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Estimated tire forces can be used to implement unified-chassis-control (UCC) systems. This paper presents a scheme for longitudinal/lateral tire-force estimation. The longitudinal and lateral tire-force-estimation scheme has been designed, and this consists of the following five steps: vertical tire-force estimation, shaft torque estimation, longitudinal tire-force estimation based on a simplified wheel-dynamics model, lateral tire-force estimation based on a planar model, and the combined tire-force estimation. The combined tire-force-estimation scheme has been designed to compensate for the longitudinal/lateral tire-force estimator, which uses a random-walk Kalman filter. The proposed estimation scheme has been integrated into a UCC system. The performance of the UCC system, including the estimator, has been evaluated via computer simulations conducted using the vehicle dynamic software CARSIM, the ASM vehicle model, and the UCC system coded with Matlab/Simulink.