• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    The purpose of the invention is to evaluate the reliability of the data provided by multifunctional sensors WFC of a vehicle for targeted applications according to the irregularities of the roadway. To do this, the invention proposes to use travel data from the equipment of the vehicle to adapt its road behavior to reflect the changes in the condition of the roadway. According to the invention, a system for estimating the reliability of the measurements provided by multifunctional WFC sensors (12) of wheel tires (1) of a vehicle comprises a device for monitoring wheel displacement data (3, 8 ) to adapt to the profile variations of the pavement (2) on which it circulates in order to maintain a stable body position (4). The monitoring equipment is connected to the WFC sensors (12) via a central processing unit (8) adapted to correlate data provided by the WFC sensors (12) and wheel clearance data values provided by the WFC sensors (12). monitoring equipment (3, 8) for weighting the values of at least one parameter (10; AL) from the data delivered by the WFC sensors (12).
    公开号:FR3030373A1
    申请号:FR1462580
    申请日:2014-12-17
    公开日:2016-06-24
    发明作者:Olivier Fudulea
    申请人:Continental Automotive GmbH；Continental Automotive France SAS；
    IPC主号:
    专利说明:

    [0001] The invention relates to a method for estimating the reliability of measurements provided by the multifunctional wheel sensors of a vehicle, as well as to a system capable of implementing such a method. The data provided by the wheel sensors are exploited in targeted applications using the measurements provided by these sensors, in particular: the location of the wheels to control the pressure of the tire corresponding to each localized wheel; the detections of overload and tire wear, - automatic learning of the sensors or - monitoring the position of the sensors themselves. Nowadays, the wheels of vehicles generally incorporate multi-function sensors called WFC (acronym for "Wheel Fitted Component" in English terminology) in modules that are attached to the rim of the wheel - these modules are then called wheel units or WU ( acronym for "Wheel Unit" in English terminology) - or fixed directly on the inner face of the tire, it is called TM modules (acronym for "Tire Module" in English terminology). These WFC sensors periodically provide measurements made by pressure, temperature and / or acceleration sensors to a microprocessor integrated into a central processing unit via a CAN bus or antennas equipped transceivers. All the means used (probes, central unit, cable communication network or transmitter / receiver) form a tire pressure monitoring system, conventionally known as the TPMS system (acronym for "Tire Pressure Monitoring"). System "in English terminology). The digital data provided by the WFC sensors to the central processing unit translate successive levels of variation. From these values, the central processing unit develops, after filtering and sampling, pressure and temperature signals transmitted to the onboard computer of the vehicle. The acceleration data are used in particular in the targeted applications, mentioned above, to provide the values of the essential parameter of these applications during the periodic emission of the sensors, namely: the angular location of the sensors in the wheels and / or the length of the footprint of the tires on the ground. The baseline setting of some of the targeted applications may involve data provided by other technologies to secure the results. Thus, the ABS anti-lock sensor data are correlated with the acceleration data in the angular location of the wheels. In addition, impact sensors are generally used in the determination of the lengths of tire impressions. Such correlations are described, for example, in the international application WO 2012/204591, the US Pat. No. 6,112,587, or the patent application EP 2,090,062. It appears, however, that the data provided by the WFC sensors can be strongly disturbed by different factors and, in particular, when the road condition is irregular. Indeed, in this case, the shocks caused in the wheels can unexpectedly trigger the transmission of data from the WFC sensors and completely or partially distort the results. Thus, the angular location of the wheels becomes random or the length of the footprint of the tires is shortened. In the magnetic shock sensors added to the WFC sensors, such as the sensor described in the patent document EP 2090 062 or the magnetometers proposed by the patent FR 2 944 231, the magnetic field is modified when the sensor is in the angular portion. the wheel in contact with the ground, or when the rolling tire flattens on the ground. The central unit then analyzes the variations of the magnetic field to calculate the impression of the tire. Thus the presence of irregularities or variations of the road profile is not taken into account and no tool is then provided to modulate the reliability of the measurements of the WFC sensors. The invention thus aims to develop a tool for assessing the reliability of data provided by multi-function sensors WFC of a vehicle for targeted applications, according to the irregularities of the road. To do this, the invention proposes using monitoring data from the vehicle equipment to adapt its road behavior and which, well identified, can directly or implicitly reflect the changes in the