Reliable Sideslip Angle Estimation of Four-Wheel Independent Drive Electric Vehicle by Information Iteration and Fusion

Table 3

Comparison of in DLC manoeuvre simulation.

	Observer
	Longitudinal force observer		Sideslip angle observer
	PIO	PIO-EKF	RO	RWC	FO
Longitudinal force	0.4736	0.3284	×	×	×
Longitudinal force	0.4654	0.3948	×	×	×
Longitudinal force	0.4945	0.3166	×	×	×
Longitudinal force	0.4835	0.3154	×	×	×
Sideslip angle	×	×	0.2091	0.2485	0.1714