Study on Velocity Estimation for Four-Wheel Independent Drive Electric Vehicle by UKF

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 sig...

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Bibliographic Details
Published in2013 Fifth International Conference on Measuring Technology and Mechatronics Automation pp. 1111 - 1114
Main Authors Zong Xin-Yi, Deng Wei-Wen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2013
Subjects
Acceleration
Electric Vehicle
Estimation
Kalman filters
Mathematical model
Tires
UKF
Vehicles
Velocity Estimation
Wheels
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Summary: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.
ISBN:9781467356527
1467356522
ISSN:2157-1473
DOI:10.1109/ICMTMA.2013.271