Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

Table 1

Vehicle parameters.

Vehicle parameters	Symbols	Values
Vehicle mass		1993 (kg)
Distance from the front axle to CoG		1.376 (m)
Distance from the rear axle to CoG		1.608 (m)
The track width		1.615 (m)
The CoG height		0.552 (m)
Vehicle moment of inertia		3668 (kg⋅m^2)
Effective rolling radius of the tire		0.312 (m)