Abstract—Rolling resistance depends closely on tire temperature and inflation pressure. Effective radius, which affect adhesion coefficient, is influenced by inflation pressure and vehicle velocity. Exploiting this complex relation, this paper proposes a model of this relation and then, a nonlinear observer allowing to estimate the rolling resistance, the tire temperature and the inflation pressure. Using only the measured wheel rotational speed and vehicle velocity, which available from CAN-bus of vehicle, this system does not require any additional physical sensor. This nonlinear observer bases on the sliding-mode observer technique due to its robustness and finite convergence time. The novelty of this approach is the capacity to provide the good estimations of many grandeurs of vehicle tire though the existence of disturbance and variation of uncertain parameters. The challenge obviously still exists with the indistinguishability between rolling resistance and air drag force. The applicability of proposed models and observer is confirmed by the simulation results where the estimation errors are in an acceptable range.