基于CAN总线的智能车辆数据采集与处理

发布时间：2018-04-11 05:40

本文选题：智能车辆 + CAN总线　；参考：《重庆交通大学》2016年硕士论文

【摘要】：随着自动化、汽车电子、计算机网络的飞速发展,智能车辆、车联网和新能源汽车将成为21世纪汽车领域发展趋势。对于现有电子化汽车而言,车上布满了各式各样的传感器,他们的接口并没有一个统一的标准协议,使得车载网络布线复杂,传感器数据处理和传输能力受到极大的挑战。针对这一现状,也为减轻智能车辆的开发难度,本文提出了一种基于CAN总线的数据采集系统,应用多传感器数据融合技术对车辆环境参数进行融合处理。本系统采用由飞思卡尔半导体公司推出的专门面向汽车电子控制的32位POWER-Architecture架构的MPC5634M作为核心处理器,根据车载环境下的信息采集功能要求,应用模块化设计思想,开发出一种基于CAN总线的智能车辆信息采集节点。该节点可对模拟信号、数字信号、开关信号和脉冲信号等多种数据的采集,通过FlexCAN实现通讯,最后利用USB-CAN接口传送给上位机。硬件方面充分考虑了功能的扩展和成本的节省,选取合适的部件,设计各模块的原理电路图和PCB版图,电路简单,稳定可靠。软件方面充分考虑了车辆所处的特殊环境,设计了一套完备的实时、有效、可靠的通讯协议,并给出了模块的程序结构和流程图。多传感器数据融合方面,本文选取了合适的数据融合架构,设计了一套由卡尔曼滤波和一致性融合相结合的两级融合方案,并利用MATLAB进行相关的仿真研究,最后将本文的算法通过本文设计的数据采集系统进行了验证,证明了本文算法确实有效和可行。结果表明,此数据融合方案可有效减少冗余数据的转发,防止异常数据对融合结果造成不良影响,降低节点能耗、提高数据精确度。
[Abstract]:With the rapid development of automation, automotive electronics and computer network, intelligent vehicles, vehicle networking and new energy vehicles will become the development trend of automobile field in the 21st century.For the existing electronic vehicles, the vehicle is covered with a variety of sensors, their interfaces do not have a unified standard protocol, make the onboard network wiring complex, sensor data processing and transmission capacity is greatly challenged.In order to reduce the difficulty of intelligent vehicle development, a data acquisition system based on CAN bus is proposed in this paper. The multi-sensor data fusion technology is used to fuse the vehicle environment parameters.This system adopts the 32-bit POWER-Architecture architecture MPC5634M which is specially developed by Freescale Semiconductor Company for automotive electronic control as the core processor. According to the requirements of the information collection function under the on-board environment, the modular design idea is applied.An intelligent vehicle information acquisition node based on CAN bus is developed.The node can collect analog signal, digital signal, switch signal and pulse signal, and communicate with each other by FlexCAN. Finally, the node can be transmitted to the host computer by USB-CAN interface.In the aspect of hardware, the expansion of function and the cost saving are fully considered. The proper components are selected, and the schematic circuit and PCB layout of each module are designed. The circuit is simple, stable and reliable.In the aspect of software, the special environment of the vehicle is fully considered, a complete real-time, effective and reliable communication protocol is designed, and the program structure and flow chart of the module are given.In the aspect of multi-sensor data fusion, this paper selects the appropriate data fusion architecture, designs a two-level fusion scheme which combines Kalman filter and consistency fusion, and uses MATLAB to carry on the related simulation research.Finally, the algorithm of this paper is verified by the data acquisition system designed in this paper, and it is proved that the algorithm in this paper is effective and feasible.The results show that this data fusion scheme can effectively reduce the transmission of redundant data, prevent abnormal data from adversely affecting the fusion results, reduce the energy consumption of nodes, and improve the accuracy of data.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.6

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