Abstract
This article demonstrated a Double Extended Kalman Filter (Double EKF) to estimate the 4WD in-wheel motor electric vehicle state. One of the EKF was used to estimate vehicle longitudinal velocity. The motor torque, rotation speed and longitudinal acceleration signal were utilized as measurement variables of the EKF. The other EKF was employed to estimate vehicle sideslip angle. At last, the efficiency of the Double EKF vehicle state observer was verified in three different simulated test conditions. The simulation results show the effectiveness of this approach in the certain road adhesion condition.
Keywords: 4WD, Active Safety Control, State Estimation, Double Extended Kalman Filter