CN113552861A - Automatic driving vehicle MCU on-line parameter adjusting system and method thereof - Google Patents
Automatic driving vehicle MCU on-line parameter adjusting system and method thereof Download PDFInfo
- Publication number
- CN113552861A CN113552861A CN202110857704.0A CN202110857704A CN113552861A CN 113552861 A CN113552861 A CN 113552861A CN 202110857704 A CN202110857704 A CN 202110857704A CN 113552861 A CN113552861 A CN 113552861A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- control unit
- program
- micro control
- intermediate variable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Debugging And Monitoring (AREA)
Abstract
The invention relates to automatic driving, in particular to an MCU (microprogrammed control Unit) online parameter adjusting system and method for an automatic driving vehicle. The system comprises a touch screen, a vehicle CAN bus and a micro control unit, wherein the vehicle CAN bus is respectively connected with the touch screen and the micro control unit and is used for the communication between the touch screen and the micro control unit; the system is characterized in that a program intermediate variable acquisition module and an online parameter adjusting receiving module run in the micro control unit, a program intermediate variable receiving module and an online parameter adjusting sending module run in the touch screen, the four modules are in communication fit with the CAN message sending program module, the micro control unit is enabled to input intermediate variable values of algorithms and functions to the touch screen through a vehicle CAN bus, and the touch screen is enabled to input modification values of expected parameters and intermediate variable values to the micro control unit through the vehicle CAN bus, so that the running conditions of the algorithms and the functions in the MCU CAN be intuitively known.
Description
Technical Field
The invention relates to automatic driving, in particular to an MCU (microprogrammed control Unit) online parameter adjusting system and method for an automatic driving vehicle.
Background
In order to ensure the running safety of an automatic driving vehicle and avoid dangerous working conditions such as unstable running and even out of control of the vehicle caused by the jamming of an automatic driving controller or the error of running time sequence, algorithms such as perception, positioning, decision planning and the like of the automatic driving vehicle are often operated in an automatic driving controller with better performance and stronger calculation, a control algorithm and vehicle bottom layer safety logic are independently operated in a more stable vehicle-mounted MCU (micro control unit), and information interaction is carried out between the automatic driving controller and the MCU in the form of CAN communication or UDP communication. Because the MCU is essentially a singlechip without an operating system, has no function of a program probe, cannot print intermediate variables of a program, and observes the running condition of an algorithm in the MCU, when a vehicle is debugged, whether the program meets the expected design effect can be judged only by comparing preset input and output. The bottom layer control of the automatic driving vehicle is often a complex algorithm with multi-parameter coupling and mutual influence among parameters, and the method is very dependent on trying different parameters to carry out repeated debugging, namely a parameter adjusting process, because intermediate variables of a program cannot be seen, the parameters can only be changed by depending on experience during debugging, and the MCU is repeatedly written, the one-time writing process of the MCU is often more than 10 minutes, the vehicle debugging efficiency is greatly reduced, meanwhile, the MCU hardware is also limited by the writing times, and the service life of the MCU is reduced due to repeated writing.
Because the MCU is essentially a single chip without an operating system, whether the program achieves the expected effect can be verified only by judging input and output when the program runs in the MCU, intermediate variables of the program and running conditions of algorithms and functions in the MCU cannot be observed, parameter adjustment can be judged only by experience of engineers, the technical threshold is improved, and engineers with abundant experience are often required to carry out technical support.
In the prior art, the procedures of changing a program, compiling the program and flashing the MCU are required to be repeated once every parameter adjustment, the time consumption of the procedures is about 10 minutes, and the debugging efficiency is greatly reduced.
The MCU hardware has the upper limit of the flash times, and the service life of the MCU is reduced due to repeated flash.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the problems that the intermediate variable of a program cannot be observed, the parameter adjusting process is complicated and the debugging efficiency is low when the automatic driving vehicle MCU program is debugged at one time, and the service life of the MCU is shortened due to repeated flash.
