Study on Adaptive Cruise Control Strategy for Battery Electric Vehicle

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Symbol</td><td class="align_center">Description</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><i>F</i><sub><i>b</i></sub></td><td class="align_center">Total demand braking force</td></tr><tr><td class="align_left"><span style="width: 16.7351ptpx;"><svg height="14.1649pt" id="M27" style="vertical-align:-5.529pt" version="1.1" viewbox="-0.0498162 -8.6359 16.7351 14.1649" width="16.7351pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M460 334C460 396 434 451 378 451C330 451 241 408 148 300H146L237 679C241 697 241 710 232 710C213 710 153 684 67 675L66 646H95C141 646 145 642 134 595L39 170C23 97 31 54 46 33C64 8 100 -12 137 -12C178 -12 234 3 298 43C391 101 460 222 460 334ZM371 320C371 204 316 89 248 51C230 41 208 37 192 37C143 37 102 72 119 166C124 194 129 215 135 235C202 323 298 392 335 392C353 392 371 372 371 320Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.216,3.132)"><path d="M620 667C620 684 593 710 552 710C515 710 459 687 409 634C360 582 334 506 320 433H247L215 400L220 388H310L259 80C224 -129 199 -161 185 -174C175 -183 160 -192 141 -192C123 -192 90 -181 75 -165C69 -158 64 -156 54 -164C39 -178 24 -195 24 -208C24 -231 61 -257 94 -257C124 -257 162 -243 209 -194C267 -134 303 -66 343 107C369 220 378 279 393 385L503 397L523 433H404C432 619 464 660 500 660C522 660 542 646 566 621C573 614 583 615 593 621C603 628 620 648 620 667Z"></path></g></svg></span></td><td class="align_center">Braking force of front axle</td></tr><tr><td class="align_left"><span style="width: 15.6755ptpx;"><svg height="11.927pt" id="M28" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 15.6755 11.927" width="15.6755pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M460 334C460 396 434 451 378 451C330 451 241 408 148 300H146L237 679C241 697 241 710 232 710C213 710 153 684 67 675L66 646H95C141 646 145 642 134 595L39 170C23 97 31 54 46 33C64 8 100 -12 137 -12C178 -12 234 3 298 43C391 101 460 222 460 334ZM371 320C371 204 316 89 248 51C230 41 208 37 192 37C143 37 102 72 119 166C124 194 129 215 135 235C202 323 298 392 335 392C353 392 371 372 371 320Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.139,3.132)"><path d="M397 380C406 395 404 411 396 425S369 451 350 451C302 451 239 372 192 294H189L199 338C214 407 207 451 180 451C152 451 83 405 30 345L48 318C87 354 117 372 125 372S135 362 127 324L55 -5L61 -12C87 -5 117 3 139 5C154 87 168 162 179 207C198 250 240 310 260 332C281 355 297 366 307 366C321 366 333 360 347 346C351 342 360 342 369 348C379 355 389 366 397 380Z"></path></g></svg></span></td><td class="align_center">Braking force of rear axle</td></tr><tr><td class="align_left"><i>L</i></td><td class="align_center">Wheelbase</td></tr><tr><td class="align_left"><span style="width: 12.5452ptpx;"><svg height="14.8173pt" id="M29" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 12.5452 14.8173" width="12.5452pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M499 88L487 113C459 86 422 65 413 65C403 65 403 74 409 98L461 318C487 426 460 448 431 448C408 448 383 441 352 424C305 398 223 344 157 257H155L243 674C249 702 249 712 240 712C227 712 170 680 87 673L82 648H117C155 648 162 644 150 590L23 -4L30 -12C55 -4 81 3 105 8C113 53 131 150 143 187C199 281 323 387 372 387C390 387 393 369 380 311L328 86C313 19 319 -12 347 -12C379 -12 442 24 499 88Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.643,3.132)"><path d="M554 433L549 437C539 437 513 441 503 443C481 447 456 451 436 451C354 451 268 415 216 368C150 308 99 205 99 106C99 24 136 -12 165 -12C196 -12 243 14 268 33C318 70 374 118 415 181H419L395 39C374 -84 332 -149 295 -175C269 -193 245 -197 212 -197C137 -197 93 -156 76 -102C71 -87 61 -87 51 -96C36 -110 24 -130 24 -147C24 -183 76 -257 171 -257C226 -257 285 -227 323 -200C387 -155 455 -76 480 94C499 225 538 391 554 433ZM460 386C457 361 438 287 426 254C408 218 373 176 332 133C294 93 246 61 217 61C198 61 186 80 186 122C186 167 206 250 231 294C262 349 288 375 317 387C334 394 358 400 381 400C413 400 439 393 460 386Z"></path></g></svg></span></td><td class="align_center">Centroid height</td></tr><tr><td class="align_left"><span style="width: 8.22996ptpx;"><svg height="12.4698pt" id="M30" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 8.22996 12.4698" width="8.22996pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,3.172,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg></span></td><td class="align_center">Distance from centroid to front axle</td></tr><tr><td class="align_left"><span style="width: 34.2804ptpx;"><svg height="12.2578pt" id="M31" style="vertical-align:-3.29568pt" version="1.1" viewbox="-0.0498162 -8.96212 34.2804 12.2578" width="34.2804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z"></path></g><rect height="0.3985" width="2.74024" x="13.257" y="2.73319"></rect><g transform="matrix(.0091,0,0,-0.0091,17.541,3.132)"><path d="M810 0V30C751 35 744 40 744 106V296C744 396 694 451 614 451C583 451 558 438 537 425C512 409 485 391 454 368C434 420 390 451 342 451C309 451 285 439 260 424C228 405 206 387 185 372V453C141 434 90 421 43 413V386C102 378 105 373 105 309V106C105 41 96 35 29 30V0H243V30C194 35 185 41 185 106V335C216 360 256 389 297 389C357 389 384 348 384 275V106C384 41 374 35 312 30V0H530V30C475 35 465 41 465 104V294C465 313 464 324 463 336C502 367 539 389 576 389C637 389 663 346 663 274V109C663 41 653 35 593 30V0H810Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,25.103,3.132)"><path d="M442 39L431 68C420 63 406 57 394 57C377 57 359 71 359 118V301C359 353 349 393 314 424C291 443 261 451 230 451C171 438 107 401 79 381C59 366 46 355 46 340C46 316 72 295 91 295C106 295 117 303 122 319C131 350 139 371 152 384C163 397 178 404 197 404C246 404 281 365 281 293V278C260 262 186 232 124 213C69 194 41 161 41 112C41 47 92 -12 163 -12C195 -12 243 25 283 51C288 35 293 22 308 7C319 -4 339 -12 354 -12L442 39ZM281 87C262 68 226 51 199 51C169 51 129 74 129 126C129 162 151 181 190 198C211 208 259 229 281 240V87Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,29.189,3.132)"><path d="M482 0V30C420 38 407 48 370 103L273 248C308 299 331 332 352 357C387 397 401 404 463 409V439H277V409C318 405 324 400 307 369C290 337 270 307 251 279L194 367C175 396 180 402 220 409V439H18V409C74 401 87 395 117 349L204 213C173 168 147 130 119 95C78 46 67 38 5 30V0H195V30C144 38 143 47 162 79C181 112 202 149 225 181L297 70C314 43 307 35 264 30V0H482Z"></path></g></svg></span></td><td class="align_center">Maximum braking torque of motor</td></tr><tr><td class="align_left"><i>i</i><sub><i>r</i></sub></td><td class="align_center">Transmission ratio of main reducer</td></tr><tr><td class="align_left"><span style="width: 12.1119ptpx;"><svg height="9.25202pt" id="M32" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.1119 9.25202" width="12.1119pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M393 379C402 394 400 411 393 422C384 437 365 448 348 448C301 448 237 372 186 285H182L193 335C210 408 205 448 178 448C150 448 80 402 29 344L45 321C80 355 114 373 122 373C128 373 130 365 124 330C106 228 76 98 50 -5L57 -12C82 -5 112 3 132 6L172 203C196 256 234 304 254 329C275 355 293 367 306 367C318 367 330 360 342 348C347 343 355 343 365 350S386 367 393 379Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.901,3.132)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z"></path></g></svg></span></td><td class="align_center">Tire rolling radius</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters in distribution strategy of braking force.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Study on Adaptive Cruise Control Strategy for Battery Electric Vehicle 