Method and apparatus for determining brake wear at a vehicle

An apparatus for determining brake wear of a vehicle, the apparatus including a memory and a processor being configured to execute program code to perform operations comprising:

• determining, for each of one or more time periods during which a brake of the vehicle is actuated, a speed of the vehicle at a start time of the respective time period and a speed change parameter indicative of a change of speed of the vehicle during the respective time period;
• determining, for each of the one or more time periods during which a brake of the vehicle is actuated, whether the vehicle is traveling on a slope;
• determining, for each of the one or more first time periods during which the vehicle is not traveling on a slope, a respective first brake contribution wear parameter indicative of brake wear, without consideration of the slope, of one or more brakes of the vehicle during the respective first time period based on the speed of the vehicle at the start time of the respective first time period, the speed change parameter indicative of the change of speed of the vehicle during the respective first time period, and the mass or weight of the vehicle;
• determining for each of one or more second time periods during which the vehicle is traveling on a slope, a slope parameter indicative of a slope inclination angle of the slope on which the vehicle is traveling;
• determining a respective second brake wear contribution parameter indicative of brake wear of one or more brakes of the vehicle during the respective second time period based on the speed of the vehicle at the start time of the respective second time period, the mass or weight of the vehicle, and the respective determined slope parameter indicative of the slope inclination angle;
• and
• determining a respective brake wear parameter based on the first and second brake wear contribution parameters, based on a linear combination or sum of the first and second brake wear contribution parameters.