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

Table 7

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

State (N)	ME		RMSE		RMSE improved (%)
	UKF	ALOUKF	UKF	ALOUKF
Fyfl	345.3598	270.8882	181.8664	144.3570	20.62
Fyfr	362.9578	289.1788	183.1064	148.5645	18.86
Fyrl	395.9780	155.8817	220.7503	92.1301	58.27
Fyrr	396.0068	162.5478	202.8349	95.9343	52.70