This thesis presents a model-based methodology for the real-time estimation of tyre longitudinal slip and tyre‑road friction characteristics to support advanced anti‑lock braking strategies. The proposed framework integrates a kinematics‑based extended Kalman filter for vehicle state and tyre force reconstruction with a compact, physics‑informed tyre model and dedicated online identification procedures for slip stiffness and friction parameters. A key contribution is the tyre model developed in this thesis, which extends the Dugoff formulation by introducing separate static and dynamic friction coefficients together with a sliding-speed-dependent friction law, enabling a physically consistent peak in the longitudinal force-slip characteristic while preserving the simplicity required for onboard implementation.