# Tire–Road Friction Estimation for Four-Wheel Independent Steering and Driving EVs Using Improved CKF and FNN

> Research article (IEEE Transactions on Transportation Electrification, 2023) · cited 30× · AI/ML

**Wikidata**: [openalex:W4382055044](https://www.wikidata.org/wiki/openalex:W4382055044)  
**Source**: https://4ort.xyz/entity/tireroad-friction-estimation-for-four-wheel-independent-steering-and-driving-evs-using-improved-ckf-and-fnn