Abstract: The invention concerns a method for estimating in real time, in a motor vehicle, a front force (FyV) and a rear force (FyR), these forces being applied by the ground to the front wheels and to the rear wheels, respectively, of the vehicle along a transverse direction. The method consists in: equipping this vehicle with a measuring device supplying a signal representative of a measured transverse acceleration (?T) and a signal representative of a measured yaw rate (?T), and with a processing unit; applying to these signals a processing operation to determine a front force and a rear force based on a dynamic model of the vehicle such as a model of the bicycle type. The invention applies to the field of active safety.