CAN-Open 프로토콜 기반의 자동운전 이중계 시스템 구현

초록

This paper discusses about the implementation of a redundancy system for the Navigation Control System(NCS) of bimodal tram in order to improve its safety level. Each devices are communicated with each other through CAN-Open network. In case of NCS, CAN-Open network is constructed as Master/Slave structure. Also we set most important functionalities into the master device. In this reason, if errors happen from master device while tram is running, it will cause critical damage to tram and passengers. In order to prevent causing critical damages, we implement a redundancy for the master which can detect errors and handle those errors. To achieve our goal, we determine all of errors from master and developing way of detecting those errors. Also we define procedure when master fails how econdary master take a role of master. Then we determine NCS safety level by analyzing and evaluating implemented system.