Application of Recursive Subspace Method in Vehicle Lateral Dynamics Model Identification

Table 2

Results of MSEs under different forgetting factors.

λ1	MSE ((m/s^2)^2); (lateral acceleration)	MSE ((°/s)^2); (yaw rate)	λ2	MSE ((m/s^2)^2); (lateral acceleration)	MSE ((°/s)^2); (yaw rate)
0.92	0.3358	2.8668	0.92	0.9755	1.8686
0.95	1.4430	3.1832	0.95	0.2620	0.3311
0.98	2.9665	7.2588	0.97	0.5157	0.3658
0.992	0.2620	0.3311	0.99	0.2030	0.4169