FR3081775A1 - PAIRING METHOD OF A MEASUREMENT MODULE MOUNTED IN A MOTOR VEHICLE WHEEL - Google Patents

Abstract

The present invention relates to a method of pairing a measurement module with a wheel of a motor vehicle. The method is implemented by the computer and comprises, for each measurement signal received, the steps of determining (E2) the power of said measurement signal, of determining (E3) the angular orientation of each wheel, of identification (E4) in a plurality of tables of a row and column torque comprising the determined power and the angular orientation of each wheel and the incrementation (E5) of a counter associated with the identified torque, the pairing ( E6) being performed when the counter of at least one torque exceeds a minimum threshold.

Description

The present invention relates to the automotive field and relates more particularly to a method and a computer for pairing a measurement module with the wheel in which it is mounted.

Nowadays, it is known to mount in each wheel of a motor vehicle a measurement module making it possible to control certain parameters of said wheel. Such a measurement module is commonly referred to as a WFC module for "Wheel Fitted Component", meaning "Component mounted on a wheel". Such a measurement module, the data of which is transmitted to a computer on board the vehicle, makes it possible for example to measure the pressure of the tire as well as its temperature.

A motor vehicle comprising a plurality of wheels, it is necessary for the computer to identify the measurement module of each wheel in order to allow it to determine the wheel to which the data correspond and thus be able to use them. It is therefore appropriate for each measurement module to locate the wheel in which it is mounted. Such a location and association method is known to the skilled person under the name of pairing.

Document US 7,230,525 discloses the pairing of the measurement modules with their respective wheels based on the correlation, by the computer, between the power of the signals received from the measurement modules and the angular orientation of each wheel, the signals being sent by burst and periodically, for example a burst of 10 frames every 15 or 20 seconds.

Indeed, during the rotation of a wheel, depending on the angular position of the measurement module, the power of a signal received by the computer will be more or less high. This power will be all the stronger since the measurement module will be close to the computer and that there is no obstacle between them. On the other hand, if the measurement module is located far from the computer or if there is an obstacle between the two, the strength of the received signal will be weaker. In practice, this method requires receiving a very large number of signals from each measurement module, typically greater than 400, which requires significant software resources, makes the method particularly time-consuming and increases the electrical energy consumption of the measurement modules, the service life is then limited.

In addition, under certain conditions, the signals received from the vehicle measurement modules may be disturbed, for example by a telephone, and may not be received by the vehicle, preventing the pairing of the measurement module.

Finally, the reception of signals from measurement modules mounted in one or more other vehicles can cause pairing errors.

There is therefore a need for a solution which makes it possible to remedy these drawbacks at least in part, and in particular a computer for a motor vehicle enabling a measurement module to be associated with the wheel in which it is mounted in a rapid, reliable and effective.

The present invention aims to provide a simple, reliable and effective solution to solve at least some of these drawbacks.

To this end, the subject of the invention is a method of pairing a measurement module with a wheel of a motor vehicle comprising a plurality of wheels, said method being implemented by at least one computer on board said vehicle. , said measurement module being mounted in one of the wheels of the vehicle and being capable of transmitting, to the computer, at least one measurement signal in the form of at least one ultra high frequency message received by the computer in the form of a frame of which the power received by the computer varies, over at least one interval of a range of powers divided into K consecutive intervals of the same width, as a function of the angular position of the measurement module, the vehicle comprising a plurality of wheel angular orientation sensors, each wheel angular orientation sensor, mounted opposite a wheel, being capable of delivering a gold signal to the computer orientation, representative of the angular orientation of said wheel, varying over a range of angular orientations divided into M consecutive intervals of the same width. Said pairing process includes:

• for each frame of a measurement signal received by the computer, the steps of:

- determination of at least one value of the power of said received measurement signal,

- determination, at the time of receipt of the measurement signal, of the angular orientation of each wheel from the orientation signal received from each angular wheel orientation sensor,

- for each determined power value, identification in a plurality of predetermined tables, each divided into K rows and M columns respectively associating the power of the measurement signal with the angular orientation of each of the wheels, of at least one pair of rows and column by table, each pair of row and column respectively comprising said determined power value and the value of the angular orientation determined for each of the wheels,

- each row and column pair being associated with a counter, incrementing the counter associated with the identified pair each time said pair is identified, and • a final step of pairing the measurement module with one of the vehicle wheels when for a table the counter of at least a couple exceeds a minimum threshold.

