The present disclosure relates to an apparatus (1) for estimation of a vehicle state. The apparatus (1) includes a controller (21) configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (FC) is calculated based on a first vehicle operating parameter. An operating frequency of a first signal filter (35) is set in dependence on the determined filter coefficient (FC) and the first estimation is filtered to generate a first filtered estimation of the vehicle state. The present disclosure also relates to a vehicle; and to a method of estimating a vehicle state.