A vehicle sideslip estimation system comprising: a vehicle including a controlled area network bus system; sensors mounted on the vehicle in communication with the CAN bus system; a kinematic model in communication with the CAN bus system, the kinematic model being configured for receiving signals from the sensors as inputs, wherein the kinematic model is configured for estimating a lateral velocity of the vehicle based on the inputs, the inputs including a measured vehicle lateral acceleration and a vehicle longitudinal velocity; a compensated acceleration calculator in communication with the CAN bus system to calculate a compensated vehicle lateral acceleration as a measure of conditions that result in a deviation of the measured vehicle lateral acceleration; a lateral acceleration calculator in communication with the CAN bus system to determine, based on the compensated vehicle lateral acceleration and the measured vehicle lateral acceleration, if a lateral acceleration error is larger than a predefined threshold; a filter in communication with the CAN bus system to correct the estimated lateral velocity of the vehicle when the lateral acceleration error is larger than the predefined threshold; a velocity output register in communication with the CAN bus system to register the estimated lateral velocity of the vehicle when the lateral acceleration error is smaller than or equal to the predefined threshold; and a sideslip calculator in communication with the CAN bus system to calculate a sideslip angle of the vehicle in real time from the registered lateral velocity of the vehicle and the vehicle longitudinal velocity; wherein the compensated vehicle lateral acceleration is calculated as a nonlinear function of the steering wheel angle. a vehicle including a controlled area network bus system; sensors mounted on the vehicle in communication with the CAN bus system; a kinematic model in communication with the CAN bus system, the kinematic model being configured for receiving signals from the sensors as inputs, wherein the kinematic model is configured for estimating a lateral velocity of the vehicle based on the inputs, the inputs including a measured vehicle lateral acceleration and a vehicle longitudinal velocity; a compensated acceleration calculator in communication with the CAN bus system to calculate a compensated vehicle lateral acceleration as a measure of conditions that result in a deviation of the measured vehicle lateral acceleration; a lateral acceleration calculator in communication with the CAN bus system to determine, based on the compensated vehicle lateral acceleration and the measured vehicle lateral acceleration, if a lateral acceleration error is larger than a predefined threshold; a filter in communication with the CAN bus system to correct the estimated lateral velocity of the vehicle when the lateral acceleration error is larger than the predefined threshold; a velocity output register in communication with the CAN bus system to register the estimated lateral velocity of the vehicle when the lateral acceleration error is smaller than or equal to the predefined threshold; and a sideslip calculator in communication with the CAN bus system to calculate a sideslip angle of the vehicle in real time from the registered lateral velocity of the vehicle and the vehicle longitudinal velocity; wherein the compensated vehicle lateral acceleration is calculated as a nonlinear function of the steering wheel angle.