state of the road. As direct surveillance equipment, stereoscopic camera systems, radars or laser sensors directly provide information on the surface condition of the roadway. As other equipment, the suspension control systems of a vehicle implicitly provide useable data for characterizing a track condition monitoring. In these systems, sensors can act on the dampers to absorb variations in the road surface. US Patent 4,600,215 discloses such sensors in the form of ultrasonic sensors. In vehicle suspension control solutions, such as those associated with hydropneumatic suspensions, a hydroelectronic integrated computer block - abbreviated to SHI - receives data from an angular sensor of the steering wheel and sensors. of cash clearance. Steering wheel angle and speed information, as well as front and rear body heights, are processed by the I31-11 computer to regulate the flow and pressure of the suspension, as well as the ride height. The present invention advantageously uses such a block 131-11 to detect the vehicle body movements. More specifically, the subject of the present invention is a method for estimating the reliability of measurements periodically made by multifunction sensors called WFC sensors of wheel tires of a vehicle traveling on a roadway, characterized in that it successively comprises: a step of extracting, from a vehicle monitoring system in a determined environment in order to adapt its behavior to this environment, periodic data of vehicle body clearance heights at each wheel - said wheel deflection data - reflecting a state of the profile variations of the roadway on which the vehicle is traveling, - a step of correlation between these wheel displacement data and values of at least one parameter responsive to the profile variations of the vehicle. for a given application, these values being deduced from the measurements made by the WFC sensors on each wheel at the same time, and - a step of taking into account the consistency between the displacement data and the parameter values correlated in the previous step by the application of decision criteria, to deduce a reliability decision of a determined set of parameter values deduced from the measurements of the WFC sensors. According to particular embodiments: the number of wheel deflection data is increased as long as an overall correlation rate between the wheel deflection data and the values of said parameter do not respect at least one determined correlation threshold defining a reliability decision criterion; the application is the location of the WFC sensors as a function of the position of the wheels and the parameter is the tire impression length on the pavement established from an acceleration signal; the correlation relates to the inverted variations between the wheel deflection data and the tire length values of the corresponding tire; the wheel displacement data and / or the length values of the cavity are selected according to detection thresholds of their variation; the correlation relates to the simultaneous detection of noises on the wheel deflection data and on the length values of the corresponding tire; - A radial acceleration is detected by the WFC sensor, the footprint variations or the presence of noise are directly detected by the WFC sensor; the wheel displacement data relate to the variations of the rolling average of the wheel deflection data; the application relates to the location of the WFC sensors by associating the rotation data, deduced from the measurements of an angular detector of the WFC sensors, and data of wheel revolutions counted by pulse sensors of an anti-lock system of ABS brakes or equivalent, the average of the wheel deflection data is used to weight the validity of the angular offsets to be established for the allocation of a WFC sensor to each of the wheels from the detection of predetermined successive angular positions of the sensor. each wheel; each angular position is modulated by the application of weighting coefficients varying as a function of the variations of the displacement data of each wheel relative to a reference displacement datum in the determination of the dispersion variance of the set of angular positions. to deduce a reliability decision taking into account the coherence between the value of each angular position and the state of the roadway; - the parameter is the measurement of the tire cavity length for a load estimation application of this tire by the introduction of weighting coefficients applied to the measurements of the print length and varying according to the data deflection of each wheel in connection with the state of deterioration of the roadway, to deduce a decision of reliability by eliminating the measures corresponding to degraded conditions of the state of the roadway; the parameter is the measurement of a characteristic of the tire impression length, in particular of the overshoot, for an estimation of the wear of this tire by the introduction of weighting coefficients applied to the tire measurements. the length of the impression and varying according to the displacement data of each wheel in connection with the state of deterioration of the roadway, to deduce a decision of reliability by eliminating the measures corresponding to degraded conditions of the state of the floor; the application relates to the position of sensors and the parameter is a control function of detachment / detachment of the sensor.