By the term "power" is meant the power received from the measurement signal by the computer. Indeed, the latter varies, while the power emitted from the measurement signal by the measurement module is constant.

The method according to the invention allows the computer on board the vehicle to easily and quickly pair each measurement module with each of the vehicle wheels. The process being based on statistical observations, it makes it possible to correlate very quickly between each measurement module and the wheel in which it is mounted. In addition, the method according to the invention can be used with measurement modules without an acceleration sensor, which are less expensive than measurement modules with such a sensor. Advantageously, each frame of the measurement signal comprising an identifier of the measurement module, said identifier of the measurement module is paired with a wheel of the vehicle during the final pairing step.

Preferably, the counter being incremented by 1, said minimum threshold is greater than or equal to 3. This makes it possible to distinguish the couples identified few times, which may in particular be due to erroneous measurements or to approximations and tolerances when processing the data.

Advantageously, the final pairing step comprises a substep for comparing the sum of the counters of a table with at least one statistical threshold. This makes it possible to take into account both the counters whose value is high and the number of couples above the minimum threshold. Preferably, the statistical threshold is calculated from the average and the standard deviation of the sums of the counters of each of the plurality of tables.

Preferably, the method comprises a preliminary step of learning the membership of the measurement module in the vehicle when the counter of at least one torque exceeds a learning threshold, preferably said minimum threshold. This makes it possible to distinguish the measurement modules of the vehicle from the measurement modules of other vehicles temporarily located at a distance close enough for the emissions from these measurement modules to be received by the vehicle computer.

Preferably, the vehicle comprising four measurement modules, the first four measurement modules of which at least one counter exceeds the learning threshold are identified as being the four measurement modules of the vehicle. This allows the measurement modules of the vehicle to be identified quickly and easily.

Advantageously, at least one measurement module, previously paired with one of the wheels of the vehicle, is disassociated from the comparison of the sum of the counters of a table with at least one guard threshold. This makes it possible to correct an erroneous identification.

Preferably, the guard threshold is calculated from the average and the standard deviation of the sums of the counters of each of the plurality of tables.

The invention also relates to a computer for a motor vehicle, said vehicle comprising a plurality of wheels, each wheel comprising a measurement module, each measurement module being capable of transmitting, to said computer, at least one measurement signal having under the form of at least one ultra high frequency message received by the computer in the form of a frame whose power received by the computer varies, over at least one interval of a range of powers divided into K consecutive intervals of the same width , as a function of the angular position of the measurement module, the vehicle comprising a plurality of angular wheel orientation sensors, each angular wheel orientation sensor, mounted facing a wheel, being capable of delivering to the computer, an orientation signal representative of the angular orientation of said wheel, varying over a range of angular orientations divided into M intervals the consecutive ones of the same width, said computer being configured, for each measurement module, for each frame of a received measurement signal: determining at least one value of the power of said received measurement signal, determining, at the time of reception of the frame of the measurement signal, the angular orientation of each wheel from the orientation signal received from each wheel angular orientation sensor, for each determined power value, identify in a plurality of predetermined tables, each divided in K rows and M columns respectively associating the power of the measurement signal as a function of the angular orientation of each of the wheels, a pair of row and column per table, each pair of row and column respectively comprising said determined power value and the value of the angular orientation determined for each of the wheels, each couple being associated with a counter, increment the c counter associated with the row and column torque identified when said torque is identified, detect when the counter of at least one torque exceeds a minimum threshold, pair the measurement module with one of the wheels when the counter of at least one torque exceeds the minimum threshold.

By the term "power" is meant the power received from the measurement signal by the computer. Indeed, the latter varies, while the power emitted from the measurement signal by the measurement module is constant.

Advantageously, each frame of the measurement signal comprising an identifier of the measurement module, the measurement module is paired with a wheel of the vehicle via its identifier.

The invention further relates to a motor vehicle comprising a computer as described above, a plurality of wheels, each wheel comprising a measurement module, each measurement module being capable of transmitting, to said computer, at least one measurement signal. in the form of at least one ultra high frequency message received by the computer in the form of a frame whose power received by the computer varies, over at least one interval of a range of powers divided into K consecutive intervals of the same width, depending on the position of the measurement module relative to the computer, and a plurality of wheel angular orientation sensors, each wheel angular orientation sensor, mounted facing a wheel, being capable of deliver to the computer, an orientation signal, representative of the angular orientation of said wheel, varying over a range of angular orientations divided into M inte consecutive widths of the same width.

