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In this article, a real–time vehicle sideslip angle state observer is proposed, which is based on the EKF algorithm. Firstly, based on a 2–DOF dynamical model and the tire lateral force model, the vehicle sideslip angle state observer model with a self–adapted truncation procedure is established by combining the EKF and the least squares methods. The calculation of the Jacobi matrix in the time domain is transformed into a calculation in the frequency domain. A self–adapted update noise estimation method and an initial value setting strategy are proposed as well. Finally, a hardware–in–the–loop simulation is carried out by Matlab/Simulink–CarSim–dSPACE, and the real–time reliability of the estimation method is verified and analyzed by RMSE.

Research on a Real-Time Estimation Method of Vehicle Sideslip Angle Based on EKF