Research Of Low-Level Conrol System For Intelligent Vehicle Based On HCS12 MCU

Application of ITS shows broad prospects and drives increasingly widespread study. As the main carrier of ITS, intelligent vehicle has a direct impact on the development of ITS, and intelligent vehicle low-level control system are the cornerstone of smart cars. In this paper, a set of low-level control system is designed based on HCS12 MCU. It realizes autonomous driving and provides a reliable research and experimental platform for high-level control.This paper involves the IVS frame design, IVS sub-module design and application of CAN bus and the design of CAN application-layer protocol. The entire system uses a highly modular design, namely, motion control, laser radar and magnetic sensors data acquisition modules are designed independently. In motion control module, digital communication and control technology is used, such as SPI and PWM. It improves the control accuracy and response speed. In the laser radar module design, a dual-core MCU HCS12X is used. The application of the laser radar for high-speed data communications is realized, and the real-time characteristic and safety of the intelligent vehicle control is improved. In the magnetic module, efficient magnetic data acquisition is realized by flexible operation of multi-channel AD in HCS12 MCU. Finally, for drawbacks of the lack of high-level agreement in multi-node CAN network, a set of standard-frame-based multi-filter with source address high-level CAN communication protocol is designed, using MSCAN controller in HCS12 MCU. Experiment proves that the protocol is real-time, highly reliable and easy to operate.