Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car

T. Drage; J. Kalinowski; Thomas Bräunl

doi:10.1109/MITS.2014.2327160

Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car

T. Drage, J. Kalinowski, Thomas Bräunl

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

© 2014 IEEE. This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.

Original language	English
Pages (from-to)	23-33
Journal	IEEE Intelligent Transportation Systems Magazine
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/MITS.2014.2327160
Publication status	Published - 2014

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10.1109/MITS.2014.2327160

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title = "Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car",

abstract = "{\textcopyright} 2014 IEEE. This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.",

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N2 - © 2014 IEEE. This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.

AB - © 2014 IEEE. This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.

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JF - IEEE Intelligent Transportation Systems Magazine

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Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car

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