First,a three-degrees-of-freedom nonlinear estimation model for vehicles is established based on theDugoff tire model.Then,a vehicle driving state estimation algorithm based on the federal Kalman filter and a roadadhesion coefficient estimation algorithm based on the extended Kalman filter are designed to bring about the closedloopfeedback and the linkages between the vehicle state estimation and the road adhesion coefficient estimation.Finally,the estimation algorithms of vehicle driving state and road adhesion are verified by adopting a typical situationbased on Carsim and Matlab /Simulink co-simulation.The results show that the proposed algorithms can accuratelyestimate the vehicle state and the road adhesion coefficient.