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Mathematical Problems in Engineering
Volume 2015, Article ID 134615, 11 pages
Research Article

Design of a Novel Nonlinear Observer to Estimate Sideslip Angle and Tire Forces for Distributed Electric Vehicle

State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China

Received 10 May 2015; Revised 21 September 2015; Accepted 28 September 2015

Academic Editor: Gisella Tomasini

Copyright © 2015 Chuanxue Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For four-wheel independently driven (4WD) distributed electric vehicle (DEV), vehicle dynamics control systems such as direct yaw moment control (DYC) can be easily achieved. Accurate estimation of vehicle state variables and uncertain parameters can improve the robustness of vehicle dynamics control system. Various sensors are generally equipped to the acquisition of the vehicle dynamics. For both technical and economic reasons, some fundamental vehicle parameters, such as the sideslip angle and tire-road forces, can hardly be obtained through sensors directly. Therefore, this paper presented a state observer to estimate these variables based on Unscented Kalman Filter (UKF). To improve the accuracy of UKF, measurement noise covariance is also self-adaptive regulated. In addition, a nonlinear dynamics tire model is utilized to improve the accuracy of tire lateral force estimation. The simulation and experiment results show that the proposed observer can provide the precision values of the vehicle state.