Research Article
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 |
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