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Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-10-21
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Vehicle velocity and roll angle are important information for active safety control systems of four-wheel independent drive electric vehicle.
In order to obtain robustness estimation of vehicle velocity and roll angle, a novel method is proposed based on vehicle dynamics and the measurement information provided by the sensors equipped in modern cars.
The method is robust with respect to different road and friction conditions.
Firstly, the dynamic characteristics of four-wheel independent drive electric vehicle are analyzed, and a four-degree-of-freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamic equation are established.
The relationship between the longitudinal and lateral friction forces is derived based on Dugoff tire model.
The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation.
A simple observer is designed for the estimation of the roll angle of the vehicle.
And then using the relationship, the estimated longitudinal friction forces and roll angle, a sliding mode observer for vehicle velocity estimation is provided, which does not need to know the tire-road friction coefficient and road angles.
Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.
American Psychological Association (APA)
Zhao, Linhui& Liu, Zhiyuan. 2014. Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1046479
Modern Language Association (MLA)
Zhao, Linhui& Liu, Zhiyuan. Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle. Mathematical Problems in Engineering No. 2014 (2014), pp.1-11.
https://search.emarefa.net/detail/BIM-1046479
American Medical Association (AMA)
Zhao, Linhui& Liu, Zhiyuan. Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1046479
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1046479