    [0002] The invention also relates to a system for estimating the reliability of the measurements made periodically by multifunctional sensors called WFC sensors of wheel tires of a vehicle that can be driven on a roadway and transmitted in the form of digital signals to a unit. central processing. Such a system implementing the method defined above comprises a monitoring equipment wheel displacement data to adapt to the profile variations of the pavement on which it circulates in order to keep servo a stable cash position, the monitoring equipment being connected to the WFC sensors via the central processing unit adapted to correlate data provided by the WFC sensors and wheel displacement data values provided by the monitoring equipment to weight the values of the WFC sensors. at least one parameter derived from the data delivered by the WFC sensors. According to advantageous embodiments: the surveillance equipment is chosen between a vehicle suspension control system which implicitly provides road condition monitoring data, a stereoscopic camera system, at least one radar and a laser sensors that directly provide data on the surface condition of the roadway; the suspension control system is a hydro-electronic block with an integrated calculator 131-11 for controlling a hydropneumatic suspension, the block 131-11 receiving data from an angular sensor of the steering wheel and of displacement sensors vehicle body, to regulate the flow and pressure of the suspension and the ride height; - when the application of WFC sensors is the angular location of the wheels, the road condition monitoring data provided by the SHI block of a hydropneumatic suspension control system are correlated with the acceleration data of the WFC sensors . Other data, characteristics and advantages of the present invention will appear on reading the following nonlimited description, with reference to the appended figures which represent, respectively: FIG. 1, a diagram illustrating the environment of a pneumatic tire; a vehicle traveling on a roadway with a body clearance sensor and a WFC sensor; FIG. 2, a time variation diagram of a reference acceleration signal measured by the WFC sensor; FIG. 3 diagrams illustrating examples of correlation between the body movement signal measured by the displacement sensor and the acceleration signal measured by the WFC sensor; FIG. 4, a diagram showing an increase of the deflection signal as a function of detection thresholds; FIG. 5, a diagram illustrating the application to the location of TM sensors by the correlations between the variations of wheel displacement data and those of the tire cavity length corresponding to them; FIG. 6, an iterative process flow diagram of wheel localization from the previous correlations and incorporating decision criteria; FIG. 7, diagrams illustrating the sound correlation between the deflection wheel displacement signal of the deflection sensor and the acceleration signal of the WFC sensor during the presence of jolts on the road surface; FIG. 8, a flow diagram of iterative method of locating the wheels from correlations involving the detection of noise caused by jolts of the roadway; FIG. 9 is a graph of the variations in the moving average of the body clearance data on all the wheels reflecting the quality of the roadway; FIGS. 10a and 10b, a diagram illustrating different angular positions of location of a WFC sensor when these positions are sufficiently grouped (FIG. 10a) or insufficiently (FIG. 10b) as a function of the degradation of the roadway to be able to estimate a location allocation. ; FIG. 11, a graph of the variation of the variances of the angular positions of four wheels of a vehicle as a function of time, and FIG. 12, a signal of deformation of a tire for a new tire and for a used tire in order to estimate tire wear.
    [0003] In all the figures, the same reference signs designate identical elements. Moreover, in order to improve the readability of the figures, the signals are represented in analog form and not in the sampled form that they present to be able to be processed numerically. The schematic view of FIG. 1 illustrates each of the tires 1 of a vehicle traveling on a roadway 2 forming an impression 10 of length AL, as well as the environment of this tire within the scope of the invention. In this environment, a WFC sensor 12 - here a TM sensor fixed on the inner face of the tire 1 - is integrated in each wheel. A displacement sensor 3 of each wheel (only the wheel R1 is illustrated) makes it possible to measure an overall travel of the vehicle body 4 mounted on each axle 5 via dampers 7. The displacement sensors 3 equip a control system. suspension of the vehicle (not shown). Each sensor 12 comprises pressure and temperature probes, as well as an accelerometer, a microprocessor and a radiofrequency transmitter (abbreviated RF). A central processing unit 8 for digital data processing is mounted on the vehicle and comprises a computer integrating an RF receiver of the signals emitted by the RF transmitters. The set of sensors 12, the central unit 8 and the communication means form a TPMS system. Furthermore, the angular movement of the body 4 is determined by a suspension computer which receives the information of the front and rear clearance heights of the body 4 provided by the displacement sensors 3 of each wheel. The suspension computer acts on the dampers 7 in order to adjust the body travel. The displacement sensors 3 of such suspension control systems of the vehicle are thus used by the invention to characterize a monitoring of the state of the roadway. Advantageously, the suspension computer - in particular a hydro-electronic module calculator of type 131-11 for a hydractive suspension - integrates the computer of the central unit 8. The diagram of FIG. 2 illustrates the variations of the signal of FIG. acceleration SA emitted by the accelerometer of a TM 12 sensor as a function of time "t" under ideal traffic conditions, that is to say on a flat road. The signal SA is periodic with period "TR" corresponding to one revolution of the wheel. It is periodically divided between a constant value of centrifugal acceleration SAC, during a reference period Tm where the accelerometer emits a signal, and a zero (or almost zero) value during a reference time interval d1, so that Tm + dl TR. In the time interval d1, the accelerometer is disposed on the imprint 10, that is to say against the roadway 2 (FIG. 1). In this position, the sensor is immobile and the radial (or centrifugal) acceleration is zero, so that the time interval d1 where the signal SA is zero corresponds to the length AL of the cavity.
