Vehicle state is essential for active safety stability control. However, the accurate measurement of some vehicle states is difficult to achieve without the use of expensive equipment. To improve estimation accuracy in real time, this paper proposes an estimator of vehicle velocity based on the adaptive unscented Kalman filter (AUKF) for an in-wheel-motored electric vehicle (IWMEV). Given the merits of an independent drive structure, the tire forces of the IWMEV can be directly calculated through a vehicle dynamic model. Additionally, by means of the normalized innovation square, the validity ...
