CN102407848A - Controller system with automatic parking and intelligent driving functions - Google Patents
Controller system with automatic parking and intelligent driving functions Download PDFInfo
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- CN102407848A CN102407848A CN201010288663XA CN201010288663A CN102407848A CN 102407848 A CN102407848 A CN 102407848A CN 201010288663X A CN201010288663X A CN 201010288663XA CN 201010288663 A CN201010288663 A CN 201010288663A CN 102407848 A CN102407848 A CN 102407848A
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Abstract
The utility model discloses a controller system with automatic parking and intelligent driving functions, which comprises a sensor module, a vehicle-mounted navigation module, a control module and an execution module, wherein the sensor module is used for detecting environment information, determining a parking space and feeding back vehicle position information in real time; the vehicle navigation module is used for determining a position towards which a vehicle moves in real time; the control module is used for calculating a target parking space parameter and a vehicle relative position on line in real time according to the information provided by the sensor module, judging feasibility and determining automatic parking strategies, or is used for calculating the current position of the vehicle and the path of target position on line in real time according to the position information provided by the vehicle-mounted navigation module; and the execution module is used for controlling a steering wheel and a power system according to the path information provided by the control module to automatically drive the vehicle to the parking space. The controller system with the automatic parking and intelligent driving functions can control the vehicle to automatically complete the whole parking process and the automatic driving on roads under the condition that the intervention of a driver is not required.
Description
Technical field
The present invention relates to automobile control technology field, particularly relate to a kind of controller system with automatic parking and intelligent driving function.
Background technology
At present, because the develop rapidly of automobile industry, increasing family begins to have automobile.Yet for a lot of new hands, parking is a very big difficult problem.Though now a lot of automobiles are all brought into use the accessory appliances of Reverse Sensor as reversing; But because driver's technology is skilled inadequately and the blind area of Reverse Sensor self; Therefore still the generation of accident be can't avoid fully, thereby personnel's the injures and deaths and the damage of vehicle caused.
Automated parking system is a kind ofly to find suitable parking position through the detection vehicle ambient condition information, thereby the turning to of control vehicle, speed makes vehicle can independently sail the system of parking position into.Automatic parking has improved the intelligent level and the safety of vehicle, for the automatic steering of realizing vehicle lays the first stone.Automatic steering then be through to vehicle on the road surface identification of position, realize the autonomous driving of automobile through navigation information.Therefore, automatic parking has similar design of Controller requirement with intelligent driving, is one of challenging problem of tool in the intelligent various vehicle performance that contained.
Summary of the invention
The technical matters that the present invention will solve is to provide a kind of controller system with automatic parking and intelligent driving function, can be under the situation that does not need the driver to intervene control vehicle accomplish the overall process and on road, going automatically of parking automatically.
For solving the problems of the technologies described above, the invention provides following technical scheme:
A kind of controller system with automatic parking function comprises:
Sensor assembly is used for acquisition environment information, confirms the parking stall and feeds back vehicle position information in real time;
Control module is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, judges feasibility and definite automatic parking strategy; And
Execution module is used for according to said policy information, and control bearing circle and power system are so that said vehicle drives to parking position automatically.
Preferably, said sensor assembly comprises camera and or group of ultrasonic sensors part.Wherein, said group of ultrasonic sensors part comprises 8 to 12 ultrasonic transduters, and around vehicle, communicate by letter with the master board of said vehicle through the CAN bus by each ultrasonic transduter according to predetermined regular distribution for said ultrasonic transduter.
Preferably, said ultrasonic transduter comprises: Reverse Sensor, car speed sensor, angular transducer and matrix sensor.
Preferably, on the integrated master board that is arranged on said vehicle of said control module.
Wherein, said control module comprises:
Arithmetic element is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, generates corresponding cartographic information;
Confirm the unit, be used for judging the space that can said vehicle be moored is provided into the target parking stall, and generate park reference path and control commands corresponding to said execution module according to said cartographic information.
Wherein, said control command comprises: speed of a motor vehicle order and/corner order.
