This technical brief proposes a new model-based estimation method for the vehicle sideslip angle, yaw rate, roll angle, and roll rate using unscented Kalman filter (UKF). Since a vehicle wheel could potentially lift off the ground during the limit handling, a switched vehicle roll dynamics model (wheel lift and no wheel lift) is developed and integrated within the proposed model-based estimation approach considering the availability of wheel speed sensor. The simulation results and analyses demonstrate the performance enhancement of the proposed estimation method over the method not considering wheel lift during the limit handling.

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