Chapter
Aug 12, 2020
Estimation of Side Slip Angle for Four In-Wheel Motor Independent Drive Electric Vehicle Based on Singular Decomposition and Unscented Kalman Filter
Authors: Yixi Zhang [email protected], Jian Ma [email protected], Xuan Zhao [email protected], Kai Zhang [email protected], and Xiaodong Liu [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
The practical side slip angle information is crucial for the vehicle stability control systems of four in-wheel motor independent-drive electric vehicle (4MIDEV), although the side slip angle can be directly measured by the expensive sensors, the measurement accuracy is susceptible to environmental factors. Therefore, with the consideration of measurement accuracy and cost, a novel side slip angle estimation method is proposed in this paper based on the singular value decomposition (SVD) and unscented Kalman filter (UKF) algorithm. Firstly, the unscented Kalman filter estimator is designed based on the nonlinear vehicle dynamic model and nonlinear tire model. Then, the singular value decomposition (SVD) is introduced to instead of the Cholesky decomposition in the unscented transformation (UT) to solve the problem of the covariance matrix may lose positive definiteness, then the accurate side slip angle information can be obtained by the SVDUKF estimator. Finally, the simulation model is established in the Carsim and MALAB/Simulink co-simulation platform and the simulation is carried out to verify the effectiveness of the proposed estimation method, the simulation results demonstrate that the side slip angle can be accurately estimated by the SVDUKF estimator.
Get full access to this article
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
Copyright
© 2020 American Society of Civil Engineers.
History
Published online: Aug 12, 2020
Permissions
Request permissions for this article.
Authors
Affiliations
1School of Automobile, Chang’an Univ., Xi’an 710064, China. Email: [email protected]
2School of Automobile, Chang’an Univ., Xi’an 710064, China. Email: [email protected]
3School of Automobile, Chang’an Univ., Xi’an 710064, China. Email: [email protected]
4School of Automobile, Chang’an Univ., Xi’an 710064, China. Email: [email protected]
5School of Automobile, Chang’an Univ., Xi’an 710064, China. Email: [email protected]
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.