Other characteristics and advantages of the invention will become apparent from the following description given with reference to the appended figures given by way of nonlimiting examples and in which identical references are given to similar objects.

- Figure 1 schematically shows an example of positioning of a measurement module and an anti-lock module of a motor vehicle wheel with respect to a computer, on board said vehicle (partially shown), allowing pairing of said measurement module with said wheel.

- Figure 2 shows schematically the communication links allowing the sending of their respective signals by four measurement modules and four anti-lock modules to the computer of the motor vehicle.

- Figure 3 schematically shows the steps of a pairing process according to an embodiment of the invention.

- Figures 4 and 5 schematically illustrate tables for associating the power of a signal received by the computer of a measurement module and the angular orientation of a wheel.

- Figure 6 schematically illustrates the evolution curves of table counters.

The pairing method according to the invention is presented mainly for implementation in a motor vehicle. However, any implementation in a different context, in particular in any type of vehicle comprising a plurality of wheels and a plurality of measurement modules to be paired (i.e. associated) is also covered by the invention.

With reference to FIG. 1, a motor vehicle 1 comprises an on-board computer 10, a plurality of wheels 5 (only one of which is shown in this partial view), each comprising a measurement module 20, capable of measuring the characteristics of the wheel 5, and a plurality of angular orientation sensors. The angular orientation sensors can advantageously be included in the anti-lock modules 30, each of the anti-lock modules 30 being mounted facing a wheel 5. It will be noted that the invention can also be implemented in the case where some of the wheels 5 do not include a measurement module 20, provided that at least one wheel 5 has them in order to be able to make a choice of pairing, in particular relative to measurement modules of other vehicles.

In this example, with reference to FIG. 2, the motor vehicle 1 comprises four wheels 5. Such a vehicle 1 thus comprises four measurement modules 20 and four anti-lock modules 30.

The measurement module 20 is configured to transmit periodically, for example every 10 to 30 seconds (for example every 16 seconds), a measurement signal S _m in which is coded a message comprising characteristics of the wheel 5, such as for example its pressure or its temperature. Such a measurement signal S _m also includes an identifier making it possible to distinguish the measurement signal S _m emitted by each measurement module 20.

Preferably, the measurement signal S _m transmitted is in the form of an ultra high frequency message. Such a message is in the form of a train of pulses (“burst” in English), comprising for example from 3 to 12 pulses, making it possible to fragment the coded message between said pulses and / or to repeat the message to each pulse in order to guarantee reception of said message by the computer 10. This train of pulses can for example be in the known manner in the form of a series of slots. A pulse train thus comprises a plurality of data frames, transmitted separately and at predefined intervals. Such a pulse frame comprising a sequence of data frames is also known as a “measurement signal”. For example, a pulse train can include 9 pulses, each with a duration of 3 ms and spaced between them by 30 ms (a total duration of 267 ms).

The computer 10 receives a train of pulses transmitted by a measurement module 20 in the form of frames, each received frame corresponding to a transmitted pulse.

The use in transmission of a pulse train in which the message is fragmented and / or repeated allows the computer 10, on reception, to measure the power P of each measurement signal S _m received over a longer time interval only if the measurement module 20 sent a non-fragmented message (ie a single pulse) in the measurement signal S _m, thus making it possible to measure a more significant variation in power P during the duration of said time interval.

In addition, the computer 10 measures at least one power value P per frame but can advantageously measure several of them per frame, by sampling, for example at least 3. This can in particular make it possible to perform an average of the measurements of these different frames in order to consolidate the measure.

The duration of a measurement signal S _m can be deliberately limited, for example below 500 ms, preferably below 300 ms, in order to greatly reduce the risk of collision between the measurement signals S _m emitted by the various measurement modules 20 of the vehicle 1. A limited duration of the measurement signal S _m also makes it possible to transmit measurement signals at a higher frequency.

In order to limit the duration of a train of pulses transmitted and therefore of a train of received frames, it is possible, for example, to reduce the number of pulses, the duration of the pulses and / or the time interval between two pulses.

