Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
  • G01M17/00—Testing of vehicles
  • G01M17/007—Wheeled or endless-tracked vehicles
  • G01M17/02—Tyres

Definitions

• the present invention relates to the evaluation of the adhesion of a vehicle on a roadway. It relates more particularly to the determination of maximum adhesion characteristics between the roadway and a vehicle wheel, equipped with an elastic bandage such as an inflated tire or a non-pneumatic elastic bandage which rolls on the roadway.
• the present invention also relates to the various electronic assistance devices used for example for the anti-lock brake system of a vehicle or the anti-skid regulation of the driving wheels, the control of the trajectory of a vehicle or for other forms of control or surveillance such as tire pressure. It is known that such devices reconstruct by calculation the coefficient of adhesion ( ⁇ ) of the tires on the road, without having made any measurement of the coefficient of adhesion or the forces developed in the contact of the tires on the ground. Even if these devices provide outstanding assistance and extra safety, their operation would greatly benefit from using a measured value, or estimated from actual measurements made on the tire in operation, mainly a value representative of the maximum coefficient of adhesion available in real time.
• the patent application FR2835919 proposes to obtain an estimate of the maximum coefficient of adhesion from flank measurements. This approach is therefore indirect since the phenomenon of adhesion occurs in the ground contact footprint.
• the patent application WO 02/32733 A1 proposes to calculate micro-slip of the tire in the contact area from the speed. This approach is even more indirect since we are more in the tire itself and we do not see what gain in precision could be obtained compared to the means currently in use.
• US Patent No. 5864056 makes measurements in a tread element by means of strain gauges but does not explain how to process the signals thus read.
• the patent application EP 0937615 A2 proposes to carry out deformation measurements in elements of the tread and illustrates the shape of the curves obtained in the case of a dry soil and moist soil.
• the slope reduction of the S-signal measured in the tread element in particular the appearance of a horizontal bearing, would be linked to a decrease in adhesion.
• this is only visible when the adhesion is already very low, or even zero, and can therefore not provide a sufficiently preventive warning.
• the objective of the present invention is to provide an evaluation of the maximum available grip of a vehicle that rolls on a roadway, more specifically its non-pneumatic wheels or tires or elastic tires, considered terms. as equivalents in the context of the present invention.
• the various electronic assistance devices mentioned above would therefore benefitfully use "real-time" indications on the conditions of adhesion may affect the behavior of a vehicle, especially in the case where it undergoes a acceleration by motor effort or by force exertion or by change of direction of displacement.
• the invention aims to provide a method of achieving this effectively.
• the invention proposes to estimate the maximum adhesion coefficient ⁇ of a tire from the stresses measured in the sculpture, for example in a loaf located substantially in the center of the tread or from a another measurement giving the image of the constraints, that is to say that can be correlated with constraints such as deformation, which in the context of the invention should be considered identical.
• the invention proposes a system for estimating the maximum adhesion coefficient ⁇ in the contact area of a tire on a road surface, comprising a tire whose tread is equipped with at least one tire sensor.
• tread making it possible to measure at least the tangential stresses experienced locally by the tread when the tire is rolling on the ground, comprising a signal processing unit, means of transmission to the processing unit of at least one signal delivered by said tread sensor, wherein the processing unit comprises means for locating in the signal the values corresponding to the passage of the sensor in the contact area of the tire on the ground, means for calculating a momentary value of a preselected criterion according to a series of values chosen in those relating to a passage of the sensor in the contact area, means for extracting an estimate of the coefficient of adhesion max. imal ⁇ using said momentary value.
• the invention proposes the means of finding the information "maximum adherence coefficient ⁇ " from an acquisition of measurements made during the passage in the ground contact area of a fixed point. of the tread.
• This acquisition of measurements is used to calculate a value conventionally called “momentary value” because it does not correspond to a particular point or moment but to a calculation reflecting the situation prevailing in all or part of the area of contact.
• This calculation uses a mathematical function called “Criterion”.
• Several "Criteria” can be exploited. It is preselected one or more once and for all according to a particular application (for example, a particular tire on a particular vehicle). Then said one or more momentary values are injected into a mathematical function (which itself may be the image of the preselected Criterion (s) or may be an appropriate correlation) to obtain an estimate of the maximum adhesion coefficient ⁇ .
