Reliable Sideslip Angle Estimation of Four-Wheel Independent Drive Electric Vehicle by Information Iteration and Fusion

Table 2

Parameters of vehicle and in-wheel motors.

Symbol	Parameters	Value and units
	Vehicle mass	710 kg
	Effective radius of wheel	0.245 m
	Distances from vehicle gravity center to the front axle	0.795 m
	Distances from vehicle gravity center to the rear axle	0.975 m
,	Half treads of the front (rear) wheels	0.775 m
	Equivalent cornering stiffness of front wheel	60000 N/rad
	Equivalent cornering stiffness of rear wheel	40000 N/rad
	Moment of inertia	1000 kg⋅m^2
	Equivalent resistance of winding	0.688 Ω
	Inverse electromotive force coefficient	0.06 Nm/A
	Motor torque constant	11.43 Nm/A
	Sum of inertia moment of wheel and motor	7.143 kg⋅m^2
	Damping coefficient	0.643 Nm⋅sec/rad
	Equivalent inductance of winding	0.125 H