When the vehicle 1 is in motion and the wheels 5 are turning, the measurement signal S _m emitted by the measurement module 20 of each wheel 5 in the form of a train of pulses, is received by the computer 10 with a variable power P as a function of the position of the measurement module 20 relative to the computer 10 and more particularly as a function of the angular position of the wheel 5 fitted with the measurement module 20. In fact, during one revolution of the wheel 5, the measurement module 20 mounted in said wheel 5 can be in a position more or less distant from the computer 10 and can even be masked by other equipment of the vehicle 1, attenuating the signal.

In addition, the anti-lock module 30 delivers, for each wheel 5, a continuous signal to the computer 10, designated orientation signal S _o . Such an orientation signal S _o indicates the angular orientation © (from 0 ° to 360 °) of the wheel 5 opposite which the anti-lock module 30 is mounted. Indeed, when the vehicle 1 is in motion, each wheel 5 rotates at a different speed from the other wheels 5 as described above. Each anti-lock module 30 thus enables the angular orientation Θ of each wheel 5 to be known at any time.

The computer 10 can therefore at a given time both measure the power P received from the measurement signal S _m emitted by each measurement module 20 as well as the angular orientation Θ of each wheel 5 opposite each anti-lock module 30 .

Preferably, the measurement module 20 transmitting a measurement signal S _m during a predetermined time interval, the computer 10 is configured to measure the power P of the measurement signal S _m received and determine, from each signal of orientation S _o received from each wheel 5, the angular orientation value Θ from each of the wheels 5 corresponding to the power P measured at the instant of measurement of said power P of the measurement signal S _m .

In other words, the computer 10 can, for each measurement module 20, determine a plurality of power measurements P of measurement signal S _m received associated with a plurality of measurements of angular orientations Θ from the four modules anti-lock 30.

The computer 10 is also configured to correlate the power P of the measurement signal S _m received from each measurement module 20 as a function of the angular orientation Θ of each of the wheels 5 for a plurality of positions of each wheel 5, that is ie for a plurality of angular orientations Θ of each of the wheels 5, typically obtained for a plurality of wheel turns 5, in order to associate each wheel 5 with a measurement module 20 as will be explained below.

The computer 10 also includes a plurality of counters, each counter being associated with a pair of values of the power P of the measurement signal S _m received by the computer 10 and of the angular orientation Θ of a wheel 5 so as to determine the repetition of each pair of values as will be described later.

Implementation

The invention will now be described in its implementation with reference to Figures 3 to 6.

First of all, the computer 10 determines in a preliminary step E0, a plurality of tables T per measurement module 20, each table T associating the power P of the measurement signal S _m received by the computer 10 as a function of the orientation angular Θ of each wheel 5. In this example, for a motor vehicle 1 comprising four wheels 5 each equipped with a measurement module 20, the computer 10 determines four tables T for each measurement module 20 from which the computer 10 receives signals Sm, for a total of sixteen T tables.

A table T, relating to a wheel 5, comprises a set of K rows and M columns corresponding respectively to a predetermined number K of intervals representative of the range of powers P of the measurement signal S _m received by the computer 10, and at a predetermined number M of intervals representative of the range of angular orientations Θ of the wheel 5.

The range of angular orientations Θ of the wheels 5 can be expressed in degrees and be included in the interval [0; 360] or be expressed as the number of teeth of a disc mounted on each wheel 5 measured by the anti-lock module 30 in a manner known per se.

In order to determine the range of powers P of the measurement signal S _m received from the measurement modules 20, the computer 10 can for example determine beforehand in an initialization phase (ie before proceeding to pairing) the maximum power P and the minimum power P of the measurement signals S _m received during one or more wheel turns 5. As a variant, the maximum power P and the minimum power P can be defined in advance and stored in a memory area of the computer 10.

Preferably and by way of example, such a table T comprises between 8 and 24 rows, preferably 16, and between 8 and 32 columns, preferably 16.

This table T makes it possible to classify a couple (P, Θ) of power P of a measurement signal S _m received and of angular orientation Θ of a wheel 5 in a box of the table T by associating it with a couple (k, m) of row and column of table T.

In order to associate each measurement module 20 with the wheel 5 in which it is mounted, the computer 10 will proceed, preferably simultaneously, for at least three measurement modules 20, to a series of five successive steps E1 to E5 which will be repeated several times for each measurement module 20 with each of the wheels 5.

