CN101837779B - 用于插电式混合动力电动车辆的自动寻找电连接的系统 - Google Patents

用于插电式混合动力电动车辆的自动寻找电连接的系统 Download PDF

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CN101837779B
CN101837779B CN201010136110.2A CN201010136110A CN101837779B CN 101837779 B CN101837779 B CN 101837779B CN 201010136110 A CN201010136110 A CN 201010136110A CN 101837779 B CN101837779 B CN 101837779B
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vehicle
axis
electrical connector
connector element
battery
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CN101837779A (zh
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沃尔特·约瑟夫·欧特曼
布兰登·R·马斯特森
马文·保罗·克拉斯卡
丹尼尔·斯科特·科尔文
史蒂夫·李维斯四世
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
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Abstract

本发明公开了一种用于插电式混合动力电动车辆的自动寻找电连接的系统，其使用车辆动力转向系统在与车辆中轴横向的方向上调节车辆，以及使用马达和电池使车辆朝向目标公用电网连接器前进来为电池充电。如果需要，可使用可控车辆悬架系统来调节车辆的垂直位置。一种用于车辆的引导系统，具有可充电的电池、电网插头、牵引马达、动力转向系统以及与所述动力转向系统和所述马达相通讯的控制器，其中，所述控制器配置为响应于所述车辆与用于为所述电池充电的电网插座交换的位置信号，操控所述车辆朝向所述电网插座，从而使所述电网插头与所述电网插座接合。本发明能够避免车辆的拥有者由于疏忽在车辆运行后电池荷电状态变成部分损耗后未能将车辆插电。

Description

用于插电式混合动力电动车辆的自动寻找电连接的系统
技术领域
本发明涉及混合动力电动车辆以及为牵引电池充电的充电系统。
背景技术
混合动力电动车辆(HEV)动力系通常具有两个动力源，其中一个可以为内燃机，且另一个可以为电动马达。使用高压总线电连接高压电池、马达和发电机。每个动力源通过传动装置可驱动地连接至车辆牵引轮。在称之为功率分流的混合动力电动车辆动力系配置中，发动机和发电机使用齿轮组(通常为行星齿轮组)可驱动地连接，从而设立了至传动轮的并联扭矩流动路径。马达可与发动机作用以实现将机械扭矩传送至牵引轮，或可在功率再生模式中用作发电机来对电池充电。混合动力电动车辆动力系的另一种配置是发动机、发电机和马达串联，其中电池用作发电机和马达的能量存储系统。
在功率分流的混合动力电动车辆中的两个动力源共同无缝作用以满足驾驶者的扭矩需求，而不超出动力系统的限度(包括电池荷电状态限度)，同时优化整个动力系统的效率和性能。车辆系统控制器将会分析驾驶者的扭矩需求，并随后确定每个动力源需要何时提供扭矩以及提供多少扭矩来满足燃料经济性目标、排放质量以及驱动性能标准。另一方面，在串联式HEV配置中，发动机驱动发电机，其顺序驱动机械连接至车辆牵引轮的马达。同样，用作能量存储装置的电池能够根据电池的荷电状态为马达提供动力或者从发电机接受收充电。
