{"id":"https://openalex.org/W4394698444","doi":"https://doi.org/10.1109/tiv.2024.3386686","title":"Robust Estimation of Sideslip Angle for Heavy-Duty Vehicles Under Payload Conditions Using a Series-Connected Structure Estimator","display_name":"Robust Estimation of Sideslip Angle for Heavy-Duty Vehicles Under Payload Conditions Using a Series-Connected Structure Estimator","publication_year":2024,"publication_date":"2024-04-10","ids":{"openalex":"https://openalex.org/W4394698444","doi":"https://doi.org/10.1109/tiv.2024.3386686"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3386686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3386686","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5101689598","display_name":"Lin Gao","orcid":"https://orcid.org/0009-0004-5657-1168"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Gao","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-5657-1168","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049740741","display_name":"Qing Wu","orcid":"https://orcid.org/0000-0002-1435-6556"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Wu","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-1435-6556","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062211442","display_name":"Yi He","orcid":"https://orcid.org/0000-0002-3005-6772"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi He","raw_affiliation_strings":["Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3005-6772","affiliations":[{"raw_affiliation_string":"Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kang Wu","orcid":"https://orcid.org/0009-0000-3541-7998"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang Wu","raw_affiliation_strings":["Sunward Intelligent Equipment Company, Ltd., Changsha, China","Sunward Intelligent Equipment Co., Ltd, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0000-3541-7998","affiliations":[{"raw_affiliation_string":"Sunward Intelligent Equipment Company, Ltd., Changsha, China","institution_ids":[]},{"raw_affiliation_string":"Sunward Intelligent Equipment Co., Ltd, Changsha, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100537266","display_name":"Pu Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pu Shao","raw_affiliation_strings":["Hubei Sanjiang Space Wanshan Special Vehicle Company Ltd., Xiaogan, China","Hubei Sanjiang Space Wanshan Special Vehicle Co. Ltd., Xiaogan, China"],"raw_orcid":"https://orcid.org/0009-0003-0388-1958","affiliations":[{"raw_affiliation_string":"Hubei Sanjiang Space Wanshan Special Vehicle Company Ltd., Xiaogan, China","institution_ids":[]},{"raw_affiliation_string":"Hubei Sanjiang Space Wanshan Special Vehicle Co. Ltd., Xiaogan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5976,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81843538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"2915","last_page":"2931"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"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":0.9991000294685364,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","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"}},{"id":"https://openalex.org/T14304","display_name":"Transport Systems and Technology","score":0.9889000058174133,"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/estimator","display_name":"Estimator","score":0.8063475489616394},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6958119869232178},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6814844012260437},{"id":"https://openalex.org/keywords/heavy-duty","display_name":"Heavy duty","score":0.5608838796615601},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.47325068712234497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41022366285324097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39254283905029297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3199898600578308},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3024598956108093},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.21918880939483643},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.20932522416114807},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0886324942111969},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08231854438781738},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07065758109092712},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05249732732772827}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.8063475489616394},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6958119869232178},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6814844012260437},{"id":"https://openalex.org/C2993573757","wikidata":"https://www.wikidata.org/wiki/Q3784054","display_name":"Heavy