(II) technical scheme of the invention
In order to solve the technical problems, the invention provides the following technical scheme:
an automatic driving vehicle MCU online parameter adjusting system comprises a touch screen, a vehicle CAN bus and a micro control unit, wherein the vehicle CAN bus is respectively connected with the touch screen and the micro control unit and is used for the communication between the touch screen and the micro control unit; the system is characterized in that a program intermediate variable acquisition module and an online parameter adjusting receiving module run in the micro control unit, a program intermediate variable receiving module and an online parameter adjusting sending module run in the touch screen, the four modules are in communication fit with the CAN message sending program module, the micro control unit is enabled to input intermediate variable values of algorithms and functions to the touch screen through a vehicle CAN bus, and the touch screen is enabled to input modification values of expected parameters and intermediate variable values to the micro control unit through the vehicle CAN bus, so that the running conditions of the algorithms and the functions in the MCU CAN be intuitively known.
Preferably, the vehicle VCU controller is configured to receive an output instruction of the operation program transmitted by the micro control unit, and issue the output instruction to a drive-by-wire actuator of the vehicle to finally achieve vehicle braking, driving, and steering operations.
Preferably, the transmission rate of the vehicle CAN bus is 500 kbps.
Preferably, the intermediate variable acquisition module and the online parameter adjusting and receiving module run in the micro control unit in the form of C codes, and the intermediate variable receiving module and the online parameter adjusting and sending module run in the form of a graphical Labview program in the touch screen.
An online parameter adjusting method for realizing an MCU online parameter adjusting system of an automatic driving vehicle comprises the following steps:
the method comprises the following steps: the micro control unit runs an algorithm and a function which need to be observed, the intermediate variable acquisition module of the program acquires the intermediate variable of the algorithm and the function which need to be observed, and then the intermediate variable acquisition module of the program adds the intermediate variable of the algorithm and the function which need to be observed in the automobile CAN message transmission program module according to a fixed rule and an ID (identity) and transmits the intermediate variable of the algorithm and the function to the automobile CAN bus according to a CAN message;
step two: the intermediate variable receiving module receives a CAN message from a CAN bus of the vehicle, analyzes the message according to a preset ID and an analysis rule, and displays an analyzed intermediate variable value or a waveform diagram on a touch screen for a vehicle debugging person to serve as a basis for modifying parameters;
step three: debugging personnel input freely defined parameters and modified program intermediate variables in the touch screen, and the online parameter-adjusting sending module adds parameter assignment and the modified program intermediate variable assignment in the automobile CAN message sending program module in real time according to the message ID and the analysis rule set in the micro control unit and sends the message to a vehicle CAN bus in a CAN message for receiving by the online parameter-adjusting receiving module;
step four: the on-line parameter adjusting receiving module receives and analyzes the CAN message from the vehicle CAN bus according to the preset ID and the analysis rule, and changes the original parameters of the operation algorithm in the micro control unit into the latest assignment of the CAN message and automatically operates the program.
Preferably, the online parameter adjusting module reserves a parameter value set by the last received message ID.
Preferably, in the third step, the debugger can also freely define the displayed intermediate variables according to the actual requirements of the program to be observed.
Preferably, the system is used for online parameter input and modification of intermediate variables of the program, and a debugger can intuitively know the operation condition of the algorithm and the function in the MCU by inputting freely defined parameters into the system and observing the intermediate variables of the program required by the debugger.
(III) advantageous effects
The invention does not need to change the automatic driving vehicle, can change the program parameters in the MCU in real time only by adding the parameter input and the intermediate variable touch screen into the upper computer, greatly improves the debugging efficiency of the automatic driving vehicle at lower cost, and can enable a debugging person to freely define the intermediate variable type output by the touch screen according to the requirement, visually know the running condition of the algorithm and the function in the MCU, so as to adjust the parameters, reduce the technical threshold of the debugging person, and effectively avoid the problems of service life reduction and the like caused by repeatedly writing the MCU.
The invention can facilitate the debugging personnel to observe any intermediate variable required by the vehicle while debugging the vehicle, judge how to adjust the control parameters according to the intermediate variable, modify the parameters on line in real time, and test the modified parameters again, thereby greatly improving the debugging efficiency and reducing the technical threshold of the debugging personnel.
Drawings
FIG. 1 is a diagram of an MCU on-line parameter adjusting system for an automatic driving vehicle;
FIG. 2 is an explanatory view of an embodiment of the present invention;
fig. 3 is a block diagram of the process of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 and 2, the MCU online parameter adjusting system for an autonomous vehicle comprises a touch screen for online parameter input and program intermediate variables, a vehicle CAN bus, a micro control unit, and a vehicle VCU controller. A Micro Controller Unit (MCU), also called a Single Chip Microcomputer (Single Chip Microcomputer) or a Single Chip Microcomputer. The transmission rate of the vehicle CAN bus is 500 kbps. The vehicle CAN bus is respectively connected with the touch screen and the micro control unit and is used for communication between the touch screen and the micro control unit; the vehicle VCU controller is used for receiving an output instruction of an operation program transmitted by the micro control unit, issuing the output instruction to a drive-by-wire execution mechanism of the vehicle and finally achieving the operations of braking, driving and steering of the vehicle.
The micro control unit runs a program intermediate variable acquisition module and an online parameter adjusting receiving module in a C code mode, the touch screen runs a program intermediate variable receiving module and an online parameter adjusting sending module in a graphical Labview program mode, the four modules are in communication fit with the CAN message sending program module, the micro control unit inputs intermediate variable values of algorithms and functions to the touch screen through a vehicle CAN bus, and the touch screen inputs modified values of expected parameters and the intermediate variable values to the micro control unit through the vehicle CAN bus so as to intuitively know the running conditions of the algorithms and the functions in the MCU.
As shown in fig. 2, the online parameter adjusting method for implementing the MCU online parameter adjusting system of the autonomous vehicle includes the following steps:
the method comprises the following steps: the micro control unit runs an algorithm and a function which need to be observed, the intermediate variable acquisition module of the program acquires the intermediate variable of the algorithm and the function which need to be observed, and then the intermediate variable acquisition module of the program adds the intermediate variable of the algorithm and the function which need to be observed in the automobile CAN message transmission program module according to a fixed rule and an ID (identity) and transmits the intermediate variable of the algorithm and the function to the automobile CAN bus according to a CAN message; the touch screen is used for online parameter input and modification of program intermediate variables, and debugging personnel can intuitively know the running conditions of the algorithm and the function in the MCU by inputting freely defined parameters into the system and observing the required program intermediate variables;
step two: the intermediate variable receiving module receives a CAN message from a CAN bus of the vehicle, analyzes the message according to a preset ID and an analysis rule, and displays an analyzed intermediate variable value or a waveform diagram on a touch screen for a vehicle debugging person to serve as a basis for modifying parameters;
step three: debugging personnel input freely defined parameters and modified program intermediate variables in the touch screen, and the online parameter-adjusting sending module adds parameter assignment and the modified program intermediate variable assignment in the automobile CAN message sending program module in real time according to the message ID and the analysis rule set in the micro control unit and sends the message to a vehicle CAN bus in a CAN message for receiving by the online parameter-adjusting receiving module; the debugging personnel can also freely define the displayed intermediate variable according to the actual requirement of the program needing to be observed;
step four: the on-line parameter adjusting receiving module receives and analyzes the CAN message from the vehicle CAN bus according to the preset ID and the analysis rule, and changes the original parameters of the operation algorithm in the micro control unit into the latest assignment of the CAN message and automatically operates the program. The micro control unit 3 will keep the parameter value set by the last received message ID.
