This is an simple implementation of the EKF over the bicycle model (aka Ackermann steering model) written in M

Ackerman steering model is the next:

x/dt = vcos(theta) y/dt = vsin(theta) theta/dt = v/L*tan(phi)

where x is the position in the x-axis y is the position in the y-axis theta is the orientation of the vehicle v is the speed of the vehicle phi is the steering wheel angle and L is the wheel base

In which you can measure the position of the vehicle and the speed, writted in MATLAB scripting language.