Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Table 2

MAE and RMSE of the estimated velocities based on the estimators C1 and C2.

Estimators	MAE	RMSE
Estimated longitudinal velocity based on the estimator C1	0.0136	0.0054
Estimated lateral velocity based on the estimator C1	0.0260	0.0150
Estimated longitudinal velocity based on the estimator C2	0.0038	0.0021
Estimated lateral velocity based on the estimator C2	0.0026	0.0016