The present invention relates to a method for computing a friction estimate (mu) between a road surface and a tire (101a-d) of a vehicle. The method comprises applying a controllable torque to at least one of wheels of the vehicle and determining a vehicle velocity when the controllable torque is applied. A present tire force acting on said first tire is estimated when the torque is applied. Basedon a vehicle velocity, the present slip of said tire is estimated. A present gradient of said tire force with respect to said slip is determined based on the present tire force and said value indicative of the present slip. When the present gradient exceeds a predetermined first gradient threshold value and is below a predetermined second gradient threshold value, the friction estimated value iscomputed.