WO2020099785A1 - Procede de determination de la fermete d'un sol - Google Patents
Procede de determination de la fermete d'un sol Download PDFInfo
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- WO2020099785A1 WO2020099785A1 PCT/FR2019/052698 FR2019052698W WO2020099785A1 WO 2020099785 A1 WO2020099785 A1 WO 2020099785A1 FR 2019052698 W FR2019052698 W FR 2019052698W WO 2020099785 A1 WO2020099785 A1 WO 2020099785A1
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- Prior art keywords
- tire
- ground
- parameter
- curvature
- contact
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
- B60C11/24—Wear-indicating arrangements
- B60C11/246—Tread wear monitoring systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0486—Signalling devices actuated by tyre pressure mounted on the wheel or tyre comprising additional sensors in the wheel or tyre mounted monitoring device, e.g. movement sensors, microphones or earth magnetic field sensors
- B60C23/0488—Movement sensor, e.g. for sensing angular speed, acceleration or centripetal force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C19/00—Tyre parts or constructions not otherwise provided for
- B60C2019/004—Tyre sensors other than for detecting tyre pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/04—Tire deformation
Definitions
- the present invention relates to determining the running conditions of a tire on a ground. More specifically, the invention proposes to determine a state of firmness of the ground by means of a measurement signal representative of the circumferential curvature of the tire.
- the local determination of the firmness of the soil makes it possible to assess the advisability of carrying out or not certain operations dependent on this state of firmness. For example, the passage of a machine through overly loose soil can degrade the soil or cause the machine to sink. Tillage can also be affected by the firmness of the soil.
- Patent FR3015036 describes a determination of the meteorological condition of the ground, the type of coating, the degree of wear of the tire or even the type of tread used on the sole basis of a sound recording.
- the sound recordings are made using a microphone placed in the front part of a wheel arch located at the rear of the vehicle.
- the spectral density of the sound power is distributed over a given frequency interval. This spectrum varies according to a set of modalities such as weather conditions, road conditions, degree of wear of the tire, type of tire tread.
- this method does not make it possible to determine certain driving conditions which may represent interest for particular applications.
- this method does not make it possible to determine the state of firmness of the soil.
- An object of the invention is to make it possible to determine in real time the firmness of a ground on which a tire mounted on a vehicle rolls.
- a method for determining the firmness of a ground on which a tire mounted on a vehicle rolls, said tire being provided with a sensor configured to acquire a measurement signal representative of the evolution of the curvature of the tire when rolling on ground, the method comprising the following steps:
- the method makes it possible to determine in real time the firmness of a ground on which a tire mounted on a vehicle rolls, regardless of the pressure or load of the vehicle, in a simple, precise and reliable manner, from the single representative measurement signal. the evolution of the curvature of the tire.
- the curvature of the tire changes according to a cycle having: - a part not in contact with the ground,
- the first parameter is determined from a part of the measurement signal corresponding to the part in contact with the ground
- the second parameter is determined from a part of the signal measuring corresponding to a transition in the curvature of the tire between the part not in contact with the ground and the part in contact with the ground
- a transition called the input transition between the part not in contact with the ground and the part in contact with the ground characterized on the measurement signal by a peak of variation in curvature of input opposite to the peak of variation in curvature of contact
- the first parameter being determined from a distance between the input curvature variation peak and the output curvature variation peak
- the second parameter being determined by a slope between the peak of variation of input curvature and the peak of variation of contact curvature;
- the firmness of the soil is determined using a linear relationship linking said firmness of the soil, the first parameter and the second parameter;
- the firmness is determined by calculating a firmness factor from the first parameter and from the second parameter, and by comparing said firmness factor with thresholds delimiting classes of firmness.
- the invention also relates to a tire comprising a sensor sensitive to the change in the curvature of the tire, configured to generate a measurement signal.
- a sensor sensitive to the change in the curvature of the tire configured to generate a measurement signal.
