A corner-based velocity estimation approach is proposed which is used for vehicle's traction
and stability control systems. This approach incorporates internal tire states within the
vehicle kinematics and enables the velocity estimator to work for a wide range of maneuvers
without road friction information. Tire models have not been widely implemented in velocity
estimators because of uncertain road friction and varying tire parameters, but the current
study utilizes a simplified LuGre model with the minimum number of tire parameters and …