Design of the unmanned vehicle steer-by-wire sensor fault-tolerant control experimental platform

Siyuan Yin; Miaohua Huang; Bo He; Yongkang Hu; Ruoying Liu; Tianyue Zou

doi:10.1117/12.3040511

28 August 2024 Design of the unmanned vehicle steer-by-wire sensor fault-tolerant control experimental platform

Siyuan Yin, Miaohua Huang, Bo He, Yongkang Hu, Ruoying Liu, Tianyue Zou

Author Affiliations +

Proceedings Volume 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024); 1325113 (2024) https://doi.org/10.1117/12.3040511
Event: 9th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 2024, Guilin, China

Abstract

Addressing the issue of insufficient real-vehicle validation in the current research on fault-tolerant control of steer-by-wire (SBW) system sensors, an experimental platform for fault-tolerant control of unmanned vehicle SBW sensors was designed based on the Robot Operating System (ROS), Controller Area Network (CAN) communication, and serial communication. The platform was utilized to validate the effectiveness of the fault-tolerant control system for autonomous vehicle SBW sensors through experimental testing and analysis of the results. The outcomes demonstrated that the designed platform successfully accomplished various functions, including the installation and configuration of analytical redundant sensors, software fault injection, actuation of SBW, the implementation of analytical redundancy and fault-tolerant control systems.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Siyuan Yin, Miaohua Huang, Bo He, Yongkang Hu, Ruoying Liu, and Tianyue Zou "Design of the unmanned vehicle steer-by-wire sensor fault-tolerant control experimental platform", Proc. SPIE 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 1325113 (28 August 2024); https://doi.org/10.1117/12.3040511

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