A system to perceive the structure of a tire chamber is presented herein. The system includes: a memory, controller, wheel, vehicle tire, and sensor. The memory includes executable instructions. The controller is in turn configured to read and execute the executable instructions. The wheel is adapted to connect to a vehicle axle. The tire is connected to the wheel. The sensor is located within the interior chamber of the tire. The sensor is moreover configured to measure a selected portion of the tire chamber. The sensor is further configured to communicate the measurement to the controller. The executable instructions enable the controller to: operate the sensor so as to make measurements of the tire chamber; retrieve (from the sensor) measurement information of the tire chamber; and generate tire-chamber-perception information from the measurement information of the tire chamber.