The upper-level control is not possible without a low-level control system sufficiently accurate and robust.
These sub-tasks can be grouped in different topics: environment perception, localisation, planning, vehicle control and decision-making. Even though it could seem a trivial task for humans, actually it involves multiple sub-tasks difficult to manage for a machine in real time. Nowadays, the most challenging for smart vehicles is autonomous driving. The main objective of these advances is to develop smarter vehicles that make transport safer and more efficient. The high demand for mobility, the progress of the automation and the concern for the demotion of the environment has caused that in the last decades the technological advances in the automotive industry have exponentially grown. The developed system is the basis for the validation and implementation of new autonomous navigation techniques developed within the group in a real vehicle. In addition, after 812 h of testing, it was proven that it is a robust Drive-By-Wire system, with high reliability. The results prove that the Drive-By-Wire system has the behaviour and necessary requirements to automate an electric vehicle. 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.
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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. 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. 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. 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.
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