The research field of virtual sensing looks for techniques to provide access to difficult-to-measure quantities. This is done by combining existing measurement data with model information. The presented work focuses on the estimation of the vehicle sideslip angle and of the forces exchanged at road level. Accurate estimation of vehicle motion during handling maneuvers can be achieved by the development of model-supported testing. The presented approach uses both a fixed parameter linear tire model, and an adaptive linear tire model together in an Extended Kalman Filter. The former model is used to provide an additional virtual measurement, and a reliable reference during straight driving, whereas the latter accounts for variable tire behavior.