TY - GEN
T1 - Vehicle state estimation with friction adaptation for four-wheel independent drive electric vehicle
AU - Zhao, Linhui
AU - Liu, Zhiyuan
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - To improve the vehicle state estimation accuracy and robustness of four-wheel independent drive electric vehicle, a novel method for estimating vehicle state based on the measured wheel torque information is proposed, which is robust with respect to different road surface conditions. The dynamic characteristics of four-wheel independent drive electric vehicle is analysis, and then a three degree of freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamics equation are established. The relationship between the longitudinal and lateral tire friction forces is derived based on Dugoff's tire model. The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation. Using the relationship between the longitudinal and lateral tire friction forces and the estimated longitudinal tire friction force, a nonlinear observer for vehicle states estimation is provided, which does not need to know the tire-road friction coefficient. Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.
AB - To improve the vehicle state estimation accuracy and robustness of four-wheel independent drive electric vehicle, a novel method for estimating vehicle state based on the measured wheel torque information is proposed, which is robust with respect to different road surface conditions. The dynamic characteristics of four-wheel independent drive electric vehicle is analysis, and then a three degree of freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamics equation are established. The relationship between the longitudinal and lateral tire friction forces is derived based on Dugoff's tire model. The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation. Using the relationship between the longitudinal and lateral tire friction forces and the estimated longitudinal tire friction force, a nonlinear observer for vehicle states estimation is provided, which does not need to know the tire-road friction coefficient. Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.
KW - Electric vehicle
KW - Four-wheel independent drive
KW - Friction adaptation
KW - Vehicle state
UR - https://www.scopus.com/pages/publications/84932133785
U2 - 10.1109/WCICA.2014.7053476
DO - 10.1109/WCICA.2014.7053476
M3 - 会议稿件
AN - SCOPUS:84932133785
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 4527
EP - 4531
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -