Sideslip Angle Estimation for Distributed Drive Electric Vehicles Based on Robust Unscented Particle Filter

Jie Hu, Feiyue Rong, Pei Zhang () and Fuwu Yan
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Jie Hu: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Feiyue Rong: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Pei Zhang: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China
Fuwu Yan: Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China

Mathematics, 2024, vol. 12, issue 9, 1-20

Abstract: An accurate and reliable sideslip angle is crucial for active safety control systems and advanced driver-assistance systems (ADAS). The direct measurement method of the sideslip angle suffers from challenges of high costs and environmental sensitivity, so sideslip angle estimation has always been a significant research issue. To improve the precision and robustness of sideslip angle estimation for distributed drive electric vehicles (DDEV) in extreme maneuvering scenarios, this paper presents a novel robust unscented particle filter (RUPF) algorithm based on low-cost onboard sensors. Firstly, a nonlinear dynamics model of DDEV is constructed, providing a theoretical foundation for the design of the RUPF algorithm. Then, the RUPF algorithm, which incorporates the unscented Kalman filter (UKF) to update importance density and utilizes systematic random resampling to mitigate particle degradation, is designed for estimation. Eventually, the availability of the proposed RUPF algorithm is validated on the co-simulation platform with non-Gaussian noises. Simulation results demonstrate that RUPF algorithm attains a higher precision and stronger robustness compared with the traditional PF and UKF algorithms.

Keywords: distributed drive electric vehicles; sideslip angle; state estimation; robust unscented particle filter (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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