High failure rate caused by distributed driving and the model uncertainty of the four-wheel independent control electric vehicle (FWI-EV) bring motion-state-identified challenges. For solving the identified problem and achieving accurate motion states of FWI-EV, this paper designs an innovative motion state observer based on dual strong tracking filter (DSTF), which consists of vehicle and driving identification layers. The strong tracking filter (STF) with time-varying fading factor is firstly introduced in driving identification layer to rapidly and accurately identify the driving torque mutation of driving system. The driving torque mutation is considered in the vehicle identification layer by data sharing between the two identification layers. The vehicle motion states fluctuated by driving torque mutation are accurately identified by vehicle identification layer based STF. The effectiveness of the design method has been validated by simulations.

分布式驱动导致的高故障率和四轮独立控制电动汽车（FWI-EV）的模型不确定性带来了运动状态识别的挑战。为了解决识别问题并实现FWI-EV的准确运动状态，本文设计了一种基于双强跟踪滤波器（DSTF）的创新运动状态观测器，它由车辆和驾驶识别层组成。驾驶识别层首次引入了具有时变衰落因子的强跟踪滤波器（STF），以快速准确地识别驱动系统的驱动扭矩突变。通过两个识别层之间的数据共享，在车辆识别层中考虑驱动扭矩突变。基于车辆识别层的STF准确识别驱动扭矩突变引起的车辆运动状态。通过仿真验证了设计方法的有效性。