Estimation of Sideslip Angle Based on Extended Kalman Filter

Table 2

Parameters of vehicle settings in Carsim.

Variable symbol	Variable name (unit)	Variable value
	Vehicle quality (kg)	1247
	The vehicle centroid to the front axle (m)	1.016
	The vehicle centroid to the rear axle (m)	1.562
	Moment of inertia about the -axis (kgm^∧2)	1523