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

Table 5

Comparison of ME and RMSE for tire-road lateral force.

State (N)	ME		RMSE		RMSE improved (%)
	UKF	ALOUKF	UKF	ALOUKF
Fyfl	345.3163	228.5535	105.9953	65.3919	38.31
Fyfr	309.0937	153.3153	106.5646	50.5215	52.59
Fyrl	262.2675	172.5306	73.4423	44.0059	40.08
Fyrr	226.4347	152.2261	72.7514	38.7920	46.68