sensors Article Drive-By-Wire Development Process Based on ROS for an Autonomous Electric Vehicle J. Felipe Arango, Luis M. Bergasa * , Pedro A. Revenga , Rafael Barea , Elena López-Guillén , Carlos Gómez-Huélamo, Javier Araluce and Rodrigo Gutiérrez Electronics Department, University of Alcalá, Campus Universitario, 28805 Alcalá de Henares, Spain;
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[email protected] (R.G.) * Correspondence:
[email protected]; Tel.: +34-91-885-6569 Received: 9 September 2020; Accepted: 26 October 2020; Published: 27 October 2020 Abstract: 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.