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

<table class="fixed-width table-group" id="tab5"><tr><td><table class="table"><colgroup><col style="width:8.69em"/><col style="width:3.68em"/><col style="width:9.55em"/><col style="width:3.83em"/><col style="width:3.73em"/><col style="width:4.53em"/></colgroup><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="3"><span style="width: 27.0671ptpx;"><svg height="11.9316pt" id="M300" style="vertical-align:-3.2957pt" version="1.1" viewbox="-0.0498162 -8.6359 27.0671 11.9316" width="27.0671pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z" id="g113-70"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.943,3.132)"><path d="M639 21C616 28 593 39 566 68C542 92 523 117 486 170C457 215 415 282 397 314C472 346 524 398 524 485C524 545 497 590 456 617C417 641 369 650 296 650H43V617C122 612 130 608 130 523V129C130 45 122 38 38 33V0H306V33C225 38 216 45 216 129V282H249C302 282 319 270 336 243C365 195 401 132 436 84C483 18 525 -5 597 -8C610 -9 622 -9 635 -9L639 21ZM216 319V559C216 586 219 596 227 603S250 613 281 613C356 613 429 576 429 469C429 416 413 379 374 348C349 327 316 319 265 319H216Z" id="g58-80"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.758,3.132)"><path d="M871 0V33C783 41 780 45 777 152L768 506C765 610 771 609 860 617V650H683L453 157L228 650H59V617C150 609 154 606 146 481L132 275C124 170 117 125 112 93C105 50 84 39 27 34V0H267V34C200 39 176 48 173 93C170 130 171 172 176 256L190 540H192L414 8H438L682 554H685L689 152C689 45 686 41 604 33V0H871Z" id="g58-75"></path></g><g transform="matrix(.0091,0,0,-0.0091,21.966,3.132)"><path d="M416 501L399 642C356 655 314 665 271 665C140 665 63 582 63 486C63 372 163 325 229 290C304 250 359 217 359 142C359 70 316 25 240 25C138 25 94 125 78 186L44 178C52 123 64 45 72 21C81 16 96 8 121 0S179 -15 220 -15C353 -15 445 68 445 176C445 289 350 335 270 375C191 414 143 449 143 520C143 572 177 627 253 627C340 627 366 556 382 495L416 501Z" id="g58-81"></path></g></svg></span></td><td class="align_center" colspan="5">Observer</td></tr><tr class="thead"><td class="align_center" colspan="2">Longitudinal force observer</td><td class="align_center" colspan="3">Sideslip angle observer</td></tr><tr class="thead"><td class="align_center">PIO</td><td class="align_center">PIO-EKF</td><td class="align_center">RO</td><td class="align_center">RWC</td><td class="align_center">FO</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Longitudinal force</td><td class="align_center">1.9374</td><td class="align_center">1.1007</td><td class="align_center">×</td><td class="align_center">×</td><td class="align_center">×</td></tr><tr><td class="align_left">Sideslip angle</td><td class="align_center">×</td><td class="align_center">×</td><td class="align_center">0.1966</td><td class="align_center">0.1379</td><td class="align_center">0.0743</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison of <svg height="11.9316pt" id="M299" style="vertical-align:-3.2957pt" version="1.1" viewbox="-0.0498162 -8.6359 27.0671 11.9316" width="27.0671pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z" id="g113-70"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.943,3.132)"><path d="M639 21C616 28 593 39 566 68C542 92 523 117 486 170C457 215 415 282 397 314C472 346 524 398 524 485C524 545 497 590 456 617C417 641 369 650 296 650H43V617C122 612 130 608 130 523V129C130 45 122 38 38 33V0H306V33C225 38 216 45 216 129V282H249C302 282 319 270 336 243C365 195 401 132 436 84C483 18 525 -5 597 -8C610 -9 622 -9 635 -9L639 21ZM216 319V559C216 586 219 596 227 603S250 613 281 613C356 613 429 576 429 469C429 416 413 379 374 348C349 327 316 319 265 319H216Z" id="g58-80"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.758,3.132)"><path d="M871 0V33C783 41 780 45 777 152L768 506C765 610 771 609 860 617V650H683L453 157L228 650H59V617C150 609 154 606 146 481L132 275C124 170 117 125 112 93C105 50 84 39 27 34V0H267V34C200 39 176 48 173 93C170 130 171 172 176 256L190 540H192L414 8H438L682 554H685L689 152C689 45 686 41 604 33V0H871Z" id="g58-75"></path></g><g transform="matrix(.0091,0,0,-0.0091,21.966,3.132)"><path d="M416 501L399 642C356 655 314 665 271 665C140 665 63 582 63 486C63 372 163 325 229 290C304 250 359 217 359 142C359 70 316 25 240 25C138 25 94 125 78 186L44 178C52 123 64 45 72 21C81 16 96 8 121 0S179 -15 220 -15C353 -15 445 68 445 176C445 289 350 335 270 375C191 414 143 449 143 520C143 572 177 627 253 627C340 627 366 556 382 495L416 501Z" id="g58-81"></path></g></svg> in experiment.</div>

Mathematical Problems in Engineering

tab5

Table 5

Table 5: Reliable Sideslip Angle Estimation of Four-Wheel Independent Drive Electric Vehicle by Information Iteration and Fusion 