Application of Recursive Subspace Method in Vehicle Lateral Dynamics Model Identification

Table 4

Results of MSEs under different lateral acceleration.

(m/s^2)	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
2	0.067	0.202	0.267	0.110
4	0.121	0.492	0.759	0.508
6	0.221	0.895	2.076	1.414
8	0.842	0.569	3.818	4.956