关键词: 扩展卡尔曼滤波, 直接横摆力矩, 滑模控制, 驱动力综合优化分配

Abstract: With the advantage of huge information source for distributed drive electric vehicle, a tire lateral force observer is set up based on the Extended Kalman Filter algorithm（EKF）. According to the linear modified 2DOF vehicle model, the target of control system is established. The sliding mode controller of direct yaw moment is designed based on the estimation of tire lateral force. Considering both tire load rate and driving motor efficiency, the comprehensive driving force optimization distribution achieves the stability and energy efficiency coupling control of vehicle. The result of the Carsim-Matlab/Simulink simulation indicates that the entire system achieves an accurate estimation of tire lateral force and improves the accuracy of the target direct yaw moment calculation. The comprehensive driving force optimization distribution increases not only the vehicle-road adhesion but also the comprehensive efficiency of driving motor. The energy efficiency of the vehicle has been improved further.

Key words: extended Kalman filter, direct yaw moment, sliding mode control, driving forces comprehensive optimization distribution