Patent ID: 8065067

Claim:
Method for determining at least one of a coefficient of friction and a tire stiffness of a tire, the method comprising the steps of: determining a plurality of vehicle parameters said vehicle parameters comprising vehicle motion parameters, determining said at least one of the coefficient of friction and the tire stiffness from a relationship defined by at least two of said vehicle parameters using estimation filtering procedures; characterized in that the estimation filtering procedures comprise the steps of: defining a set of data bins corresponding to intervals which are defined for values of at least two of said vehicle parameters, respectively, continuously determining an actual value of a first one of said at least two vehicle parameters and selecting the data bins corresponding to said actual value of the first one of said at least two vehicle parameters and updating and storing values of the first one of said at least two vehicle parameters and of a second one of said at least two vehicle parameters in said selected data bins, respectively, and/or continuously determining an actual value of the second one of said at least two parameters and selecting the data bins corresponding to said actual value of the second one of said at least two vehicle parameters and updating and storing values of the second one of said at least two vehicle parameters and of the first one of said at least two vehicle parameters in said selected data bins, respectively.