Estimation of center of gravity position for distributed driving electric vehicles based on combined hu-ekf method

It is essential to get the accurate knowledge of the center of gravity (CG) for the vehicle dynamics control systems, especially for distributed driving electric vehicles (DDEV), whose CG positions can be affected by the loading conditions. This paper focuses on a CG position estimator for a DDEV based on the combined H_∞-extended Kalman filter (H_∞-EKF) approach. The designed estimator consists of two parts: an HU estimator is used for filtering noisy states and an EKF is employed for estimating parameters. The HU filter minimizes the effects of undesirable noise in the filtered states with the disturbances whose statistics are unknown. Meanwhile, the EKF uses the filtered states from the HU filter and takes the parameters as random walks. Simulation results show that the proposed filter is capable of estimating the CG longitudinal location and the CG height with acceptable accuracy.