Full Terms & Conditions of access and use can be found at https://www.tandfonline.com/action/journalInformation?journalCode=nvsd20 Vehicle System Dynamics International Journal of Vehicle Mechanics and Mobility ISSN: 0042-3114 (Print) 1744-5159 (Online) Journal homepage: https://www.tandfonline.com/loi/nvsd20 UKF-based State and tire slip estimation for a 4WD electric vehicle Hannes Heidfeld, Martin Schünemann & Roland Kasper To cite this article: Hannes Heidfeld, Martin Schünemann & Roland Kasper (2019): UKF- based State and tire slip estimation for a 4WD electric vehicle, Vehicle System Dynamics, DOI: 10.1080/00423114.2019.1648836 To link to this article: https://doi.org/10.1080/00423114.2019.1648836 Published online: 13 Aug 2019. Submit your article to this journal View Crossmark data