Design and Study of State Estimation on Distributed Wire Controlled Chassis

Basing on sliding mode control theory in intelligent driving car, the state observer can serve as a tool to assess the state of the control system, and with sliding mode control robustness, it is an observation with excellent performance. In this paper, we assess both longitudinal and lateral tire forces, and construct a collaborative simulation environment utilizing CarSim and Simulink. This platform enables us to authenticate the practical efficacy of the sliding mode control algorithm. The simulation results indicate that the sliding mode observer has the capability to directly modulate dynamic performance by adjusting the sliding mode gain and feedback gain, and need not understand the measurement noise statistical characteristics of the model to meet the needs of control system and vehicle motion state estimation.