Method for estimating the pressure of the tyres of a vehicle

A method for estimating the pressure of tyres of a vehicle, the method comprising:

• for each tyre, acquiring signals or data indicative of an angular velocity of a wheel with which said tyre is associated;
• selecting a subset of acquired signals or data, wherein said subset includes signals or data acquired in a rectilinear vehicle travel condition;
• determining a pressure relationship between tyres of each pair of wheels belonging to a same axle of the vehicle by comparing between a value of a quantity correlated to tyre pressure for a first tyre and the value of said quantity correlated to tyre pressure for a second tyre, wherein a ratio between said quantity correlated to the tyre pressure of the first tyre and said quantity correlated to the tyre pressure of the second tyre is calculated based on the signals or data indicative of the angular velocity of the wheels with which said first tyre and said second tyre are associated;
• and
• determining a pressure relationship between pairs of tyres of a pair of axles of the vehicle by comparing between an average value of said quantity correlated to tyre pressure of the first tyre and the second tyre for a first pair of tyres belonging to a first axle of the vehicle and the average value of said quantity correlated to the tyre pressure of the first tyre and the second tyre for a second pair of tyres belonging to a second axle of the vehicle, wherein a ratio between the average value of said quantity correlated to the tyre pressure of the first tyre and the second tyre for said first pair of tyres belonging to the first axle of the vehicle and the average value of said quantity correlated to the tyre pressure of the first tyre and the second tyre for said second pair of tyres belonging to the second axle of the vehicle is calculated based on signals or data indicative of an average angular velocity of the wheels of the axles of the vehicle with which said pairs of tyres are associated and based on a quantity indicative of slippage of the pair of tyres of driving wheels on the ground, and
• wherein said quantity correlated to the tyre pressure is a rolling radius of the wheel on which the tyre is mounted, calculated from an acquired angular velocity of the wheel.