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The kinematic filter only exploits kinematic quantities related to vehicle motion, so that no tire model is needed to estimate the lateral velocity, hence the sideslip angle. By simply manipulating the expressions of longitudinal and lateral acceleration as functions of longitudinal velocity, lateral velocity, and yaw rate, and by choosing the state as \(\varvecx = \left[ v_x \quad v_y \right]^T\), the ideal (noise-free) process is described by :
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