REDUNDANT VEHICLE CONTROL SYSTEMS BASED ON TYRE SENSORS - LOAD ESTIMATION

A control system for controlling one or more torque generating devices (320, 340) on a heavy-duty vehicle (100), the system (300, 500) comprising a primary sensor system (380) with a primary sensor control unit (220, 385) configured to interpret an output signal (385) of the primary sensor system (380), wherein the primary sensor control unit (220, 385) is configured to determine a first load value associated with the heavy-duty vehicle (100), and one or more tyre sensor devices (210) mounted on one or more tyres (120, 140, 160, 180) of the heavy-duty vehicle (100), and a tyre sensor control unit (350) configured to interpret an output signal (355) of the one or more tyre sensor devices (210), wherein the tyre sensor control unit (220, 385) is configured to determine a second load value associated with the heavy-duty vehicle (100), wherein the control system is arranged to base control of the heavy-duty vehicle (100) on the second load value in case of malfunction in the primary sensor system (380) and/or in the primary sensor control unit (220, 385), and on the first load value otherwise.