    [0004] When the vehicle is traveling on the roadway 2 in unstable conditions (sudden turning or speed variation), a variation of the wheel deflection and, correspondingly, a variation in the length of the imprint 10 occur. This correlation is found between the SD signal of the displacement measuring sensor 3 (FIG. 1) and the acceleration signal SA characterizing the imprint length, as represented by the diagram of FIG. 3 of the variations of these signals over time. "T" for a front wheel. Thus, a first perturbation illustrated in FIG. 3 induces an increase in the reference wheel deflection signal SD0, which results in an increased travel signal SD +. This disturbance - caused during an interior turn or an acceleration phase - then induces, at the same time, a decrease in the fingerprint detection time (FIG. 1). This decrease in the duration of the reference time interval d1 corresponds to a time interval DT during which the signal SA is zero, and therefore to a decrease in the length of the print AL. The variations are then said to be coherent. To detect variations of wheel and cavity clearance with sufficient accuracy, it is advantageous to set up filters to define detection thresholds of the corresponding signals. Still illustrated in Figure 3, a second disturbance - caused in an outboard or braking phase - generates, on the contrary, a decrease in the wheel deflection. This reduction results in a decreased travel signal SD_ and induces, simultaneously, an increased footprint detection time (FIG. 1) dT +, and therefore an increase in the length of the print AL. FIG. 4 illustrates an example of a relevant detection of an increase in DR wheel travel height (in mm) as a function of time "t", by the use of detection thresholds in a series of point measurements of travel heights before and after being filtered by two low-pass filters, F1 and F2, respectively denoted Dm, DF1 and DF2 on the graph of FIG. 4. The filter F1 is a first-order low-pass filter in this example. It makes it possible to filter aberrations D1 and D2 due to jolts of the road, while maintaining a signal dynamics close to the input signal, the filter being at a low response time. The filter F2 is also a first-order low-pass filter with a cut-off frequency higher than that of the filter F1. It makes it possible to filter the dynamic parts of the input signal, since the filter has a high response time, in order to set increase or decrease detection thresholds.
    [0005] Thus, in the example, the detection threshold of increase of the deflection, SL1, is set at 105 (3/0 of the deflection filtered by the filter F2, and the detection threshold of decrease of the deflection, SL2, is fixed at 95 (3/0 of the displacement filtered by the filter F2. The diagram of FIG. 5 illustrates the application to the location of the TM sensors exploiting these correlations between the variations of DR1 to DR4 clearance values of the R wheels, i varying from 1 to 4) and those of the tire length AL of the corresponding tires, as a function of the time "t" .The so-called stable length measurements, without increasing or decreasing with respect to a reference imprint AL0 are not taken into account, only the fingerprint measurements representing an AL + increase or an AL- decrease in fingerprint length are counted in a C AL fingerprint counter, and these measurements are then compared with the variations in the pitch heights. deflection DRi to DR4 of each of the wheels. If the clearance heights DR1 to DR4 vary consistently with respect to the footprint AL- that the DR travel decreases if and only if the AL footprint increases - the travel is considered correlated. Such coherent correlations are denoted by "v" in the diagram of FIG. 5. Each of these coherent correlations increments by "+1" a validity counter C val, dedicated to the corresponding wheel R. In the opposite case, that is to say when the displacement DR and the footprint AL vary in the same direction, the displacement is not considered as correlated. Such inconsistent correlations, denoted "x" in the diagram of FIG. 5, are not counted in the validity counter of the concerned wheel. Whether the correlations are coherent or not, each correlation of 25 variations in length of fingerprint AL and height of clearance DR for each given wheel is counted in a message counter C msg, of the wheel R, concerned. This gives four validity rates reflecting the correlation of the impression and the deflections by establishing the ratio of values between the validity counters and the messages of each wheel: for the wheels R1 to R4, the validity rates of the example of the diagram of Figure 5 are 3/4, 4/4, 0/4 and 2/4 respectively. The location of the TM sensor on the wheel R2 seems most likely. However, in order to increase the robustness of the location, a large number of consistent and inconsistent correlations must be accounted for. Decision criteria using validity rate thresholds for a sufficient number of cavity / deflection variations are then advantageously introduced. An iterative method of correlator sensor localization integrating such decision criteria - implemented by the computer of the central unit 8 (FIG. 1) - is thus illustrated by the logic diagram of FIG. 6 in its various steps. In this flow diagram, the M12 pressure, temperature and acceleration measurements of each tire, as well as the DR values of the travel heights of each wheel (hereinafter also referred to as wheel travel data) - provided by the TM 12 sensors and displacement sensors 3 (see FIG. 1) are periodically stored and dated for each wheel R, at the level of the central unit at the initial stage of storage and dating 100. The central unit analyzes the data of length of AL footprint of a first wheel R, (step 110), from said data and values successively provided in the initial step 100. A footprint stability test (test 120) returns to the initial step (step 100) in the case where the print length AL is stable - in order to switch to the next print data of the wheel concerned - or increments (+1) the message counter C msg, of this wheel if the print length AL varies (step 130).
