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

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1216
Author(s):  
Chien-Hsun Wu ◽  
Wei-Chen Lin ◽  
Kun-Sheng Wang
Keyword(s):  
High Speed ◽  
Control Strategies ◽  
Control Unit ◽  
Autonomous Driving ◽  
Front Wheel ◽  
Steering Wheel ◽  
Output Section ◽  
Steer By Wire ◽  
Wire System ◽  
Remote Driving

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.

Research on Variable Steering Ratio of Vehicle Steer-by-Wire System Based on Joystick

2013 ◽  
Vol 336-338 ◽  
pp. 1037-1040 ◽  
Author(s):  
Hong Yu Zheng ◽  
Bing Yu Wang ◽  
Chang Fu Zong
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
Steering Angle ◽  
Low Speed ◽  
Steer By Wire ◽  
Wire System

In the steer by wire system of vehicle, a joystick can instead of the steering wheel. A control algorithm based on variable steering ratio is developed on the basis of vehicle speed and joystick steering angle. By verifying the control algorithm with the vehicle model from CarSim, it shows that this proposed algorithm can effective carry out steering intention of drivers, which enhance the steer comfort in low speed driving and steer handling in high speed driving and effectively improve the vehicle maneuverability.

The Variable Steering Ratio for Vehicle Steer by Wire System Using Hyperbolic Tangent Method

2014 ◽  
Vol 575 ◽  
pp. 781-784 ◽  
Author(s):  
Sheikh Muhammad Hafiz Fahami ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sarah Atifah Saruchi
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering System ◽  
Steering Wheel ◽  
Hyperbolic Tangent ◽  
Steer By Wire ◽  
Tangent Method ◽  
Vehicle Maneuver ◽  
Wire System

In conventional steering system, during the parking maneuver, driver required large turned on the steering wheel to move the fornt tyre. Thus, it will increase the driver burden when turned the steering wheel. The feature of variable steering ratio (VSR), help to reduce driver burden. Moreover, it improves the vehicle maneuver at lower and high speed. This paper, proposed a control algorithm of variable steering ratio (VSR) in vehicle SBW system. The concept of hyperbolic tangent is used where it not only improved the maneuverability at lower speed, but also reduces the driver burden on the steering wheel. To investigate the effectiveness of the proposed VSR algorithm, the result is compared with conventional steering system

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

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6121
Author(s):  
J. Felipe Arango ◽  
Luis M. Bergasa ◽  
Pedro A. Revenga ◽  
Rafael Barea ◽  
Elena López-Guillén ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Autonomous Navigation ◽  
Development Process ◽  
High Reliability ◽  
Control Unit ◽  
Autonomous Driving ◽  
Local Network ◽  
Steer By Wire ◽  
Validation Tests ◽  
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. 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.

Research on Steer-by-Wire System With Ideal Steering Ratio and 4WS

2005 ◽  
Author(s):  
Changfu Zong ◽  
Li Mai ◽  
Bo Hu ◽  
Zhenhai Gao
Keyword(s):  
Feedback Control ◽  
Control Strategies ◽  
Front Wheel ◽  
Control Methods ◽  
Yaw Rate ◽  
Vehicle Velocity ◽  
Steer By Wire ◽  
Acceleration Feedback ◽  
Vehicle Dynamic Model ◽  
Wire System

This paper has studied the variable steering ratio for steering-by-wire (SBW) based on the 29 DOF vehicle dynamic model, which kept the steering gain of vehicle constant. And the steering ratio varied with the vehicle velocity and hand wheel angles. We have proposed three control strategies for SBW including front wheel control, yaw rate feedback control and yaw rate & acceleration feedback control. We compared these three control methods by simulation and simulator tests. We have researched the forward and feedback control methods in the four wheels (4WS) for SBW system. And compared with 2WS for SBW and the classical 4WS. The results indicated that 4WS for SBW could improve the vehicle handling.

