Analysis and Design of Adaptive Cruise Control for Smart Electric Vehicle With Domain-Based Poly-Service Loop Delay
Wanke Cao, Liu Shao, Jianwei Li, Zhaolong Zhang, Hongwen He
Abstract
Domain-based electronic and electrical (E/E) architectures have been regarded as a possible upgrade to distributed E/E architectures currently used in electric vehicles. In a distributed E/E design, E/E components are directly connected to the automobile bus. Domain-based architectures split E/E components into distinct domains depending on their functions, which clearly benefits software upgrading and wire harness reduction. However, due to its heterogeneous topology with multiple network protocols, domain-based E/E architecture introduces complicated multilink and multinode delays into the control loop. The delays may degrade and even deteriorate the stability of adaptive cruise control (ACC) employing domain-based E/E architecture. To this end, this article proposes a heterogeneous-topology loop delay analysis by introducing a notion of poly-service loop delay. With a graphical pattern, the analytical process is presented in depth. The worst-case loop delay is calculated using an upper-boundary mathematic equation. Then, a hierarchical cyber-physical control method for ACC is designed. The upper level is intended to achieve desired acceleration based on vehicle and intervehicle motion states. And the lower level is intended to mitigate the negative impact of loop delays and provide reliable acceleration tracking. The results of cosimulation and hardware-in-loop experiment verify effectiveness of proposed approaches.