混合动力电动车辆动力系的另一种总类是插电式混合动力电动车辆(PHEV)动力系，其包括使用电池电荷损耗策略来确定从两个动力源中的每个传输动力的控制器。与并联式配置和串联式配置的混合动力电动车辆的控制策略不同的是，使用公用电网(electric utility power grid)为电池充电，在接下来的车辆运转中电动马达可以作为唯一的动力源直至荷电状态达到最低阈值。
插电式混合动力电动车辆动力系的第一种类型是用发动机驱动发电机，发电机随后在驱动马达的电池达到低电池荷电状态后对电池充电。在另一种类型的PHEV中，只有电动马达驱动可用，因此车辆行驶范围仅由电池荷电状态确定。
在这种PHEV动力系中，当不使用车辆时，例如当车辆停车过夜时，电网将对电池充电。驾驶者可在电池电荷部分损耗后将车辆电池连接至电网，用特别设计的延长电缆将其一端插入室内或车库墙上的插座，而另一端连接至车辆上的端口。当车辆拥有者希望使用该车辆时，可以移走电缆以分开车辆与墙上插座的连接。这是传统车辆的拥有者所不具有的不便之处。如果车辆的拥有者由于疏忽在车辆运行后电池荷电状态变成部分损耗后未能将车辆插电(例如当车辆在停车过夜后将要使用时)，则会使插电式混合动力的益处无法体现。
发明内容
根据本发明的一方面，提供一种用于车辆的引导系统，具有可充电的电池、电网插头、牵引马达、动力转向系统以及与所述动力转向系统和所述马达相通讯的控制器，其中，所述控制器配置为响应于所述车辆与用于为所述电池充电的电网插座交换的位置信号，操控所述车辆朝向所述电网插座，从而使所述电网插头与所述电网插座接合。
根据本发明的另一方面，一种用于电池驱动车辆的控制系统，所述车辆具有动力转向系统和电连接至所述电池的用于驱动车辆牵引轮的马达，所述控制系统包括：包含第一电连接器元件和第二电连接器元件的电连接器，第一电连接器元件安装在固定结构上并电连接至电网，第二电连接器元件安装在所述车辆上，其中，一个电连接器元件的位置由X轴和Y轴坐标确定，第一电连接器元件和第二电连接器元件适于交换由X轴和Y轴数据确定的车辆位置信号；用于接收所述车辆位置信号的车辆系统控制器，其中，所述控制器配置用于响应于所述车辆位置信号来计算所述第一电连接器元件和所述第二电连接器元件之间的X轴和Y轴方向上的距离，所述X轴和Y轴在参考坐标中确定所述车辆位置，所述马达由所述控制器激活以使在实际X轴车辆位置和目标X轴位置之间的差值不断减小归零，通过所述控制器激活动力转向系统以使实际Y轴车辆位置和目标Y位置之间的差值不断减小归零，从而操控所述车辆沿着移动路径，朝向会影响第一电连接器元件和第二电连接器元件的机械连接并完成电池充电回路的方向移动。
本发明包含可提供一种称之为“自动搜寻”运行模式的运行策略。其使用插电式连接器元件自动地将车辆电系统连接至公用电网为电池充电。连接器元件具有内置的车辆位置传感器，其可在车辆说明书中标明。一个位置传感器可为短程射频传感器或光学类型的传感器，例如激光或其他回归反射信号的传感器。无论车辆前部是否处于目标连联结点的特定范围之内，驾驶者可将车辆设置成称为自动搜寻插电连接的模式。该模式自动定位车辆以将车辆的连接器一侧与电网一侧对齐。
当驾驶者开始自动搜寻插电连接运行模式时，控制系统将利用位置传感器来检测电网连接器元件相对于车辆的位置，随后以优化的方式确定标出车上安装的连接器元件相对于电网连接器元件位置的路线。该信息可与已知的前向物体检测器和已知的可包括在可调节稳定控制中用于倾斜度和高度调节的翻滚/倾斜/横摆传感器相结合以改进自动搜寻系统的精确性。使用车辆电动马达驱动，闭环控制系统将引导车辆至连接器元件可以对齐的位置，随后完成连接。在连接形成后，车辆系统控制将开始使车辆停止。
