Advanced vehicle safety systems, such as CWS (Collision Warning Systems), CAS (Collision Avoidance Systems), and AHS (Automated Highway System), have recently received great attention. In this book, a novel method for the vehicle velocities and road friction coefficient estimation is presented. The method uses measured values from wheel angular velocity and yaw rate sensors of a vehicle to estimate vehicle velocities and road friction coefficient. The estimation process is done in three steps which are well elaborated in the book chapters in details. The estimation results are presented in the last chapter which are considered as valuable data to other researchers and students.