duty","level":2,"score":0.5608838796615601},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.47325068712234497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41022366285324097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39254283905029297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3199898600578308},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3024598956108093},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.21918880939483643},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20932522416114807},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0886324942111969},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08231854438781738},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07065758109092712},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05249732732772827},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3386686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3386686","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G125827212","display_name":"\u9762\u5411\u590d\u6742\u4ea4\u901a\u73af\u5883\u7684\u5927\u578b\u8d27\u8fd0\u8f66\u8f86\u5f02\u6784\u7f16\u961f\u534f\u540c\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"52072292","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5848570399","display_name":null,"funder_award_id":"52322217","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1446555399","https://openalex.org/W1973892824","https://openalex.org/W2009664131","https://openalex.org/W2030574464","https://openalex.org/W2038256073","https://openalex.org/W2054091988","https://openalex.org/W2073910951","https://openalex.org/W2128377715","https://openalex.org/W2132570625","https://openalex.org/W2293058369","https://openalex.org/W2343459490","https://openalex.org/W2508734701","https://openalex.org/W2512602282","https://openalex.org/W2737927938","https://openalex.org/W2775753143","https://openalex.org/W2786735182","https://openalex.org/W2790374560","https://openalex.org/W2903569991","https://openalex.org/W2926065969","https://openalex.org/W2946653342","https://openalex.org/W2976426720","https://openalex.org/W2996895707","https://openalex.org/W2999145077","https://openalex.org/W3021026481","https://openalex.org/W3045998196","https://openalex.org/W4207013873","https://openalex.org/W4210370318","https://openalex.org/W4220701031","https://openalex.org/W4285303367","https://openalex.org/W4292544487","https://openalex.org/W4293568057","https://openalex.org/W4312550876","https://openalex.org/W4364322849","https://openalex.org/W4376166839","https://openalex.org/W4379522541","https://openalex.org/W4380451154","https://openalex.org/W4385834404","https://openalex.org/W4386918877","https://openalex.org/W4388692176","https://openalex.org/W4389469310","https://openalex.org/W4391559283"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2109516765"],"abstract_inverted_index":{"The":[0,222],"robust":[1,200],"estimation":[2,111,180,201,237,242],"of":[3,22,42,50,68,70,112,156,181,202,218,224,236,244],"heavy-duty":[4],"vehicles":[5],"(HDVs)":[6],"sideslip":[7,25,40,114,204],"angle":[8,26,41,115],"is":[9,125,175],"crucial":[10],"for":[11,27,37,116,177],"vehicle":[12,62,212],"stability":[13],"controls.":[14],"This":[15,185],"paper":[16],"aims":[17],"to":[18,91,191],"address":[19,47],"the":[20,24,39,48,53,66,79,86,94,101,110,113,145,154,178,187,203,216,219,225,229,241],"challenge":[21],"estimating":[23,38],"HDVs":[28,43],"when":[29,118],"carrying":[30,119],"cargo.":[31],"We":[32],"propose":[33],"an":[34,166,197],"innovative":[35,167],"framework":[36],"after":[44,74],"loading.":[45],"To":[46],"problem":[49],"deviation":[51],"in":[52,194],"inertial":[54],"measurement":[55],"unit":[56],"(IMU)":[57],"output":[58],"acceleration":[59],"signal":[60],"during":[61],"turning":[63],"caused":[64],"by":[65],"change":[67],"center":[69],"gravity":[71],"(C.G.)":[72],"position":[73,97,104],"loading":[75],"cargo,":[76,120],"we":[77,214],"amalgamate":[78],"minimum":[80],"model":[81,130,140,149],"error":[82],"(MME)":[83],"criterion":[84],"with":[85],"cubature":[87],"Kalman":[88],"filter":[89],"(CKF)":[90],"accurately":[92],"estimate":[93],"longitudinal":[95],"C.G.":[96],"and":[98,137,147,159,199,210],"carry":[99],"out":[100],"IMU":[102],"sensor":[103],"correction.":[105],"On":[106],"this":[107,143],"basis,":[108],"concerning":[109],"HDV":[117],"a":[121,128,132,138,233],"series-connected":[122,188],"structure":[123,189],"estimator":[124,150,190],"proposed,":[126],"comprising":[127],"kinematic":[129,146,158],"estimator,":[131,136],"tire":[133,182],"cornering":[134,183],"stiffness":[135],"dynamics":[139,148,160],"estimator.":[141],"In":[142],"structure,":[144],"employs":[151],"CKF.":[152],"Considering":[153],"characteristics":[155],"both":[157],"models,":[161],"alongside":[162],"HDVs'":[163],"variable":[164],"payload,":[165],"adaptive":[168,179],"weighted":[169],"recursive":[170],"least":[171],"squares":[172],"(AWRLS)":[173],"method":[174,231],"designed":[176],"stiffness.":[184],"allows":[186],"dynamically":[192],"adjust":[193],"real-time,":[195],"achieving":[196],"accurate":[198],"angle.":[205],"Finally,":[206],"through":[207],"extensive":[208],"simulations":[209],"real-world":[211],"experiments,":[213],"validate":[215],"efficacy":[217],"proposed":[220,230],"framework.":[221],"results":[223,243],"experiments":[226],"show":[227],"that":[228],"has":[232],"satisfactory":[234],"level":[235],"accuracy,":[238],"significantly":[239],"outperforming":[240],"individual":[245],"models.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}