- a measurement signal representative of the evolution of the curvature of the tire during rolling on a ground, comprising an active part and an electronic card, the active part being configured to generate the measurement signal, the electronic card being configured to determine measurement data comprising :
- the sensor being configured to transmit the measurement data outside the tire.
- the invention also relates to a data processing unit configured to receive measurement data derived from a measurement signal representative of the evolution of the curvature of the tire when rolling on ground, said measurement data comprising:
- the data processing unit being configured to determine the firmness of the soil as a function of the first parameter and the second parameter.
- the invention also relates to a vehicle comprising:
- At least one sensor sensitive to the change in the curvature of the tire configured to generate a measurement signal representative of the change in the curvature of the tire when rolling on a ground, the sensor preferably being placed inside the pneumatic,
- a data processing unit configured to receive measurement data derived from the measurement signal representative of the evolution of the curvature of the tire when rolling on a ground and to determine the firmness of the ground as a function of the measurement data, measurement data including:
- the senor comprises an active part and an electronic card, the active part being configured to generate the measurement signal, the electronic card being configured to determine the measurement data, and in which the data processing unit is arranged. outside the tire.
- the invention also relates to a computer program product comprising program code instructions for carrying out the method according to the invention, when said program is executed on a computer.
- the computer program product can take the form of a non-transient medium readable by a computer storing code instructions for the execution of the method according to the invention, when said non-transient medium readable by a computer is read by a computer .
- FIG. 1 schematically illustrates a tire mounted on a rim of a vehicle
- - Fig. 2 shows an example of a measurement signal recorded by a sensor sensitive to the curvature of the tire when the tire is rolling;
- FIG. 3 presents a block diagram of the steps of the method for evaluating the firmness of a soil according to a possible embodiment of the invention
- - Fig. 4 shows an example of a two-dimensional statistical analysis according to the two parameters derived from the measurement signal for a front tire of a vehicle according to different states of firmness of the ground;
- - Fig. 5 shows an example of a one-dimensional discriminant analysis for a front tire of a vehicle
- Fig. 1 illustrates a tire 1 mounted on a rim 2.
- a tire 1 comprises on the one hand a crown zone 3 constituting a tread having treads, and on the other hand sidewalls 4 ending in low zones. These generally include a bead and a bead to allow mounting of the tire 1 on the rim 2.
- the rim 2 is itself connected to the vehicle 9 by an axle (not shown). The tire 1 thus allows the connection between the vehicle 9 and the ground 7.
- tire is thus meant a flexible solid designed to be mounted on the rim 2 of a wheel, generally in the form of a tire, in order to ensure the connection between the vehicle 9 and the ground 7, comprising a tread undergoing a modification. of its circumferential radius of curvature when it is subjected to a force.
- the tire 1 is typically formed from elastomers (for example gum) and possibly other textile and / or metallic materials.
- the tire 1 can be airless, and for example with flexible polyurethane spokes which support the tread.
- a tire 1 comprises a flexible envelope enclosing a gaseous interior under pressure, typically air.
- a tire 1 having an internal pressure of gas under pressure.
- the tire 1 is subjected to a force applied by the vehicle 9, via the axle and the rim 2, towards the ground 7.
- This force originates from the axle load, resulting from the weight of the vehicle 9.
- the rim 2 being undeformable, this force applied to the tire 1 deforms it when the tire 1 is in contact with the surface 8 of the ground 7: the portion of the crown 3 under the rim 2 becomes flat, which increases the contact surface 6 of tire 1 with the ground, while the sidewalls 4 swell.
- This deformation is all the more pronounced when the pressure inside the tire is low.
- the nature of the soil 7 also influences this deformation, and in particular the state of firmness of this soil 7. In fact, hard soil does not deform very little, while soft soil deforms under the action of tire 1, so that the deformation of tire 1 is less, partly transferred to the ground 7.
- the deformation of the tire 1 results in a modification of the circumferential curvature of the tire 1, that is to say of the curvature of the crown area 3.
- this modification of the curvature traverses the circumference of tire 1.
