Overview
Controlling a Kia Soul fully by wire requires the creation of three modules to interface with physical actuators, a CAN gateway module to translate Kia specific CAN messages onto a new Control CAN bus, and a power distribution system that has emergency stop capability. Each of these individual systems have their own page.
These systems all work together to provide full control of the vehicle. The image below illustrates a high level overview of the systems needed to control a vehicle, as well a network of sensors used for perception.
Below is a more detailed schematic of the control system.
