{"id":"https://openalex.org/W3205969355","doi":"https://doi.org/10.1109/tii.2021.3118683","title":"Event-Triggered Vehicle Sideslip Angle Estimation Based on Low-Cost Sensors","display_name":"Event-Triggered Vehicle Sideslip Angle Estimation Based on Low-Cost Sensors","publication_year":2021,"publication_date":"2021-10-10","ids":{"openalex":"https://openalex.org/W3205969355","doi":"https://doi.org/10.1109/tii.2021.3118683","mag":"3205969355"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2021.3118683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2021.3118683","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086362961","display_name":"Xiaolin Ding","orcid":"https://orcid.org/0000-0001-9051-8791"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Ding","raw_affiliation_strings":["Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9051-8791","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052233170","display_name":"Zhenpo Wang","orcid":"https://orcid.org/0000-0002-1396-906X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenpo Wang","raw_affiliation_strings":["Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1396-906X","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012659616","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0002-1763-0397"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1763-0397","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Center of Electric Vehicles in Beijing and the National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":4.3904,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.95474183,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"18","issue":"7","first_page":"4466","last_page":"4476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7530357241630554},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6436812877655029},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6355836391448975},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.5667078495025635},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5199112296104431},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5137723684310913},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49862027168273926},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47976741194725037},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.47412538528442383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47216886281967163},{"id":"https://openalex.org/keywords/angle-of-attack","display_name":"Angle of attack","score":0.45098480582237244},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.41323110461235046},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.41022318601608276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2981376647949219},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2529035806655884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21296846866607666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10155278444290161},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.08910030126571655},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07903933525085449},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.07816818356513977}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7530357241630554},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6436812877655029},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6355836391448975},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.5667078495025635},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5199112296104431},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5137723684310913},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49862027168273926},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47976741194725037},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.47412538528442383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47216886281967163},{"id":"https://openalex.org/C527307","wikidata":"https://www.wikidata.org/wiki/Q370906","display_name":"Angle of attack","level":3,"score":0.45098480582237244},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.41323110461235046},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.41022318601608276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2981376647949219},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2529035806655884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21296846866607666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10155278444290161},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.08910030126571655},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07903933525085449},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.07816818356513977},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2021.3118683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2021.3118683","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5668538090","display_name":null,"funder_award_id":"Z201100006820007","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"},{"id":"https://openalex.org/G8276053165","display_name":null,"funder_award_id":"2017YFB0103600","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1978518835","https://openalex.org/W2001079686","https://openalex.org/W2030574464","https://openalex.org/W2065523600","https://openalex.org/W2067018333","https://openalex.org/W2084475540","https://openalex.org/W2127017835","https://openalex.org/W2132570625","https://openalex.org/W2136876974","https://openalex.org/W2150235509","https://openalex.org/W2176887674","https://openalex.org/W2250261304","https://openalex.org/W2321703636","https://openalex.org/W2343459490","https://openalex.org/W2410212126","https://openalex.org/W2427851112","https://openalex.org/W2491068524","https://openalex.org/W2737927938","https://openalex.org/W2768332361","https://openalex.org/W2886017865","https://openalex.org/W2907891516","https://openalex.org/W2913669318","https://openalex.org/W2939714564","https://openalex.org/W2946653342","https://openalex.org/W2958459421","https://openalex.org/W2964336724","https://openalex.org/W3016151364","https://openalex.org/W3038191277","https://openalex.org/W3045677497","https://openalex.org/W3087824962","https://openalex.org/W3087968486","https://openalex.org/W3088033175","https://openalex.org/W3095580889","https://openalex.org/W3137779372","https://openalex.org/W3174836973"],"related_works":["https://openalex.org/W2982521819","https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2773722138","https://openalex.org/W2115756888","https://openalex.org/W1487380984","https://openalex.org/W2148902373","https://openalex.org/W2082226257","https://openalex.org/W1500138691","https://openalex.org/W2337384977"],"abstract_inverted_index":{"Accurate":[0],"vehicle":[1,8,44,87,94,126,140],"sideslip":[2,17,45,95,141,184],"angle":[3,18,46,52,96,142,185],"estimation":[4,71,136,190,203],"is":[5,20,47,65,76],"crucial":[6],"for":[7],"stability":[9],"control.":[10],"In":[11],"this":[12],"article,":[13],"an":[14,35,62],"enabling":[15],"event-triggered":[16,63,183],"estimator":[19,186],"proposed":[21,66,162,182],"by":[22],"using":[23,49,91],"the":[24,50,56,69,92,98,132,139,150,156,161,181,196],"kinematic":[25,104],"information":[26],"from":[27],"a":[28,42,82,85,109,113,188],"low-cost":[29],"global":[30],"positioning":[31],"system":[32],"(GPS)":[33],"and":[34,55,61,84,97,102,112,124,135,158,174,198,206],"on-board":[36],"inertial":[37],"measurement":[38],"unit":[39],"(IMU).":[40],"First,":[41],"preliminary":[43,93],"derived":[48],"heading":[51],"of":[53,59,138,152,160,192,194],"GPS":[54,100],"yaw":[57],"rate":[58],"IMU,":[60],"mechanism":[64],"to":[67,121,148],"eliminate":[68],"accumulative":[70],"error.":[72],"The":[73,177],"algorithm":[74],"convergence":[75],"guaranteed":[77],"through":[78,170],"theoretical":[79],"deduction.":[80],"Second,":[81],"longitudinal":[83,123],"lateral":[86,125],"velocity":[88,101,127],"are":[89,164],"obtained":[90],"measured":[99],"their":[103],"relationship,":[105],"based":[106],"on":[107],"which":[108],"multisensor":[110],"fusion":[111],"multistep":[114],"Kalman":[115],"filter":[116],"scheme":[117,163],"are,":[118],"respectively,":[119],"presented":[120],"realize":[122],"estimation.":[128],"By":[129],"doing":[130],"this,":[131],"update":[133],"frequency":[134],"accuracy":[137],"estimate":[143],"can":[144],"be":[145],"further":[146],"improved":[147],"meet":[149],"requirement":[151],"online":[153],"implementation.":[154],"Finally,":[155],"effectiveness":[157],"reliability":[159],"verified":[165],"under":[166],"comprehensive":[167],"driving":[168],"conditions":[169],"both":[171],"hardware-in-loop":[172],"(HIL)":[173],"field":[175,199],"tests.":[176],"results":[178],"show":[179],"that":[180],"has":[187],"mean":[189],"error":[191],"0.029$^\\circ$and":[193],"0.14$^\\circ$in":[195],"HIL":[197],"tests,":[200],"exhibiting":[201],"better":[202],"accuracy,":[204],"reliability,":[205],"real-time":[207],"performance":[208],"compared":[209],"with":[210],"other":[211],"typical":[212],"estimators.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}