Estimation of Vehicle Sideslip Angle using Strong Tracking SRUKF

Sideslip angle is an important parameter for the stability control of high-speed vehicles. In this paper, a novel state observer based on strong tracking SRUKF is presented to estimate the sideslip angle. Besides the strong tracking SRUKF algorithm, a 2-DOF vehicle model and a "Magic Formula" are utilized to construct the state observer. Numerical simulations are implemented to testify on the accuracy performance of estimation based on the strong tracking SRUKF and standard UKF. The results show that the trends using two types of filters are accordant with the theoretic values, and the accuracy of the former is better than the latter.