Experimental Vehicle That Avoids Collisions Through Steer by Wire and Differential Drive Systems

2011 ◽  
Author(s):  
Victor J. Gonzalez-Villela ◽  
Eduardo U. Gonzalez-Zavala
Keyword(s):  
Collision Avoidance ◽  
High Speed ◽  
Autonomous Vehicle ◽  
Infrared Sensors ◽  
Differential Drive ◽  
Steer By Wire ◽  
Experimental Vehicle ◽  
Collision Avoidance System ◽  
Drive Systems ◽  
Wire System

The implementation of Drive-by-Wire systems is increasing due to their advantages. One of these advantages is the capability to be autonomous or semiautonomous. This paper investigates the collisions avoidance in a Steer-by-Wire and Differential Drive experimental vehicle. The Steer-by-Wire system is tested using the Ackerman formulation. Ackerman equations are modified in order to vary the vehicle’s steering ratio in function of the vehicle’s speed. As a result, better high speed vehicle’s control is achieved. The collision avoidance system works using infrared sensors around the vehicle, avoiding frontal and lateral collision. The distance to the obstacles is the parameter selected to avoid collisions (leaving the time for other actions like warnings to the driver). The fusion of the Autonomous Steer-by-Wire and the collisions avoidance system develops a semi-autonomous vehicle. This vehicle avoids collisions automatically, even if the driver does not avoid the collisions by himself, greatly reducing the probability of accidents.

Research on Variable Steering Ratio of Vehicle Steer-by-Wire System Based on Joystick

2013 ◽  
Vol 336-338 ◽  
pp. 1037-1040 ◽  
Author(s):  
Hong Yu Zheng ◽  
Bing Yu Wang ◽  
Chang Fu Zong
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
Steering Angle ◽  
Low Speed ◽  
Steer By Wire ◽  
Wire System

In the steer by wire system of vehicle, a joystick can instead of the steering wheel. A control algorithm based on variable steering ratio is developed on the basis of vehicle speed and joystick steering angle. By verifying the control algorithm with the vehicle model from CarSim, it shows that this proposed algorithm can effective carry out steering intention of drivers, which enhance the steer comfort in low speed driving and steer handling in high speed driving and effectively improve the vehicle maneuverability.

The Variable Steering Ratio for Vehicle Steer by Wire System Using Hyperbolic Tangent Method

2014 ◽  
Vol 575 ◽  
pp. 781-784 ◽  
Author(s):  
Sheikh Muhammad Hafiz Fahami ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sarah Atifah Saruchi
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering System ◽  
Steering Wheel ◽  
Hyperbolic Tangent ◽  
Steer By Wire ◽  
Tangent Method ◽  
Vehicle Maneuver ◽  
Wire System

In conventional steering system, during the parking maneuver, driver required large turned on the steering wheel to move the fornt tyre. Thus, it will increase the driver burden when turned the steering wheel. The feature of variable steering ratio (VSR), help to reduce driver burden. Moreover, it improves the vehicle maneuver at lower and high speed. This paper, proposed a control algorithm of variable steering ratio (VSR) in vehicle SBW system. The concept of hyperbolic tangent is used where it not only improved the maneuverability at lower speed, but also reduces the driver burden on the steering wheel. To investigate the effectiveness of the proposed VSR algorithm, the result is compared with conventional steering system

scholarly journals Mechatronics and Remote Driving Control of the Drive-by-Wire for a Go Kart

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1216
Author(s):  
Chien-Hsun Wu ◽  
Wei-Chen Lin ◽  
Kun-Sheng Wang
Keyword(s):  
High Speed ◽  
Control Strategies ◽  
Control Unit ◽  
Autonomous Driving ◽  
Front Wheel ◽  
Steering Wheel ◽  
Output Section ◽  
Steer By Wire ◽  
Wire System ◽  
Remote Driving