    [0006] The validity counters C val, and messages C msg, of the wheel R, concerned can then be incremented in the decision loop 140. To do this - after initialization of the loop 140 with i = 1 (step 141) - the impression variation AL is analyzed as an increase or a decrease data respectively associated with tests of decrease (test 143) or increase (test 144) of displacement data DR measured at the same times. When the variations of the length of the recess AL and of the displacement data DR vary in the same direction (increase or decrease for the two parameters) for the wheel R ,, only the message counter C msg remains incremented (step 130). In the opposite case, the print length AL and the displacement data DR varying in opposite direction, the validity counter C val, of the wheel R, concerned (step 145) is also incremented. A loop counter C b is incremented (step 146) by successively adding +1 to the value of "i" until it reaches the value 4 (test 147). When the counters of all the wheels have been incremented by a set of stored and dated data (step 100), decision criteria are applied on the validity rates obtained by the ratios between the incremented values of the validity counters C val, and message counters C msg, (block 150). For example, a set of criteria may be a sufficient number of messages, at least equal to ten in the example, a correlation rate higher than a correlation threshold S'p equal to 80 (3/0 for one wheels (the localized wheel) and a correlation rate lower than a correlation threshold Suif equal to 50 (3/0 for the other wheels.
    [0007] As long as the decision criteria are not satisfied, all the steps of the method are resumed from step 100 of initial storage. When the decision criteria are met, the four wheels are located according to the criteria used. The correlation localization algorithm of the lengths of footprint AL and of travel heights DR is then stopped (step 160). According to an alternative embodiment, it is possible to involve a supplementary or alternative correlation between noise detections appearing on the measurements of a WFC sensor and on the wheel displacement data DR. Indeed, jolts caused by unevenness of the roadway generate exploitable noise for location detection. FIG. 7 shows the correlation of noise as a function of time "t" and for the same wheel, by simultaneous disturbances BD and BA, respectively of the SD signal of wheel clearance height and of the acceleration signal SA in the same interval dtB time, these signals being respectively provided by the displacement sensor 3 (Figure 1) and the WFC sensor of this wheel. In the case where the WFC sensor is a WU sensor (wheel unit), the intervals dT of nullity of the acceleration signal SA, corresponding to the presence of the footprint of the tire on the roadway, are not detected. Indeed, in this case, the sensor WU - mounted on the valve - is secured to the rim and not the tire. The acceleration signal SA then presents the constant centrifugal acceleration value SAC integrating the dashed segments in place of the drops in value during the time intervals dT. The locating method described above (with reference to FIG. 6) can then be adapted by using the correlation between the sounds of the SD wheel displacement and SA acceleration height signals caused by the jolts of the roadway. Such a method is suitable for any WFC sensor, sensor WU or TM, because it does not involve the fingerprint detection reserved for TM sensors. This adapted method is illustrated by the logic diagram of FIG. 8, which resumes that of FIG. 6, while adapting it to the correlation by the noise detection. The incrementation of the message counter C msg is here conditioned by a noise detection test on the acceleration signal SA coming from the data of the sensor WFC (test 220 which replaces the test 120) and the incrementation loop 240 ( which replaces the loop 140) is based on the simultaneous detection of noise at the DR wheel clearance height signal SD (test 242) when noise has been detected in the test 220, the message counter C msg, having was then incremented (step 130). More precisely, at the incremental loop 240, when noise is detected simultaneously at the acceleration signal SA (test 220) and at the wheel displacement height signal SD (test 242) the validity C val, is incremented (step 145). In the case where no noise is detected at the SD wheel travel height signal (test 242), while noise is detected at the acceleration signal SA (test 220), the loop counter C b is directly incremented. When the incrementation of the loop counter C b reaches 4 (steps 146, 147), the decision criteria are applied (block 150) as in the logic diagram of FIG. 6. The localization method may involve the correlations of variation of acceleration and deflection signals or noise detection correlations on these signals separately or in combination, particularly depending on the type of WFC sensor used; such a WFC sensor is compatible or not with a fingerprint detection, respectively depending on whether the position of the WFC sensor is on the rim (WU sensor) or on the inner face of the tire (TM sensor). In general, and whatever the type of sensor, the input of the application data of the decision criteria (block 150) consists of a matrix "P x N" of coefficients "0" and "1". position validity of each of the "P" sensors on each of the "N" wheels of the vehicle. Classically P = N = 4, but it is also possible that P is greater than N, that is to say that there are more candidate sensors than wheel positions to be allocated. Decision algorithms can then be used with the validity coefficients of the matrix as input data. Such algorithms are for example described in patent documents FR 2 974 033 or WO 2014/044355. In order to save the battery of the sensors, the data transmission is carried out only if the measurements (of travel, acceleration, etc.) have been carried out under unstable conditions to be relevant, in particular when the vehicle speed varies (so when the centrifugal acceleration varies), turning - which requires an accelerometer in the tangential axis -, or when noise is detected. In the case where the sensor is equipped with a tangential accelerometer, these conditions can be satisfied. The variations of the imprint or the presence of noise can then be detected directly by the sensor, and the step of analyzing the sensor data as well as the footprint stability or noise detection tests can be suppressed. It is also advantageous to directly use the variations of the average of the deflection heights in order to inject a data of the state of deterioration of the roadway to weight or filter the data resulting from measurements of the WFC sensors.
