Road friction estimation system and method

A road friction coefficient estimation system and method for providing or calculating a road friction coefficient estimation is provided. The system comprises at least one first or front tire and at least one second or rear tire supporting a vehicle; a tire load estimation means for estimating a first or front tire load estimation and a second or rear tire load estimation; a tire slip angle estimation means for estimating a first or front tire slip angle estimation and a second or rear tire slip angle estimation; a vehicle-based sensor means for measuring one or more vehicle operational parameters; an observer model for calculating an estimated total first or front tire force estimation and an estimated total second or rear tire force estimation based on the vehicle operational parameters; a load transfer ratio calculating means for calculating an estimated load transfer ratio from the first or front tire load estimation and the second or rear tire load estimation; an individual wheel force estimation means for calculating an individual wheel force estimation based on the estimated total forces on the first or front tire and the second or rear tire; and a model-based friction estimation means for calculating an estimate road surface friction coefficient based on the first or front tire slip angle estimation, the second or rear tire slip angle estimation, and the individual wheel force estimation.