The Vehicle Dynamic Parameters Recognition of In-wheel Motor Driven Electric Vehicle

The yaw rate, sideslip angle, and velocity of the vehicle is an important part of the vehicle dynamic control system .The measurement of vehicle dynamic parameters are costly and usually with great errors. A method is proposed in terms of the recognition of vehicle dynamic parameters based on the corning kinetics and corning geometry of the vehicle. The yaw rate and sideslip angle is estimated by using of velocity of wheels. The method is derived from the vehicle geometric kinetics and is different from the tradition method of using velocity differences between every wheel to express the yaw rate. Vehicle sideslip is taken into account, indicating that the effect of tire sideslip on vehicle kinetics is considered, thus make it more accurate in estimating the kinematic parameters. The estimation method is validated by simulation based on the vehicle nonlinearity model.