Preferably, said execution module comprises:
Brak control unit is communicated by letter with the master board of said vehicle through the CAN bus, is used for sending to instruction according to master board and carries out brake operation, and implementation status is fed back to master board;
Communicating by letter with the master board of said vehicle through the CAN bus in the E-gas unit, is used for the instruction executable operations according to the master board transmission, realization speed and tractive force control;
Communicating by letter with the master board of said vehicle through the CAN bus in the electric powered steering unit, is used for the information that provides according to sensor assembly, drives steer motor and realize comprising self-aligning and the power-steering various control that turns to.
Preferably, said execution module also comprises:
The predictive control unit, the route deviation that is used to correct actual execution is so that said vehicle is accurately parked according to reference path.
In addition, the present invention also provides a kind of controller system with automatic parking and intelligent driving function, comprising:
Sensor assembly is used for acquisition environment information, confirms the parking stall and feeds back vehicle position information in real time;
The vehicle mounted guidance module is used for confirming in real time the position that vehicle moves;
Control module; Be used for the information that provides according to said sensor assembly; Online in real time is calculated target parking stall parameter and vehicle relative position; Judge feasibility and confirm the automatic parking strategy that perhaps be used for the location information that provides according to said vehicle mounted guidance module, online in real time is calculated the path of vehicle current position and target location; And
Execution module; Be used for the policy information that provides according to said control module; Control bearing circle and power system be so that said vehicle drives to parking position automatically, perhaps is used for the routing information that provides according to said control module, controls bearing circle and power system so that said vehicle goes automatically.
Preferably, said vehicle mounted guidance module is the combination of global position system GPS and the DR of dead reckoning system.
Preferably; Said sensor assembly comprise camera with or the group of ultrasonic sensors part; Wherein, Said group of ultrasonic sensors part comprises 8 to 12 ultrasonic transduters, and around vehicle, communicate by letter with the master board of said vehicle through the CAN bus by each ultrasonic transduter according to predetermined regular distribution for said ultrasonic transduter.
Preferably, said control module comprises:
Arithmetic element is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, generates corresponding cartographic information;
Confirm the unit, be used for judging the space that can said vehicle be moored is provided into the target parking stall, and generate park reference path and control commands corresponding to said execution module according to said cartographic information.
Preferably, said execution module comprises:
Brak control unit is communicated by letter with the master board of said vehicle through the CAN bus, is used for sending to instruction according to master board and carries out brake operation, and implementation status is fed back to master board;
Communicating by letter with the master board of said vehicle through the CAN bus in the E-gas unit, is used for the instruction executable operations according to the master board transmission, realization speed and tractive force control;
Communicating by letter with the master board of said vehicle through the CAN bus in the electric powered steering unit, is used for the information that provides according to sensor assembly, drives steer motor and realize comprising self-aligning and the power-steering various control that turns to.
In addition, said execution module can also comprise: the predictive control unit, the route deviation that is used to correct actual execution is so that said vehicle is accurately parked according to reference path.
Compared with prior art, the controller system with automatic parking and intelligent driving function provided by the invention, can be under the situation that does not need the driver to intervene control vehicle accomplish the overall process and on road, going automatically of parking automatically.Like this, can effectively solve driver's the worry of parking, more can guarantee driver's personal safety and the damage of avoiding vehicle, also improve the intelligent level of vehicle, make vehicle parking with go can safer, realize under the situation more easily.
Below in conjunction with accompanying drawing and specific embodiment technical scheme of the present invention is carried out detailed explanation, so that characteristic of the present invention and advantage are more obvious.
Description of drawings
Framework scheme drawing for the controller system that provides according to the embodiment of the invention shown in Figure 1 with automatic parking function;
Distribution schematic diagram for the sensor assembly that provides according to the embodiment of the invention shown in Figure 2;
Shown in Figure 3 is that the sensor assembly that passes through that provides according to the embodiment of the invention carries out intelligence sample point diagram of circuit;
Control module structural representation for providing shown in Figure 4 according to the embodiment of the invention;
Execution module structural representation for providing shown in Figure 5 according to the embodiment of the invention;
Brak control unit structured flowchart for providing shown in Figure 6 according to the embodiment of the invention;
E-gas block construction block diagram for providing shown in Figure 7 according to the embodiment of the invention;
Electric powered steering block construction block diagram for providing shown in Figure 8 according to the embodiment of the invention;
Diagram of circuit for the forecast Control Algorithm that provides according to the embodiment of the invention shown in Figure 9;
Automatic parking scheme drawing for providing shown in Figure 10 according to the embodiment of the invention;
Framework scheme drawing for the controller system that provides according to the embodiment of the invention shown in Figure 11 with automatic parking and intelligent driving function;
A kind of concrete implementation structure scheme drawing for the controller system that provides according to the embodiment of the invention shown in Figure 12 with automatic parking and intelligent driving function.
