To evaluate rolling friction coefficient, 4 wheels (discs) type test were conducted. Measured data of rolling friction were compared with the estimated data based on the elastic deformation profile of the Hertzian contact profile.(1) The static rolling friction coefficient can be estimated by the method of moment balance of contact width and the radius of a wheel at the contact end Estimation error of friction coefficient is less than 0.01.(2) The dynamic rolling friction coefficient can be estimated by the work balance of the lift (depth of elastic deformation) and the shift of wheel center. Estimation error of friction coefficient is less than 0.001.