期刊
INTERNATIONAL JOURNAL OF VEHICLE DESIGN
卷 67, 期 2, 页码 115-136出版社
INDERSCIENCE ENTERPRISES LTD
DOI: 10.1504/IJVD.2015.068134
关键词
IWM; in-wheel motor; EV; electric vehicle; state estimation; UPF; unscented particle filter
资金
- National Key Fundamental Research Program of China [2011CB711204]
- MOST (Ministry of Science and Technology) of China [2010DFA72760]
Vehicle state parameters are essential for active safety stability control and very valuable in chassis design evaluation. In this paper, a method for vehicle state parameters estimation is developed for in-wheel motor (IWM) electric vehicle (EV). The observer is based on information fusion combining standard sensor suite in today's typical vehicle and feedback signals from IWM. This paper utilise unscented particle filter (UPF) for tyre lateral force, longitudinal velocity, lateral velocity and yaw rate estimation, which is based on a numerically efficient nonlinear stochastic estimation technique. Planar vehicle model and dynamic tyre model are developed to describe behaviour of IWM EV. Detailed simulation verifies the validation and robustness of proposed estimation algorithm.
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