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Hierarchical estimation of vehicle state and tire forces for distributed in-wheel motor drive electric vehicle without previously established tire model

Qiuwei Wang, Youqun Zhao, Wenfang Xie, Qixian Zhao, Fen Lin. Hierarchical estimation of vehicle state and tire forces for distributed in-wheel motor drive electric vehicle without previously established tire model. J. Franklin Institute, 359(13):7051-7068, 2022. [doi]

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