Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation

Table 1

Parameters for simulation.

Symbol	Value	Unit	Description
	1.4	m	Distance c.g. to front axle
	1.4	m	Distance c.g. to rear axle
	110000	N/rad	Front cornering stiffness
	95000	N/rad	Rear cornering stiffness
	3500	Kg/m^2	Yaw moment of inertia
	1.5	M	Track width
m	2000	Kg	Vehicle mass
	1.3	Kg/m^2	Wheel inertia
R	0.28	M	Wheel radius