A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Table 3

Parameters of the vehicle (COG: center of gravity).

Parameters	Unit	Value
Total mass of vehicle	m/kg	840
Distance from COG to front wheels	a/m	1.21
Distance from COG to rear wheels	b/m	0.86
Wheel base	l/m	2.07
Wheel track		1.481
Tire model	—	165/65 R13
Wheel effective radius	Re/m	0.272
Height of COG		0.68
Vehicle rotational inertia about z-axis	IZ/(kg∙m^2)	1523