- the curvature will therefore vary periodically at each wheel revolution.
- the tire 1 is provided with a sensor 10 configured to acquire a measurement signal representative of the evolution of the curvature of the tire.
- This sensor 10 is disposed inside the envelope of the tire 1.
- the sensor 10 is disposed against the crown area 3.
- the sensor 10 can be buried in the structure of the tire envelope 10, or else be attached thereto, and for example held in place by an adhesive layer.
- the sensor 10 comprises an active part 11 integral with the casing of the tire 1, so that the deformation of the tire 1 causes a corresponding deformation of the active part 11 of the sensor 10, which generates a measurement signal depending on the deformation of its active part 11.
- the measurement signal is therefore very representative of the development of the curvature of the tire.
- the senor 10 is a piezoelectric sensor, which generates a voltage proportional to the variation in bending. More specifically, the sensor 10 can for example comprise an active part 11 consisting of a piezoelectric layer between two conductive layers. It is also possible that the sensor 10 is a resistive sensor, the impedance of which is proportional to the bending of the active part 11 of the sensor. You can also use an accelerometer, although much more complex to use and requiring more processing. The sensor 10 can also be adapted to measure other parameters, and in particular the pressure. The sensor 10 can be integrated into other electronic equipment installed in the tire 1, such as a pressure and / or temperature sensor of the TMS type, from the English "tire monitoring System" for "automatic tire control".
- the sensor 10 also includes an electronic card 12 connected to the active part 11 of the sensor 10 and configured to receive the measurement signal coming from the active part 11.
- This electronic card 12 comprises at least one processor and a memory, and is suitable to process data such as the measurement signal, to determine measurement data from the measurement signal, and to communicate this measurement data.
- the sensor 10 is associated with a wireless transmitter, in particular of the radio frequency type, and for example of the type using the technology
- Bluetooth Low Energy or of low power device type operating in the 433 MHz band (LPD 433), allowing the measurement signal to be relayed to an automated data processing unit, preferably located at the outside of tire 1, for its treatment.
- the wireless transmitter can be part of the sensor 10, for example as a component of the electronic card 12, or be distinct from the sensor 10. It is thus possible, for example, to provide an antenna inside the tire 1.
- an external receiver can receive the signals sent by the wireless communication means associated with the sensor 10, and relay them to the automated data processing unit.
- the senor 10 can include other elements enabling it to function properly, and in particular an electrical supply module, for example constituted by a battery.
- the sensor 10 acquires (step SI) the measurement signal representative of the evolution of the circumferential curvature of the tire.
- This measurement signal can be directly linked to the curvature (and therefore be a curvature measurement signal), and therefore follow its evolution, or be indirectly linked to the curvature.
- This type of sensor will be used in the examples below.
- the measurement signal, generated by the active part 11 of the sensor 10 is then processed by the electronic card 12 to determine measurement data from the measurement signal.
- the processing of the measurement signal aims to extract the information useful in this signal, which is used by the rest of the process.
- Fig. 2 shows a schematic example of a measurement signal recorded by a sensor 10 sensitive to the variation in curvature of the tire when the tire 1 is rolling.
- the measurement signal is here represented by its voltage (in V), and designated by Acourbure, as a function of the rotation of the wheel expressed in degrees.
- the sequence illustrates two passages in the part in contact with the ground of the zone of the tire 1 where the sensor 10 is arranged, separated by a part of the cycle not in contact with the ground.
- the part of the cycle not in contact with the ground is characterized by a stable curvature, which results in a stability of the measurement signal close to zero.
- the part of the cycle in contact with the ground is characterized on the measurement signal by a peak of variation of contact curvature 20, 30.
- the peaks of variation in contact curvature 20, 30 are directed downward, corresponding to negative voltage peaks.
- the peaks of variation in contact curvature 20, 30 correspond to the flattening of the tire 1 in the contact surface 6.
