Mathematical Problems in Engineering

Research Article

Running States Estimation of Autonomous Four-Wheel Independent Drive Electric Vehicle by Virtual Longitudinal Force Sensors

Table 2

Comparisons of PRE in DLC manoeuvre.
PRE
UIO/EKF5.41225.77837.23677.44410.73040.08390.03440.1345
VLFS/AAKF1.76921.89062.19092.01560.31580.02130.00620.0311