CN111301394A - Automobile man-machine common driving mode accelerator control system and control method - Google Patents
Automobile man-machine common driving mode accelerator control system and control method Download PDFInfo
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- CN111301394A CN111301394A CN202010225729.4A CN202010225729A CN111301394A CN 111301394 A CN111301394 A CN 111301394A CN 202010225729 A CN202010225729 A CN 202010225729A CN 111301394 A CN111301394 A CN 111301394A
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- throttle
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- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses an automobile man-machine co-driving mode throttle control system and a control method, belonging to the technical field of automobile manufacturing. The invention can solve the problem that the vehicle cannot run due to idling of an engine caused by the fact that the clutch of a gearbox cannot be engaged in an automatic driving mode in the vehicle with manual driving and automatic driving.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a man-machine common driving mode accelerator control system and a man-machine common driving mode accelerator control method for an automobile.
Background
The existing automobile accelerator control system comprises an accelerator pedal sensor which is arranged on an automobile accelerator pedal, the signal output end of the accelerator pedal sensor is connected with the signal input end of an engine control unit, and the signal output end of the engine control unit is connected with the signal input end of a gearbox control unit; when a driver steps on an accelerator pedal, an accelerator pedal sensor generates an accelerator pedal signal and sends the accelerator pedal signal to an engine control unit, the engine control unit converts the accelerator pedal signal into an accelerator opening signal and then controls an electromagnetic valve of an oil injector according to the accelerator opening signal so as to control the oil injection quantity of an accelerator, thereby realizing the power output of the engine such as corresponding torque, rotating speed and the like, meanwhile, the engine control unit sends the accelerator opening signal to a gearbox control unit in a message form so as to judge the stroke of the accelerator pedal of the driver and determine the opening states of the accelerator and the accelerator, and when the accelerator opening signal is not zero, clutch engagement is completed to ensure that the vehicle can be started normally when; for a vehicle with manual driving and automatic driving, in an automatic driving mode, an automatic driving controller requests an engine control unit to add and reduce oil through an accelerator central control unit, a driver does not touch an accelerator pedal, the vehicle cannot generate an accurate accelerator opening signal, and the engine control unit does not receive the accelerator opening signal, so that the accelerator opening signal of a gearbox control unit is always zero, and the problem that the vehicle cannot run due to the fact that the gearbox cannot be engaged in a clutch mode in the automatic driving mode is caused.
Disclosure of Invention
The invention provides an accelerator control system and a control method for a man-machine common driving mode of an automobile, which can solve the problem that the automobile cannot run due to idling of an engine caused by the fact that a gearbox cannot be engaged in a clutch mode under an automatic driving mode of the automobile with both manual driving and automatic driving.
In order to solve the problems, the technical scheme adopted by the invention is as follows: the man-machine co-driving mode accelerator control system for the automobile comprises an accelerator central control unit, wherein an analog signal input end of the accelerator central control unit is connected with a signal output end of an accelerator pedal sensor, a digital signal input end of the accelerator central control unit is correspondingly connected with a signal output end of an automatic driving controller and a signal output end of a man-machine co-driving mode switch, an analog signal output end and a digital signal output end of the accelerator central control unit are correspondingly connected with an analog signal input end and a digital signal input end of an engine control unit respectively, a signal output end of the engine control unit is correspondingly connected with a signal input end of a gearbox control unit and a signal input end of an oil injector electromagnetic valve respectively, and a signal output end of the gearbox control unit is connected with a gearbox through a;
the throttle control method comprises the following steps:
1. when the engine control unit performs accelerator control through hardwire voltage;
1.1 the central control unit of the accelerator reads and analyzes the message signal of the man-machine common driving mode switch and judges the driving mode of the vehicle;
1.2 when in manual driving mode, the central control unit of the accelerator receives a pedal opening voltage signal input by an accelerator pedal sensor and then sends the pedal opening voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the engine control unit and then sends the message signal to the control unit of the accelerator and the gearbox, the message signal is used for controlling the electromagnetic valve of the oil injector and simultaneously enabling the control unit of the gearbox to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, clutch engagement is controlled to complete vehicle starting;
1.3 when in an automatic driving mode, the accelerator central control unit receives an accelerator opening request message signal of the automatic driving controller through a CAN bus, converts the accelerator opening request message signal into a corresponding voltage signal according to an accelerator characteristic curve preset in the accelerator central control unit and then transmits the voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to an accelerator characteristic curve preset in the engine control unit and then transmits the corresponding accelerator opening message signal to the accelerator and gearbox control unit so as to control an electromagnetic valve of an oil injector and simultaneously enable the gearbox control unit to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, the clutch is controlled to be engaged to finish vehicle starting;
2. when the engine control unit performs throttle control in a message-by-wire mode;
2.1 the central control unit of the accelerator reads and analyzes the message signal of the man-machine common driving mode switch through the CAN bus and judges the driving mode of the vehicle;
2.2 when the manual driving mode is adopted, the central control unit of the accelerator receives a pedal opening voltage signal input by the accelerator pedal sensor, converts the pedal opening voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the central control unit of the accelerator, and transmits the message signal to the engine control unit through the CAN bus;
2.3 when the automatic driving mode, the central control unit of the accelerator receives the message request signal of the accelerator opening of the automatic driving controller through the CAN bus and then transmits the message request signal to the engine control unit through the CAN bus, the engine control unit receives the message signal and then simultaneously transmits the message signal to the accelerator and the gearbox control unit, so that the gearbox control unit judges the state of the accelerator opening while controlling the accelerator opening, and when the signal of the accelerator opening is not zero, the clutch is controlled to be engaged, and the vehicle is started.
