The present paper describes a torque saturation control technique applied on vehicular control, operating on time-varying tire-road adherence conditions and with noise perturbation. The method is based on an instantaneous estimation of the maximum available friction using the Dugoff tire model [3]. The novelty lies in the modeling of the road conditions, which are regarded as continuous variables. A "dynamic" Pacejka model is built around the classical Pacejka model, giving a more realistic approach of the tire-road interaction. The implemented estimation method has to adapt to all the parameter changes, to produce a reliable maximum friction on which the control will be applied. The complex modeling of the road conditions will be enlarged with a noise perturbation, to test our method's robustness, which represents the objective of the present work. At the same time, the vehicle is considered to be equipped with "in-wheel" electrical motors, which provide a quick transmission of the torque directly at the wheel.