Access Type

Open Access Thesis

Date of Award

January 2013

Degree Type


Degree Name



Electrical and Computer Engineering

First Advisor

Jerry Ku


The goal of this research is to develop an operational supervisory controller for Wayne State University Hybrid Warriors' hybrid electric vehicle architecture that can be transitioned easily to a hardware-in-the-loop testing environment for the 2011-2014 EcoCAR2 competition. It serves to demonstrate how model-based design, specifically software-in-the-loop testing, is effective for the initial steps in design, verification, and validation of a supervisory control strategy. Overall, the supervisory controller aims to meet all safety and functional requirements while reducing fuel consumption. The thesis starts by presenting a plug-in parallel-through-the-road architecture and its powertrain hardware components. Next, characteristics and capabilities of all significant powertrain components are explained along with the implementation of the vehicle plant model. Initial stages and preparations for the development of supervisory controller begin with applying the "Design Failure Mode and Effects Analysis" and identifying the functional vehicle requirements. Control strategies implemented within the supervisory controller are discussed in detail. Finally, results from the software-in-the-loop testing as well as safety critical fault mitigation are shown, to demonstrate the end product of a supervisory controller that has reached a high level of functionality and safety and therefore is ready for hardware-in-the-loop testing. Outlines are provided for extending the current work into next phases of hardware-in-the-loop testing, optimization using vehicle-in-the-loop results, and special applications such as cold-start.