In the above technical solution, a more specific technical solution may also be: the throttle central control unit is also provided with a signal sampling end and a loop ground end, the signal sampling end is connected with one end of a throttle system model selection switch, and the other end of the throttle system model selection switch is connected with the loop ground end; after the system is powered on, the accelerator central control unit firstly collects a gear voltage signal corresponding to a gear resistor of the accelerator system model selection switch, and determines a preset accelerator characteristic curve according to the voltage signal.
Further: the throttle central control unit is also provided with a fault information output end which is connected with the instrument; when the system has a fault, the central throttle control unit sends a fault information message to the instrument through the CAN bus and directly displays the fault information message on the instrument screen.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the system is characterized in that an analog signal input end of an accelerator central control unit of the system is connected with a signal output end of an accelerator pedal sensor, a digital signal input end of the accelerator central control unit is correspondingly connected with a signal output end of an automatic driving controller and a signal output end of a man-machine co-driving mode switch, the analog signal output end and the digital signal output end of the accelerator central control unit are correspondingly connected with an analog signal input end and a digital signal input end of an engine control unit respectively, the signal output end of the engine control unit is correspondingly connected with a signal input end of a gearbox control unit and a signal input end of an oil injector electromagnetic valve respectively, and the signal output end of the gearbox control unit is connected with a gearbox through a; the gearbox control unit can reliably and effectively judge the opening state of the accelerator no matter in the manual driving mode or the automatic driving mode, and the problem that the clutch of the gearbox cannot be engaged, so that an engine idles and a vehicle cannot run is solved.
2. The throttle central control unit is also provided with a signal sampling end and a loop ground end, the signal sampling end is connected with one end of a throttle system model selection switch, and the other end of the throttle system model selection switch is connected with the loop ground end; different throttle system control execution unit manufacturers can be selected through the throttle system model selection switch, various throttle system configurations are adapted, and the universality of parts is met.
3. The central throttle control unit is also provided with a fault information output end which is connected with the instrument; the vehicle fault code can be displayed on the instrument screen in real time, and maintenance personnel can check and maintain the vehicle according to the prompted fault information without additionally arranging an additional diagnostic instrument, so that the cost is saved.
Drawings
FIG. 1 is a system block diagram of an embodiment of the invention.
Fig. 2 is a graph of throttle characteristics according to an embodiment of the present invention.
Detailed Description
The invention will be further described in detail with reference to the following examples:
v in fig. 2 represents a voltage value. K represents a pedal opening value.
The throttle control system of the man-machine co-driving mode of the automobile shown in fig. 1 comprises a throttle central control unit 5, wherein an analog signal input end 53 of the throttle central control unit 5 is connected with a signal output end of a throttle pedal sensor 3, a digital signal input end 52 of the throttle central control unit 5 is connected with a signal output end of an automatic driving controller 2, a digital signal input end 51 of the throttle central control unit 5 is connected with a signal output end of a man-machine co-driving mode switch 1, an analog signal output end 58 of the throttle central control unit 5 is connected with an analog signal input end 71 of an engine control unit 7, a digital signal output end 57 of the throttle central control unit 5 is connected with a digital signal input end 72 of the engine control unit 7, a signal output end 74 of the engine control unit is connected with a signal input end of a gearbox control unit 8, and a signal output end 73 of the engine control unit is connected with, the signal output end of the gearbox control unit 8 is connected with the gearbox 9 through a drive unit (not shown);
the throttle central control unit 5 is also provided with a signal sampling end 54, a loop ground end 55 and a fault information output end 56, wherein the signal sampling end 54 is connected with one end of the throttle system model selection switch 4, and the other end of the throttle system model selection switch 4 is connected with the loop ground end 55; the fault information output 56 is connected with the instrument 11;
the throttle control method comprises the following steps:
1. when the engine control unit can only control the accelerator through the hard line voltage;
1.1 after a system is powered on, an accelerator central control unit firstly collects a gear voltage signal corresponding to a gear resistor of an accelerator system model selection switch, and determines an accelerator characteristic curve preset in the accelerator central control unit and shown in figure 2 according to the voltage signal;
1.2 the central control unit of the accelerator reads and analyzes message signals of a man-machine common driving mode switch through a CAN bus and judges the driving mode of the vehicle;
