scholarly journals Drive-By-Wire Development Process Based on ROS for an Autonomous Electric Vehicle

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6121
Author(s):  
J. Felipe Arango ◽  
Luis M. Bergasa ◽  
Pedro A. Revenga ◽  
Rafael Barea ◽  
Elena López-Guillén ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Autonomous Navigation ◽  
Development Process ◽  
High Reliability ◽  
Control Unit ◽  
Autonomous Driving ◽  
Local Network ◽  
Steer By Wire ◽  
Validation Tests ◽  
Wire System

This paper presents the development process of a robust and ROS-based Drive-By-Wire system designed for an autonomous electric vehicle from scratch over an open source chassis. A revision of the vehicle characteristics and the different modules of our navigation architecture is carried out to put in context our Drive-by-Wire system. The system is composed of a Steer-By-Wire module and a Throttle-By-Wire module that allow driving the vehicle by using some commands of lineal speed and curvature, which are sent through a local network from the control unit of the vehicle. Additionally, a Manual/Automatic switching system has been implemented, which allows the driver to activate the autonomous driving and safely taking control of the vehicle at any time. Finally, some validation tests were performed for our Drive-By-Wire system, as a part of our whole autonomous navigation architecture, showing the good working of our proposal. The results prove that the Drive-By-Wire system has the behaviour and necessary requirements to automate an electric vehicle. In addition, after 812 h of testing, it was proven that it is a robust Drive-By-Wire system, with high reliability. The developed system is the basis for the validation and implementation of new autonomous navigation techniques developed within the group in a real vehicle.

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 Steer-by-Wire System for Ultra-Compact Electric Vehicle

2017 ◽  
Vol 25 (2) ◽  
pp. 155-161 ◽  
Author(s):  
Takafumi UMEMOTO ◽  
Xiaojun LIU ◽  
Takayoshi NARITA ◽  
Hideaki KATO ◽  
Hiroyuki MORIYAMA
Keyword(s):  
Electric Vehicle ◽  
Steer By Wire ◽  
Wire System

Steer-by-Wire System for Micro Electric Vehicle

2005 ◽  
Author(s):  
Yohei Saito ◽  
Yoshio Kano ◽  
Masato Abe
Keyword(s):  
Electric Vehicle ◽  
Steer By Wire ◽  
Wire System

MECHATRONICS DESIGN OF AN X-BY-WIRE PROTOTYPE OF AN ELECTRIC VEHICLE

2016 ◽  
Vol 40 (2) ◽  
pp. 231-242
Author(s):  
Mir Saman Rahimi Mousavi ◽  
Guillaume Sauze ◽  
Alexei Morozov ◽  
Jorge Angeles ◽  
Benoit Boulet
Keyword(s):  
Electric Vehicle ◽  
Automotive Industry ◽  
Proof Of Concept ◽  
Sensors And Actuators ◽  
Turning Angle ◽  
Concept Model ◽  
Mechanical Subsystem ◽  
Steer By Wire ◽  
Wire System ◽  
Inherent Part

The concept of electric vehicle as a fully automated mobile robot – a.k.a. X-by-Wire, or Drive-by-Wire (DbW) concepts – is becoming more and more attractive in the modern automotive industry. This idea is based on replacing a mechanical subsystem by its electronic equivalent, which includes sensors and actuators, with a computer in-between. Three of the components, namely Throttle-by-Wire, Brake-by-Wire, and Steer-by-Wire, are the most complex and risky elements of the X-by-Wire technology. Moreover, these elements constitute the inherent part of the general DbW paradigm. This paper reports work-in-progress on the design and prototyping of a scaled-down 1 : 6 proof-of-concept model of a commercial vehicle with an integrated X-by-Wire system. The control for its components is discussed, while emphasizing the Steer-by-Wire actuator based on the Ackermann condition. The influence of heading velocity and turning angle on the slipping angle and path error of the model is discussed. The performance of the dynamics of the prototype is assessed over prescribed paths; deviations from the no-slip condition are evaluated.

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