A METHOD FOR ESTIMATING FRICTION BETWEEN DRIVABLE SURFACE AND TIRE OF A VEHICLE, METHOD FOR CONTROLLING A VEHICLE, DATA PROCESSING APPARATUS, COMPUTER PROGRAM, COMPUTER-READABLE STORAGE MEDIUM, AND VEHICLE

The disclosure relates to a method for estimating friction between a drivable surface and a tire of a vehicle and to a method for controlling the vehicle. The disclosure relates to a data processing apparatus, computer program, and computer-readable storage medium, each arranged for executing at least one of the methods, and to the vehicle. The estimating of the friction comprises: obtaining, during first phase of friction probing, first data comprising plurality of data items forming time series and indicating tire forces; obtaining, during second phase of friction probing, second data comprising plurality of data items forming time series and indicating tire forces; performing comparison of the first and second data with regard to reference data associated with at least one reference between the drivable surface and the tire of the vehicle; and indicating, based on result of the comparison, the friction between the drivable surface and the tire.