中文摘要：

基于汽车稳定性控制系统现场快速测试和控制策略调试的需要,搭建了由车身位置姿态模块、汽车稳定性控制器模块和CAN节点数据采集模块组成的低附路面试验测试系统。各模块间基于GPS接收机输出的秒脉冲同步信号完成数据同步,并通过CAN方式进行数据传输。详细给出了汽车侧偏角测试方法、惯性测量单元车上安装和初始对准方法、GPS惯性测量单元数据转换和传输延迟补偿方法,以及串口转CAN的快速实现方法。系统的道路试验验证了系统工作的可靠性。该测试系统构建CAN节点或基于车身CAN总线方式获取基于ESC和发动机管理系统配置传感器的信息,对了解汽车极限工况下的状态提供了真实数据,为汽车稳定性控制分析提供了有效手段。

英文摘要：

In order to measure and debug control strategy for vehicle stability on the low friction road, the vehicle stability control test system was developed, which were composed of the vehicle body path and attitude model, the vehicle stability controller model and the double CAN nodes data acquisition model. The data synchronism among each model was resorted to the signal of pulse per second, which was output by the GPS receiver. The CAN bus was employed to transfer data between models. More than four technology methods were introduced in details. They were the test method of vehicle side slipangle, the installing and initial alignment of inertial measurement unit （ IMU）, the time delay compensation of signal transforming and data transmission for GPS receiver and IMU, and the quickly transmission realization from serial input to CAN output. The systematic road way tests verified the functional reliability of the proposed system. The test system developed CAN nodes or employed the vehicle CAN bus to achieved the information of standard sensors included in ESC and engine management system. The real data was provided for understanding the vehicle＇ s state on the extreme operation conditions. So the developed test system provides an effective means to analyze vehicle stability control strategy.