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

Table 3

Comparisons of ERMS in DLC manoeuvre.

ERMS
UIO/EKF	0.3907	0.3452	0.3114	0.3355	0.2984	0.2969	0.1831	0.2756
VLFS/AAKF	0.2984	0.2656	0.2564	0.2001	0.1602	0.1078	0.0829	0.0993