A method for estimating a longitudinal force difference ΔFx acting on steered axle wheels of a vehicle, the method comprising obtaining data from the vehicle related to an applied steering torque Msteer associated with the steered axle wheels, obtaining a scrub radius value rs associated with the steered axle wheels, and estimating the longitudinal force difference ΔFx, based on the obtained data and on the scrub radius rs, as proportional to the applied steering torque Msteer and as inversely proportional to the scrub radius rs.