A Survey on Integration of Network Communication into Vehicle Real-Time Motion Control

In the initial period of automobile development, the vast majority of researchers would never have guessed network communications would be applied to vehicles one day. After the advent of CAN, a tremendous amount of intra-vehicle network communication technologies have sprung up throughout the automobile industry. With the introduction of intelligent driving, inter-vehicle network communication technologies have been subsequently developed to complement intra-vehicle network communication technologies and achieve higher-level functions. However, communication and control seem to be advanced independently for a long time and are less connected in actual development. Thus, to promote the fusion of communication and control, this paper provides a comprehensive survey on vehicle real-time motion control considering the adverse influence of network communications (such as network-induced delay, packet dropout, and network congestion) from three aspects: intravehicle, inter-vehicle, and integration of these two. To benefit analysis and study, mainstream intra-vehicle and inter-vehicle network communication technologies are first summarized, also with their network architectures. As research is still emerging, several open issues and future challenges of Control over Communications (CoC) are emphasized for further development to enable intelligent driving in the true sense.