Robust joint estimation of sideslip angle and tire lateral force for distributed drive electric vehicle

Abstract

Accurate estimation of vehicle sideslip angle (SA) and tire lateral force (TLF) is essential for the effective functioning of vehicle active safety control systems. However, effective estimation of SA and TLF using low-cost on-board sensors is a major challenge. In this paper, a robust joint estimation method of SA and TLF for distributed drive electric vehicle (DDEV) is proposed. Adaptive sliding-mode observer (ASMO) is used to estimate the TLF and is used as the input to the subsequent filter. Maximum correntropy criterion (MCC) is introduced to improve the robustness of the unscented Kalman filter (UKF) under mixed Gaussian noise, and the maximum correntropy unscented Kalman filter (MCUKF) algorithm is composed to estimate SA. The effectiveness of the proposed ASMO and MCUKF joint estimation method is verified by Simulink/Carsim joint simulation experiments. The experimental results show that compared with the existing methods, the estimation method proposed in this paper effectively improves the estimation accuracy and robustness of SA and TLF under the mixed Gaussian environment, which is of great significance for the improvement of vehicle active safety.

Keywords

Sideslip angle tire lateral force adaptive sliding-mode observer maximum correntropy unscented Kalman filter mixed Gaussian noise

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