The specific embodiment
Below will provide detailed explanation to embodiments of the invention.Although the present invention will combine some specific embodiment to set forth and explain, it should be noted that the present invention not merely is confined to these embodiments.On the contrary, the modification that the present invention is carried out perhaps is equal to replacement, all should be encompassed in the middle of the claim scope of the present invention.
In addition, for better explanation the present invention, provided numerous details in the specific embodiment hereinafter.It will be understood by those skilled in the art that does not have these details, and the present invention can implement equally.In the other instance, describe in detail for method, flow process, element and the circuit of known, so that highlight purport of the present invention.
The present invention is based on the kinematics model of automobile and each process of automatic parking and driving, from the vehicle body location recognition, the realization principle and the mode of many-sided CONTROLLER DESIGN such as path planning and electric powered steering control system.Through camera and group of ultrasonic sensors crowd are installed, realize automatic perception to the vehicle body ambient environment; Through bearing circle being carried out electric powered steering control, can be according to the output automatic guidance vehicle movement track of intelligent controller, the realization vehicle parking is gone into position and intelligent driving.
To set forth in detail concrete realization of the present invention through a plurality of embodiment below.
The framework scheme drawing of the controller system that provides for the embodiment of the invention shown in Figure 1 with automatic parking function.Wherein, said controller system with automatic parking function comprises: sensor assembly 101, control module 102, and execution module 103; Particularly, through said sensor assembly 101 acquisition environment information, confirm the parking stall and feed back vehicle position information in real time, and information is offered said control module 102; The information that said control module 102 provides according to said sensor assembly 101, online in real time is calculated target parking stall parameter and vehicle relative position, judges feasibility and confirms the automatic parking strategy, and policy information is offered said execution module 103; Said execution module 103 is according to said policy information, and control bearing circle and power system are so that said vehicle drives to parking position automatically.
In one embodiment, said sensor assembly comprises camera and or group of ultrasonic sensors part.Wherein, said group of ultrasonic sensors part comprises a plurality of ultrasonic transduters, and for example the concrete quantity of this ultrasonic transduter can be between 8 to 12.Said a plurality of ultrasonic transduter can be according to predetermined regular distribution around vehicle.The distribution schematic diagram of the sensor assembly that provides for the embodiment of the invention shown in Figure 2.In Fig. 2, comprise that with said sensor assembly 101 12 ultrasonic transduters are that example describes.Wherein, a ultrasonic transduter respectively is installed at the headstock and the tailstock, in the car left front, right front, left back, and the right abaft ultrasonic transduter respectively is installed, in car left side central portion and right side central a ultrasonic transduter is installed respectively.Like this, each ultrasonic transduter all passes through CAN (Controller Area Network, controller local area network) bus and communicates by letter with the master board of said vehicle.Therefore, ultrasonic transduter integral body also can be set up an environmental map, and merges mutually with scene information that single camera is set up, so that realize maximum reliability of positioning and safety.As shown in Figure 3, the sensor assembly that passes through that provides for the embodiment of the invention carries out intelligence sample point diagram of circuit.Wherein, in step 301, ultrasonic transduter is through ultrasonic ranging and pass to the microprocessor location; Meanwhile, in step 302, the camera imaging; Carry out the two field picture simultaneous extraction then, last, in step 303; The whole environmental map of setting up of ultrasonic transduter carries out effective fusion with the scene information of setting up through camera, finally demonstrates composograph.In addition, said a plurality of ultrasonic transduters can have a variety of, for example can comprise: Reverse Sensor, car speed sensor, angular transducer and matrix sensor etc., the present invention does not limit this.
Control module structural representation as shown in Figure 4, as to provide for the embodiment of the invention.Said control module 102 comprises: arithmetic element 410 and definite unit 420; Wherein: the information that said arithmetic element 410 provides according to said sensor assembly 101, online in real time is calculated target parking stall parameter and vehicle relative position, generates corresponding cartographic information and this information is offered said definite unit; The space that can said vehicle be moored is provided into the target parking stall is judged according to said cartographic information in said definite unit 420, and generates park reference path and control commands corresponding to said execution module 103.Wherein, said control command comprises: speed of a motor vehicle order and/corner order.
In addition, in one embodiment, said control module 102 can integratedly be arranged on the master board of said vehicle.In addition, in practical application, can ins conjunction with designing requirement, set up the kinematics model of moveing backward under the low speed, and in simulation software through to the investigation of actual parking area to automatic parking, like Simulink, in build corresponding model.Start with from simulation analysis, obtain the path planning of feasible region, through the emulation of automated parking system being guaranteed the correct of control algorithm, and through FUZZY ALGORITHMS FOR CONTROL the path is optimized on this basis.
Execution module structural representation as shown in Figure 5, as to provide for the embodiment of the invention.Said execution module 103 comprises: brak control unit 510, E-gas unit 520 and electric powered steering unit 530.Wherein, said brak control unit 510 is communicated by letter with the master board of said vehicle through the CAN bus, carries out brake operation according to the instruction that master board sends, and implementation status is fed back to master board, and is as shown in Figure 6.Communicate by letter with the master board of said vehicle through the CAN bus in said E-gas unit 520, according to the instruction executable operations that master board sends, and realization speed and tractive force control, as shown in Figure 7.Said electric powered steering unit 530CAN bus is communicated by letter with the master board of said vehicle, according to the information that sensor assembly provides, drives steer motor and realizes comprising self-aligning and the power-steering various control that turns to, and is as shown in Figure 8.
In addition; Said execution module 103 can further include the predictive control unit; Its set inside is used to correct the forecast Control Algorithm of the route deviation of actual execution, so that implementation forms closed loop control, thereby guarantees that said vehicle can accurately park according to reference path.As shown in Figure 9, the diagram of circuit of the forecast Control Algorithm that provides for the embodiment of the invention.In conjunction with automatic parking scheme drawing shown in Figure 10, following to the concrete implementation procedure simple declaration of forecast Control Algorithm:
In step 901, seek the space of parking; The space of parking described here is different according to the difference of actual environment.
In step 902, judge whether parking position is suitable, if improper, then change over to and continue in the step 901 to seek the space of parking, till searching out suitable parking position.Otherwise, get into step 903;
In step 903, vehicle moves to the preparation car backing position;
In step 904, judge whether the preparation car backing position arrives, if do not arrive, then change step 903 vehicle over to and continue to move, till arriving the preparation car backing position.Otherwise, get into step 905;
In step 905, reversing gets into parking position;
In step 906, judge whether the vehicle distances border is near excessively, if do not have closely, then change in the step 905 vehicle over to and continue reversing and get into parking position, till arriving parking position.Otherwise, get into step 907;
In step 907, vehicle is finely tuned in parking position;
In step 908, judge whether vehicle reaches the expectation parking place, if do not have, then change in the step 907 vehicle over to and continue in parking position, to finely tune, up to arrive estimate parking place till.
Shown in figure 11, the framework scheme drawing of the controller system that provides for the embodiment of the invention with automatic parking and intelligent driving function.Wherein, said controller system with automatic parking and intelligent driving function comprises: sensor assembly 1101, vehicle mounted guidance module 1100, control module 1102, and execution module 1103.Particularly, through said sensor assembly 1101 acquisition environment information, confirm the parking stall and feed back vehicle position information in real time; And/or through the said vehicle mounted guidance module 1100 real-time positions of confirming that vehicles move; The information that said control module 1102 provides according to said sensor assembly 1101; Online in real time is calculated target parking stall parameter and vehicle relative position; Judge feasibility and confirm the automatic parking strategy; The location information that perhaps provides according to said vehicle mounted guidance module 1100, online in real time is calculated the path of vehicle current position and target location; The policy information that said execution module 1103 provides according to said control module 1102; Control bearing circle and power system are so that said vehicle drives to parking position automatically; Perhaps be used for the routing information that provides according to said control module 1102, control bearing circle and power system so that said vehicle go automatically.Concrete structure and function for each module can be with reference to the explanations of aforementioned each embodiment, and identical or similar part just repeats no more here.
