Estimation of Sideslip Angle Based on Extended Kalman Filter

Table 1

Parameters and meaning.

Parameter	Meaning
	The vehicle centroid to the front axle
	Vehicle quality
	The longitudinal velocity
	Sideslip angle
	Yaw rate
	Tire longitudinal force
	Vertical force of tire
	The vehicle centroid to the rear axle
	Moment of inertia of vehicle around the lead vertical shaft
	The front wheel sideslip angle
	The rear wheel sideslip angle
	Tire rotation
	Tire lateral force
	Wheelbase