Estimating tread depth remaining on vehicle-mounted tire by estimating thermal mass of tire based on detected changes in detected operational data and tire condition data over time

Systems and methods are disclosed herein for estimating tread depth remaining on a tire mounted on a vehicle. One or more sensors are provided for detecting operational data associated with the vehicle and tire measurements corresponding to ambient temperature and contained air temperature, which may be directly measured or derived from measured tire pressure. A thermal mass of the tire is estimated based on at least the detected operational data and tire conditions, and a current tread depth of the tire is estimated based at least in part on the respective estimated thermal mass. In certain embodiments, the thermal mass estimation may be performed using heat transfer models limited to measurements captured during a cooling down phase of the tire while the vehicle is not moving, thereby simplifying calculation of a corresponding time constant.