  Information about the vehicle sideslip angle is crucial for the successful
implementation of advanced stability control systems. In production vehicles,
sideslip angle is difficult to measure within the desired accuracy level
because of high costs and other associated impracticalities. This paper
presents a novel framework for estimation of the sideslip angle. The proposed
algorithm utilizes an adaptive tire model in conjunction with a model-based
observer. The developed algorithm is evaluated through experimental tests on a
rear wheel drive vehicle. Detailed experimental results show that the developed
system can reliably estimate the vehicle sideslip angle during both steady
state and transient maneuvers.
