Research Article
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∙m2) | 1523 |
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