Robust estimation of vehicle sideslip angle from variables measured by ESC system

In the present paper, a sideslip angle virtual sensor design procedure is presented, based on the innovative observer/filtering method recently developed by the authors. The Virtual Sensor is directly designed from the experimental data collected from a testing car, without requiring the identification of a vehicle model. The achieved robust accuracy levels obtained in experimental tests have been considered satisfactory by a top level car maker, that has embedded the virtual sensor on three models of his super cars, whose estimates are used to improve the vehicle dynamic controls.