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Open AccessArticle

Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information

by Te Chen 1, Long Chen 1,2,*, Xing Xu 1,2,*, Yingfeng Cai 1,2, Haobin Jiang 1,2 and Xiaoqiang Sun 1,2
1
School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
2
Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
*
Authors to whom correspondence should be addressed.
World Electr. Veh. J. 2019, 10(2), 34; https://doi.org/10.3390/wevj10020034
Received: 7 May 2019 / Revised: 27 May 2019 / Accepted: 28 May 2019 / Published: 30 May 2019
Accurate and reliable estimation information of sideslip angle is very important for intelligent motion control and active safety control of an autonomous vehicle. To solve the problem of sideslip angle estimation of an autonomous vehicle, a sideslip angle fusion estimation method based on robust cubature Kalman filter and wheel-speed coupling relationship is proposed in this paper. The vehicle dynamics model, tire model, and wheel speed coupling model are established and discretized, and a robust cubature Kalman filter is designed for vehicle running state estimation according to the discrete vehicle model. An adaptive measurement-update solution of the robust cubature Kalman filter is presented to improve the robustness of estimation, and then, the wheel-speed coupling relationship is introduced to the measurement update equation of the robust cubature Kalman filter and an adaptive sideslip angle fusion estimation method is designed. The simulations in the CarSim-Simulink co-simulation platform and the actual vehicle road test are carried out, and the effectiveness of the proposed estimation method is validated by corresponding comparative analysis results. View Full-Text
Keywords: electric vehicle; sideslip angle; Kalman filter; fusion estimation; redundant measurement information electric vehicle; sideslip angle; Kalman filter; fusion estimation; redundant measurement information
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Chen, T.; Chen, L.; Xu, X.; Cai, Y.; Jiang, H.; Sun, X. Sideslip Angle Fusion Estimation Method of an Autonomous Electric Vehicle Based on Robust Cubature Kalman Filter with Redundant Measurement Information. World Electr. Veh. J. 2019, 10, 34.

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