Implementation And Optimization Of The Main Functions Of The Vehicle Controller Of A Special Unmanned Vehicle VCU

In recent years,Chinese automakers have devoted enormous human and material resources to intelligent driving.However,due to the existing technological bottlenecks,it is still a long way to go to achieve L3～L5 level of intelligent driving.Nonetheless,unmanned vehicles can play a significant role in some special scenarios,such as the special unmanned vehicle that is the focus of this paper.This vehicle is designed for detecting dangerous gases in mines and can patrol at specific intervals in the designated mine tunnel,collecting data on the gas concentration.In the event of dangerous gas emissions,the vehicle will send out an alarm signal.The main objective of this study is to design a suitable control system for the vehicle based on this unique application scenario.As the vehicle is purely electric,the drive system uses a dual-motor electric drive structure based on the power requirements of the electric vehicle,and then determines the basic parameters of the drive motor and battery system.Next,based on the relevant status information of the motor controller and battery management system,and in consultation with the supplier,a dbc file defining the information that needs to be received and sent by the vehicle controller is produced.Afterwards,the main functions of the vehicle controller for the explosion-proof unmanned mining vehicle were designed,following the general development process for vehicle controllers of pure electric vehicles.The main functions of the pure electric explosion-proof unmanned mining vehicle are divided into parking function,emergency stop function,arbitration function,fault management,etc.The application layer control logic was built using Simulink.After the functional design was completed,the executable code was generated from the model by the software and was burnt into the vehicle controller via CAN communicate on,the controller was installed on the test vehicle for on-the-road testing of the functionalities designed in this paper.The parameters of the software were fine-tuned and calibrated to improve the control effectiveness of the vehicle.