在自动搜寻模式中，马达将提供前后方向的移动，且电助力转向系统(EPAS)将用于使车辆转向。如果有可控的车辆悬架系统，则其可用于提供垂直方向上的对齐。驾驶者使用手动“接管(over-ride)”开关保持对车辆的控制。显示器可用在车辆乘客厢内来视觉显示两个位置传感器连接器元件如何对齐，以及通知驾驶员是否连接成功。
如果连接器元件未能对齐，则车辆将在接触完成前停下，且控制系统将发出信息通知驾驶者将车停到位，从而可以在进行进一步的自动搜寻模式前调节电网连接器部件和车载连接器部件。在装配有可控悬架系统的车辆中，可使用可控悬架系统升起或降低车辆来在其有限的运行范围内移动车辆连接器元件。为确保安全操作，可限制速度和扭矩。也可在车辆以电动马达动力移动时使用前向摄像设备来检测障碍物。
通常自动搜寻系统会设在车库中。因此，车辆可以每天停在相同的位置。
附图说明
图1为已知的功率分流的输送系统中具有发动机和马达的混合动力电动车辆的示意图。
图2为自动搜寻系统的框图。
图3为说明了本发明的自动搜寻系统的实施方式的流程框图，其中车辆朝向相应于电插座的目标前进。
图4为说明了用于引导车辆电连接点朝向目标的控制算法的处理流程图。
图5为车辆在车库中停车过程中的侧视图，车辆电连接点朝向目标前进。
图6为车辆的俯视图，车辆朝向车辆接近目标前进的方向。
具体实施方式
图1显示了功率分流的混合动力电动车辆的示意图，其包括发动机、电池、发电机和功率分流的齿轮组。发动机10机械连接至行星变速器12的功率输入齿轮元件。图1中所示类型的混合动力电动车辆动力系的例子在美国专利US6,991,053中公开。可参考该专利文件以了解功率分流的混合动力电动车辆动力系部件(包括传动装置)的完整描述。传动装置可为行星齿轮组，其中行星齿轮组的托架可驱动地连接至发动机。行星齿轮组的太阳轮可驱动地连接至发电机14，齿圈可以可驱动地连接至变速器齿轮系统16，如18处所示。变速器16的扭矩输出部件可驱动地连接至牵引轮20。
电池22通过交流/直流(AC/DC)逆变器26、直流/直流(DC/DC)转换器28和直流/交流(DC/AC)逆变器30电连接至牵引马达24和发电机14。
车辆系统控制器(VSC)32在正常运行期间接收动力系统输入信号，包括加速踏板位置传感器信号(APPS)34，驾驶范围选择信号(PRNDL)36和制动踏板位置传感器信号(BPPS)37。在车辆系统控制器的其他功能中，它可以控制电池控制模块(BCM)38、发动机控制模块(ECM)40和传动控制模块(TCM)42。
图2显示了用于本发明的自动搜寻性能的整体控制系统部分。44处显示包含带有电池的混合动力电动车辆动力系的车辆，该电池有部分电荷损耗。当车辆在车库46中停车时，其沿着方向箭头48所示的方向穿过车库46的门前进。在本发明实施例的一个例子中，可包含例如RFID的接收器的短程传感器是安装在车辆前部的连接器元件的一部分，如50所示。车辆的电连接器元件(其可包含射频信号天线)接收从位于车库墙壁或其他固定位置处的连接器元件54的传感发射器发射的射频信号52。50处的连接器元件的接收器和54处的连接器元件的发射器形成了车辆位置传感器，其将在下文中解释。
一个连接器元件可以为插座或端口，而另一个可以为与该端口匹配的插头。
图2中所见的控制器56可以为图1中所见的车辆系统控制器32的一部分，当然其也可以为独立的控制器。
图2的系统具有显示总成58的显示器，其可位于车辆乘客厢内以便于当车辆朝向目标前进时观看车辆相对于目标电连接器元件的位置。
在自动搜寻模式中，车辆的运动是受电动马达60的控制，电动马达60将机械能分配给车辆牵引轮20。受车辆驾驶者控制的控制开关62可以激活或解除激活自动搜寻模式。
而且，驾驶者可在车辆朝向其目标前进时通过激活手动接管开关64来接管自动搜寻模式。
