Towards an Automated Supermilleage Vehicle

Paper #:
  • 2017-01-0114

Published:
  • 2017-03-28
Abstract:
A high automation of a small vehicle is under study. This work introduces a system for a partial automation (level 2) of a Supermillage SAE vehicle. The X-by-wire concept is implemented for the actuation of the steering and throttle systems. This modification reduces the mechanical interaction for the steering, braking and steering systems. By means of the description of the vehicle dynamics and the use of well-known techniques in industry and academy as Hardware and Software in the Loop, this work seeds an interface and a system to implement computer vision, steering and throttle algorithms to allow degree of autonomy to the vehicle. The system consists of a throttle, brake and steering system, connected through CAN protocol. The system is simulated using Simulink, and also runs in a simulation using V rep and a Matlab script. Throttle and brake are actuated by servomotors, and the steering system by a DC motor. This study will allow further development of automated driving vehicles, for research and academic purposes, because mechanical, electrical, control and computer vision challenges are presented.
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