A method and a computer readable storage device for estimating tirc-to-road friction

The method involves applying a positive torque to two wheels on a rear axle (4). An equal and opposite negative torque is applied to one wheel on a front axle (1). The current values of vehicle speed, angular acceleration of the wheel on the front axle and the negative torque applied to the wheel are measured. A current friction coefficient is determined using an evaluation circuit. An independent claim is also included for a computer readable storage device having stored data representing instructions executable by a computer to perform an estimate of road-to-tire friction.