The automobile CAN message sending program module is the existing general technology, and the realization method is many, for example, the automobile CAN message sending method (201911417672.1) in patent application comprises the following steps: 1. when an application layer needs to send a message, firstly filling the message into a transition region, and then starting a CAN sending buffer idle interrupt; 2. when an idle CAN sending buffer exists, the controller enters the CAN sending buffer for idle interruption and sends out the message.
The method can solve the problems that the intermediate variable of the program cannot be observed, the parameter adjusting process is complicated and the debugging efficiency is low when the MCU program of the automatic driving vehicle is debugged at one time, and simultaneously greatly reduces the number of times of MCU flashing; the method can be convenient for debugging personnel to observe any required intermediate variable while debugging the vehicle, judge how to adjust the control parameters, modify the parameters on line in real time, and test the parameters again after modification, thereby greatly improving the debugging efficiency and reducing the technical threshold of the debugging personnel.
Application 1:
a debugging person discovers the phenomena of left-right swing and instability of a vehicle in the running process of the vehicle, observes the touch screen of the online parameter input and the program intermediate variable, discovers that the control quantity of the program output is too large, needs to reduce the fixed parameter A in the program, inputs the changed parameter A to the input module of the touch screen of the online parameter input and the program intermediate variable, clicks the send button, and can test the vehicle again without restarting the vehicle.
Application 2:
debugging personnel find that the actual running track of the vehicle has steady-state position deviation with the reference track in the running process of the vehicle, intermediate variables and control parameters displayed by the touch screen are observed, found that the course angle weight parameter B of the input quantity of the costfunction calculation function of a linear quadratic regulation algorithm running in a Micro Control Unit (MCU) is too large, and the transverse position weight C is too small, so that the course angle is accurate and the transverse position is not accurate in the running process of the vehicle, the adjusted control parameters B and C are input into the touch screen, the send button is clicked for testing again, the intermediate variable values displayed in the touch screen are observed to be consistent with the expectation, and the transverse position error of the vehicle is eliminated.
The above embodiments and application examples are merely illustrative and do not represent the merits of the practice of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. An automatic driving vehicle MCU online parameter adjusting system comprises a touch screen (1), a vehicle CAN bus (2) and a micro control unit (3), wherein the vehicle CAN bus (2) is respectively connected with the touch screen (1) and the micro control unit (3), and the vehicle CAN bus (2) is used for the communication between the touch screen (1) and the micro control unit (3); the intelligent control system is characterized in that a program intermediate variable acquisition module and an online parameter adjusting receiving module run in the micro control unit (3), a program intermediate variable receiving module and an online parameter adjusting sending module run in the touch screen (1), the four modules are in communication fit with the CAN message sending program module, the micro control unit (3) is enabled to input intermediate variable values of algorithms and functions to the touch screen (1) through a vehicle CAN bus, and the touch screen (1) is enabled to input modified values of expected parameters and the intermediate variable values to the micro control unit (3) through the vehicle CAN bus, so that the running conditions of the algorithms and the functions in the MCU CAN be intuitively known.
2. The MCU on-line parameter adjustment system of claim 1, wherein the transmission rate of the vehicle CAN bus (2) is 500 kbps.
3. The MCU online parameter adjusting system of the automatic driving vehicle as claimed in claim 1, wherein the micro control unit (3) is connected with a vehicle VCU controller (4), and the vehicle VCU controller (4) is used for receiving an output instruction of an operation program transmitted by the micro control unit (3), transmitting the output instruction to a drive-by-wire executing mechanism of the vehicle, and finally achieving the operation of braking, driving and steering of the vehicle.
4. The on-line parameter setting method of MCU on-line parameter setting system of automatic driving vehicle according to claim 1, characterized in that said intermediate variable acquisition module and on-line parameter setting receiving module are operated in the micro control unit (3) in the form of C code, and the intermediate variable receiving module and on-line parameter setting transmitting module are operated in the form of graphical Labview program in the touch screen (1).