- the curvature also has a transition called the input transition between the part not in contact with the ground and the part in contact with the ground, characterized on the measurement signal by a peak of variation in input curvature 21, 31 opposite to the peak of variation of contact curvature 20, 30, that is to say here upwards.
- the variation in curvature also has a so-called output transition between the part in contact with the ground and the part not in contact with the ground, characterized on the measurement signal by a peak in variation in output curvature 22, 32 opposite to the peak of variation of contact curvature, that is to say here upwards.
- the peak of variation of inlet curvature 21, 31 and the peak of variation of outlet curvature 22, 32 correspond to the abrupt variations of radius of curvature of the tire 1 in entry and exit to make contact.
- the peak of variation in outlet curvature 22 , 32 corresponds to the change in curvature of the tire 1 at the outlet from making contact, when the area of the tire 1 where the sensor 10 is located suddenly changes from the characteristic flat state of the part in contact with the ground to the curved state characteristic of the part not in contact with the ground.
- the tire 1 compacts the ground under it, forming a rut, and therefore a fairly firm rut bottom on which the tire 1 rests at the outlet to make contact.
- the advancement of the vehicle 9 brings the constraints essentially towards the entry to make contact.
- the tire 1 at the outlet from making contact thus exhibits an outlet behavior, in terms of curvature, very close to the behavior of a tire 1 on a road.
- the firmness of the soil influences the characteristics of the profile of the measurement signal.
- the invention therefore aims to extract parameters from the measurement signal to deduce the state of firmness of the soil.
- the method therefore comprises the determination (step S2), from the measurement signal of measurement data comprising at least a first parameter KL representative of a length of making the contact surface 6 with the ground during a turn of wheel of tire 1, and a second parameter KS representative of a flattening speed of the tire during contact with the ground during a revolution of the wheel of tire 1.
- the measurement data may include other parameters or values derived from the measurement signal.
- the first parameter KL is determined from a part of the measurement signal corresponding to the part in contact with the ground. More precisely, the first parameter KL is determined from a distance between the input curvature variation peak 31, and the output curvature variation peak 32. Being two local maximums in the cycle, it it is easy to identify the vertex of each peak and deduce their distance, expressed in degrees.
- the peak of variation of inlet curvature 31 and the peak of variation of outlet curvature 32 correspond respectively to the start and to the end of the part in contact with the ground
- the first parameter KL is indeed a function of making the tire 1 in contact with the ground.
- KL corresponds to the length of the contact surface 6.
- the measurement signal being expressed in volts V as a function of the angular degrees °
- the first parameter KL can be expressed in angular degree.
- the second parameter KS is determined from a part of the measurement signal corresponding to a transition in the curvature of the tire between the part not in contact with the ground and the part in contact with the ground. More precisely, the second parameter KS is determined by a slope between the peak of variation of input curvature 31 and the peak of variation of contact curvature 30. More precisely, the second parameter KS can correspond to the maximum variation of the variation of the curvature between the peak of variation of input curvature 31 and the peak of variation of contact curvature 30, that is to say correspond to the maximum slope.
- the measurement signal being expressed in volts V as a function of the angular degrees °
- the second parameter KS can have the unit V / °, that is to say as a second derivative of the curvature of the tire 1.
- the second parameter KS can correspond to the maximum (in the sense of the absolute value) of the derivative of the measurement signal between the peak of variation of curvature of input 31 and the peak of variation of contact curvature 30, the derivative being estimated from the difference between two successive (or close) measurement points, obviously taking into account their angular distance.
- this maximum in the sense of the absolute value corresponds to a minimum of the derivative of the measurement signal between the peak of variation of curvature of input 31 and the peak of variation of curvature contact 30.
- the first parameter KL and the second parameter KS have the advantage of exhibiting great variability as a function of the firmness of the soil, and of being easily obtained, as demonstrated above. More precisely, when the firmness of the soil decreases, the first parameter KL increases while the second parameter KS decreases. Thus, the more loose the ground, the more the length of the contact surface 6 with the ground 7 (represented by the first parameter KL) increases, while the flattening speed (represented by the second parameter KS) decreases. Conversely, when the firmness of the soil 7 increases, the first parameter KL decreases while and the second parameter KS increases.
