Systems and methods for independently estimating a road surface friction coefficient value and a vehicular lateral velocity value are provided. In one example, the system includes: a self-aligning torque coefficient estimating module configured to obtain sensor signals from an electronic power steering (EPS) system and an inertial measurement unit and estimate a first self-aligning torque coefficient value based on the sensor signals using a recursive least square algorithm a road surface friction coefficient value estimating module configured to obtain the estimated first self-aligning torque coefficient value and estimate a first road surface friction coefficient value based on the estimated first self-aligning torque coefficient value and a feature control module configured to generate one or more control signals configured to control features of a vehicle based on the estimated first road surface friction coefficient value.
