Considering the sideslip angle as one of the vehicle state variables is difficult to measuring, the sideslip angle estimation based on vehicle dynamic model and kinematics is designed.

• 考虑到作为车辆状态变量之一的质心侧偏角难以测量，设计了基于车辆动力学模型及运动学关系相结合的质心侧偏角估计器。