This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Model Based Yaw Rate Estimation of Electric Vehicle with 4 in-Wheel Motors
Technical Paper
2009-01-0463
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper describes a methodology to estimate yaw rate of a 4-wheel-drive electric vehicle, in which wheel driven torque can be independently controlled by electric motor. Without non-driven wheels it would be difficult to estimate the vehicle yaw rate precisely, especially when some of the four wheels have large slip ratio. Therefore, a model based estimation methodology is put forward, which uses four wheel speeds, steering wheel angle and vehicle lateral acceleration as input signals. Firstly the yaw rate is estimated through three different ways considering both vehicle kinematics and vehicle dynamics. Vehicle kinematics based method has good estimation accuracy even when the vehicle has large lateral acceleration. However, it can not provide satisfying results when the wheel has large slip ratio. In contrast, vehicle dynamics based method is not so sensitive to wheel slip ratio. However, due to the parameter variation by large lateral acceleration, e.g. effective cornering stiffness, the estimation result is no more reliable. Therefore a fuzzy logic that depends on driving situation is adopted to calculate the weighted average of three estimated results. Finally the proposed method is validated through experimental data
Recommended Content
Authors
Topic
Citation
Gao, X., Yu, Z., and Cheng, X., "Model Based Yaw Rate Estimation of Electric Vehicle with 4 in-Wheel Motors," SAE Technical Paper 2009-01-0463, 2009, https://doi.org/10.4271/2009-01-0463.Also In
Tire and Wheel Technology and Vehicle Dynamics and Simulation, 2009
Number: SP-2221; Published: 2009-04-20
Number: SP-2221; Published: 2009-04-20
References
- Hac Aleksander Simpson Melinda D. Estimation of Vehicle Side Slip Angle and Yaw Rate SAE 2000 World, 2000-01-0696 2000
- Hiemer Marcus Model Based Detection and Reconstruction of Road Traffic Accidents Berlin TU-Berlin Verlag 2003
- VENHOVENS PAUL J.TH. NAAB KARL 1999 Vehicle Dynamics Estimation Using Kalman Filters Vehicle System Dynamics 32 1
- Ghoneim Youssef Ahmed Active brake control having yaw rate estimation January 2nd 2001
- Amberkar Sanket Enhanced yaw rate estimation and diagnosis for vehicular applications Feb. 19th 2003
- Sivashankar Shiva N. Method and apparatus for vehicle yaw rate estimation
- Fukuyama Kensuke Yaw rate estimating apparatus April 2nd 2002
- Carlson Christopher R. Gerdes J. Christian Powell J. David Practical Position and Yaw Rate Estimation with GPS and Deferential Wheel speeds ddl.stanford.edu
- Ghoneim Youssef Ahmed Vehicle yaw control based on yaw rate estimate March 20th 2001
- Hiemer Marcus von Vietinghoff Anne Kiencke Uwe Matsunaga Takanori Determination of the Vehicle Body Side Slip Angle with Non-Linear Observer Strategies SAE World Congress, 2005-01-0400 2005
- Farrelly Jim Wellstead Peter Estimation of Vehicle Lateral Velocity Proceedings of the 1996 IEEE International Conference on Control Applications 1996
- Aoki Yoshifumi Uchida Toshiyuki Hori Yoichi Experimental Demonstration of Body Slip Angle Control based on a Novel Linear Observer for Electric Vehicle 32 nd Annual Conference of IEEE 2005
- Kiencke U. Daiss A. 1997 Observation of lateral vehicle dynamics Control Eng. Practice 5 8
- Aoki Yoshifumi Inoue Tomoko Hori Yoichi Robust Design of Gain Matrix of Body Slip Angle Observer for Electric Vehicles and its Experimental Demonstration conference “Advanced Motion Control” Kawasaki, Japan 1996
- Rodericks C. Sarahk H. 2005 Sliding mode observers for vehicle model detection Vehicle System Dynamics 43 11
- Kaminaga M. Natio G. Vehicle Body Slip Angle Estimation Using an Adaptive Observer
- GAO X. YU Z. XU T. Longitudinal velocity estimation of electric vehicle with 4 in-wheel motors SAE World Congress, 2008-01-0605 2008
- Lunze, Regelungstechnik Springer 2005