Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation

<figure class="figure-group responsive"><div class="sub-figure" id="a"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0013a.svgz" name="6087450.fig.0013a" type="image/svg+xml"></object><div class="fig-label">(a) Front right lateral tire force</div></div><div class="sub-figure" id="b"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0013b.svgz" name="6087450.fig.0013b" type="image/svg+xml"></object><div class="fig-label">(b) Front left lateral tire force</div></div><div class="sub-figure" id="c"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0013c.svgz" name="6087450.fig.0013c" type="image/svg+xml"></object><div class="fig-label">(c) Front right longitudinal tire force</div></div><div class="sub-figure" id="d"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0013d.svgz" name="6087450.fig.0013d" type="image/svg+xml"></object><div class="fig-label">(d) Front left longitudinal tire force</div></div></figure>

Mathematical Problems in Engineering

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Figure 13

Figure 13: Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation 