Recent developments in vehicle stability control and active safety systems have led to an
interest in reliable vehicle state estimation on various road conditions. This paper presents a
novel method for tire force and velocity estimation at each corner to monitor tire capacities
individually. This is entailed for more demanding advanced vehicle stability systems and
especially in full autonomous driving in harsh maneuvers. By integrating the lumped LuGre
tire model and the vehicle kinematics, it is shown that the proposed corner-based estimator …