Slip ratio and slip angle estimation results.

<p>(The red dotted line is estimated value; continuous black line is reference value).</p

Target velocity in CarSim.

<p>Target velocity in CarSim.</p

Tire-road friction coefficient estimation.

<p>(The red dotted line is estimated value; continuous black line is reference value).</p

Vehicle parameters.

<p>Vehicle parameters.</p

Block diagram of the proposed hierarchical estimator.

<p>Block diagram of the proposed hierarchical estimator.</p

Structure of the hybrid estimator for TRFC.

<p>Structure of the hybrid estimator for TRFC.</p

Ranges of Input Parameters.

<p>Ranges of Input Parameters.</p

The selection of the smoothing factor.

<p>The selection of the smoothing factor.</p

Control input and vehicle state estimation.

<p>(The red dotted line is estimated value; continuous black line is reference value; continuous blue line is sensor noise.)</p

Tire force estimation results.

<p>(The red dotted line is estimated value; continuous black line is reference value).</p