Recently electric vehicles are taken up as successor to conventional gasoline engine vehicles and many researchers have focused on motion control of electric vehicle. This paper describes a strategy to assist the vehicle driver using an accelerator pedal and a steering wheel is considered. In particular, the accelerator pedal is called haptic pedal and the combination control of steer-by-wire and haptic pedal is developed as an interface between a vehicle driver and driving environment. In the proposed approach, the observers which estimate the maximum road friction coefficient is designed and tire-road friction force are applied to achieve the assisted control. Finally, the stabilization control of the vehicle is performed as the system including the vehicle driver. Several numerical results are shown to verify the effect of the proposed method.