Moustapha Doumiati Alessandro Corrêa Victorino Ali Charara 0002 Daniel Lechner A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation. 6936-6942 2010 ACC https://doi.org/10.1109/ACC.2010.5531319 conf/amcc/2010 db/conf/amcc/acc2010.html#DoumiatiVCL10