Sensors, Vol. 20, Pages 6121: Drive-By-Wire Development Process Based on ROS for an Autonomous Electric Vehicle

Sensors, Vol. 20, Pages 6121: Drive-By-Wire Development Process Based on ROS for an Autonomous Electric Vehicle Sensors doi: 10.3390/s20216121 Authors: J. Felipe Arango Luis M. Bergasa Pedro A. Revenga Rafael Barea Elena López-Guillén Carlos Gómez-Huélamo Javier Araluce Rodrigo Gutiérrez 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 ...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research
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