在车辆朝向目标前进时，对车辆的位置控制可以使用已知的可控气体悬架系统来进行Z轴的调整，如66所示。翻滚/倾斜/横摆传感器68可用于改进控制器发出给马达的指令的精确性。
70显示了电助力转向系统(EPAS系统)。该转向系统70用于在车辆朝向目标经过其路径的运动中以闭环的方式来实现Y轴的调节。可使用液压运转的动力转向系统来取代电助力转向系统来实现Y轴的调节。当车辆朝向目标前进时使用受控制器56控制的电动马达60来实现车辆X轴的调节。
图3为框图形式的自动搜寻模式期间所用的控制功能示意图。在判断框72处首先做出询问以确定是否激活手动接管开关。如果其已激活，如74处所示，自动搜寻模式会终止。如果接管开关没有激活，在76处所示的电转向控制、78处所示的电牵引马达控制以及车辆悬架控制80(如果需要调节Z轴的话)将在控制器56的每个控制循环期间确定增加的调节量Dy82、增加的调节量Dx84和增加的调节量Dz86。控制器启动闭环控制以便于在每个控制循环中计算所需移动方向和实际移动方向之间的偏差。相应地激活可控空气悬架系统、电助力转向系统和电动马达60。
图5显示了确定X轴方向、Y轴方向和Z轴方向的向量。Y轴方向横向相对于车辆中心线。X轴方向是车辆在朝向其目标前进时的行驶方向，其目标位于位置传感器的发射器和接收器之间的距离内。Z轴方向是垂直于车库地板的方向。在控制器56的控制下由可控悬架系统改变Z轴高度。如果车库地板是水平的，自动搜寻模式的软件策略可以不包含Z轴调节。
图4是整个处理步骤的流程框图。在自动搜寻控制器的控制程序中，开始时，在88处初始化车辆传感器，且在90处初始化目标传感器。使用来自车辆传感器和目标传感器的信息，可以更新车辆移动路线，如92处所示。如94处所示，控制器的每个控制循环均会变换X、Y和Z轴的值以调整辅助参考框架，从而确定X轴、Y轴和Z轴的调整量(dx，dy，dz)。
图5显示了Z轴的估测，其指示所需Z轴和实际Z轴之间的偏差。可在控制器56的控制下使用可控空气悬架系统使偏差归零。
如图6所示，在Y轴方向上的估测偏差通过计算所需Y轴方向98和实际运动朝向方向之间的差值可以确定。
在执行自动搜寻模式的闭环软件策略中，控制系统使用传感器检测电网连接器元件的位置，并随后确定规划出车上的连接器相对于电网连接器的位置的路线。X轴信息可使用常规的前向物体检测器，或者如果可以，可使用用于翻滚稳定性、倾斜度和高度调节的翻滚/倾斜/横摆传感器获得。控制器随后将引导车辆沿着计算的行驶路线直至对齐电连接部件。在完成连接后，车辆系统控制器将关闭自动搜寻模式。
车辆在前后方向上的运动是使用马达动力实现的。转向助力系统用于使车辆转向，且常规的空气悬架系统控制器提供了垂直调节。还有可能的是，使用该控制器来预测自动搜寻模式何时会失败以及连接元件何时没有对齐。随后将指令车辆在完成接触前停止。
已经认识到如果需要增加灵活性或需要在实现接触后增加将连接器元件保持在位的强度，可以使用其他电连接器。可以作一些调节以配合对于由车辆有效载荷引起的位置变化。考虑到使用不同的车辆，或者当驾驶者希望将车辆停在做出初次调整的停车位置之外的位置时，可作出进一步估测。可使用光学信号，例如激光或其他回归反射信号。
射频可确定具体车辆并提供实时信号以根据信号发射时间和信号反射时间之间的传播时间来确定距离。优选地，接收器使用万向节云台结构(pan andtilt mechanism)扫描视野范围。扫描器应当充分定向以检测电网连接器元件相对于车辆连接器元件位置的位置。如果需要，信号发射器应当设计成仅在发出信号时响应，而不是持续地播送信号。取决于设计选择，连接器元件中的一个可包括信号发射器而另一个可包含信号接收器。
在连接器元件之间的X轴距离可以通过测量左前轮和右前轮的旋转次数来确定。该信息可使用左前轮和右前轮的电子车轮计数传感器来获得，通过将两个计数相加并除以2，从而获得平均距离。这可以通过下列等式表示：
