Study on Velocity Estimation for Four-Wheel Independent Drive Electric Vehicle by UKF

The four wheel torque is easy to get in the four-wheel independent drive electric vehicle and the vehicle velocity estimation was studied by Unscented Kalman Filter (UKF) in this paper. The velocity estimation algorithm made use of the longitudinal acceleration, lateral acceleration and yaw rate signals measured by low cost sensors. 3-DOF vehicle estimation model with the HSRI tire model was used. The algorithm was verified by simulation experiment. The results showed that the longitudinal velocity and lateral velocity were estimated accurately using the algorithm.