Estimation of Electric Drive Vehicle Sideslip Angle Based on EKF

摘要

The sideslip angle is the most crucial state variable in the stability control system for vehicles, particularly in the electric drive vehicle field. But recently, there is no other way that could obtain the sideslip angle directly with low cost. Due to the characteristic of strongly nonlinear vehicle system, this paper discusses how to evaluate the sideslip angle with the extended Kalman filter (EKF) algorithm and build both double-track kinematics model and tire model, and then, we proposed the conception of nonlinear state space description and analyzed the result with a simulation method ultimately.