For the sake of clarity, the method will be described below in its steps E1 to E5 for a given measurement module 20.

First of all, the computer 10 receives, in a first step E1, a measurement signal S _m emitted by the measurement module 20 in the form of a frame train comprising in particular the identifier of the measurement module 20.

In parallel, in a second step E2, the computer 10 receives the orientation signal S _o representing the angular orientation Θ sent by each anti-lock module 30 of each wheel 5 of the vehicle 1.

In a third step E3, the computer 10 determines the power P of the measurement signal S _m during the time interval over which it is received and correlates it for each wheel 5 of the vehicle 1 with the angular orientation Θ given by the signal orientation S _o received in the second step E2.

Preferably, each frame of the measurement signal S _m received is sampled by the computer 10 which then associates the value of the power P of each sample (for example 3 samples per frame) with an angular orientation value Θ for each wheel 5, thus forming pairs (P, Θ) of power value P and angular orientation Θ for each of the wheels 5.

In a fourth step E4, the computer 10 then identifies in each table T of a plurality of tables T (a table T corresponding to one of the four wheels 5), a pair (k, m) of row and column for each pair (P, Θ) of power P and of angular orientation Θ determined in the third step E3.

In a fifth step E5, the computer 10 increments the counter C associated with each pair (k, m) of row and column identified in the fourth step E4 as illustrated in FIG. 4. In other words, each time a pair ( k, m) is identified, its counter is incremented. Initially, in other words before any preliminary step, all the counters are set to zero. Also, the more times a couple (k, m) is identified, the higher its counter. This makes it possible to distinguish the couples (k, m) which are regularly identified from the couples (k, m) which are identified few times and can, for example, be due to a disturbance during the measurements.

The steps E1 to E5 are repeated each time a measurement signal S _m is transmitted by the measurement module 20 so as to be able to evaluate the power P of the measurement signal S _m over a significant portion of the range of angular orientations Θ of the four wheels 5 and thus determine a large number of pairs (P, Θ) of power P and angular orientation Θ for each wheel 5.

The steps E1 to E5 are repeated several times until the computer 10 determines in a sixth step E6 that a decision criterion is fulfilled in order to associate a given measurement module 20 with a given wheel 5.

Preferably, this decision criterion is calculated from the counters of the different couples (k, m).

For this purpose, the computer 10 determines for each table T the counters above the minimum threshold Smini as illustrated in the figures. Then, the computer 10 adds, for each table T, the value of these determined counters which is above the minimum threshold Smini. In other words, with a minimum threshold Smini of 3, the computer 10 adds up all the counters whose value is greater than 3, each time removing the value of the threshold, ie 3 in this case. The value thus obtained by adding the counters is designated "sum of the counters Σ". In other words, for each table T, the computer 10 adds up, all counters combined, the part of the counters above the minimum threshold Smini.

At the end of each fifth step E5 of incrementation, the computer 10 thus determines for each measurement module 20 a value, designated “sum of the counters Σ”, for each table T. Thus, as illustrated in FIG. 6, the repetition of steps E1 to E5 allows the computer 10 to determine in the sixth step E6 curves of evolution of the sum of the counters Σ of each table T.

The computer 10 first evaluates a so-called domination condition in order to associate the measurement module 20 with one of the wheels 5. For this purpose, the computer 10 compares the value of the sum of the counters Σ of each table T between them after a fifth step E5. If the difference between the value of the two sums of the highest Σ counters is greater than a dominance threshold, for example 15, the measurement module 20 is associated with the wheel 5 corresponding to the table T whose value of the sum of the Σ counters is the highest.

If the difference is less than the dominance threshold, the computer 10 then evaluates a so-called statistical condition. For this purpose, the computer 10 firstly determines whether the value of the sum of the counters Σ of at least two tables T is greater than a predetermined threshold, for example 10. If this is the case, the computer 10 then compares the value of each of these two sums of the counters Σ at statistical thresholds. These statistical thresholds are calculated from the instantaneous value of the sums of the counters Σ.

In a preferred embodiment, the statistical thresholds are calculated from the standard deviation σ and the mean MN of the value of the sums of the counters Σ of all the tables T. Preferably, a first statistical threshold, also designated threshold leading statistic, is calculated from the formula:

x σ + MN

A second statistical threshold, also known as the challenger statistical threshold, is calculated from the formula:

0.1 x σ + MN

If the value of the highest sum of counters Σ is greater than the leading statistical threshold and the value of the second higher sum of counters est is less than the challenger statistical threshold, the measurement module 20 is associated with wheel 5 corresponding to the table T of the highest sum of accounts Σ.

