Abstract The knowledge of the sideslip angle is fundamental for control of the vehicle's lateral dynamics. In order to measure this angle, there are essentially three different principles: GPS/INS and optical correlation as used by available sensors and model-based techniques like observers. This paper focuses on the two following items. First, as the sensors are too expensive to be mounted on common vehicles, we investigate a low cost solution, based on two different observers, a common bicycle observer and a new observer including roll dynamics. Secondly, as the experimental validation phase of these observers needs the knowledge of reference measurements, we confront GPS/INS measurement principle and optical correlation, by characterization of two sensors: RT3002 and Correvit S400 in order to monitor their advantages and drawbacks. This characterization is carried out with a specific test bench and the different sideslip angle measurement solutions are compared with real tests performed with our laboratory experimental car.
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