Title :
Study on Velocity Estimation for Four-Wheel Independent Drive Electric Vehicle by UKF
Author :
Zong Xin-Yi ; Deng Wei-Wen
Author_Institution :
State Key Lab. of Automotive Simulation & Control, Jilin Univ., Changchun, China
Abstract :
The four wheel torque is easy to get in the four-wheel independent drive electric vehicle and the vehicle velocity estimation was studied by Unscented Kalman Filter (UKF) in this paper. The velocity estimation algorithm made use of the longitudinal acceleration, lateral acceleration and yaw rate signals measured by low cost sensors. 3-DOF vehicle estimation model with the HSRI tire model was used. The algorithm was verified by simulation experiment. The results showed that the longitudinal velocity and lateral velocity were estimated accurately using the algorithm.
Keywords :
Kalman filters; acceleration measurement; electric vehicles; nonlinear filters; road vehicles; sensors; torque control; tyres; wheels; 3-DOF vehicle velocity estimation model; HSRI tire model; UKF; four-wheel independent drive electric vehicle; four-wheel torque; lateral acceleration measurement; longitudinal acceleration measurement; sensors; unscented Kalman filter; yaw rate signal measurement; Acceleration; Estimation; Kalman filters; Mathematical model; Tires; Vehicles; Wheels; Electric Vehicle; UKF; Velocity Estimation;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2013 Fifth International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4673-5652-7
DOI :
10.1109/ICMTMA.2013.271
