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Applied Sciences
Volume 15
Issue 3
10.3390/app15031365
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

A Combined Dynamic–Kinematic Extended Kalman Filter for Estimating Vehicle Sideslip Angle

by
Giovanni Righetti
and
Basilio Lenzo
*
Department of Industrial Engineering, Università di Padova, 35131 Padua, Italy
*
Author to whom correspondence should be addressed.
Appl. Sci. 2025, 15(3), 1365; https://doi.org/10.3390/app15031365
Submission received: 23 December 2024 / Revised: 24 January 2025 / Accepted: 26 January 2025 / Published: 28 January 2025
(This article belongs to the Special Issue Trends and Prospects in Vehicle System Dynamics)
Versions Notes

Abstract

In modern automotive engineering, accurate vehicle sideslip angle estimation is crucial for enhancing vehicle safety, performance, and driver comfort. This paper addresses the challenge of estimating sideslip angle, an essential parameter for advanced driver-assistance systems (ADAS) and autonomous driving technologies. This study introduces a combined dynamic–kinematic extended Kalman filter (DK-EKF) approach that leverages the strengths of both kinematic and dynamic models while mitigating their individual limitations. The proposed DK-EKF enhances observability in low yaw rate conditions, a common issue with kinematic models, and improves the robustness of dynamic models against parameter uncertainties. A validation is conducted through extensive experimental tests, demonstrating the DK-EKF’s superior performance in various driving scenarios. The results confirm the efficacy of the proposed method in providing reliable sideslip angle estimation.
Keywords: sideslip angle; Kalman filter; combined approach; experiments sideslip angle; Kalman filter; combined approach; experiments

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MDPI and ACS Style

Righetti, G.; Lenzo, B. A Combined Dynamic–Kinematic Extended Kalman Filter for Estimating Vehicle Sideslip Angle. Appl. Sci. 2025, 15, 1365. https://doi.org/10.3390/app15031365

AMA Style

Righetti G, Lenzo B. A Combined Dynamic–Kinematic Extended Kalman Filter for Estimating Vehicle Sideslip Angle. Applied Sciences. 2025; 15(3):1365. https://doi.org/10.3390/app15031365

Chicago/Turabian Style

Righetti, Giovanni, and Basilio Lenzo. 2025. "A Combined Dynamic–Kinematic Extended Kalman Filter for Estimating Vehicle Sideslip Angle" Applied Sciences 15, no. 3: 1365. https://doi.org/10.3390/app15031365

APA Style

Righetti, G., & Lenzo, B. (2025). A Combined Dynamic–Kinematic Extended Kalman Filter for Estimating Vehicle Sideslip Angle. Applied Sciences, 15(3), 1365. https://doi.org/10.3390/app15031365

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