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To gain the absolute vehicle slide angle is the key issue in security control system of vehicle. An adaptive Kalman filter based on Field Programmable Gate Array (FPGA) for vehicle slide angle estimation is presented in the paper. Firstly, the mathematic model of eight degree of freedom is given under the combined slip condition, and then Kalman filter is obtained by the usage of DSP Builder of MATLAB/Simulink. An implementation based on FPGA is proposed and the vehicle slide angle estimator is designed. In the end, the simulation result is given and transformed to the Very High Speed Integrated Circuits Hardware Description Language (VHDL). The Real Time Level (RTL) simulation for the Kalman filter is carried out in Modelsim and QuartusII. The simulation result shows that the proposed method is effective.