• FIG. 1 illustrates the implementation of a sensor in the tread of a tire
• FIG. 2 is a block diagram illustrating the signal processing proposed by the invention
• FIG. 3 gives stress simulation results ⁇ (x) in the longitudinal direction
• FIGS. 4A to 4F illustrate the influence of different parameters for a particular criterion
• FIGS. 5A to 5D illustrate the correlation between the value of a first criterion called "standard deviation of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 6A to 6D illustrate the correlation between the value of a first criterion called "energy of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 7A to TD illustrate the correlation between the value of a second criterion called "maximum value of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ ;
• FIGS. 8A to 8D illustrate the correlation between the value of a third criterion called "minimum value of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 9A to 9D illustrate the correlation between the value of a fourth criterion called "order 1 polynomial of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 10A to 10D illustrate the correlation between the value of a fifth criterion called "order 2 polynomial of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. HA to HD illustrate the correlation between the value of a sixth criterion called "3-fold polynomial of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 12A to 12D illustrate the correlation between the value of a seventh criterion called "amplitude of the first harmonic of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 13A to 13D illustrate the correlation between the value of an eighth criterion called "amplitude of the second harmonic of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 14A to 14D illustrate the correlation between the value of a ninth criterion called "average value of the derivative of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 15A to 15D illustrate the correlation between the value of a tenth criterion called "standard deviation of the derivative of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 16A to 16D illustrate the correlation between the value of an eleventh criterion called "energy of the derivative of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 17A to 17D illustrate the correlation between the value of a twelfth criterion called "maximum value of the derivative of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 18A to 18D illustrate the correlation between the value of a thirteenth criterion called "second-order polynomial of the derivative of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ ;
• FIGS. 19A and 19D illustrate a non-satisfying criterion
• FIG. 20 is a block diagram illustrating a particular implementation of the invention.
• FIG. 1 there is shown schematically a tread (of a tire, a non-pneumatic elastic tire, a caterpillar, ...) having a block 1 equipped with a sensor 10 implanted at the base of the block 1 and over the reinforcing plies 2.
• a sensor 10 implanted at the base of the block 1 and over the reinforcing plies 2.
• a second block “2" performs different signal processing which will be explained in detail below, on the basis of signals delivered by the block “measurements”, and possibly on the basis of other signals Sl, S2, S3 ... Sn giving information on the load of the tire, its inflation pressure, the engine or braking torque transmitted by the tire, the drift angle or the lateral force Fy, the speed of rotation, using the "Criteria” and the details of which will be given below.
• the block “2" is a signal processing unit that can be installed for example in the vehicle while the sensor 10 and possibly other sensors used for one or the other signals Sl to Sn are implanted in the tire.
• the system according to the invention therefore comprises means of communication between tire and vehicle of which the person skilled in the art knows the different possible forms. As an illustration, let us simply indicate that the patent application EP 1350640 illustrates an important element of these communication means, namely an antenna to be implanted in a tire.
• the block “3" allows to determine an estimate of the maximum coefficient of adhesion ⁇ based on one or a few momentary values.
• the system according to the invention comprises a stage (block 3) making it possible to make a correlation between the value or values of one or more criteria and the value of the coefficienj: maximum adherence ⁇ , by means of stored curves, established experimentally or by means of mathematical models (example: linear model, polynomial or network of neurons) whose coefficients have been adjusted experimentally.
• FIG. 3 illustrates shear stress ⁇ (x) simulation results in the longitudinal direction as a function of the angular position of the sensor in a conventional reference by which the sensor is at 0 ° when it is quite the opposite of the contact area, and crosses the elevated vertical perpendicular to the ground through the axis of rotation of the tire. Simulation tools using finite element calculations are used, a domain well known to those skilled in the art.
• Figure 3 gives the shape of the X constraints corresponding to the measuring point, according to the ⁇ whose values are shown in Figure 3, with ⁇ the azimuth in degrees (180 ° is the longitudinal center of the ground contact area - still called the footprint -) and ⁇ x the X stress in daN / mm 2 and ⁇ the level of adhesion.
