Electric vehicle stability control based on disturbance accommodating Kalman filter using GPS

This paper describes a new electronic stability control system of electric vehicles based on sideslip angle estimation through Kalman filter. Vehicle course angle obtained from single antenna GPS receiver and yaw rate obtained from gyroscope are used as measurements for Kalman filter. By treating the combination of model errors and external disturbances as extended states in the Kalman filter algorithm, accurate sideslip angle estimation was achieved. A new scheme was proposed for integrating active front steering angle and yaw moment as control inputs. The extended states are utilized for disturbance rejection that improves the robustness of the control system.