- the first parameter KL and / or the second parameter KS can depend on the load, the pressure, and / or the speed. However, taking into account both the first parameter KL and the second parameter KS makes it possible to determine the firmness of the ground on the basis of these parameters alone, without knowing the load, the pressure, the speed and the slip of the tire 1 over floor.
- the electronic card 12 of the sensor 10 determines from the measurement signal the measurement data comprising the first parameter KL and the second parameter KS.
- These measurement data are then transmitted by the sensor 10 to a data processing unit 15 which implements the rest of the method.
- This data processing unit 15 is preferably placed outside the tire 1, for example in the vehicle 9, but the processing unit 15 can also be distant from the vehicle 9, and the data transmission can then involve intermediate means of transmission.
- the transmission of the measurement data between the sensor 10 and the data processing unit 15 is then done wirelessly.
- the data processing unit 15 typically comprises a processor and a memory, and is adapted to receive and to process the measurement data during the implementation of the following method of determining the firmness of the soil.
- the determination of the measurement data by the sensor 10 and the transmission of these only measurement data to the data processing unit 15 has the advantage of reducing the amount of data transmitted between the sensor 10 and the processing unit 15. As data transmission consumes a lot of energy, transmitting the measurement data rather than the measurement signal makes it possible to limit the electrical consumption of the sensor 10, the supply possibilities of which in the tire 1 are limited.
- the processing unit 15 can determine the firmness of the soil as a function of the first parameter KL and of the second parameter KS contained in the measurement data, which vary according to firmness of the soil, as shown below.
- Fig. 4 an example of a two-dimensional statistical analysis according to the two parameters KL and KS derived from the measurement signal for a tire 1 of a vehicle 9 traveling on a ground 7 whose firmness is known.
- the measurement data are derived from a measurement signal acquired by a piezoelectric sensor 10 disposed in a front tire of an agricultural tractor when rolling on the same ground having three different firmness configurations:
- the measurement points include various loads, pressures and speeds (less than 20 km / h).
- the measurement points are expressed as a function of the first parameter KL (on the abscissa and in angular degree) and of the second parameter KS (on the ordinate and in V / °). These values obviously depend on the type of tire 1 and on the sensor 10 used.
- the crosses correspond to a very soft C0 overground bearing, and are grouped in a first ellipsoid of confidence 41 to 95%.
- the circles correspond to a rolling on fairly loose soil C2, and are grouped in a second ellipsoid of confidence 42 to 95%.
- the points correspond to measurement points when rolling on a road (very firm ground), and are grouped in a third ellipsoid of confidence 43 to 95%.
- the second KS parameter is between - 0.7 V / ° and -1 V / °
- the first KL parameter is between 35 ° and 43 °.
- the third confidence ellipsoid 43 is clearly separated from the other two.
- the two parameters KL and KS therefore make it easy to identify very hard ground such as the road.
- the first confidence ellipsoid 41 and the second confidence ellipsoid 42 overlap a little, they are nevertheless very sufficiently disjoined to allow a measurement point to be distinguished with a ground C0 a measurement point with C2 soil.
- the combined consideration of the parameters KL and KS makes it possible to identify the state of firmness of the soil, despite various loads, pressures and speeds.
- the measurement data comprising the parameters KL and KS are used to analyze the measurement signal in order to determine to which firmness class belongs the ground on which the tire 1 rolls.
- the use of classes makes it possible to facilitate and simplify possible feedback to the driver or operation by an automated system, while erasing measurement fluctuations and inaccuracies.
- the use of firmness class is not compulsory, since it is possible to express firmness by means of a numerical quantity, such as for example a percentage, but it is however the preferential embodiment which is presented below.
- CO soil is the raw plowing soil followed by harrowing
- Cl soil is the CO soil compacted by a wheel arch (only by the front wheel)
- C2 soil is the CO soil compacted by two wheel arches (by the front wheel and by the rear wheel)
- earth C3 is the earth CO compacted by three wheel arches (by the front wheel, by the rear wheel, then again by the front wheel).
