Abstract
The sliding mode observer can be used to gather vehicle state information precisely and timely, therefore maneuverability and energy-saving control can be carried out at the same time. In this paper, a sliding mode observer based on seven degree of freedom model (7Dof-based observer) improves the observation accuracy of the vehicle state information. An optimized observer based on acceleration feedback (Accelerometer-based observer) reduces observation error under tire nonlinear adhesion limit conditions. The proposed observers could reduce the calculation cost, and the optimization results are sent to Electronic Control Unit for better dynamic control of vehicles. Co-simulation based on MATLAB/Simulink and CARSIM proves that the presented sliding mode observers can both improve the vehicle maneuverability and reduce energy consumption.
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