• FIG. 3A illustrates shear stress ⁇ (x) measurement readings, established under the same conditions, except for the coefficient of adhesion which, for the actual tracks used, varies from 0.40 to 1.20 as indicated in FIG. frame in the upper right corner of the figure.
• the figures on the x-axis can be translated directly into azimuth, with a multiplying coefficient. We see that the different curves that correspond to different soils have a strong look
• FIGS. 4A to 4F illustrate, for a Criterion called "order 1 polynomial of ⁇ (x)", the influence respectively of the transmitted torque parameters (significant influence, FIG 4A), drift angle (or, what would be equivalent, force Fy, - significant influence, Fig. 4B-), tire camber angle (negligible influence, Fig. 4C), tire load (Fig. 4D), tire pressure (Fig. 4E, in fact, pressure and load are two expressions of the same physical phenomenon, the influence of which is significant), tire speed (Fig. 4F, weak influence in the speed range tested here),.
• FIGS. 4A to 4F the measurements corresponding to these FIGS. 4A to 4F were made on a test machine called a ground plane rolling machine on which the ground of rolling consists of a steel strip held by two rollers in order to be horizontally scrollable while having a flat contact surface for the tire, the load generated by the tire on the steel strip being supported by a tire mat water under pressure.
• This running mode generates a local phenomenon of flattening the tread of the envelope substantially different from that observed in simulation or on a real floor. This explains why, in FIGS. 4A to 4F, the appearance of the correlation between our criterion called "first order polynomial of ⁇ (x)" and the adhesion differs slightly from that represented in FIGS.
• AdC means "Contact Area”. Both for the indicator proposed above and for all the following, in fact we can proceed to the integration in all or part of the contact area.
• the inflation pressure can very easily be obtained by a specific sensor or obtained from the load (which c3 is a good indicator) and the length of the contact area, which is easily detected on inspection signals ⁇ x and ⁇ y of the minimum / maximum threshold and the signal Oz when this signal is greater than a threshold.
• the running speed is given by ABS sensors or on the basis of the sensor 10 which makes it possible to count the number of wheel turns, and the knowledge of the perimeter development of the tire and the time taken to make a turn.
• the camber could be provided by a specific sensor or by an ad hoc treatment or we can still use other sensors installed in the tire (see example how one can obtain (see references to patent applications WO2003014687A1 and WO2003014693A1 above).
• Figures 5A to 5D illustrate the correlation between the value of a first criterion called "standard deviation of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• the standard deviations of the values acquired in the contact area are calculated, ie the zone between the two extrema (of the signal X) (minimum then maximum, or maximum then minimum according to the reference):
• the notation "AdC” means "Contact Area".
• the means for locating in the signal the values corresponding to the passage of the sensor in the contact area of the tire on the ground comprise the detection of the maximum and the minimum of ⁇ (x ).
• the values are taken between said maximum and said minimum.
• Figures 6A to 6D illustrate the correlation between the value of a first criterion called "energy of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ . The energies in play in the contact area are calculated. An energy is the sum of the squares of the values. From where :
• Figures 7A to 7D illustrate the correlation between the value of a second criterion called "maximum value of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• Figures 8A to 8D illustrate the correlation between the value of a third criterion called "minimum value of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• FIGS. 9A to 10D illustrate the correlation between the value of a fourth criterion called "n-order polynomial of ⁇ (x)" and the value of the maximum adhesion coefficient ⁇ .
• FIGS. 9A to 9D A first example of this last criterion is illustrated in FIGS. 9A to 9D.
• a straight line is set on the second half of the contact area.
• FIGS. 10A to 10D illustrate the correlation between the value of the criterion (fifth criterion) called "2-fold polynomial of ⁇ (x)" and the value of the coefficient d. maximum adhesion ⁇ .
• a second order polynomial is set on the second half of the contact area.
• ⁇ (x) a - x 2 + b - x + c, adjusted on all or part of the contact area.
• Figures 1 IA to 1 ID illustrate the correlation between the value of a sixth criterion called "polynomial of order 3 of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• a polynomial of order 3 is adjusted on the contact area.
• ⁇ (x) a -x 3 + b - x 2 + c- x + d, adjusted over all or part of the contact area.