- C2 and C3 (and possibly following) soils are grouped in the same class because the earth very quickly arrives at its maximum compactness when passing a vehicle 9.
- These classes have the advantage of accounting for the effects respective on the firmness of the ground for the passage of the front wheels and the rear wheels.
- other classes could be used. It would, for example, be possible to use even more loose classes, for example representative of a very loose muddy soil, or even with a lack of lift.
- the firmness of the soil is therefore determined by using a relation linking the firmness of the soil, the first parameter KL and the second parameter KS. So after being determined, the first parameter KL and the second parameter KS are used to determine a firmness factor (step S3) by means of this relation.
- F the firmness factor
- f a function corresponding to the relation and relating to the first parameter KL and the second parameter KS
- this relation is a linear relation. More precisely, the linear relation can be of the form:
- the relation can be bilinear, and therefore be of the type:
- the relation linking the firmness of the soil, the first parameter KL and the second parameter KS can obviously take into account other parameters, and in particular can take into account the pressure of a tire, the speed, or the length KT (wheel revolution).
- the fixed coefficients a, b, c, and m are preferably chosen in order to maximize the discrimination of soil firmness classes.
- one-dimensional discriminant analysis can be used. This discriminating analysis aims to maximize the differences between the centers of gravity of each of the soil firmness classes, while minimizing intra-class dispersion.
- Fig. 5 shows an example of a one-dimensional discriminant analysis for a tire 1 before a vehicle 9, for the same data as that of FIG. 4.
- the samples (exactly 1388) are grouped by bearing configuration along the abscissa axis, while the ordinate axis corresponds to the discriminant axis.
- the measurement points were recorded with three different configurations of firmness state.
- a first set 51 of measurement points groups together the measurement points taken on the road
- a second set 52 of measurement points groups together the measurement points recorded on very soft ground, corresponding to the configuration of ground C0
- a third set 53 of points measurement groups together the measurement points found on semi-soft earth, corresponding to the C2 earth configuration.
- the discriminant analysis on the parameters KL and KS consists of combining these two parameters to deduce a third which corresponds to a firmness factor F AD , which corresponds to the ordinate of each measurement point.
- the relation is then as follows:
- the discriminant analysis makes it possible to determine classification thresholds separating the different classes.
- the resulting thresholds are represented by dotted horizontal lines.
- a first line 55 separates the class "route” from the class “land C2", with a classification threshold of 0.088066.
- a second line 56 separates the class “land C2" from the class “land C0" with a classification threshold of 0.44572.
- the first parameter KL and the second parameter KS are used to determine a firmness factor, and the soil firmness class is determined (step S4) by comparing this firmness factor with classification thresholds.
- the average probability of correct detection of the three classes rises to 97%, distributed as follows:
- the sensor 10 is placed in a front tire 1, better accounting for the effective firmness of the soil as it appears before being compacted by the rolling of a tire 1.
- the fixed coefficients a, b, c may be different depending on the position of the sensor 10 in a front tire 1 or in a rear tire 1. More preferably, a sensor 10 is placed in a front tire 1 and another sensor 10 is placed in the rear tire which follows said front tire (that is to say generally on the same side of the vehicle 9). It is then possible to have two linear relationships, one for the front tire and the other for the rear tire:
- F A v and F A R are not directly on the same scales. It is however preferable to be able to compare and exploit in common the firmnesses determined from the front tire and the rear tire, by finding a common scale for the expression of these two firmnesses.
- the class "route" can be chosen as a common reference, insofar as it appears to be not very dispersed, which makes it possible to determine the transformations to readjust the scales. It is simply a question of modifying the fixed coefficients a, b and c respectively of the two relations.