    [0008] It appears indeed, as illustrated by the graph as a function of time "t" of FIG. 9, that the rolling average DR extended to the set of wheels (curve C1) of the travel data DR relating to each wheel (curve 02 ) reflects well the state of degradation of the roadway: when the vehicle is traveling in substantially flat portions of the roadway - in the time intervals of 0 to t 1 and t2 to t3 - the curve C1 is substantially linear; but when the roadway is degraded in the time interval from fi to t2, the curve C1 follows well the degradation of this roadway. The average DR of the wheel displacement data DR thus reflects the state of the roadway and can therefore be exploited to weight the validity of angular offsets of the same sensor used in the allocation of a WFC sensor to each wheel . This location assignment is implemented by associating angular position data, derived from the measurements of a rotation detector WFC sensors - for example a piezoelectric plate sensitive to gravity - and data of wheel turns counted by pulse sensors attached to the vehicle. In general, the wheel-mounted tower sensors of ABS anti-lock braking systems can be advantageously used. Such a method is described for example in US Patent 5,808,190 or US 6,112,587, incorporated herein by reference. This method is based on the verification of a predefined angular offset and measured, to a whole number of revolutions, between the angular positions of a WFC sensor corresponding to the successive message transmission instants transmitted by this same WFC sensor with its identifier to the central unit. Each instant of emission corresponds to an angle of position of the sensor on its wheel and the angular offset between two times of emission is known from the central unit specifically for each wheel. This knowledge, which exploits the natural desynchronization of the wheels that rotate at different speeds (tire radius, trajectory, different coefficients of friction or slip), then makes it possible to select the wheel corresponding to the transmissions transmitted by the sensor recognized elsewhere by its ID. In order to save the batteries, the WFC sensors are activated only during shooting windows framing the angular position of each sensor. This provision requires to be able to target this angle in a firing angle defining sufficient accuracy. In practice, as illustrated by the angular positions X1, X2, Xn of FIGS. 10a and 10b, formed on the periphery of a schematized wheel "R", the positions X1, X2, Xn of a WFC sensor can be grouped together (Figure 10a) or not (Figure 10b) in the shooting window Fx centered on the target angular position Xo. In FIG. 10a, the grouping of the angular positions is sufficient for the sensor to be the sensor to be associated with the selected wheel. This correspondence is thus ensured when the roadway is sufficiently regular. But when the pavement becomes degraded or bumpy (FIG. 10b), the angular positions X1, X2, Xn are scattered far beyond the firing window Fx and the correspondence, which is no longer assured, can lead to attribution errors. According to the invention, the use of each angular position is modulated according to the state of the road (irregularities, shocks, uniformity, etc.) by involving a weighting coefficient according to the displacement data DR of each wheel. in the variance calculation "V" of a set of angular positions. Such variance is characteristic of the dispersion of the angular positions in the assignment tracking of each wheel. The study of the variations V1 to V4 of the four variances, each variance having to correspond to the location of a wheel (conventionally: left front wheel, right front wheel, left rear wheel and right rear wheel in a motor vehicle), according to the time < <t "- as illustrated by the graph of Figure 11 - then allows to follow the allocation of wheels. The introduction of the weighting coefficients, reflecting the reliability of each angular position, then appreciably improves the performance of this monitoring, in particular to differentiate very close variances for a long duration, such as the V3 and V4 variances of FIG. Attribution error is then entirely possible, especially when variations in variances seem to intersect. More precisely, for each wheel R, the variance V of a set of angular positions Xj, j varying from 1 to n, around an average X is expressed by the relation: 21 (7 (X) 1) (j V =, with X = n 25 Using the weighting coefficients ocj, varying between 0 and 1 as a function of the variation of the wheel clearance height DR of the wheel R with respect to a reference height - at times when the data of the sensors are transmitted to establish the angular positions -, a weighted variance "Vp" is then expressed by the relation: 30 / (Xp - CriXi) 2J.Xj Vp -, with X - P La. Each weighting coefficient ocj reflects a state of degradation of the pavement modulated between a plane pavement (oc j = 1) and a totally degraded pavement ((xj = 0) By injecting the data of the deflection sensors, the angular position data calculated from measurements of WFC sensors have a dominating weight when the roadway is of good quality, that is to say when these data are compatible with the state of the roadway.
