# A Fuzzy Drive Strategy for an Intelligent Vehicle Controller Unit Integrated with Connected Data

^{1}

^{2}

^{3}

^{4}

^{*}

## Abstract

**:**

## 1. Introduction

## 2. VCU Control Strategy Framework

## 3. Design of the Fuzzy Drive Control Strategy

#### 3.1. Vehicle Drive Control Torque Model

_{N}is the supporting force of the ground on the vehicle, F

_{f}is the friction force downward along the slope, and F

_{T}is the driving force of the vehicle angle forward.

#### 3.2. Fuzzy Drive Control Strategy

#### 3.2.1. Early Warning Level Model

_{b}, and the speed of the preceding vehicle is V

_{f}. Under the premise that the speed of the designated vehicle is greater than the speed of the preceding vehicle, that is, V

_{b}> V

_{f}, when the headway is equal to 5 s, the distance threshold S

_{a}at this time is calculated. When the following vehicle finds that a collision is about to occur, the distance between the two vehicles is S

_{b}, and then the following vehicle starts to react and starts to brake. After the reaction time T

_{r}has elapsed, the driver of the following vehicle brakes, the following vehicle receives a response after the elapse of time T

_{i}, and performs a uniform linear deceleration motion at the maximum deceleration a. After the front and rear vehicles have traveled the distances of S1 and S2 respectively, the speeds of the front and rear vehicles remain the same. At this time, the speeds of the front and rear vehicles are both V

_{f}, and the two vehicles maintain a safe distance d. The warning level threshold is:

#### 3.2.2. Drive Pattern Recognition

- (1)
- Soft pedal drive mode

- (2)
- Linear pedal drive mode

^{2}) is the acceleration of the following car at time t, $V[\mathsf{\Delta}X(t)]$ is the optimized speed function, $\mathsf{\Delta}X(t)$ (m) is the relative position of the following car at time t, ${v}_{n}(t)$ (m/s) is the speed of the rear vehicle at time t, $\alpha $ (1/s) is the sensitivity coefficient, ${V}_{\mathrm{max}}$ (m/s) is the maximum road speed limit, and $\mathsf{\Delta}x$ (m) is the distance between the front and rear vehicles.

- (3)
- Hard pedal drive mode

_{T}as [0, 20]. Based on the compensation torque, define its language as: Z (zero), S (small), M (middle), B (big).

## 4. Experimental Results and Analysis

#### 4.1. Test Environment

#### 4.2. Experimental Results

## 5. Conclusions

## Author Contributions

## Funding

## Institutional Review Board Statement

## Informed Consent Statement

## Data Availability Statement

## Conflicts of Interest

## References

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Warning Level | The Rate of Change of Accelerator Pedal Opening dAPP | Accelerator Pedal Opening APP | |||||
---|---|---|---|---|---|---|---|

Z | PVS | PS | PM | PB | PVB | ||

A | NB | C1 | C1 | C2 | C3 | C4 | C5 |

NM | C1 | C1 | C2 | C3 | C4 | C5 | |

NS | C2 | C2 | C2 | C4 | C5 | C6 | |

PS | C3 | C3 | C4 | C5 | C6 | C7 | |

PM | C4 | C4 | C5 | C6 | C7 | C8 | |

PB | C5 | C5 | C6 | C7 | C8 | C9 | |

B | NB | C1 | C1 | C1 | C2 | C3 | C4 |

NM | C1 | C1 | C1 | C2 | C4 | C4 | |

NS | C1 | C1 | C1 | C2 | C4 | C5 | |

PS | C2 | C2 | C2 | C3 | C5 | C6 | |

PM | C3 | C4 | C4 | C5 | C6 | C7 | |

PB | C4 | C4 | C5 | C6 | C7 | C7 | |

C | NB | C1 | C1 | C1 | C1 | C2 | C3 |

NM | C1 | C1 | C1 | C1 | C2 | C3 | |

NS | C1 | C1 | C1 | C1 | C2 | C3 | |

PS | C1 | C1 | C1 | C1 | C3 | C4 | |

PM | C2 | C2 | C2 | C3 | C4 | C4 | |

PB | C3 | C3 | C3 | C4 | C4 | C4 |

Throttle Opening Rate of Change dAPP | Speed Difference dv | ||||
---|---|---|---|---|---|

HB | B | M | S | HS | |

Z | Z | Z | Z | Z | Z |

HS | S | S | S | Z | Z |

S | S | S | S | Z | Z |

M | M | M | M | S | S |

B | B | B | M | M | M |

HB | B | B | B | M | M |

Parameter Category | Parameter | Value | Unit |
---|---|---|---|

vehicle parameters | vehicle quality (m) | 2500 | kg |

vehicle length (h) | 3800 | mm | |

wind resistance area (C_{d}) | 2.5 | m^{2} | |

coefficient of air resistance (A) | 0.4 | ||

load mass (F) | 500 | kg | |

transmission system | transmission ratio (i_{g}) | 4.5 | |

main reduction gear ratio (i_{o}) | 1 | ||

tire | rolling radius (r) | 0.367 | m |

rolling resistance coefficient (f) | 0.015 |

Parameter Category | Parameter | Value | Unit |
---|---|---|---|

motor | rated power/maximum power | 18/50 | kW |

rated speed/maximum speed | 3000/8000 | rpm | |

rated torque/maximum torque | 90/150 | N·m | |

rated voltage | 72 | V | |

motor quality | 48 | kg | |

vehicle battery pack | single battery voltage | 12 | V |

single battery capacity | 200 | Ah | |

total battery voltage | 12 × 6 = 72 | V | |

total mass of battery pack | 420 | kg |

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**MDPI and ACS Style**

Du, L.; Ji, J.; Zhang, D.; Zheng, H.; Chen, W.
A Fuzzy Drive Strategy for an Intelligent Vehicle Controller Unit Integrated with Connected Data. *Machines* **2021**, *9*, 215.
https://doi.org/10.3390/machines9100215

**AMA Style**

Du L, Ji J, Zhang D, Zheng H, Chen W.
A Fuzzy Drive Strategy for an Intelligent Vehicle Controller Unit Integrated with Connected Data. *Machines*. 2021; 9(10):215.
https://doi.org/10.3390/machines9100215

**Chicago/Turabian Style**

Du, Luyao, Jun Ji, Donghua Zhang, Hongjiang Zheng, and Wei Chen.
2021. "A Fuzzy Drive Strategy for an Intelligent Vehicle Controller Unit Integrated with Connected Data" *Machines* 9, no. 10: 215.
https://doi.org/10.3390/machines9100215