Automated Lane Change of Electric Vehicles With a Central-Zonal E/E Architecture Accompanied by Mixed-Service Package Transmission Competitions

This paper aims to address uncertainty and instability in automated lane change (ALC) systems for electric vehicles with a central-zonal electronic and electrical (E/E) architecture, where mixed-service package transmission competitions are inevitable. While the central-zonal E/E architecture provides significant advantages, including enhanced service integration, reduced wiring complexity, and seamless software updating, it also induces transmission competitions between time-sensitive services like steering and non-time-sensitive services such as information and entertainment, referred to as mixed-service package transmission competitions. These competitions can result in queuing delays within the control loop, termed mixed-service-induced loop delays, negatively impacting the stability and safety of ALC systems. To this end, a service-identification and active-scheduling (SIDAS) mechanism is proposed with a triple-plane framework consisting of strategy, plane and data planes. Further, a collaborative design scheme of control and communication is presented to ensure precise trajectory tracking and maintain the robustness and stability of ALC motion control in the presence of MSI loop delays. Ultimately, hardware-in-the-loop tests demonstrate the effectiveness of the proposed mechanism and methodology.