{
  "$type": "site.standard.document",
  "description": "A method and a system for vehicle sideslip angle estimation based on event-triggered state estimation are provided. The method includes: setting an observation variable, and adopting a Kalman filtering algorithm for iteration aiming at estimation of a vehicle yaw rate; in the iteration, setting a…",
  "path": "/patents/1349677",
  "publishedAt": "2023-08-24T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/12",
    "BEIJING INSTITUTE OF TECHNOLOGY"
  ],
  "textContent": "A method and a system for vehicle sideslip angle estimation based on event-triggered state estimation are provided. The method includes: setting an observation variable, and adopting a Kalman filtering algorithm for iteration aiming at estimation of a vehicle yaw rate; in the iteration, setting a parameter to 1, indicating that an event is triggered, when a calculation of the observation variable satisfies a predetermined condition, otherwise setting the parameter to 0, indicating that the event is not triggered; when the parameter is set and a GPS heading angle is updated, estimating a state variable according to a formula, and calculating a vehicle sideslip angle according to the vehicle yaw rate obtained by adopting the Kalman filtering algorithm; and when the parameter is 1 and the GPS heading angle is not updated yet, estimating the vehicle sideslip angle by fusing measurement data of both a GPS and an IMU.",
  "title": "METHOD AND SYSTEM FOR VEHICLE SIDESLIP ANGLE ESTIMATION BASED ON EVENT-TRIGGERED STATE ESTIMATION"
}