UKF Estimation Method of Centroid Slip Angle for Vehicle Stability Control

Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electri...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 21; no. 7; pp. 2259 - 2266
Main Authors Wang, Pan, Fan, Xiaobin, Chen, Xinbo, Yi, Juean, He, Shuwen
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.07.2023
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Algorithms
Centroids
Control
Control stability
Electric vehicles
Engineering
Error reduction
Extended Kalman filter
Mathematical models
Mechatronics
Parameters
Real time
Regular Papers
Road tests
Robotics
Sideslip
제어계측공학
state estimation
in-wheel motor driven electric vehicle
Extended Kalman filter
unscented Kalman filter
sideslip angle
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Summary:Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electric vehicle. The estimation problem of the sideslip angle is studied in-depth when the vehicle is in a nonlinear state. In addition, an Unscented Kalman Filter (UKF) estimation method is proposed to reduce observation error and improve the practicability of the estimation system. First of all, the research starts with building a 7-degree-of-freedom vehicle model which is based on the Dugoff tire model. Then, after measuring the state parameters, the UKF algorithm is used to estimate the sideslip angle. By comparing with the Extended Kalman Filter (EKF) algorithm, it is confirmed that the estimation method can not only better estimate the center of sideslip angle in real time, but also greater improve the handling stability of the vehicle in the driving state. Besides, the effectiveness of the algorithm is further verified by the real vehicle road test.
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http://link.springer.com/article/10.1007/s12555-022-0306-2
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-022-0306-2