Vehicle state estimation using steering torque

This work presents a new approach to estimating vehicle sideslip using steering torque information. This method is especially suited to vehicles equipped with steer-by-wire systems since the steering torque can easily be determined from the current applied to the steering motor. By combining a linear vehicle model with the steering system model, a simple observer may be devised to estimate sideslip when yaw rate and steering angle are measured. The observer is validated on a test vehicle equipped with a steer-by-wire system.