1.3 when the manual driving mode is adopted, the central control unit of the accelerator receives a pedal opening voltage signal input by the accelerator pedal sensor and then sends the pedal opening voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the engine control unit and then sends the message signal to the control unit of the accelerator and the gearbox, the message signal is used for controlling the electromagnetic valve of the oil injector and simultaneously enabling the control unit of the gearbox to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, the clutch engagement is controlled to complete the starting of the vehicle;
1.4 when in an automatic driving mode, the accelerator central control unit receives an accelerator opening request message signal of the automatic driving controller through a CAN bus, converts the accelerator opening request message signal into a corresponding voltage signal according to an accelerator characteristic curve preset in the accelerator central control unit and then transmits the voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to an accelerator characteristic curve preset in the engine control unit and then transmits the corresponding accelerator opening message signal to the accelerator and gearbox control unit so as to control an electromagnetic valve of an oil injector and simultaneously enable the gearbox control unit to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, the clutch is controlled to be engaged to finish vehicle starting;
1.5 when the system has a fault, the central control unit of the accelerator sends a fault information message to the instrument through the CAN bus and directly displays the fault information message on the instrument screen.
2. When the engine control unit can only control the accelerator in a message-by-wire mode;
2.1 after the system is powered on, the central throttle control unit firstly collects a gear voltage signal corresponding to a gear resistor of a throttle system model selection switch, and determines a throttle characteristic curve preset in the central throttle control unit and shown in figure 2 according to the voltage signal;
2.2 the central throttle control unit reads and analyzes the message signal of the man-machine common driving mode switch through the CAN bus, and judges the driving mode of the vehicle;
2.3 when the manual driving mode is adopted, the central control unit of the accelerator receives a pedal opening voltage signal input by the accelerator pedal sensor, converts the pedal opening voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the central control unit of the accelerator, and transmits the message signal to the engine control unit through the CAN bus;
2.4 when in the automatic driving mode, the central control unit of the accelerator receives an accelerator opening message request signal of the automatic driving controller through the CAN bus and then transmits the message request signal to the engine control unit through the CAN bus, the engine control unit receives the message signal and then simultaneously transmits the message signal to the accelerator and gearbox control unit, so that the gearbox control unit judges the state of the accelerator opening while controlling the accelerator opening, and controls clutch engagement when the accelerator opening signal is not zero to finish vehicle starting;
2.5 when the system has a fault, the central control unit of the accelerator sends a fault information message to the instrument through the CAN bus and directly displays the fault information message on the instrument screen.
The invention can reliably and effectively judge the opening state of the accelerator by the gearbox control unit in both the manual driving mode and the automatic driving mode, and solves the problem that the clutch of the gearbox cannot be engaged, so that the idling of an engine causes the vehicle to be incapable of running. The invention is also compatible with a wire control message and a hard-wire accelerator mode of an engine control unit, is compatible with various accelerator characteristic curves, meets the universality of parts, can also display the vehicle fault code on an instrument screen in real time, can carry out vehicle inspection and maintenance by maintenance personnel according to the prompted fault information, does not need to newly add an additional diagnostic instrument, and saves the cost.
Claims (6)
1. The utility model provides a car man-machine is driving mode throttle control system altogether which characterized in that: the accelerator control system comprises an accelerator central control unit, wherein an analog signal input end of the accelerator central control unit is connected with a signal output end of an accelerator pedal sensor, a digital signal input end of the accelerator central control unit is correspondingly connected with a signal output end of an automatic driving controller and a signal output end of a man-machine co-driving mode switch, an analog signal output end and a digital signal output end of the accelerator central control unit are correspondingly connected with an analog signal input end and a digital signal input end of an engine control unit respectively, a signal output end of the engine control unit is correspondingly connected with a signal input end of a gearbox control unit and a signal input end of a fuel injector electromagnetic valve respectively, and a signal output end of the gearbox control unit is connected with a gearbox through.
2. The vehicle co-operating drive mode throttle control system of claim 1, wherein: the throttle central control unit is also provided with a signal sampling end and a loop ground end, the signal sampling end is connected with one end of a throttle system model selection switch, and the other end of the throttle system model selection switch is connected with the loop ground end.
3. The automotive co-operating mode throttle control system according to claim 1 or 2, characterized in that: the central throttle control unit is also provided with a fault information output end, and the fault information output end is connected with the instrument.
4. A man-machine common driving mode accelerator control method for an automobile is characterized by comprising the following steps: the system comprises an accelerator central control unit, wherein an analog signal input end of the accelerator central control unit is connected with a signal output end of an accelerator pedal sensor, a digital signal input end of the accelerator central control unit is correspondingly connected with a signal output end of an automatic driving controller and a signal output end of a man-machine co-driving mode switch, the analog signal output end and the digital signal output end of the accelerator central control unit are correspondingly connected with an analog signal input end and a digital signal input end of an engine control unit respectively, the signal output end of the engine control unit is correspondingly connected with a signal input end of a gearbox control unit and a signal input end of an oil injector electromagnetic valve respectively, and the signal output end of the gearbox control unit is connected with a gearbox through a driving unit;
the throttle control method comprises the following steps:
1. when the engine control unit performs accelerator control through hardwire voltage;
1.1 the central control unit of the accelerator reads and analyzes the message signal of the man-machine common driving mode switch and judges the driving mode of the vehicle;
1.2 when in manual driving mode, the central control unit of the accelerator receives a pedal opening voltage signal input by an accelerator pedal sensor and then sends the pedal opening voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the engine control unit and then sends the message signal to the control unit of the accelerator and the gearbox, the message signal is used for controlling the electromagnetic valve of the oil injector and simultaneously enabling the control unit of the gearbox to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, clutch engagement is controlled to complete vehicle starting;
1.3 when in an automatic driving mode, the accelerator central control unit receives an accelerator opening request message signal of the automatic driving controller through a CAN bus, converts the accelerator opening request message signal into a corresponding voltage signal according to an accelerator characteristic curve preset in the accelerator central control unit and then transmits the voltage signal to the engine control unit through a hard wire, the engine control unit converts the voltage signal into a corresponding accelerator opening message signal according to an accelerator characteristic curve preset in the engine control unit and then transmits the corresponding accelerator opening message signal to the accelerator and gearbox control unit so as to control an electromagnetic valve of an oil injector and simultaneously enable the gearbox control unit to judge the state of the accelerator opening, and when the accelerator opening signal is not zero, the clutch is controlled to be engaged to finish vehicle starting;
2. when the engine control unit performs throttle control in a message-by-wire mode;
2.1 the central control unit of the accelerator reads and analyzes the message signal of the man-machine common driving mode switch through the CAN bus and judges the driving mode of the vehicle;
2.2 when the manual driving mode is adopted, the central control unit of the accelerator receives a pedal opening voltage signal input by the accelerator pedal sensor, converts the pedal opening voltage signal into a corresponding accelerator opening message signal according to a preset accelerator characteristic curve in the central control unit of the accelerator, and transmits the message signal to the engine control unit through the CAN bus;
2.3 when the automatic driving mode, the central control unit of the accelerator receives the message request signal of the accelerator opening of the automatic driving controller through the CAN bus and then transmits the message request signal to the engine control unit through the CAN bus, the engine control unit receives the message signal and then simultaneously transmits the message signal to the accelerator and the gearbox control unit, so that the gearbox control unit judges the state of the accelerator opening while controlling the accelerator opening, and when the signal of the accelerator opening is not zero, the clutch is controlled to be engaged, and the vehicle is started.
5. The automobile man-machine co-driving mode throttle control method as claimed in claim 4, wherein: the throttle central control unit is also provided with a signal sampling end and a loop ground end, the signal sampling end is connected with one end of a throttle system model selection switch, and the other end of the throttle system model selection switch is connected with the loop ground end; after the system is powered on, the accelerator central control unit firstly collects a gear voltage signal corresponding to a gear resistor of the accelerator system model selection switch, and determines a preset accelerator characteristic curve according to the voltage signal.
6. The automobile man-machine co-driving mode throttle control method as claimed in claim 4 or 5, wherein: the throttle central control unit is also provided with a fault information output end which is connected with the instrument; when the system has a fault, the central throttle control unit sends a fault information message to the instrument through the CAN bus and directly displays the fault information message on the instrument screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010225729.4A CN111301394A (en) | 2020-03-26 | 2020-03-26 | Automobile man-machine common driving mode accelerator control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010225729.4A CN111301394A (en) | 2020-03-26 | 2020-03-26 | Automobile man-machine common driving mode accelerator control system and control method |
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| CN111301394A true CN111301394A (en) | 2020-06-19 |
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| CN202010225729.4A Pending CN111301394A (en) | 2020-03-26 | 2020-03-26 | Automobile man-machine common driving mode accelerator control system and control method |
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| CN112945581A (en) * | 2021-04-09 | 2021-06-11 | 北京汽车集团越野车有限公司 | Automobile accelerator pedal simulation system, method and device |
| CN113291319A (en) * | 2021-06-11 | 2021-08-24 | 东风柳州汽车有限公司 | Transfer control method and system for intelligently driving truck |
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Application publication date: 20200619 |