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.
Design of the unmanned vehicle steer-by-wire sensor fault-tolerant control experimental platform
Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024) ; 2024 ; Guilin, China
Proc. SPIE ; 13251
2024-08-28
Conference paper
Electronic Resource
English
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