Vehicle dynamic load estimation system and method

A dynamic load estimation system and method for estimating a vehicle load is disclosed. The system comprises at least one tire (12) supporting a vehicle (10); acceleration sensor means for determining a vehicle lateral acceleration and a vehicle longitudinal acceleration; roll angle calculating means for determining a vehicle roll angle; roll rate calculating means for determining a vehicle roll rate; static normal load calculation means for calculating a measured static normal load; and dynamic tire load estimation means for calculating an estimated dynamic load on the tire from the measured static normal load, the vehicle roll angle, the vehicle roll rate, the vehicle lateral acceleration and the vehicle longitudinal acceleration.