Sideslip Angle Estimation Based on a Kinematics Model Using An Unscented Kalman Filter

Vehicle stability control is a crucial function for vehicle safety, requiring various dynamic parameters for effective control. Among these, the sideslip angle is particularly important for maintaining stability. However, due to cost considerations, directly measuring the sideslip angle in vehicles is challenging. This study proposes an estimation method based on a kinematic model, utilizing an Unscented Kalman Filter (UKF) to address the nonlinear estimation problem. The proposed method utilizes the inputs of yaw rate, longitudinal and lateral accelerations, and incorporates feedback correction using longitudinal velocity to estimate lateral velocity, accounting for the effects of process noise and measurement noise. The performance of the proposed sideslip angle estimator was evaluated in MATLAB/Simulink using CarSim under different road friction conditions. The results demonstrate the potential of the proposed sideslip angle estimator.