In one embodiment, said vehicle mounted guidance module 1100 combination that is global position system GPS and the DR of dead reckoning system.This is because global positioning system (Global Positioning System; GPS) be a kind of widely used up-to-date global position system; Sky is distributed with 24 satellites on earth; The user just can obtain high accuracy three-dimensional location/velocity and temporal information in real time through the signal of GPS receiver reception satellite.But with regard to present land vehicle navigationsystem; No matter be in the city or in the suburb; Gps satellite signal all might receive blocking of obstacles such as high building or tunnel, therefore only with existing GPS navigation position fixing system realize the continuous uninterrupted location be very difficulty or even impossible; And (the DeadReckoning of vehicle dead reckoning system; DR) be a kind of Vehicular navigation system of autonomous type; It can utilize the sensory information of gyro and mileage gauge to come to write down and extrapolate current position in real time, have precision height in the short time, yet its navigation error can accumulate in time.Therefore; The present invention gets up to constitute onboard navigation system with existing gps system and DR system in combination; Both can well solve vehicle and can lose the problem of gps satellite signal in the short time; The error that can avoid the DR system again is accumulation property in time, thereby actv. is confirmed the position that vehicle moves more.
A kind of concrete implementation structure scheme drawing for the controller system that provides according to the embodiment of the invention shown in Figure 12 with automatic parking and intelligent driving function.From Figure 12, can see, the sensor assembly that constitutes by laser radar and group of ultrasonic sensors, and can communicate by letter with the master board of vehicle through the CAN bus by the execution module that braking control system, E-gas and electric power steering constitute.Wherein, at first through laser radar and group of ultrasonic sensors acquisition environment information, confirm the parking stall and feed back vehicle position information in real time; And/or confirm the position that vehicle moves in real time through GPS/DR; Be integrated in the information that the control module on the master board provides according to said laser radar and group of ultrasonic sensors then; Online in real time is calculated target parking stall parameter and vehicle relative position; Judge feasibility and confirm the automatic parking strategy; The location information that perhaps provides according to GPS/DR, online in real time is calculated the path of vehicle current position and target location; Carry out brake operation through braking control system according to the instruction that master board sends at last; And implementation status fed back to master board; And/or through the instruction executable operations of E-gas according to the master board transmission; Realization speed and tractive force control, and/or through the information that electric power steering provides according to sensor assembly, drive steer motor and realize comprising self-aligning and the power-steering various control that turns to.Thereby, realize vehicle automatic parking and the function of on road, independently going.
In sum, the controller system with automatic parking and intelligent driving function provided by the invention, can be under the situation that does not need the driver to intervene control vehicle accomplish the overall process and on road, going automatically of parking automatically.Like this, can effectively solve driver's the worry of parking, more can guarantee driver's personal safety and the damage of avoiding vehicle, also improve the intelligent level of vehicle, make vehicle parking with go can safer, realize under the situation more easily.
The preceding text specific embodiment and accompanying drawing are merely embodiment commonly used of the present invention.Obviously, under the prerequisite of the present invention's spirit that does not break away from claims and defined and invention scope, can have and variously augment, revise and replace.It should be appreciated by those skilled in the art that the present invention can change not deviating under the prerequisite of inventing criterion aspect form, structure, layout, ratio, material, element, assembly and other according to concrete environment and job requirement to some extent in practical application.Therefore, embodiment disclosed here only is illustrative rather than definitive thereof, and scope of the present invention is defined by accompanying claims and legal equivalents thereof, and the description before being not limited thereto.
Claims (15)
1. the controller system with automatic parking function is characterized in that, comprising:
Sensor assembly is used for acquisition environment information, confirms the parking stall and feeds back vehicle position information in real time;
Control module is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, judges feasibility and definite automatic parking strategy; And
Execution module is used for according to said policy information, and control bearing circle and power system are so that said vehicle drives to parking position automatically.
2. the controller system with automatic parking function according to claim 1 is characterized in that, said sensor assembly comprises camera and or group of ultrasonic sensors part.
3. the controller system with automatic parking function according to claim 2; It is characterized in that; Said group of ultrasonic sensors part comprises 8 to 12 ultrasonic transduters; Around vehicle, communicate by letter with the master board of said vehicle through the CAN bus by each ultrasonic transduter according to predetermined regular distribution for said ultrasonic transduter.