When three measurement modules 20 are associated with three wheels 5 of the vehicle 1, the computer 10 associates the fourth measurement module 20 with the fourth wheel 5 of the vehicle in order to limit the overall duration of the pairing process. In other words, the computer 10 automatically determines the pairing of the last measurement module 20 with the last wheel 5 when all the other measurement modules 20 have been associated with the other wheels 5.

Such automatic determination is possible by prior learning of the measurement modules 20 belonging to the vehicle 1. Such learning can be carried out during a preliminary step during which the computer 10 receives signals from a plurality of measurement modules 20, preferably up to 10 measurement modules 20. For each of the measurement modules 20 for which the computer 10 receives signals, the computer 10 will proceed, preferably simultaneously, to the series of five successive steps E1 to E5 which will be repeated several times for each measurement module 20 with each of the wheels 5 on the occasion of each reception of a measurement signal S _m . The first four measurement modules 20 for which at least one counter of at least one table T is greater than the minimum threshold Smini are identified as corresponding to the four measurement modules 20 of the vehicle 1. This thus makes it possible to differentiate the measurement modules 20 belonging to the vehicle 1 of the other measurement modules 20, for example the measurement modules of other vehicles traveling nearby.

According to one aspect of the invention, the method also comprises a seventh step E7 of disassociation of a measurement module 20. In other words, a measurement module 20 having previously been associated with a wheel 5 of the vehicle 1 is finally disassociated from said module of measurement 20. This therefore makes it possible to correct an erroneous pairing.

To do this, at the end of each fifth step E5 of incrementation, the computer 10 compares the value of the two sums of the highest Σ counters with guard thresholds. These guard thresholds are calculated from the value of the sums of the counters Σ.

In a preferred embodiment, the guard thresholds are calculated from the standard deviation σ and the mean MN of the value of the sums of the counters Σ of all the tables T. Preferably, a first guard threshold is calculated from the formula:

0.8 x σ + MN

A second guard threshold is calculated from the formula:

0.5 x σ + MN

If the value of the highest sum of counters Σ is less than the first guard threshold and the value of the second highest sum of counters est is greater than the second guard threshold, the association made beforehand between the measures 20 and a wheel 5 is disabled.

Claims (10)

