This is a postprint version of the following published document: Boada, B. L., Viadero-Monasterio, F., Zhang, H. & Boada, M. J. L. (2022). Simultaneous Estimation of Vehicle Sideslip and Roll Angles Using an Integral- Based Event-Triggered Hinfinity Observer Considering Intravehicle Communications IEEE Transactions on Vehicular Technology, 1-15. DOI: 10.1109/tvt.2022.3222866 © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.