4. the controller system with automatic parking function according to claim 3 is characterized in that, said ultrasonic transduter comprises: Reverse Sensor, car speed sensor, angular transducer and matrix sensor.
5. the controller system with automatic parking function according to claim 1 is characterized in that, said control module is integrated to be arranged on the master board of said vehicle.
6. the controller system with automatic parking function according to claim 1 is characterized in that, said control module comprises:
Arithmetic element is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, generates corresponding cartographic information;
Confirm the unit, be used for judging the space that can said vehicle be moored is provided into the target parking stall, and generate park reference path and control commands corresponding to said execution module according to said cartographic information.
7. the controller system with automatic parking function according to claim 6 is characterized in that, said control command comprises: speed of a motor vehicle order and/corner order.
8. the controller system with automatic parking function according to claim 1 is characterized in that, said execution module comprises:
Brak control unit is communicated by letter with the master board of said vehicle through the CAN bus, is used for sending to instruction according to master board and carries out brake operation, and implementation status is fed back to master board;
Communicating by letter with the master board of said vehicle through the CAN bus in the E-gas unit, is used for the instruction executable operations according to the master board transmission, realization speed and tractive force control;
Communicating by letter with the master board of said vehicle through the CAN bus in the electric powered steering unit, is used for the information that provides according to sensor assembly, drives steer motor and realize comprising self-aligning and the power-steering various control that turns to.
9. the controller system with automatic parking function according to claim 8 is characterized in that, said execution module also comprises:
The predictive control unit, the route deviation that is used to correct actual execution is so that said vehicle is accurately parked according to reference path.
10. the controller system with automatic parking and intelligent driving function is characterized in that, comprising:
Sensor assembly is used for acquisition environment information, confirms the parking stall and feeds back vehicle position information in real time;
The vehicle mounted guidance module is used for confirming in real time the position that vehicle moves;
Control module; Be used for the information that provides according to said sensor assembly; Online in real time is calculated target parking stall parameter and vehicle relative position; Judge feasibility and confirm the automatic parking strategy that perhaps be used for the location information that provides according to said vehicle mounted guidance module, online in real time is calculated the path of vehicle current position and target location; And
Execution module; Be used for the policy information that provides according to said control module; Control bearing circle and power system be so that said vehicle drives to parking position automatically, perhaps is used for the routing information that provides according to said control module, controls bearing circle and power system so that said vehicle goes automatically.
11. the controller system with automatic parking and intelligent driving function according to claim 10 is characterized in that, said vehicle mounted guidance module is the combination of global position system GPS and the DR of dead reckoning system.
12. the controller system with automatic parking and intelligent driving function according to claim 10; It is characterized in that; Said sensor assembly comprise camera with or the group of ultrasonic sensors part, wherein, said group of ultrasonic sensors part comprises 8 to 12 ultrasonic transduters; Around vehicle, communicate by letter with the master board of said vehicle through the CAN bus by each ultrasonic transduter according to predetermined regular distribution for said ultrasonic transduter.
13. the controller system with automatic parking and intelligent driving function according to claim 10 is characterized in that said control module comprises:
Arithmetic element is used for the information that provides according to said sensor assembly, and online in real time is calculated target parking stall parameter and vehicle relative position, generates corresponding cartographic information;
Confirm the unit, be used for judging the space that can said vehicle be moored is provided into the target parking stall, and generate park reference path and control commands corresponding to said execution module according to said cartographic information.
14. the controller system with automatic parking and intelligent driving function according to claim 10 is characterized in that said execution module comprises:
Brak control unit is communicated by letter with the master board of said vehicle through the CAN bus, is used for sending to instruction according to master board and carries out brake operation, and implementation status is fed back to master board;
Communicating by letter with the master board of said vehicle through the CAN bus in the E-gas unit, is used for the instruction executable operations according to the master board transmission, realization speed and tractive force control;
Communicating by letter with the master board of said vehicle through the CAN bus in the electric powered steering unit, is used for the information that provides according to sensor assembly, drives steer motor and realize comprising self-aligning and the power-steering various control that turns to.
15. the controller system with automatic parking and intelligent driving function according to claim 14 is characterized in that said execution module also comprises:
The predictive control unit, the route deviation that is used to correct actual execution is so that said vehicle is accurately parked according to reference path.
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