Control of Steer by Wire System for Reference Steering Wheel Torque Tracking and Return-Ability

2018 ◽  
Author(s):  
Jaepoong Lee ◽  
Yi kyongsu ◽  
Kwangil Kim ◽  
Byungrim Lee ◽  
Dongpil Lee ◽  
...  
Keyword(s):  
Steering Wheel ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Wire System

Wheel Synchronization Control in Steer-by-Wire Using Composite Nonlinear Feedback

2014 ◽  
Vol 575 ◽  
pp. 762-765 ◽  
Author(s):  
Sarah Atifah Saruchi ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sheikh Muhammad Hafiz Fahami ◽  
Noraishikin Zulkarnain
Keyword(s):  
Control Strategy ◽  
Front Wheel ◽  
Linear Feedback ◽  
Steering Wheel ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Control Laws ◽  
Simulation Based ◽  
Steer By Wire ◽  
Rising Time

This paper proposes a new control strategy to ensure the steering wheel and front wheel synchronization in Steer-by-Wire (SBW) using a Composite Nonlinear Feedback (CNF) controller. CNF is a combination of linear and non-linear feedback control laws. This controller is designed in order to minimize the delay in settling time, achieve fast rising time and lower the overshoot for the front wheel response. A simulation based on this control strategy was made and compared to analyze the system performance.

Experimental Vehicle That Avoids Collisions Through Steer by Wire and Differential Drive Systems

2011 ◽  
Author(s):  
Victor J. Gonzalez-Villela ◽  
Eduardo U. Gonzalez-Zavala
Keyword(s):  
Collision Avoidance ◽  
High Speed ◽  
Autonomous Vehicle ◽  
Infrared Sensors ◽  
Differential Drive ◽  
Steer By Wire ◽  
Experimental Vehicle ◽  
Collision Avoidance System ◽  
Drive Systems ◽  
Wire System

The implementation of Drive-by-Wire systems is increasing due to their advantages. One of these advantages is the capability to be autonomous or semiautonomous. This paper investigates the collisions avoidance in a Steer-by-Wire and Differential Drive experimental vehicle. The Steer-by-Wire system is tested using the Ackerman formulation. Ackerman equations are modified in order to vary the vehicle’s steering ratio in function of the vehicle’s speed. As a result, better high speed vehicle’s control is achieved. The collision avoidance system works using infrared sensors around the vehicle, avoiding frontal and lateral collision. The distance to the obstacles is the parameter selected to avoid collisions (leaving the time for other actions like warnings to the driver). The fusion of the Autonomous Steer-by-Wire and the collisions avoidance system develops a semi-autonomous vehicle. This vehicle avoids collisions automatically, even if the driver does not avoid the collisions by himself, greatly reducing the probability of accidents.

scholarly journals Research on Torque Ratio Based on the Steering Wheel Torque Characteristic for Steer-by-Wire System

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Yandong Han ◽  
Lei He ◽  
Xiang Wang ◽  
Changfu Zong
Keyword(s):  
Force Feedback ◽  
Characteristic Curve ◽  
Transmission Ratio ◽  
Steering Wheel ◽  
Vehicle Handling ◽  
Design Goal ◽  
Torque Transmission ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Wire System

Steer-by-wire system can improve the performance of vehicle handling stability. Removing the mechanical linkages between the front wheels and the steering wheel leads to a key technique of force feedback for steer-by-wire system. In view of the characteristic of variable torque transmission ratio for steer-by-wire system, this paper proposes a method for designing torque ratio based on the steering wheel torque characteristic for steer-by-wire system. It converts the torque ratio design into equivalent assist torque design by analyzing their relationship. It achieves the torque ratio design at different conditions based on the negative equivalent assist torque characteristic curve. Simulations and vehicle experiments are conducted by the proposed method, and the results show that the design goal has been achieved and the steering wheel torque characteristic obtained is very similar to that of the reference car.

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