Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

Table 2

Root mean-square error of state estimation.

Manoeuvre	State	RMSE
		SCKF	Hybrid Kalman filter
Double lane change	Longitudinal velocity	0.0315	0.0149
	Lateral velocity	0.1840	0.0777
	Sideslip angle	0.0099	0.0023
	Yaw rate	0.0505	0.0082
Slalom	Longitudinal velocity	0.0177	0.0146
	Lateral velocity	0.1271	0.0739
	Sideslip angle	0.0075	0.0040
	Yaw rate	0.0260	0.0081