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

Table 4

Comparison of in J-turn manoeuvre simulation.

	Observer
	Longitudinal force observer		Sideslip angle observer
	PIO	PIO-EKF	RO	RWC	FO
Longitudinal force	0.7678	0.3346	×	×	×
Longitudinal force	0.7144	0.3703	×	×	×
Longitudinal force	0.7513	0.3111	×	×	×
Longitudinal force	0.7098	0.3217	×	×	×
Sideslip angle	×	×	0.4136	0.2877	0.2309