This paper presents new approaches to the identification of the vehicle sideslip angle and
the road bank angle in real-time. The major challenge is that the vehicle sideslip angle and
the road bank angle are coupled together with the system uncertainties, such as variations
in the vehicle parameters and the tire cornering stiffness. To resolve this difficulty, the
proposed estimation algorithms identify the uncertain vehicle parameters using the sensor
measurements such as the steering angle, the lateral acceleration and the yaw rate, and …