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For the existing acquisition method of vehicle sideslip angle （VSA） based on fusion strategy，optimization and improvement are required for different scenarios，structures or signals. As a result，the calculation complexity and system cost rise up. A soft-sensing method for the VSA based on switch strategy is proposed in this paper. In the pretreatment part for sensor measurement signals，the Bessel filter is employed to realize the delay processing and noise filtering of lateral acceleration signal，and a reliability test module is designed to effectively eliminate the mutations in the signals of yaw rate，et al. On this basis，the switch strategy is determined based on the advantages of the existing kinematic and dynamic schemes. For the presented strategy，the continuous operating intervals of the kinematic scheme are shortened in a great deal of effort to restrain the error accumulation，and the dynamic one is restricted in linear region to avoid performance degradation. Simulations and hardware-in-loop experiments are implemented in multiple conditions to verify the effect of the proposed method. The experimental results show that the proposed method in this paper has obvious advantages in accuracy and execution time compared to the one utilizing the classical fusion strategy. Moreover，they are both robust to the change of road conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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