Abstract
Authors propose an estimation method of the vehicle side-slip angle with an on-line hardware-in-the-loop simulation. In this method the integration of the difference between the lateral acceleration and the product of yaw rate and vehicle speed is executed using the on-board-tire-model for the calculation of the lateral acceleration. The experimental study proves that the method bring us a precise enough estimation of the side-slip angle for the practical use. The computer simulation shows us the effective use of the side-slip angle estimated by this method for the DYC on slippery road even if the friction coefficient in the tire model is fixed as dry road one.