Showing papers on "Drive by wire published in 2020"

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 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.

Increasing Accessibility of Electric Vehicles with Joystick Based Drive-By-Wire Model

Abstract: The automotive industry is shifting towards a cleaner alternative: electric vehicles. This change can be utilized to bring about an improvement to the usage accessibility of these vehicles. This paper proposes a way to implement a joystick control in an electric vehicle which can be used to drive the vehicle independently for anyone who has the ability to move and have control over their arms and wrists. The joystick, accessible to the driver, can be used for moving the vehicle in the desired direction. The work proposed here makes use of a drive by wire technology to operate the vehicle. The driving motor is connected to the joystick through a microcontroller. Another motor, which is connected to the steering column through a chain and sprocket, is used to steer the vehicle. This joystick controlled driving ensures that multiple amputees or differently abled people can drive it with ease.

A collision-avoidance system for an electric vehicle: a drive-by-wire technology initiative

Abstract: The proposed collision-avoidance system has a network of near real-time embedded subsystems, designed to exploit three operational conditions to control the warning and speed of an electric vehicle at an imminent collision. Further recommended is a multi-level redundancy strategy, using a majority-voting pattern and a fault-tolerant bus, to ensure the efficient operation of the collision-avoidance system in case of a fault in any of its networked subsystems. Analytically studied is the performance evaluation of the fault-tolerant system and its effect on the data processing time. Implementation results demonstrate the proposed fault-tolerant strategy, which takes into account the reliability of both subsystems and data, to be more efficient than a hardware or software sole-based fault-tolerant system.

Energy optimization method of drive-by-wire dual-motor coupling steering system

Abstract: The invention provides an energy optimization method of a drive-by-wire dual-motor coupling steering system. The drive-by-wire dual-motor system is an active steering system set up based on actuator fault tolerance, and steering safety can be greatly improved through redundancy of an execution motor. The dual-motor coupling steering (DMCS) strategy is adopted for optimizing energy in the steeringprocess of the drive-by-wire system. The DMCS strategy can run in three steering modes to meet different steering conditions, and therefore steering efficiency is improved. On the premise of meeting vehicle stability, a controller can select the optimal steering mode online according to the vehicle state, and optimization distribution of energy between motors is achieved.

Drive-by-wire hydraulic brake control system for automatic driving and control method thereof

Abstract: The invention provides a drive-by-wire hydraulic brake control system for automatic driving and a control method thereof. The system comprises a group of brake pedal operation modules, a group of hydraulic control modules, two groups of pressurization modules, two groups of motor driving control modules and a group of electronic control modules, the brake pedal operation module and the pressurization module are connected with the hydraulic control module through pipelines. The two groups of pressurization modules realize redundant backup, the brake pedal operating module, the pressurization modules, the motor driving control module and the hydraulic control module are respectively in signal connection with the electronic control module, and the electronic control module consists of two groups of electronic control sub-modules to realize redundant backup; the control method comprises a brake control method in a power-on failure-free state, a brake control method in a typical hardware failure state and a brake control method in a power-off failure state. The redundant architecture of the multiple pressurization modules, the multiple sensors and the multiple electronic control modulesis adopted, and the requirement of high-level automatic driving for a brake control system is met.

Drive-by-wire chassis used in field of unmanned driving

Abstract: The embodiment of the utility model discloses a drive-by-wire chassis used in the field of unmanned driving The drive-by-wire chassis comprises a vehicle body frame system, a wheel system, a suspension system, a driving system, a steering system and a control circuit system The drive-by-wire chassis is small in overall size, complete in performance, low in cost, capable of being produced in batch and easy to universalize Standardization and universalization of a communication protocol and a hardware interface are easier to realize; the driving system and the steering system are directly controlled through the vehicle control unit, and instructions sent by the decision-making system can be directly received; the drive-by-wire chassis has the characteristics of universalization and platformization, various mechanical devices can be additionally arranged on the drive-by-wire chassis, and various purposes such as sweeping and transporting are achieved; the whole chassis is completely packaged, the upper portion of the chassis is completely blank, various sensors and mechanical devices can be installed, and the chassis can be used for various commercial vehicles including express delivery, sweeping, inspection and the like

Drive-by-wire power-assisted steering refitting method for changing hub motor drive of electric vehicle

Abstract: The invention discloses a drive-by-wire power-assisted steering refitting method for changing hub motor drive of an electric vehicle, and relates to the technical field of electric vehicles. The method involves a steering wheel, a steering wheel angle sensor, a torque sensor, an additionally-mounted power-assisted motor, a steering wheel stand column clutch, tires, an original power-assisted motor, a distributed drive-by-wire steering ECU, an original vehicle power-assisted steering ECU and a CAN signal circuit, the power-assisted motor is additionally arranged to directly apply power-assistedtorque to the steering column through a worm and gear mechanism under the control of the distributed driving steer-by-wire ECU, and the original power-assisted motor directly applies power-assisted torque to a tie rod through the gear and rack mechanism under the control of the original vehicle power-assisted steering ECU. A newly-added power-assisted steering controller communicates with a CAN local area network to realize control of the newly-added power-assisted motor on the stand column, so when enough torque cannot be output after the hub motor is additionally arranged, the increased steering resistance is rapidly and effectively overcome so as to improve the steering response of a vehicle.

