Design and Test of Hardware-in-the-Loop Platform for Vehicle Chassis CAN System with Intermittent Open and Short Connection Faults

Controller Area Network (CAN) plays an important role in vehicle chassis control system, hence the reliability of CAN network relates to driving performance and even passenger safety. However, intermittent connection (IC) faults, including intermittent open connection (IOC) and intermittent short connection (ISC), can potentially affect the performance of the vehicle CAN network. In this work, a hardware-in-the-loop (HIL) real-time simulation platform for the in-vehicle CAN system is constructed, and the effects of IC faults on the system are studied. First, based on the virtualized vehicle dynamics model and the actual bus hardware, the HIL platform of the vehicle CAN system is built. Then, typical connectivity problems such as IOC and ISC faults are emulated on the vehicle chassis CAN system. Finally, the influence law of different electrical character (type, frequency, and intensity) of IC faults on the vehicle speed control performance is analyzed. The results demonstrate the varying performance of CAN-based control systems in terms of signal delay, control performance, system stability, and tolerable fault intensity in the presence of IC faults with different electrical characteristics.