Research Article

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

Table 4

Comparisons of PRE in fishhook manoeuvre.

PRE

UIO/EKF15.802810.329611.130410.09740.17410.07920.09840.3167
VLFS/AAKF2.99783.23933.15123.29200.08290.02230.03250.0926