Intelligent Torque Vectoring Approach for Electric Vehicles with Per-Wheel Motors

Table 8

Double lane change results.

		ANFIS	Model
FL	RMSE	114.23	787.905
	NRMSE	1.3491	5.944
FR	RMSE	151.0323	775.32
	NRMSE	1.607	5.185
RL	RMSE	107.986	412.77
	NRMSE	1.4629	6.782
RR	RMSE	164.2598	434.997
	NRMSE	2.0457	5.982