    [0009] The invention is not limited to the embodiments described and shown. The weighting of the WFC sensor data can also be used to estimate the load or wear of each tire. Indeed, the estimation of the load uses the precise measurement of the length of the impression AL of the tire concerned. This estimate requires stable conditions: a road of good quality, a vehicle running at a constant speed and in a straight line. The introduction of the weighting coefficients varying from 0 to 1 as described above in the length measurement AL allows, from the DR travel data, to identify the relevant measurements. Measurements made under unstable conditions are then rejected. Furthermore, the estimation of the wear of a tire is illustrated in FIG. 12 by the comparison of a tire deformation signal Sdef - resulting for example from the acceleration signal SA - over a period corresponding to a lap of wheel TR, respectively for a new tire (curve C3) and for a worn tire (curve C4). This estimate uses the measurement of some specific characteristics of this Sdef signal. the presence of "overshoots" So ("overruns" in English terminology) thus reflects the deformation of the tire. This wear estimate also requires stable conditions. Thus, analysis of the DR wheel deflection data and the introduction of the weighting coefficients as for the estimation of the load makes it possible to identify the relevant measurements, the measurements made under unstable conditions can then be rejected. Another use of the wheel DR travel data to characterize the reliability of the TM sensor measurements, relates to the control of the position 30 of these sensors in the tires itself because detachment or detachment of the TM sensor can damage the inside of the tire. . Such a control function which detects that the sensor is no longer in its initial mounting position is described in patent document DE10 2004 064 002, incorporated herein by reference. This function advantageously uses the correlation between the measurements of the sensor TM and the travel height DR of the associated wheel.
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. Method for estimating the reliability of periodically measured measurements by multifunctional sensors known as WFC sensors (12) of tires (1) of wheels (R1 to R4) of a vehicle traveling on a roadway (2), characterized in that it comprises successively: - an extraction step (100), from a vehicle monitoring system (3, 8) in a determined environment to adapt its behavior to this environment, periodic data of heights of vehicle body clearance at each wheel (DR) - known as wheel deflection data - reflecting a state of the profile variations of the roadway on which the vehicle is traveling, - a correlation step (140, 240) between these data of wheel deflection (DR) and values of at least one parameter (10) responsive to the variations of the road surface profile (2) for a given application, these values being deduced from the measurements (M12) made by the sensors WFC on each wheel (R1 to R4) at the same times, and - a step of taking into account the coherence between the travel data (DR) and the values of the parameter (10) correlated to the previous step by the application decision criteria (150), to derive a reliability decision from a determined set of parameter values deduced from the measurements of the WFC sensors.
    [0002]
    A method of estimating the reliability of measurements according to claim 1, wherein the number of wheel deflection data (DR) is increased (150) as long as an overall correlation rate between the wheel deflection data ( DR) and the values of said parameter (10) do not respect at least one determined correlation threshold Snf) defining a reliability decision criterion.
    [0003]
    3. Method for estimating the reliability of measurements according to one of claims 1 or 2, wherein the application is the location of the WFC sensors (12) according to the position of the wheels (R1 to R4) and the parameter is the length (AL) of impression (10) of the tires (1) on the road (2) established from an acceleration signal (SA).
    [0004]
    A method of estimating the reliability of measurements according to any one of the preceding claims, wherein the correlation relates to the inverted variations between the wheel deflection data (DR) and the imprint length (AL) values. of the corresponding tire.
