A Modular Control Architecture for a Small Electric Vehicle
Frederico Miguel Santos, João Pedro F. Trovão, André Lousa Marques, Paulo Pedreiras, Joaquim Ferreira, Lúıs Almeida, Max Mauro Dias Santos · 2006
This paper presents a fault-tolerant modular control architecture for an electrical vehicle (VEIL) equipped with x-by-wire sub-systems. The proposed architecture is based on COTS components and includes steer-by-wire, brake-by-wire and accelerate-by-wire safety critical functions. The communication infrastructure is based on the FTT-CAN protocol, which provides the joint scheduling of message and tasks, according to a holistic approach.