Tire load estimation system and method using road profile adaptive filtering

A dynamic load estimation system and method for estimating a vehicle load is disclosed. The system comprises at least one tire (12) supporting a vehicle (10); tire sensor means (14) mounted to the one tire (12), the sensor means (14) being operable to measure a tire deformation of the one tire (12) and generate a load-indicative raw signal conveying measured deformation data; load estimation means for determining an unfiltered load estimation on the tire from the load-indicative raw signal; road roughness estimation means for determining a road roughness estimation; filtering means for filtering the unfiltered load estimation by the road roughness estimation; and load estimation means for determining a filtered load estimation on the one tire from the filtering means.