- firmnesses can also be expressed as a function of the spread of the measurements: the highest firmness of the measurement points can then correspond to an end of a scale, while the lowest firmness of the measurement points can then correspond at the other end of the scale. For example, percentages can be used to express firmness, with 100% for the highest firmness factor and 0% for the firmness factor. weakest firmness.
- Fig. 6 shows a classification of soil firmness as a percentage according to the six classes in Table Table 1, with the classification thresholds represented by vertical dashed lines, and the indications of the probability densities for each class with a modeling by a normal law.
- These classes are determined beforehand, and stored in the memory of the processing unit 15, which also stores the relation linking the firmness of the soil, the first parameter KL and the second parameter KS.
- the classes can be used by the processing unit 15 to process the measurement data for the tire 1 and the corresponding sensor 10, in order to determine the firmness class of the ground on which the tire 1 rolls. For example, if the factor firmness (in percentage) F (%) calculated for a torque of first parameter KL and second parameter KS from the measurement signal is 92%, this means that tire 1 rolls on very hard ground, such as a road, belonging to class D5. Appropriate measures can then be taken depending on the firmness thus determined.
- the front axle can be disengaged in order to avoid wear on a hard floor.
- the processing unit 15 which determined the firmness of the soil is content to transmit the information constituted by the firmness of the soil (expressed in terms of a quantity or synthesized in the form of a class indication) to another control member and / or to a display device to inform the user.
Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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BR112021009453-9A BR112021009453A2 (pt) | 2018-11-14 | 2019-11-14 | método para determinar a firmeza de um solo |
CN201980088561.2A CN113272157B (zh) | 2018-11-14 | 2019-11-14 | 用于确定地面坚硬度的方法 |
CA3120047A CA3120047A1 (fr) | 2018-11-14 | 2019-11-14 | Procede de determination de la fermete d'un sol |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1860481A FR3088249B3 (fr) | 2018-11-14 | 2018-11-14 | Procede de determination de la fermete d'un sol |
FR1860481 | 2018-11-14 |
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WO2020099785A1 true WO2020099785A1 (fr) | 2020-05-22 |
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PCT/FR2019/052698 WO2020099785A1 (fr) | 2018-11-14 | 2019-11-14 | Procede de determination de la fermete d'un sol |
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CN (1) | CN113272157B (fr) |
BR (1) | BR112021009453A2 (fr) |
CA (1) | CA3120047A1 (fr) |
FR (1) | FR3088249B3 (fr) |
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FR3130693B1 (fr) * | 2021-12-16 | 2024-02-16 | Michelin & Cie | Procede de determination de la propriete mecanique d’un sol agraire |
Citations (5)
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EP2883772A1 (fr) * | 2012-08-09 | 2015-06-17 | Bridgestone Corporation | Procédé et dispositif pour déterminer un état de surface de route |
FR3015036A1 (fr) | 2013-12-18 | 2015-06-19 | Michelin & Cie | Methode de detection acoustique de l'etat de la route et du pneumatique |
WO2017221578A1 (fr) * | 2016-06-22 | 2017-12-28 | 株式会社Soken | Dispositif d'estimation de condition de surface routière |
WO2018003942A1 (fr) * | 2016-06-30 | 2018-01-04 | 株式会社ブリヂストン | Procédé et dispositif de détermination d'état de surface de route |
