The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are used in a wide variety of advanced driver assist systems. Existing methods for producing rack force estimates are either susceptible to steering system disturbances or are only applicable for driving on roads with low frequency profile variations such as road slopes. In this paper we present a model that can produce disturbance-free rack force estimates for driving on roads with high frequency profile variations, such as road cleats and potholes, in addition to roads with low frequency profile variations. We validate the estimation accuracy of our model by presenting results from two driving experiments that were performed on test tracks with known low and high frequency road profile variations. We further demonstrate the merits of our model relative to the existing models by comparing the various estimates to rack force measurements obtained using a sensor mounted in the test vehicle.