Instability detection of the tire-road contact and torque control for wheel-individual driven vehicles. - Peter Speth; Andreas Hummler; Michael Buchholz; Klaus Dietmayer (Autom., 2018)

Combined Estimation of Vehicle Slip Angle and Lateral Tire Forces with an Unscented Kalman Filter with Outlier Detection. - Peter Speth; Michael Buchholz (ITSC, 2019)

Real-time Moving Horizon Estimation of Wheel Slip Angles and Lateral Tire Forces. - Peter Speth; Thomas Weichenmeier; Michael Buchholz (ITSC, 2020)