Integrated LKA and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles with a Central-Zonal Electronic and Electrical Architecture

This paper deals with the integration of lane keeping assistance (LKA) and direct yaw-moment control (DYC) for smart four-wheel-independent-drive electric vehicles (FWID-EVs) using a new central-zonal electronic and electrical (E/E) architecture with multi-path asynchronization (MPA) loop delays. The central-zonal E/E architecture with grouped components by their physical positions in the vehicle results significant improvement of computing power, data transmission and harness simplification. However, the MPA loop delays in the central-zonal E/E architecture may degrade or even deteriorate the stability of the system. Firstly, a new analysis model on the MPA loop delays is constructed to describe the network-induced delays. A mathematical upper-bound equation is derived to determine the worst-case loop delays. Secondly, in order to deal with the MPA loop delays and simplify the robust controller design, a novel co-design method of control and scheduling is proposed, in which a time-sensitive networking (TSN) with flexible time-triggered scheduling (FTTS) scheme is developed for improving the communication effectiveness, and a model predictive control (MPC) is adopted to make decisions instantly for improving the control accuracy. Furthermore, a Lyapunov-based pole assignment theory is applied to verify the system stability. Finally, the results of the Hardware-in-the-Loop (HIL) experiment validate the effectiveness of the proposed method.