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.0014a.svgz" name="6087450.fig.0014a" type="image/svg+xml"></object><div class="fig-label">(a) Estimated sideslip angle with and without cornering stiffness correction</div></div><div class="sub-figure" id="b"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0014b.svgz" name="6087450.fig.0014b" type="image/svg+xml"></object><div class="fig-label">(b) Front cornering stiffness</div></div><div class="sub-figure" id="c"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6087450/figures/6087450.fig.0014c.svgz" name="6087450.fig.0014c" type="image/svg+xml"></object><div class="fig-label">(c) Rear cornering stiffness</div></div></figure>

Mathematical Problems in Engineering

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Figure 14

Figure 14: Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation 