Status Inertial Monitoring of Electric Vehicle Based on Double Untracked Kalman Filter
In order to carry out nonlinear evaluation of vehicle dynamic inertia parameters,a kind of integrated vehicle inertial monitoring method of Dual unscented Kalman filter(DUKF)and state observation system with dis-tributed driving force is developed.A vehicle nonlinear dynamics observer is established by discretization method,which satisfies the requirements of nonlinear dynamics evaluation.The results show that,compared with the DEKF method,the DUKF method can achieve a smaller degree of oscillation,and when it reaches the steady-state obser-vation stage,the DUKF method can achieve a steady-state observation effect closer to the actual value,which pro-motes the significant improvement of observation accuracy,and can achieve a good adaptability with the nonlinear vehicle dynamics evaluation system.This study is helpful to improve the stability of automatic driving and lay a foundation for the subsequent theoretical research.
electric vehiclestate observationinertia parameterdouble unscented Kalman filter
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