Ressarch On Control Program Development System Of Unmanned Electric Racing Car

It has been 10 years since the 2010 China Formula Student Car Race was successfully held.As one of the series,the Driverless Formula Car Race has also been successfully held for four times.The event aims to help the development of the automotive industry and cultivate innovative talents for the automotive industry.Unmanned electric racing cars mainly include many key technologies such as environment recognition,sensor data fusion,path planning and tracking,wire-controlled chassis and motion control.Wire-controlled chassis and motion control are the core parts of the unmanned formula car running stable and vehicle safety.The development process includes controller hardware circuit design,control program software design,and design test verification.This article is mainly aimed at the development of unmanned formula electric racing wire control program.Based on MATLAB/Simulink,STM32 Cube Mx and other tool chains,complete a set of unmanned driving including motion control algorithm,algorithm simulation verification and controller application layer program development.Design of development platform for electric racing car control program.The platform aims to save the development cycle of the wire-controlled chassis control program,improve the stability of the control program,and at the same time promote the development of unmanned driving technology,laying a foundation for the development of unmanned vehicle control programs.The thesis combines the unmanned electric racing car project of Liaoning University of Technology,and the research is carried out under the funding of the National Natural Science Foundation of China(51675257).The main research content is the following three parts:(1)System requirement analysis and overall structure design.Analyze the overall functional requirements of the unmanned electric racing car control program development system,and according to the overall requirements of the system,conduct a detailed analysis of the structure of each part and formulate the overall structure design plan,and then complete the vehicle rapid prototype controller design,including control The input and output functions and communication function of the controller are designed.The controller can be fully connected with the software part of the upper computer to ensure the stability of the combination of software and hardware.(2)Unmanned electric racing car control program development system software design.Based on the basic modules in Matlab/Simulink,complete the software design and integration of the unmanned electric racing car control program development platform.The application layer driver interface library mainly helps program design users to complete the code generation of the interface program.Use STM32 Cube MX to configure the driver layer application interface,and build and complete the design of input and output interfaces,communication,interrupts,timers and other functions according to actual needs.The algorithm library includes some algorithm modules and vehicle dynamics formulas required in the design of the vehicle control program.These modules can be directly applied to the design of the algorithm part of the control program.The offline simulation library is mainly used for the verification of the vehicle control algorithm.The Powertrain＿Blockset module is mainly used to build the dynamic model of the electronically controlled chassis of the driverless electric racing car.The user uses the design method referenced by the model to embed the control algorithm into the simulation model to achieve Offline simulation verification of the entire control program.Finally,the integration of the entire system and the software development of the entire control program are completed in the App design through MATLAB internal function instructions.(3)Experimental verification of control program development system.After the design of the entire control program development system,the system is used to complete the program design of the wire-controlled chassis of the unmanned electric racing car,and collect the whole vehicle operation data.The comparative analysis verifies the function and stability of the system.Through comparative analysis of the actual running state of the car,it is proved that the stability of the system is sufficient to meet the functional requirements of vehicle control program development.