Tire wear state estimation system

A tire wear state estimation system comprising:

• at least one tire supporting a vehicle;
• a sensor mounted on the at least one tire, the tire mounted sensor measuring tire parameters;
• at least one sensor mounted on the vehicle, the at least one vehicle mounted sensor measuring vehicle parameters;
• a plurality of sub-models, wherein each sub-model receives selected tire parameters from the tire mounted sensor and selected vehicle parameters from the at least one vehicle mounted sensor;
• a plurality of sub-model wear state estimates, each one of the sub-model wear state estimates being generated by a respective one of the plurality of sub-models;
• a model reliability being determined for each one of the plurality of sub-models;
• and
• a supervisory model, the supervisory model receiving as inputs the plurality of sub-model wear state estimates and the model reliability for each one of the plurality of sub-models, wherein the supervisory model generates a combined wear state estimate for the at least one tire.