2020
DOI: 10.3390/s20216121
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Drive-By-Wire Development Process Based on ROS for an Autonomous Electric Vehicle

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 t… Show more

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Cited by 15 publications
(7 citation statements)
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“…In the near future, we plan to extend this research by obtaining the state vector from real sensor data instead of obtaining them directly from the ground truth. The main advantage of the proposed architecture is that it is ROS based, which allows a fast and easy integration in our real vehicle [ 43 ]. We have already conducted some experiments in a real environment on our university campus, using a Petri nets-based decision-making module.…”
Section: Discussionmentioning
confidence: 99%
“…In the near future, we plan to extend this research by obtaining the state vector from real sensor data instead of obtaining them directly from the ground truth. The main advantage of the proposed architecture is that it is ROS based, which allows a fast and easy integration in our real vehicle [ 43 ]. We have already conducted some experiments in a real environment on our university campus, using a Petri nets-based decision-making module.…”
Section: Discussionmentioning
confidence: 99%
“…The first by-wire system to be integrated into a commercial car was the throttle-by-wire or electronic throttle control (ETC), which appeared in the 1988 BMW 7 Series [ 12 ]. Since then, the use of the electronic throttle has become widespread, and the traditional throttle, operated by a Bowden cable, is now practically considered obsolete [ 1 ]. This system uses sensors to measure pedal travel; the electronic control unit (ECU) receives the data, which manage the required fuel and optimal air intake, sending commands to actuators.…”
Section: State Of the Artmentioning
confidence: 99%
“…Drive-by-wire is an automotive technology that uses electrical or electro-mechanical systems to perform vehicle functions, avoiding mechanical linkages. New trends in the automotive industry are accelerating the adoption of X-by-wire technology, such as electrification and the use of autonomous vehicles [ 1 , 2 ]. This approach offers several advantages, including minimizing the number of mechanical parts and connections, reducing the overall weight, and providing a faster response time than traditional systems [ 3 ].…”
Section: Introductionmentioning
confidence: 99%
“…Considering the better performance of DDPG we will focus on this strategy, having in mind that our final goal is the implementation of the navigation architecture in the real vehicle [1]. Therefore, in the following section, architecture based in DDPG algorithm, which is more stable and reliable, is testing in some new routes.…”
Section: Validation Stagementioning
confidence: 99%