| CORNERING STIFFNESS AND SIDESLIP ANGLE ESTIMATION BASED ON SIMPLIFIED LATERAL DYNAMIC MODELS FOR FOUR-IN-WHEEL-MOTOR-DRIVEN ELECTRIC VEHICLES WITH LATERAL TIRE FORCE INFORMATION |
| Y. F. LIAN, Y. ZHAO, L. L. HU, Y. T. TIAN |
| Jilin University |
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| ABSTRACT |
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The simplified lateral dynamic models of front and rear tires are proposed with lateral tire force information in this paper. The regression models of the recursive least squares (RLS) with forgetting factors and constraints are constructed based on simplified lateral dynamic models for estimating tire cornering stiffness. In addition, a nonlinear observer of sideslip angle is designed for four-in-wheel-motor-driven electric vehicles (FIWMD-EVs) with the estimated information on tire cornering stiffness. Sideslip angle can be estimated through a first-order Stirling |
| Key Words:
Simplified lateral dynamic models, Lateral tire force information, Tire cornering stiffness estimation, Sideslip angle estimation |
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