Estimation of Driving States Based on Pseudo-measurements of Longitudinal Force for Distributed Drive Electric Vehicles

doi:10.3901/JME.2019.18.086

Abstract

Abstract: Accurate and reliable estimation of vehicle state is one of the essential factors of vehicle active safety control, a method of vehicle state compensation estimation for the case of longitudinal and lateral acceleration sensor information shortage is proposed. The vehicle model with three degree of freedom and the tire model are established, an electric drive wheel model is proposed and applied to longitudinal force estimation, the longitudinal force reconstruction equation is obtained by model decoupling with the consideration of the noise and unknown input in electric drive wheel model, and then the longitudinal force estimation is achieved based on the combination of Luenberger observer and high order sliding mode observer. The longitudinal force estimation is regarded as the pseudo-measurement, a compensation estimation method under the condition of insufficient sensor information is designed, and the vehicle state estimation is obtained on the basis of strong tracking filter. The joint simulation results show that the designed longitudinal force observer can estimate the longitudinal force in real time for the system with unknown inputs and disturbances, the combination of compensation method and strong tracking filter can effectively improve the estimation accuracy. Considering the real vehicle performance of the estimation method, the bench and road tests are carried out, the results of bench test show that the estimation accuracy of the proposed longitudinal force observer is 91.3%, and the results of the road test indicate that, compared with EKF, the accuracy of STF in the estimation of longitudinal vehicle speed, lateral vehicle speed and yaw rate increase by 14.03%, 15.02% and 16.58% respectively.

Key words: electric vehicle, distributed drive, longitudinal force estimation, vehicle state

CLC Number:

U461

CHEN Te, CHEN Long, CAI Yingfeng, XU Xing, JIANG Haobin. Estimation of Driving States Based on Pseudo-measurements of Longitudinal Force for Distributed Drive Electric Vehicles[J]. Journal of Mechanical Engineering, 2019, 55(18): 86-94.

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