1. Method for pairing a measurement module (20) with a wheel (5) of a motor vehicle (1) comprising a plurality of wheels (5), said method being implemented by at least one computer ( 10) on board said vehicle (1), said measurement module (20) being mounted in one of the wheels (5) of the vehicle (1) and being capable of transmitting, to the computer (10), at least one measurement signal (S _m ) in the form of at least one ultra high frequency message received by the computer (10) in the form of a frame whose power (P) received by the computer (10) varies, over at least one interval of a range of powers (P) divided into K consecutive intervals of the same width, as a function of the angular position of the measurement module (20), the vehicle (1) comprising a plurality of orientation sensors angular (30) wheel (5), each angular orientation sensor (30) wheel (5), mounted opposite a wheel (5), being adapted to d deliver to the computer (10) an orientation signal (S _o ), representative of the angular orientation (Θ) of said wheel (5), varying over a range of angular orientations (Θ) divided into M consecutive intervals similarly width, said pairing method comprising: • for each frame of a measurement signal (Sm) received (E1) by the computer (10), the steps of: - determination (E3) of at least one value of the power (P) of said received measurement signal (Sm), - determination (E3), at the instant of reception of the measurement signal (Sm), of the angular orientation (Θ) of each wheel (5) from the orientation signal (S _o ) received (E2) of each angular orientation sensor (30) of the wheel (5), - for each determined power value (P), identification (E4) in a plurality of predetermined tables (T), each divided into K rows and M columns respectively associating the power (P) of the measurement signal (S _m ) with l angular orientation (Θ) of each of the wheels (5), of at least one pair (k, m) of row and column per table (T), each pair (k, m) of row and column comprising respectively said power value (P) determined and the value of the angular orientation (Θ) determined for each of the wheels (5), each row and column pair (k, m) being associated with a counter, incrementation (E5) of the counter associated with the pair (k, m) identified each time said pair (k, m) is identified, and • a final step (E6) of pairing the measurement module (20) with one of the wheels (5) of the vehicle (1) when for a table (T) the counter of at least one torque (k, m) exceeds a minimum threshold (Smini). 2. Method according to claim 1, in which, the counter being incremented by 1, said minimum threshold (Smini) is greater than or equal to 3. 3. Method according to any one of the preceding claims, in which the final pairing step (E6) comprises a substep for comparing the sum of the counters (Σ) of a table (T) with at least one statistical threshold. 4. Method according to the preceding claim, wherein the statistical threshold is calculated from the mean and the standard deviation of the sums of the counters (Σ) of each of the plurality of tables (T). 5. Method according to any one of the preceding claims, comprising a preliminary step of learning the membership of the measurement module (20) in the vehicle (1) when the counter of at least one torque (k, m) exceeds a learning threshold, preferably said minimum threshold (Smini). 6. Method according to the preceding claim, wherein the vehicle (1) comprising four measurement modules (20), the first four measurement modules (20) of which at least one counter exceeds the learning threshold are identified as being the four measurement modules (20) of the vehicle (1). 7. Method according to any one of the preceding claims, in which at least one measurement module (20), previously paired with one of the wheels (5) of the vehicle (1), is disassociated from the comparison of the sum of the counters of a table (T) with at least one guard threshold. 8. Method according to the preceding claim, in which the guard threshold is calculated from the average and the standard deviation of the sums of the counters (Σ) of each of the plurality of tables (T). 9. Computer (10) for a motor vehicle (1), said vehicle (1) comprising a plurality of wheels (5), each wheel (5) comprising a measurement module (20), each measurement module (20) being suitable to transmit, to said computer (10), at least one measurement signal (S _m ) in the form of at least one ultra high frequency message received by the computer (10) in the form of a frame of which the power (P) received by the computer (10) varies, over at least one interval of a range of powers (P) divided into K consecutive intervals of the same width, as a function of the angular position of the measurement module (20) , the vehicle (1) comprising a plurality of angular orientation sensors (30) of the wheel (5), each angular orientation sensor (30) of the wheel (5), mounted opposite a wheel (5), being capable of delivering to the computer (10), an orientation signal (S _o ) representative of the angular orientation (Θ) of said wheel (5), varying s ur a range of angular orientations (Θ) divided into M consecutive intervals of the same width, said computer (10) being configured, for each measurement module (20), for: • for each frame of a measurement signal (Sm) received: - determining at least one value of the power (P) of said measurement signal (S _m ) received, - determine, at the instant of reception of the frame of the measurement signal (Sm), the angular orientation (Θ) of each wheel (5) from the orientation signal (S _o ) received from each sensor angular orientation (30) of wheel (5), - for each determined power value (P), identify in a plurality of predetermined tables (T), each divided into K rows and M columns respectively associating the power (P) of the measurement signal (S _m ) as a function of angular orientation (Θ) of each of the wheels (5), a pair (k, m) of row and column per table (T), each pair (k, m) of row and column respectively comprising said power value ( P) determined and the value of the angular orientation (Θ) determined for each of the wheels (5), - each pair (k, m) of row and column being associated with a counter, increment the counter associated with the pair (k, m) identified when said pair (k, m) is identified, • detect when the counter of at at least one torque (k, m) exceeds a minimum threshold (Smini), • pair the measurement module (20) with one of the wheels (5) when the counter for at least one torque (k, m) exceeds the minimum threshold (Smini). 10. Motor vehicle (1) comprising: • a computer (10) according to the preceding claim, • a plurality of wheels (5), each wheel (5) comprising a measurement module (20), each measurement module (20) being capable of transmitting, intended for said computer (10), at least one measurement signal (Sm) in the form of at least one ultra high frequency message received by the computer (10) in the form of a frame whose power (P) received by the computer (10) varies, over at least one interval of a range of powers (P) divided into K consecutive intervals of the same width, as a function of the angular position of the measurement module (20), and • a plurality of sensors d angular orientation (30) of the wheel (5), each angular orientation sensor (30) of the wheel (5), mounted opposite a wheel (5), being capable of delivering to the computer (10), a signal of orientation (S _o ), representative of the angular orientation (Θ) of said wheel (5), varying over a range of angular orientations (Θ) divided into M consecutive intervals of the same width.