System and method for monitoring vehicle tires

1. An autonomous vehicle (AV) system comprising:

a sensor configured to:

receive light reflected off of at least one object within a field of view (FOV) adjacent to a vehicle as reflected light, and

provide tire data indicative of a distance between the sensor and a surface of a tire of the vehicle extending into the FOV based on the reflected light; and

a controller configured to:

generate a message in response to a moment of a probability distribution of the tire data being less than a threshold, or tire data indicative of a rate of change of shadow length exceeding a threshold shadow length, and

provide the message to at least one of a user interface, a vehicle system, and an external computing device.

2. The AV system of claim 1 , wherein the moment of the probability distribution of the tire data comprises one of a standard deviation, a variance, a skew, and a kurtosis of the tire data.

3. The AV system of claim 1 , wherein the sensor is further configured to:

provide object data indicative of a distance between the sensor and an object external to the vehicle based on the reflected light; and

wherein the controller is further configured to control at least one of a propulsion system, a steering system, and a braking system based on the object data.

4. The AV system of claim 1 , wherein the sensor comprises a lidar sensor, and wherein the moment of the probability distribution is indicative of a difference between a first distance, between the lidar sensor and at least one tread segment of the surface of the tire, and a second distance between the lidar sensor and at least one groove of the surface of the tire, over a series of sequential sweeps across the surface of the tire.

5. The AV system of claim 1 , wherein the sensor comprises a lidar sensor, and wherein the surface of the tire comprises an inner region, a central region, and an outer region collectively extending across a width of the tire.

6. The AV system of claim 5 , wherein the controller is further configured to generate a signal indicative of a wear message in response to the moment of the probability distribution of the tire data being less than the threshold within the inner region, the central region, and the outer region of the surface.

7. The AV system of claim 5 , wherein the controller is further configured to generate a signal indicative of a misalignment message in response to the moment of the probability distribution of the tire data being less than the threshold within the inner region or the outer region of the surface.

8. The AV system of claim 5 , wherein the controller is further configured to:

generate a signal indicative of an overinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within the central region of the surface; and

generate a signal indicative of an underinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within both the inner region and the outer region of the surface.

9. The AV system of claim 1 , wherein the sensor comprises a camera, and wherein the camera is further configured to:

receive first light reflected off the surface of the tire arranged at a first steering angle;

receive second light reflected off of the surface of the tire arranged at a second steering angle that is different from the first steering angle; and

wherein the controller is further configured to:

determine a first shadow length of the tire based on the first light,

determine a second shadow length of the tire based on the second light,

generate a signal indicative of a tire wear message in response to a difference between the first shadow length and the second shadow length exceeding the threshold shadow length, and

provide the tire wear message to at least one of the user interface, the vehicle system, and the external computing device.

10. The AV system of claim 9 , further comprising:

a lidar sensor to provide object data indicative of a distance between the lidar sensor and an object external to the vehicle; and

a light source configured to project light to reflect off of the tire as the first light and the second light.

11. The AV system of claim 10 , wherein the controller is further configured to:

control at least one of a propulsion system, a steering system, and a braking system to locate the tire at a predetermined location relative to the light source based on the object data.

12. A method for monitoring tire conditions comprising:

receiving, by a sensor, light reflected off of at least one object within a field of view (FOV) adjacent to a vehicle as reflected light;

providing tire data indicative of a distance between the sensor and a surface of a tire of the vehicle extending into the FOV based on the reflected light;

generating a first tire message in response to a moment of a probability distribution of the tire data being less than a threshold;

generating a second tire message in response to tire data indicative of a rate of change of shadow length exceeding a threshold shadow length; and

providing the first tire message or the second tire message to at least one of a user interface, a vehicle system, and an external computing device.

13. The method of claim 12 further comprising:

providing external object data indicative of a distance between the sensor and an object external to the vehicle based on reflected light from the object external to the vehicle; and

controlling at least one of a propulsion system, a steering system, and a braking system based on the external object data.

14. The method of claim 12 , wherein the sensor is a lidar sensor, the method further comprising:

generating a signal indicative of a wear message in response to the moment of the probability distribution of the tire data being less than the threshold within an inner region, a central region, and an outer region of the surface of the tire.

15. The method of claim 12 , wherein the sensor is a lidar sensor, the method further comprising:

generating a signal indicative of a misalignment message in response to the moment of the probability distribution of the tire data being less than the threshold within an inner region or an outer region of the surface of the tire.

16. The method of claim 12 , wherein the sensor is a lidar sensor, the method further comprising:

generating a first signal indicative of an overinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within a central region of the surface; and

generating a second signal indicative of an underinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within both an inner region and an outer region of the surface.

17. The method of claim 12 , wherein the sensor is a camera, the method further comprising:

receiving first light reflected off the surface of the tire arranged at a first steering angle and to receive second light reflected off of the surface of the tire arranged at a second steering angle that is different from the first steering angle;

determining a first shadow length of the tire based on the first light;

determining a second shadow length of the tire based on the second light;

generating a signal indicative of a tire wear message in response to a difference between the first shadow length and the second shadow length, indicative of a rate of change, exceeding the threshold shadow length; and

providing the tire wear message to at least one of the user interface, the vehicle system, and the external computing device.

18. The method of claim 17 further comprising:

controlling the tire to rotate between the first steering angle and the second steering angle at a predetermined adjustment rate; and

controlling the camera to take pictures at a predetermined rate, the pictures including the first light and the second light.

19. A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device, cause the at least one computing device to perform operations comprising:

providing tire data indicative of a distance between a sensor and a surface of a tire of a vehicle extending into a field of view (FOV) adjacent to the vehicle;

generating a message in response to a moment of a probability distribution of the tire data being less than a threshold, or a difference between a first shadow length and a second shadow length of the tire data exceeding a threshold shadow length; and

providing the message to at least one of a user interface, a vehicle system, and an external computing device.

20. The non-transitory computer-readable medium of claim 19 , wherein the operations further comprise:

generating a first signal indicative of a wear message in response to the moment of the probability distribution of the tire data being less than the threshold within an inner region, a central region, and an outer region of the surface of the tire;

generating a second signal indicative of a misalignment message in response to the moment of the probability distribution of the tire data being less than the threshold within the inner region or the outer region of the surface;

generating a third signal indicative of an overinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within the central region of the surface; and

generating a fourth signal indicative of an underinflation message in response to the moment of the probability distribution of the tire data being less than the threshold within both the inner region and the outer region of the surface.