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中文摘要：
针对汽车助力转向制动过程中的动力学耦合关系,通过建立汽车转向和制动系统模型,分别设计了单个ABS及EPS子系统控制器和集成控制器,对两系统进行了集成控制,并将控制器局域网络应用到两系统集成控制中,采用SAE J1939协议,设计了CAN总线通讯系统。最后基于LabView进行了软件仿真和硬件在环实车试验。结果表明：基于CAN通讯的集成系统工作稳定,抗干扰能力强,汽车在转向制动工况下综合性能得到改善。
英文摘要：
In order to coordinate the conflicts of the EPS system and EPS system in steering and braking condition,the integrated control logic of the systems was put forward.First,EPS controller and ABS controller were designed separately,and then an integrated controller was set up and controller area network was carried out to integrated control system,the results of simulation and hard-in-loop （HIL） experiment under LabView proved that the proposed integrated control logic was correct and feasible.It could apparently improve the overall performance of vehicle.
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