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

Table 5

Comparisons of ERMS in fishhook manoeuvre.

ERMS
UIO/EKF	0.9069	0.9052	0.8966	0.9117	0.3822	0.1801	0.1126	0.2073
VLFS/AAKF	0.6418	0.6203	0.6278	0.6296	0.1905	0.1297	0.0878	0.1413