距离＝k1×(左前轮计数+右前轮计数)÷2
其中k1是增益因数。
车轮计数也可使用下列等式用于确定朝向方向：
朝向方向＝k2×(左前轮计数-右前轮计数)÷车轮基数，
其中k2是增益因数。
可使用下列等式确定连接器元件之间的X轴距离估算值：
x估算值＝距离×sin(朝向角度)。
类似地，Y轴可使用下列等式计算：
y估算值＝距离×cos(朝向角度)。
初始X轴位移距离是X轴目标起始点，且初始Y轴位移距离是Y轴目标起始点。
X轴增量误差为：dx＝沿着移动路线的X轴位置-X轴估算值。类似地，Y轴增量误差为：dy＝沿着移动路线的Y轴位置-Y轴估算值。
来自于翻滚/倾斜/横摆传感器的倾斜传感器是装配有稳定性控制的车辆的常见配置。其可用于改进路线规划和车辆在接近目标时的Z轴位置控制或高于地面或地板的高度控制。
倾斜定义为车辆中心线相对于地面的角度。如果需要，倾斜信息也可使用车辆倾斜角度(即x-axis-Xaccel：θ＝arcsin(Xaccel))感应车辆纵向X轴加速度的加速度计获得。如果由于非水平道路表面(例如车道或车库地板)导致有变化的话，可以纠正车辆相对于固定插电式连接器元件的所需的X轴路线。来自车辆横摆传感器的信息可用于改进车辆与插电式连接器元件的对齐以确保垂直接近目标。
虽然已经公开了本发明的实施例，对于本领域的技术人员而言显然可作出变化而不背离本发明的范围。所有此类的修改和等同变化应当视为已由本发明的权利要求所包括。

Claims (7)

1.一种用于电池驱动车辆的控制系统，所述车辆具有动力转向系统、用于垂直地调整车辆的可控悬架系统和电连接至所述电池的用于驱动车辆牵引轮的马达，其特征在于，所述控制系统包括：
包含第一电连接器元件和第二电连接器元件的电连接器，第一电连接器元件安装在固定结构上并电连接至电网，第二电连接器元件安装在所述车辆上，其中，一个电连接器元件的位置由X轴、Y轴和Z轴坐标确定，第一电连接器元件和第二电连接器元件适于交换由X轴、Y轴和Z轴数据确定的车辆位置信号；
用于接收所述车辆位置信号的车辆系统控制器，其中，所述控制器配置用于响应于所述车辆位置信号来计算所述第一电连接器元件和所述第二电连接器元件之间的X轴、Y轴和Z轴方向上的距离，所述X轴、Y轴和Z轴在参考坐标中确定所述车辆位置，所述马达由所述控制器激活以使在实际X轴车辆位置和目标X轴位置之间的差值不断减小归零，通过所述控制器激活动力转向系统以使实际Y轴车辆位置和目标Y位置之间的差值不断减小归零，通过所述控制器激活可控悬架系统以使实际Z轴车辆位置和目标Z位置之间的差值不断减小归零，从而操控所述车辆沿着移动路径，朝向会影响第一电连接器元件和第二电连接器元件的机械连接并完成电池充电回路的方向移动。
2.根据权利要求1所述的控制系统，其特征在于，所述车辆位置信号为短程射频信号。
3.根据权利要求1所述的控制系统，其特征在于，所述车辆位置信号为光学信号。
4.根据权利要求1所述的控制系统，其特征在于，所述车辆位置信号为回归反射信号。
5.根据权利要求1所述的控制系统，其特征在于，所述固定结构为车库的墙壁，当车辆在驾驶过程中部分消耗电池电荷之后在电池和马达动力下移动时，所述车辆被操控沿着使得第一电连接器元件和第二电连接器元件连接的路径移动。
6.根据权利要求1所述的控制系统，其特征在于，所述车辆牵引车轮包括两个转向轮以及用于测量车辆每个转向轮的车轮旋转次数的传感器，从而使用车轮旋转数据确定所述车辆在Y轴方向上的位置的增量调节。
7.根据权利要求1所述的控制系统，其特征在于，所述动力转向系统为电助力转向系统。
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