Gu, X., Chen, G., and Zong, C., "Based on the Unscented Kalman Filter to Estimate the State of Four-Wheel-Independent Electric Vehicle with X-by-Wire," SAE Int. J. Commer. Veh. 8(2):316-322, 2015, doi:10.4271/2015-01-2731.
As a new form of electric vehicle, Four-wheel-independent electric vehicle with X-By-Wire (XBW) inherits all the advantages of in-wheel motor drive electric vehicles. The vehicle steering system is liberated from traditional mechanical steering mechanism and forms an advanced vehicle with all- wheel independent driving, braking and steering. Compared with conventional vehicles, it has more controllable degrees of freedom. The design of the integrated vehicle dynamics control systems helps to achieve the steering, driving and braking coordinated control and improves the vehicle's handling stability. In order to solve the problem of lacking of vehicle state information in the integrated control, some methods are used to estimate the vehicle state of four-wheel-independent electric vehicles with XBW. In order to improve the estimation accuracy, unscented Kalman filter (UKF) is used to estimate the vehicle state variables in this paper. At the same time, simulations in several typical working conditions have been carried out based on the simulation models of four-wheel- independent electric vehicle with XBW, which are established by CarSim and Simulink together. The simulation results show that: Unscented Kalman Filter can achieve a high-precision in the estimation of vehicle state.