• Figures 12A to 12D illustrate the correlation between the value of a seventh criterion called "first harmonic of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• Fourier series decomposition of the signal ⁇ (x) represents the evolution of the tangential stresses measured in the longitudinal direction, the values being taken in at least part of the contact area, the series decomposition operation of Fourier being well known to those skilled in the art, and the amplitude of the first harmonic (coefficient a 1) is taken as a criterion,
• Figures 13A to 13D illustrate the correlation between the value of an eighth criterion called "second harmonic of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• Fourier series decomposition of the signal ⁇ (x) represents the evolution of the tangential stresses measured in the longitudinal direction, the values being taken in at least part of the contact area, and the criterion is taken as the criterion.
• amplitude of the second harmonic coefficient 21 2
• Figures 14A to 14D illustrate the correlation between the value of a ninth criterion called "average value of the derivative of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• the average value of the X stress derivative is calculated on the contact area:
• Figures 15A to 15D illustrate the correlation between the value of a tenth criterion called "standard deviation of the derivative of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• the standard deviation on the contact area is calculated:
• Figures 16A to 16D illustrate the correlation between the value of an eleventh criterion called "energy of the derivative of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• the energy on the contact area is calculated:
• Figures 17A to 17D illustrate the correlation between the value of a twelfth criterion called "maximum value of the derivative of ⁇ (x)" and the value of the maximum coefficient of adhesion ⁇ .
• maximum value if the convexity is turned upwards
• minimum value if the convexity is turned downwards
• FIGS. 18A to 18D illustrate the correlation between the value of a thirteenth criterion called "second-order polynomial of the derivative of ⁇ (x)” and the value of the maximum adhesion coefficient ⁇ .
• a polynomial of order 2 we fit a polynomial of order 2.
• Figures 19A and 19D illustrate an unsatisfactory criterion. This is the average value of the signal ⁇ (x), calculated over the entire contact area. There are several values of ⁇ for the same value of the criterion, resulting in impossible discrimination.
• the means for extracting an estimate of the maximum adhesion coefficient ⁇ of the system according to the invention comprise the selection of a predetermined characteristic curve of evolution of the maximum adhesion coefficient ⁇ as a function of the values of said preselected criterion and identifying on this characteristic curve an estimate of the maximum adhesion coefficient ⁇ from said momentary value.
• the means for extracting an estimate of the maximum adhesion coefficient ⁇ of the system according to the invention comprise means for calculating an estimate of the maximum adhesion coefficient ⁇ from said momentary value and from mathematical equations whose parameters have been adjusted.
• FIG. 20 shows an exemplary embodiment of block 3.
• C ⁇ i, C ⁇ n represent one or more criteria containing the adhesion information, chosen for example from those presented above.
• Ip x is an indicator on the X force applied to the wheel center; h there is an indicator on Y force applied to the wheel center; I F2 is an indicator on the Z force applied to the wheel center; Ip is an indicator of the inflation pressure of the tire; I ⁇ is an indicator of the camber applied to the wheel center; Iv is an indicator of the driving speed; Iu is an indicator of tire wear.
• a unit F has a function taking into account all or some of the Indicator parameters, as well as one or more criteria to deduce the maximum adhesion coefficient ⁇ .
• This function comprises means for selecting, according to the chosen indicators, a predetermined characteristic curve of evolution of the maximum adhesion coefficient ⁇ as a function of the values of said preselected "adhesion" criterion, and this function comprises means for deriving from said momentary value an estimate of the maximum adhesion coefficient ⁇ (see explanation of each criterion above).
• this function comprises for example mathematical models (for example, linear model, polynomial or neural network) whose coefficients have been adjusted experimentally or theoretically.

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• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Tires In General (AREA)
• Force Measurement Appropriate To Specific Purposes (AREA)

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• 2005
  • 2005-06-27 EP EP05760878A patent/EP1763663A1/fr not_active Withdrawn
  • 2005-06-27 JP JP2007518596A patent/JP4787827B2/ja not_active Expired - Fee Related
  • 2005-06-27 CN CN2005800218871A patent/CN1977156B/zh not_active Expired - Fee Related
  • 2005-06-27 US US11/631,267 patent/US7827858B2/en not_active Expired - Fee Related
  • 2005-06-27 WO PCT/EP2005/052987 patent/WO2006010680A1/fr not_active Application Discontinuation

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