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

Area of Science:

• Robotics and Autonomous Systems
• Automotive Engineering

Background:

• Autonomous electric vehicles require sophisticated control systems.
• Existing systems may lack robustness or integration capabilities.

Purpose of the Study:

• To develop and validate a robust, ROS-based Drive-By-Wire (DBW) system for autonomous electric vehicles.
• To create a modular system integrating Steer-By-Wire and Throttle-By-Wire functionalities.
• To implement a safe Manual/Automatic switching mechanism.

Main Methods:

• Development of Steer-By-Wire and Throttle-By-Wire modules.
• Integration with a Robot Operating System (ROS) framework.
• Implementation of a local network for command transmission.
• Design of a Manual/Automatic switching system.
• Extensive validation testing.

Main Results:

• The DBW system successfully controls vehicle speed and curvature.
• Validation tests confirmed the system's suitability for electric vehicle automation.
• The system demonstrated robustness and high reliability over 812 hours of testing.
• A safe manual override function was successfully implemented.

Conclusions:

• The developed ROS-based DBW system meets the requirements for autonomous electric vehicle operation.
• The system provides a reliable and robust platform for future autonomous navigation research.
• The modular design facilitates the integration of advanced autonomous driving techniques.