Poster: Network-Centric Approach Using Task Migration for Drive-by-Wire Vehicle Resilience

Abstract: The electronic control unit (ECU), considered the brain of a vehicle, suffers from a design problem called single point of failure (SPOF), which can induce system malfunctions. This problem can be addressed via redundancy, which increases the reliability of a mission-critical system by allowing multiple ECUs to perform a single function. However, this solution requires additional ECU and maintenance costs incurred by the redundant ECUs. A cost-effective approach for improving safety is to utilize the network connectivity between existing ECUs. In this paper, we propose a method that migrates critical tasks residing in an infeasible ECU to a replaceable ECU by using the network connection between them. Furthermore, to demonstrate the feasibility of the method, we implemented a task migration method on a Lego vehicle composed of three ECUs to prevent sudden unintended acceleration accidents caused by faults in an ECU managing the acceleration task.

Mechatronics and Remote Driving Control of the Drive-by-Wire for a Go Kart.

Abstract: 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.

Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method

Abstract: The invention discloses a drive-by-wire electro-hydraulic steering system based on a double-winding motor and a hybrid control method. The drive-by-wire electro-hydraulic steering system comprises a steering wheel, a steering column assembly, a road sensing assembly, an electric hydraulic power assisting module, a double-winding motor power assisting module, a steering control unit, an electromagnetic clutch, a steering tie rod, a steering trapezoid and steering wheels. Various steering working modes can be switched according to the working condition of a vehicle, the steering requirements under various working conditions are met, the working time of hydraulic power assisting can be shortened through mode switching, and the energy consumption of the steering system is greatly reduced; andthe working mode that two sets of windings of the double-winding motor work at the same time is adopted, the motor winding redundancy function is achieved, when one set of windings breaks down, the other set of windings can drive the motor to provide power-assisted torque, the reliability of the steering system is improved, and the running safety of the vehicle is enhanced.

Energy-saving control method and system for drive-by-wire four-wheel drive hub motor electric vehicle

Abstract: The invention relates to an energy-saving control method and system for a drive-by-wire four-wheel drive hub motor electric vehicle. The method comprises the steps of obtaining the longitudinal speedand front wheel steering angle of the vehicle in a driving state through detection, combining a two-degree-of-freedom vehicle reference model, and obtaining an ideal side slip angle and an ideal yaw velocity through calculation; according to the mass center slip angle difference value and the yaw velocity difference value, calculating the additional yaw moment needed by stabilization of the wholevehicle ; calculating an ideal torque corresponding to each hub motor according to the additional yawing moment, and calculating an ideal driving power output value according to the ideal torque corresponding to each hub motor; and calculating a corresponding actual driving power output value, and setting a power difference value between the actual driving power output value and the ideal drivingpower output value in a preset range to realize energy-saving control. By means of reasonable torque distribution, on the premise that driving safety is guaranteed, the optimal output power is achieved so as to achieve the energy-saving effect.

Drive-by-wire signal generation device for sports equipment and drive-by-wire sports equipment

Abstract: The invention provides a drive-by-wire signal generation device of sports equipment and the drive-by-wire sports equipment, and aims to solve the problems that in the prior art, more human resources are occupied or corresponding vehicle-mounted sensing equipment is needed The drive-by-wire signal generating device for the sports equipment comprises a pull wire, a pull wire tensioning and storingdevice, a pull wire length measuring device, a pull wire deflection angle measuring device and a control quantity calculating module The pull wire tensioning and storing device is fixed relative to the controlled movement equipment, and the pull wire length measuring device is used for measuring the take-up and pay-off length of the pull wire; the pull wire deflection angle measuring device is used for measuring the angle of the pull wire deviating from the advancing direction of motion equipment; and the control quantity calculation module obtains current length information and angle information according to the pull wire length measurement device and the pull wire deflection angle measurement device, and calculates a speed control variable and a steering control variable by referring tothe length information and the angle information measured in the previous time to serve as targets for driving the motion state change of the motion equipment