Abstract：The Controller Area Network （CAN） communication simulation model of vehicle chassis integrated control system was established based on FSM theory in MATLAB/Simulink/Stateflow, and the maximum transmission time of the frame under the worst case scenario was analyzed. The network commutation model was applied on the vehicle of 7 degree of freedom for Anti-lock Braking System control models, and the effect of CAN message transmission delay on the slip ratio was investigated under the condition of three typical single adhesion road and changing adhesion road respectively. All of the CAN message transmission delay were recorded. The simulation results show that the instability of slip ratio caused by transmission delay under low friction road is more serious than under high friction load; however, the controller can still guarantee the vehicle＇s stability in braking process under losing frames conditions.
2010, Vol. 31 
