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Knowledge of tire–road friction conditions is indispensable for many vehicle control systems. In particular, friction information can be used to enhance the performance of wheel slip control systems, for example, knowledge of the current maximum coefficient of friction would allow an anti-lock brake system (ABS) controller to start braking with the optimal brake pressure, meaning the early cycles of operation are more efficient, resulting in shorter stopping distances. Also, from a passive safety perspective, it may be useful to present the driver with friction information so they can adjust their driving style to the road conditions. Hence, it is highly desirable to estimate friction using existing onboard vehicle sensor information. Many approaches for estimating tire–road friction estimation have been proposed in the literature with different sensor requirements and relative excitation levels. This paper aims at estimating the tire …