5. An on-line parameter adjusting method applied to the MCU on-line parameter adjusting system of the automatic driving vehicle as the claim 1, 2, 3 or 4 is characterized by comprising the following steps:
the method comprises the following steps: the micro control unit (3) runs the algorithm and the function which need to be observed, the intermediate variable acquisition module of the program acquires the intermediate variable of the algorithm and the function which need to be observed, and then the intermediate variable acquisition module of the program adds the intermediate variable of the algorithm and the function which need to be observed in the automobile CAN message transmission program module according to the fixed rule and the ID and transmits the intermediate variable of the algorithm and the function to the automobile CAN bus according to the CAN message;
step two: the intermediate variable receiving module receives a CAN message from a CAN bus of the vehicle, analyzes the message according to a preset ID and an analysis rule, and displays an analyzed intermediate variable value or a waveform diagram on the touch screen (1) for a vehicle debugging person to use as a basis for modifying parameters;
step three: debugging personnel input freely defined parameters and modified program intermediate variables in the touch screen (1), and the online parameter-adjusting sending module adds parameter assignment and the modified program intermediate variable assignment in the automobile CAN message sending program module in real time according to the message ID and the analysis rule set in the micro control unit (3) and sends the CAN message to a vehicle CAN bus for the online parameter-adjusting receiving module to receive;
step four: the online parameter adjusting and receiving module receives and analyzes the CAN message from the vehicle CAN bus according to the preset ID and the analysis rule, and changes the original parameters of the operation algorithm in the micro control unit (3) into the latest assignment of the CAN message and automatically operates the program.
6. The on-line parameter adjustment method of MCU on-line parameter adjustment system for automatic driven vehicle according to claim 5, characterized in that said micro control unit (3) will retain the parameter value set by the last received message ID.
7. The method as claimed in claim 5, wherein in step three, the debugger can also freely define the intermediate variables to be displayed according to the actual requirements of the program to be observed.
8. The on-line parameter adjustment method of the MCU on-line parameter adjustment system of the automatic driving vehicle as claimed in claim 5, wherein in the first step, the touch screen (1) is used for on-line parameter input and modification of program intermediate variables, so that a debugger can intuitively know the operation conditions of the algorithm and the function in the MCU by inputting freely defined parameters into the system and observing the required program intermediate variables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110857704.0A CN113552861A (en) | 2021-07-28 | 2021-07-28 | Automatic driving vehicle MCU on-line parameter adjusting system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110857704.0A CN113552861A (en) | 2021-07-28 | 2021-07-28 | Automatic driving vehicle MCU on-line parameter adjusting system and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113552861A true CN113552861A (en) | 2021-10-26 |
Family
ID=78133055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110857704.0A Pending CN113552861A (en) | 2021-07-28 | 2021-07-28 | Automatic driving vehicle MCU on-line parameter adjusting system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113552861A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114124611A (en) * | 2021-11-08 | 2022-03-01 | 国汽智控(北京)科技有限公司 | Vehicle data transmission method and device |
| CN114896168A (en) * | 2022-06-14 | 2022-08-12 | 合众新能源汽车有限公司 | Rapid debugging system, method and memory for automatic driving algorithm development |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541045A (en) * | 2010-12-31 | 2012-07-04 | 镇江灵芯软件实验室有限公司 | Method for automatically testing programmable logic controller program |
| CN104035360A (en) * | 2014-05-07 | 2014-09-10 | 株洲易力达机电有限公司 | Parameter adjusting method for EPS controller and device |
