Method for estimating a brake factor parameter (BFP), the brake factor parameter (BFP) being defined as a ratio of a braking torque (BT) over a braking pressure, the braking torque (BT) being applied on a wheel of a vehicle by a braking wheel sub-system (BWSS) of a braking system (BS) of the vehicle, the braking pressure being applied by the braking wheel sub-system (BWSS) to achieve the braking torque (BT) on the wheel of the vehicle, the method comprising the following steps controlled by a braking system control unit: - collecting input parameters (T, V, NL)); - estimating the brake factor parameter (BFP) as a function of the input parameters (T, V, NL), an output of the step of estimating being an open loop estimation (OLE1, OLE2) of the brake factor parameter (BFP), wherein the step of estimating the brake factor parameter (BFP) comprises using a trained neuron network (TNN) to provide the open loop estimation (OLE2), characterized in that the method further comprises a step of comparing the open loop estimation (OLE2) of the brake torque parameter (BFP) with a feedback estimation (FE) of the brake torque parameter (BFP) based on at least one tire parameter (LF, TW, FP, RR, WS) measured by or estimated from information collected by tire sensors placed on the tire of the wheel, an output of the step of comparing being a closed loop estimation (CLE) of the brake torque parameter (BFP), the closed loop estimation (CLE) of the brake torque parameter (BFP) being a function of the open loop estimation (OLE2) and of the feedback estimation (FE). - collecting input parameters (T, V, NL)); - estimating the brake factor parameter (BFP) as a function of the input parameters (T, V, NL), an output of the step of estimating being an open loop estimation (OLE1, OLE2) of the brake factor parameter (BFP), wherein the step of estimating the brake factor parameter (BFP) comprises using a trained neuron network (TNN) to provide the open loop estimation (OLE2), characterized in that the method further comprises a step of comparing the open loop estimation (OLE2) of the brake torque parameter (BFP) with a feedback estimation (FE) of the brake torque parameter (BFP) based on at least one tire parameter (LF, TW, FP, RR, WS) measured by or estimated from information collected by tire sensors placed on the tire of the wheel, an output of the step of comparing being a closed loop estimation (CLE) of the brake torque parameter (BFP), the closed loop estimation (CLE) of the brake torque parameter (BFP) being a function of the open loop estimation (OLE2) and of the feedback estimation (FE). wherein the step of estimating the brake factor parameter (BFP) comprises using a trained neuron network (TNN) to provide the open loop estimation (OLE2), characterized in that the method further comprises a step of comparing the open loop estimation (OLE2) of the brake torque parameter (BFP) with a feedback estimation (FE) of the brake torque parameter (BFP) based on at least one tire parameter (LF, TW, FP, RR, WS) measured by or estimated from information collected by tire sensors placed on the tire of the wheel, an output of the step of comparing being a closed loop estimation (CLE) of the brake torque parameter (BFP), the closed loop estimation (CLE) of the brake torque parameter (BFP) being a function of the open loop estimation (OLE2) and of the feedback estimation (FE). <EOS>