Four-wheel distributed electric drive automobile state estimation method

The invention provides a four-wheel distributed electric drive automobile state estimation method, which comprises the following steps of: considering the movement of a four-wheel distributed electric drive automobile, establishing a three-degree-of-freedom automobile dynamic model, and taking running parameters fed back by the four-wheel distributed electric drive automobile in real time as model input quantity to estimate the state of the four-wheel distributed electric drive automobile. According to the method, system input parameters, vehicle structure parameters and real-time measurement parameters are utilized, the characteristic of real-time feedback of vehicle parameters of the distributed driving electric vehicle and the optimization capacity of system non-Gaussian noise are fully considered, and meanwhile the model considers longitudinal movement, transverse movement and yaw movement of the vehicle; according to the invention, the improved African vulture algorithm is adopted to carry out adaptive o