| CN106218551A (en) * | 2016-07-29 | 2016-12-14 | 北京车和家信息技术有限责任公司 | The scaling method of automobile, demarcation terminal and calibration system |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| US20190009797A1 (en) * | 2017-07-04 | 2019-01-10 | Baidu Online Network Technology (Beijing) Co., Ltd. | System, method and apparatus for controlling autonomous driving vehicle |
| CN111010352A (en) * | 2019-12-31 | 2020-04-14 | 厦门金龙联合汽车工业有限公司 | Automobile CAN message sending method |
| CN112363950A (en) * | 2020-11-30 | 2021-02-12 | 杭州海康汽车软件有限公司 | Application program debugging method and device |
-
2021
- 2021-07-28 CN CN202110857704.0A patent/CN113552861A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541045A (en) * | 2010-12-31 | 2012-07-04 | 镇江灵芯软件实验室有限公司 | Method for automatically testing programmable logic controller program |
| CN104035360A (en) * | 2014-05-07 | 2014-09-10 | 株洲易力达机电有限公司 | Parameter adjusting method for EPS controller and device |
| CN106218551A (en) * | 2016-07-29 | 2016-12-14 | 北京车和家信息技术有限责任公司 | The scaling method of automobile, demarcation terminal and calibration system |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| US20190009797A1 (en) * | 2017-07-04 | 2019-01-10 | Baidu Online Network Technology (Beijing) Co., Ltd. | System, method and apparatus for controlling autonomous driving vehicle |
| CN111010352A (en) * | 2019-12-31 | 2020-04-14 | 厦门金龙联合汽车工业有限公司 | Automobile CAN message sending method |
| CN112363950A (en) * | 2020-11-30 | 2021-02-12 | 杭州海康汽车软件有限公司 | Application program debugging method and device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114124611A (en) * | 2021-11-08 | 2022-03-01 | 国汽智控(北京)科技有限公司 | Vehicle data transmission method and device |
| CN114896168A (en) * | 2022-06-14 | 2022-08-12 | 合众新能源汽车有限公司 | Rapid debugging system, method and memory for automatic driving algorithm development |
| CN114896168B (en) * | 2022-06-14 | 2024-04-30 | 合众新能源汽车股份有限公司 | Quick debugging system, method and memory for automatic driving algorithm development |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113552861A (en) | Automatic driving vehicle MCU on-line parameter adjusting system and method thereof | |
| CN112859817A (en) | Complete vehicle fault diagnosis test system | |
| US8862251B2 (en) | Controller for machine tool and machining-related data processing system provided therewith | |
| CN112904811A (en) | Multi-device cooperative operation system and method based on digital twin technology | |
| US10727930B2 (en) | Radio repeater selection apparatus and machine learning device | |
| CN104483930A (en) | Advanced process control optimizing system of thermal power unit | |
| CN105808799A (en) | Universal test software in RTX (Real-Time eXecutive) environment and test method for universal test software | |
| CN107037795A (en) | A kind of industrial stokehold technique guides system | |
| CN101859135A (en) | Method and device for controlling distributed automation system | |
| CN102749912A (en) | Calibrating method and calibrating system for electric control unit of automatic transmission | |
| CN106950924A (en) | Robot circular motion control method and system | |
| CN106959694B (en) | Robot linear motion control method and system | |
| CN106533793B (en) | Communication means and system based on CAN protocol | |
| CN101539766B (en) | Program debugging method and device thereof | |
| CN103731319A (en) | Remote control fault intelligent diagnosing method of distribution network dispatching station | |
| CN116224963A (en) | Automatic testing device of remote vehicle control system and construction method thereof | |
| CN109634203B (en) | Control system for controlling IO terminal based on numerical control controller and corresponding method | |
| Heisel et al. | Formal specification of safety-critical software with Z and real-time CSP | |
| CN114911173A (en) | Lane keeping test system and method based on virtual driving system | |
| CN211006836U (en) | Safety type handle steering control system of loader | |
| CN108416088B (en) | Method and device for realizing real-time preview function for configuration element design | |
| CN111404799B (en) | Train fault positioning system and method based on CAN communication and LAN communication disconnection | |
| CN114260909A (en) | Industrial robot teaching method and system based on programmable controller | |
| CN104536404B (en) | Dry coke quenching cogeneration load automatic regulating system and method | |
| CN108303901A (en) | A kind of smart machine automatic control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |