Sideslip Angle and Tire Cornering Stiffness Estimations for Four-In-Wheel-Motor-Driven Electric Vehicles

Due to the technical and the economic reasons, the information on sideslip angle and tire lateral stiffness can not be obtained directly. Unscented Kalman filter with a sideslip angle observer is used to estimate sideslip angle. Forgetting factor recursive least squaire is used to estimate tire cornering stiffness. In the work, simulation experiments are carried out to demonstrate the effectiveness of the estimation methods under different roads and speeds for four-in-wheel-motor-driven electric vehicles.