Experimental research on longitudinal velocity estimation for distributed drive electric vehicle

This paper focuses on the longitudinal velocity estimation of the distributed drive electric vehicle (EV), and its emphasis lies on the experiment research. We use the adaptive Kalman filter to estimate the longitudinal velocity, taking the wheel slip state into consideration. Simulations of the algorithm help to validate the algorithm preliminarily. Tests were carried out in different kinds of maneuvers on both of asphalt pavement and ice snow covered pavement. The test results demonstrate the accuracy of the proposed algorithm.