One of the most important issues in a design of control system of a lunar/planetary rover is an online estimation that identifies key terrain parameters and terrain characteristics. These terrain features, parameters and characteristics, are used for accurate trafficability prediction or in a traction control algorithm. This study aims at proposing terrain features estimation methods for a rover motion control. In this paper, two estimation methods are proposed. The first is terrain key parameter estimation and the second is estimation of terrain characteristics such as wheel-terrain contact angles. These terrain features are used in the control system to prevent the wheels from spinning or penetrating into the soil in the future. The numerical simulation results show the availability of the proposed estimation methods.