Abstract: A method for early detection and prognosis of wheel bearing faults in a motor vehicle includes one or more of the following: obtaining a wheel speed of a wheel with a sensor in combination with an encoder ring, the sensor generating a signal, the wheel including a bearing that enables rotational movement of the wheel; pre-processing the signal from the sensor; and post- processing an output of the pre-processed signal to generate a bearing fault signature of the bearing.

Abstract: A system includes a brake torque request module, a brake control module, and a diagnostic module. The brake torque request module is configured to generate a brake torque request based on a brake pedal position during a braking event. The brake control module is configured to apply friction brakes on a wheelset of a vehicle to satisfy the brake torque request during the braking event. The wheelset includes less than all wheels of the vehicle. The diagnostic module is configured to detect a fault in a brake rotor on a wheel in the wheelset based on vehicle operating conditions measured during the braking event.