An Improved Motion Control With Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle

Abstract

A lateral motion control scheme for a distributed drive electric vehicle is presented in this paper, which takes into account both in-car network and movement-parameter uncertainty in a synthetic manner. Distributed drive vehicles have obvious advantages in terms of safety and comfort at high speeds due to the well-known E/E architecture, which includes an in-vehicle network, advanced vehicle motion control, and Advanced Driver Assistance System (ADAS) technologies. This is a fundamentally cyber-physical system. However, on the other hand, the application/insertion of in-vehicle network and the dynamic of wide-range varying speeds introduce additional system uncertainties, such as time-varying network induced delays and inevitable system perturbation, making controller design a difficult problem and even making the system unstable. This paper develops a cyber-physical control scheme and under which a two-process perturbation analysis is proposed to illustrate the system uncertainties. A hierarchical control strategy is also devised, with an upper-level gain-scheduling controller dealing with speed perturbation uncertainties and a lowerlevel H ∞ -LQR controller dealing with in-vehicle network uncertainty. Using real-time hardware in loop testing, the suggested control technique was found to be effective in dealing with both in-vehicle network and system perturbation problems while also ensuring reliable vehicle stability in all three scenarios.INDEX TERMS Distributed drive electric vehicle, cyber -physical, direct yaw-moment control (DYC), H ∞ -based linear quadratic regulator (H ∞ -LQR), gain-scheduling, two-process perturbation analysis.

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