Drive-by-Wire development process based on ROS for an electric autonomous vehicle

  View metrics of use
Utilizar EndNote Import
Authors
Arango Vargas, Juan FelipeUniversity of Alcalá Author; Bergasa Pascual, Luis MiguelUniversity of Alcalá Author; Revenga de Toro, Pedro AlfonsoUniversity of Alcalá Author; Barea Navarro, RafaelUniversity of Alcalá Author; Araluce Ruiz, JavierUniversity of Alcalá Author; [et al.]
Identifiers
Permanent link (URI): http://hdl.handle.net/10017/45331
DOI: 10.3390/s20216121
ISSN: 1424-8220
Publisher
MDPI
Date
2020-10
Academic Departments
Universidad de Alcalá. Departamento de Electrónica
Research group
Robótica de Servicios y Tecnologías para la Seguridad Vial
Funders
Agencia Estatal de Investigación
Comunidad de Madrid
Bibliographic citation
Arango, J.F., Bergasa, L.M., Revenga, P.A., Barea, R., López-Guillén, E., Gómez-Huélamo, C., Araluce, J. & Gutiérrez, R. 2020. Drive-By-Wire development process based on ROS for an autonomous electric vehicle. Sensors, vol. 20, no. 21, 6121
Project
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-099263-B-C21/ES/TECNOLOGIAS ROBUSTAS PARA UN CONCEPTO DE COCHE ELECTRICO AUTOMATIZADO PARA CONDUCTORES MAYORES/
info:eu-repo/grantAgreement/CAM//P2018%2FNMT-4331/ES/Madrid Robotics Digital Innovation Hub/RoboCity2030-DIH-CM
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.3390/s20216121
Rights
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Access rights
info:eu-repo/semantics/openAccess
Abstract
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.

Show full item record

Files in this item
Collections
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Este ítem está sujeto a una licencia Creative Commons.