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This paper presents a modular observer structure to estimate the tire-road forces robustly, avoiding the use of any particular tire model, and using standard signals available in current passenger vehicles. The observer consists of a feedforward longitudinal force estimation block and a hybrid lateral force estimation module formed by an Extended Kalman Filter and a Static Neural Network Structure. Road grade and bank angle are estimated using sensor fusion, where a Fuzzy Logic controllerdoi:10.5281/zenodo.1009047 fatcat:rv2on26325ceddmamcuzojjzlu