Automobile steer-by-wire(SBW) system disconnects the mechanical link between the steering wheel and steerable wheels.It can′t transmit the road condition to the driver through steering wheel. So the road feel should be produced by simulation. The ideal steering wheel effort characteristics of driver are analyzed. The steering resistance moment is computed by the dynamic model of steering system. The self aligning torque is estimated by Kalman filter. According to the relationships between the road feel and velocity, the variable transmission ratio and the lateral acceleration, a strategy of road feel based on filter estimation is proposed. The simulation results show that the strategy can get good sense of the road condition and enhance riding smoothness and handing stability of vehicles.