Research And Development On Acquisition System Of Vehicle Multiple Parameters

With the constant pursuit of safety and comfortable driving experience,autopilot will be the new future of the vehicles.The accurate motion parameters are the foundation for both advanced auxiliary driving system and the intelligent unmanned system.This paper is based on the National Science and Technology Plan Program-the key technology and integrated demonstration for the low grade highway safety control(project number:2014BAG01B06).In the use of automotive electronics,the embedded system,satellite navigation and software engineering technology,the vehicle multiple parameters acquisition system is developed successfully.The inertial navigation algorithm and software implementation are the key points.The parameters acquisition system is tested in Chongqing and Zhejiang successfully.Firstly,this paper has summarized the development situation of both the vehicle motion parameters acquisition system and the related components.On the foundation of the summarization,the overall architecture of the system is proposed,including the overall design scheme,hardware design and software function design.Secondly,in order to meet the demand of the seamless navigation on the situation of satellite signal loss when driving,the GPS/INS integrated navigation model is designed.In the deep research of the navigation parameters and the attitude parameters,with the use of Kalman filter algorithm and time synchronization technology,the integrated navigation model is built and software is implemented.The inertial navigation error calibration and the inertial components error calibration are implemented to improve the system accuracy.The simulation in MATLAB verifies the precision of the integrated navigation filter algorithm.In the embedded system,the filter algorithm is realized with C.The filter algorithm improves the system's accuracy in the aspect of the software.The calibration and compensation to the inertial components according to the components' error model.The calibration and compensation improve the system's accuracy in the aspect of the hardware.Finally,the system's hardware is realized on the platform of ARM Cortex-M series chips,from ST Company,with the uCLinux embedded system.The acquired parameters includes instantaneous velocity,instantaneous acceleration,course angle,roll angle,pitching angle,steering wheel angle,the state of brakes and clutch,and the signal communicated on CAN bus.All the parameters are synchronized in the aspect of hardware.In addition,the customized software on PC is designed,based on the.net framework with C++ platform.Through the software,human-computer interaction can be realized on PC.In this paper,the developed inertial navigation system can work with high accuracy.in addition,the parameters acquisition system can work with the sampling rate of 20 Hz.the application and experiment results show that the precision and performance of the system meet the requirements of the national innovation subject.