In　this　article,　a　new　approach　to　estimate　the　vehicle　tyre　forces,　tyre-road　maximum　friction　coefficient,　and　slip　slope　is　presented.　Contrary　to　the　majority　of　the　previous　work　on　this　subject,　a　new　tyre　model　for　the　estimation　of　the　tyre-road　interface　characterisation　is　proposed.　First,　the　tyre　model　is　built　and　compared　with　those　of　Pacejka,　Dugoff,　and　one　other　tyre　model.　Then,　based　on　a　vehicle　model　that　uses　four　degrees　of　freedom,　an　extended　Kalman　filter　(EKF)　method　is　designed　to　estimate　the　vehicle　motion　and　tyre　forces.　The　shortcomings　of　force　estimation　are　discussed　in　this　article.　Based　on　the　proposed　tyre　model　and　the　improved　force　measurements,　another　EKF　is　implemented　to　estimate　the　tyre　model　parameters,　including　the　maximum　friction　coefficient,　slip　slope,　etc.　The　tyre　forces　are　accurately　obtained　simultaneously.　Finally,　very　promising　results　have　been　achieved　for　pure　acceleration/braking　for　varying　road　conditions,　both　in　pure　steering　and　combined　manoeuvre　simulations.