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| 引用本文： | 千应庆,张伟军,王春香,付庄,赵言正.基于CAN总线的全自主移动车辆信息网络设计[J].上海航天,2010,27(2):56-60. |
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| 作者姓名： | 千应庆 张伟军 王春香 付庄 赵言正 |
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| 作者单位： | 1. 中国兵器工业第218所,上海,200092
2. 上海交通大学,机器人研究所,上海,200240 |
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| 摘 要： | 面向全自主轮式移动车辆设计了基于CAN总线的控制-感知-导航通信系统。提出了CAN总线带宽分配原则及通信协议,并针对典型导航传感器系统进行了通信负载-可靠性试验,给出了多自主移动车辆的信息网络的建立方法。实验结果表明:基于CAN总线实现车体导航-控制可满足自主控制的实时性和可靠性要求。
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| 关 键 词： | 自主移动车辆 信息网络 CAN总线 分布式控制 |
Design of Information Network in Autonomous Vehicle Based on CAN Bus |
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| QIAN Ying-qing,ZHANG Wei-jun,WANG Chun-xiang,FU Zhuang,ZHAO Yan-zheng.Design of Information Network in Autonomous Vehicle Based on CAN Bus[J].Aerospace Shanghai,2010,27(2):56-60. |
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| Authors: | QIAN Ying-qing ZHANG Wei-jun WANG Chun-xiang FU Zhuang ZHAO Yan-zheng |
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| Institution: | QIAN Ying-qing~1,ZHANG Wei-jun~2,WANG Chun-xiang~2,FU Zhuang~2,ZHAO Yan-zheng~2(1.No.218 Institute of China Ordnance Industry,Shanghai 200092,China,2.Research Institute of Robotics,Shanghai Jiao Tong University,Shanghai 200240,China) |
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| Abstract: | The communication system based on CAN network was presented to meet the position and guidance requirements of autonomous vehicle in this paper.The data distribution on CAN bus and communication protocol were proposed for control tasks.The experiments of communication load and reliability were done for the typical guidance sensor system.The modeling method of the information network for the autonomous vehicle was given out.The research showed that the realization of the guidance control system for the autono... |
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| Keywords: | Autonomous vehicle Information network CAN bus Distributed control |
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