DE112017000906T5 (de) * | 2016-02-19 | 2018-10-25 | Denso Corporation | Fahrzeugrisiko-Vermeidungsvorrichtung |
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GB136869A (en) * | 1919-06-06 | 1919-12-31 | Ernest Samuel Pugh | Improvements in, or relating to, Wheels of Agricultural Tractors and other Wheels which are Required to Run Alternatively upon Soft and upon Hard Ground. |
SE320898B (fr) * | 1964-12-03 | 1970-02-16 | Oe M W Maskiner Kommanditbolag | |
JPS5981204A (ja) * | 1982-10-30 | 1984-05-10 | Kida Nousan Kk | 自動車用チユ−ブレスタイヤの滑止装置 |
KR0168098B1 (ko) * | 1993-10-05 | 1999-01-15 | 전성원 | 주행도로의 가혹도 평가장치 및 그 방법 |
JP4033441B2 (ja) * | 2001-09-21 | 2008-01-16 | Necトーキン株式会社 | 圧電発電式発光標示器 |
JP2003252262A (ja) * | 2002-03-05 | 2003-09-10 | Komatsu Ltd | 弾性体履板 |
FR2837300B1 (fr) * | 2002-03-13 | 2004-05-28 | Michelin Soc Tech | Methode et systeme de preconisation de pneumatiques et de calcul sur site des pressions de gonflage desdits pneumatiques pour un vehicule de genie civil |
SE525530C2 (sv) * | 2003-07-16 | 2005-03-08 | Nira Dynamics Ab Mjaerdevi Sci | Anordning, system och metod för insamling av vägstatusinformation |
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FR2900537A1 (fr) * | 2006-05-02 | 2007-11-09 | Edmond Pierre Picard | Gazon naturel, moyens et procede de fabrication d'un tel gazon naturel. |
DE102010014644B4 (de) * | 2010-04-12 | 2021-07-22 | Liebherr-Components Biberach Gmbh | Selbstfahrende Arbeitsmaschine mit elektrischem Antriebssystem sowie Verfahren zum Betreiben einer solchen |
JP2016505438A (ja) * | 2012-11-20 | 2016-02-25 | コンパニー ゼネラール デ エタブリッスマン ミシュラン | 信号品質を改善するためのタイヤにおける圧電デバイスの周方向の配向 |
CN103487125B (zh) * | 2013-10-09 | 2015-07-01 | 招商局重庆交通科研设计院有限公司 | 一种车载重量远程检测方法和系统 |
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WO2017012575A1 (fr) * | 2015-07-23 | 2017-01-26 | 冯春魁 | Procédé et système d'intégration de dépannage, de surveillance, de contrôle, de calculs et de mesure de données de véhicule |
JP6735088B2 (ja) * | 2015-12-03 | 2020-08-05 | 鹿島建設株式会社 | 地盤締固め管理装置及び地盤締固め管理方法 |
WO2018055976A1 (fr) * | 2016-09-26 | 2018-03-29 | 昭和シェル石油株式会社 | Composition d'asphalte modifié par un polymère |
-
2018
- 2018-11-14 FR FR1860481A patent/FR3088249B3/fr active Active
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2019
- 2019-11-14 CN CN201980088561.2A patent/CN113272157B/zh active Active
- 2019-11-14 CA CA3120047A patent/CA3120047A1/fr active Pending
- 2019-11-14 BR BR112021009453-9A patent/BR112021009453A2/pt unknown
- 2019-11-14 WO PCT/FR2019/052698 patent/WO2020099785A1/fr active Application Filing
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EP2883772A1 (fr) * | 2012-08-09 | 2015-06-17 | Bridgestone Corporation | Procédé et dispositif pour déterminer un état de surface de route |
FR3015036A1 (fr) | 2013-12-18 | 2015-06-19 | Michelin & Cie | Methode de detection acoustique de l'etat de la route et du pneumatique |
DE112017000906T5 (de) * | 2016-02-19 | 2018-10-25 | Denso Corporation | Fahrzeugrisiko-Vermeidungsvorrichtung |
WO2017221578A1 (fr) * | 2016-06-22 | 2017-12-28 | 株式会社Soken | Dispositif d'estimation de condition de surface routière |
WO2018003942A1 (fr) * | 2016-06-30 | 2018-01-04 | 株式会社ブリヂストン | Procédé et dispositif de détermination d'état de surface de route |
Also Published As
Publication number | Publication date |
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CN113272157A (zh) | 2021-08-17 |
CA3120047A1 (fr) | 2020-05-22 |
BR112021009453A2 (pt) | 2021-08-10 |
CN113272157B (zh) | 2023-05-05 |
FR3088249A3 (fr) | 2020-05-15 |
FR3088249B3 (fr) | 2020-10-16 |
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