Application of Recursive Subspace Method in Vehicle Lateral Dynamics Model Identification

Table 3

Results of MSEs under different vehicle speeds.

Speed; (km/h)	LTV model		LTI model
	MSE ((m/s^2)^2); (lateral acceleration)	MSE ((°/s)^2); (yaw rate)	MSE ((m/s^2)^2); (lateral acceleration)	MSE ((°/s)^2); (yaw rate)
30	0.009	0.162	0.021	0.280
40	0.016	0.176	0.074	0.806
50	0.029	0.309	0.280	1.456
60	0.061	0.446	0.817	2.822