A method for computing a friction estimate (μ) between a road surface and a tire (101a-d) of a vehicle when said vehicle is in motion along a course, said tire being arranged on a steerable wheel (102a-b) of the vehicle, and said vehicle comprising two front wheels (102a-b) and two rear wheels (102c-d) and an axle rack pivotably attached to a linkage arm connected to said steerable wheel such that a translational motion of said axle rack causes said linkage arm to rotate about a kingpin element such that said linkage arm causes a turning motion of said steerable wheel, said method comprising the steps of: - applying (S402, S502, S602) a first drive torque to a first wheel of said two front wheels and said two rear wheels to thereby cause a yaw torque for said first wheel about the kingpin element of said first wheel, said first drive torque is one of a braking torque and a propulsion torque; - applying (S404, S504, S604) a second drive torque to at least a second wheel of said two front wheels and said two rear wheels, said second drive torque is the other one of a braking torque and a propulsion torque, wherein the relation between the second drive torque and the first drive torque is such that a longitudinal net force on the vehicle caused by any one of the first drive torque or the second drive torque is compensated by the other one of the first drive torque and the second drive torque; - applying (S406, S506) a steering force to said front wheels of said vehicle such to generate said vehicle yaw torque to compensate for the vehicle yaw torque caused by said yaw torque for said first wheel such that said vehicle maintains said course; - measuring (S408;S508) the rack force in the axle rack when the first torque is applied; - measuring (S410, S510, S610) a steering angle (β) of said first wheel when the first torque is applied; - measuring (S412, S512, S612) a vehicle velocity when the first torque is applied; - computing (S414;S514) the friction estimate based on the applied first drive torque, the measured rack force, the vehicle velocity, and the steering angle. - applying (S402, S502, S602) a first drive torque to a first wheel of said two front wheels and said two rear wheels to thereby cause a yaw torque for said first wheel about the kingpin element of said first wheel, said first drive torque is one of a braking torque and a propulsion torque; - applying (S404, S504, S604) a second drive torque to at least a second wheel of said two front wheels and said two rear wheels, said second drive torque is the other one of a braking torque and a propulsion torque, wherein the relation between the second drive torque and the first drive torque is such that a longitudinal net force on the vehicle caused by any one of the first drive torque or the second drive torque is compensated by the other one of the first drive torque and the second drive torque; - applying (S406, S506) a steering force to said front wheels of said vehicle such to generate said vehicle yaw torque to compensate for the vehicle yaw torque caused by said yaw torque for said first wheel such that said vehicle maintains said course; - measuring (S408;S508) the rack force in the axle rack when the first torque is applied; - measuring (S410, S510, S610) a steering angle (β) of said first wheel when the first torque is applied; - measuring (S412, S512, S612) a vehicle velocity when the first torque is applied; - computing (S414;S514) the friction estimate based on the applied first drive torque, the measured rack force, the vehicle velocity, and the steering angle. <EOS>