Virtual Sensor for Vehicle Sideslip Angle Based on Extended Kalman Filter

The vehicle sideslip angle is one of the most important variables to evaluate vehicle stability during dynamic maneuvers. The vehicle dynamic represented by the single track vehicle model with linear tire is firstly introduced, a novel method of virtual sensor based on extended Kalman filter for the estimation of vehicle sideslip angle is proposed. Results of simulation using CarSim and co-simulation between CarSim and Simulink show an accurate and low-cost estimation of vehicle sideslip angle is achieved and virtual sensor estimation method is feasible in measurement of vehicle state.