Abstract
The extended Kalman filter was employed to estimate vehicle side-slip angle accurately even under the condition of low road friction and the large lateral gradient road. The direct integration method is the base structure of this estimator, and the longitudinal equation of motion was included to augment the system , and to configure the Kalman filter. For compensation of estimation value drifted by the sensor signal offset , a nonlinear map between actual yawrate and the yawrate value for calculation was proposed. The performance of the extended Kalman filter and the non-linear map was validated in the simulation.