This research mainly aims at the construction of the novel acceleration pedal, the brake pedal and the steering system by mechanical designs and mechatronics technologies, an approach of which is rarely seen in Taiwan. Three highlights can be addressed: 1. The original steering parts were removed with the fault tolerance design being implemented so that the basic steering function can still remain in case of the function failure of the control system. 2. A larger steering angle of the front wheels in response to a specific rotated angle of the steering wheel is devised when cornering or parking at low speed in interest of drivability, while a smaller one is designed at high speed in favor of driving stability. 3. The operating patterns of the throttle, brake, and steering wheel can be customized in accordance with various driving environments and drivers’ requirements using the self-developed software. The implementation of a steer-by-wire system in the remote driving control for a go kart is described in this study. The mechatronic system is designed in order to support the conversion from human driving to autonomous driving for the go kart in the future. The go kart, using machine vision, is wirelessly controlled in the WiFi frequency bands. The steer-by-wire system was initially modeled as a standalone system for one wheel and subsequently developed into its complete form, including front wheel steering components, acceleration components, brake components, a microcontroller, drive circuit and digital to analog converter. The control output section delivers the commands to the subsystem controllers, relays and converters. The remote driving control of the go kart is activated when proper commands are sent by the vehicle control unit (VCU). All simulation and experiment results demonstrated that the control strategies of duel motors and the VCU control were successfully optimized. The feasibility study and performance evaluation of Taiwan’s go karts will be conducted as an extension of this study in the near future.

scholarly journals Driving and steering collision avoidance system of autonomous vehicle with model predictive control based on non-convex optimization

2021 ◽  
Vol 13 (6) ◽  
pp. 168781402110276
Author(s):  
Yuho Song ◽  
Kunsoo Huh
Keyword(s):  
Convex Optimization ◽  
Collision Avoidance ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Lane Changes ◽  
Vehicle Communication ◽  
Rapid Control ◽  
Rapid Control Prototyping ◽  
Predictive Controller ◽  
Collision Avoidance System

A planar motion control system is proposed for autonomous vehicles not only to follow the lanes, but also to avoid collisions by braking, accelerating, and steering. The supervisor is designed first to determine the desired speed and the risk of the maneuvering due to road boundaries and obstacles. In order to allow lane changes on multi-lane roads, the model predictive controller is formulated based on the probabilistic non-convex optimization. The micro-genetic algorithm is applied to calculate the target speed and target steering angle in real time. A software-in-the-loop unit is constructed with the Rapid Control Prototyping device in the vehicle communication environment. The performance of the proposed system is verified for various collision avoidance scenarios and the simulation results demonstrate the safe and effective driving performance of autonomous vehicles with no collision on multi-lane road.

Modeling, Analysis, and Control of a Four Wheel Steer-by-Wire System for Semi-Autonomous Ground Vehicles

2004 ◽  
Author(s):  
Santosh Ancha ◽  
Abhijit Baviskar ◽  
John Wagner ◽  
Darren Dawson
Keyword(s):  
Autonomous Vehicle ◽  
Steering System ◽  
Ground Vehicles ◽  
Steering Control ◽  
Transient Time ◽  
Vehicle Performance ◽  
Vehicle Operation ◽  
Steering Mechanism ◽  
Steer By Wire ◽  
Wire System

Hybrid ground vehicles have motivated electric and steer-by-wire steering system technology due to restrictions on power source availability. Although these two steering systems are efficient, flexible, and environment friendly, the steer-by-wire system provides the opportunity for semi-autonomous and autonomous vehicle operation, as well as compliments a drive-by-wire architecture. For greater lateral vehicle performance, reduced maneuver transient time, and avoidance of undesirable vehicle motions through combined traction and steering control, a four wheel steering assembly with front and rear steering mechanism can uniformly control the wheels’ steering angle. In this paper, mathematical models will be developed for a front and rear rack and pinion steer-by-wire system. Accompanying linear and nonlinear controllers will be designed for operator commanded tracking by adjusting the three servo-motor assemblies. Representative numerical results are presented and discussed to support the evaluation of the four-wheel steering systems for sinusoidal and impulse-like steering maneuvers. The simulated vehicle four wheel steer-by-wire system results demonstrated better performance compared to the front steer-by-wire system.

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