Experimental Verification of State Estimation and Coordinated Control

To verify the effectivity of state estimation and coordinated control system for distributed electric vehicles, the existing experiment platform of distributed electric vehicles of laboratory is utilized for experiment verification. The state estimation experiments on the experiment platform mainly include experiment of mass estimation based on high-frequency information extraction, experiment of gradient estimation based on multi-method fusion, and experiment of vehicle motion state estimation based on unscented particle filter. The experiments of coordinated control mainly include experiment of motor property compensation control, experiment of driving force control allocation, and experiment of vehicle dynamic demand target determination. The experiments have verified the effectivity of methods proposed by this section, and the design purpose has been realized.