    [0005]
    A method of estimating the reliability of measurements according to any one of the preceding claims, wherein the wheel displacement data (DR) and / or the imprint length values (AL) are selected according to thresholds. detection of their variation (SLi, SI-2).
    [0006]
    The method for estimating the reliability of measurements according to one of claims 1 or 2, wherein the correlation relates to the simultaneous detection of noise (BD, BA) on the wheel deflection data (DR) and on the print length values (AL) of the corresponding tire.
    [0007]
    7. A method of estimating the reliability of measurements according to any one of claims 3 to 6, wherein, a radial acceleration being detected by the WFC sensor (12), the imprint variations (10) or the presence Noise (BA) is detected directly by the WFC sensor (12).
    [0008]
    A method of estimating the reliability of measurements according to one of claims 1 or 2, wherein the wheel displacement (DR) data relate to the variations of the rolling average (DR) of the deflection travel data. wheel (DR).
    [0009]
    9. A method for estimating the reliability of measurements according to the preceding claim, wherein the application relates to the location of the WFC sensors (12) by association of the rotation data, derived from the measurements of an angular sensor 20 of the sensors. WFC (12), and wheel rotation data counted by pulse sensors of an ABS anti-lock brake system or equivalent, the average (DR) of the wheel displacement data DR is used to weight the validity of the offsets. angularly set for assigning a WFC sensor (12) to each of the wheels (R1 to R4) from the detection of predetermined successive angular positions (X1, X2, ..., Xn) of the sensor (12 ) of each wheel (R1 to R4).
    [0010]
    10. A method for estimating the reliability of measurements according to the preceding claim, wherein each angular position (X1, X2, ..., Xn) is modulated by the application of weighting coefficients varying according to the variations of the data of deflection (DR) of each wheel (R1 to R4) relative to a reference deflection datum in the determination of the variance (V) of dispersion of the set of angular positions (X1, X2, ..., Xn ) to deduce a reliability decision taking into account the coherence between the value of each angular position (X1, X2, ..., Xn) and the state of the roadway.
    [0011]
    A method for estimating the reliability of measurements according to claim 8, wherein the parameter is the measurement of the tire length (AL) of a tire (1) for a tire estimation application. loading of this tire (1) by the introduction of weighting coefficients applied to the measurements of the imprint length (AL) and varying according to the displacement data (DR) of each wheel (R1 to R4) in connection with the state of deterioration of the roadway, to deduce a decision of reliability by eliminating the measures corresponding to degraded conditions of the state of the roadway.
    [0012]
    The method for estimating the reliability of measurements according to claim 8, wherein the parameter is the measurement of a characteristic of the imprint length (AL) of a tire (1), in particular overshoot (S0), for an estimation of the wear of this tire (1) by the introduction of weighting coefficients applied to the measurements of the imprint length (AL) and varying according to the displacement data (DR) of each wheel (R1 to R4) in connection with the state of deterioration of the roadway, to deduce a decision of reliability by eliminating the measures corresponding to degraded conditions of the state of the roadway.
    [0013]
    The method for estimating the reliability of measurements according to claim 8, wherein the application relates to the sensor position (12) and the parameter is a control function of detachment / detachment of the sensor (12). .
    [0014]
    14. System for estimating the reliability of measurements periodically made by multifunctional sensors known as WFC sensors (12) of tires (1) of wheels (R1 to R4) of a vehicle capable of traveling on a roadway (2) and transmitted in the form of digital signals (SA) to a central processing unit (8) for carrying out the method according to any one of the preceding claims, characterized in that it comprises a monitoring equipment (3, 8) of wheel displacement data (DR) to adapt it to the variations of the profile of the roadway on which it circulates in order to keep by servoing a stable body position, the monitoring equipment being in connection with the WFC sensors via the unit central processing unit capable of correlating data provided by the WFC sensors and wheel deflection data values provided by the monitoring equipment to weight the values of at least one parameter data delivered by WFC sensors.
    [0015]
    A measurement reliability estimating system according to the preceding claim, wherein the monitoring equipment is selected from a vehicle suspension control system (3, 8) which implicitly provides tracking data of the vehicle. the pavement (2), a stereoscopic camera system, at least one radar and a laser sensor that directly provide surface condition data of the pavement (2).
    [0016]
    16. System for estimating the reliability of measurements according to the preceding claim, wherein the suspension control system is a hydropower block with an integrated calculator I31-11 control of a hydropneumatic suspension, the I31-11 block receiving data of an angular sensor of the steering wheel and of sensors (3) of the body (4) of the vehicle, to regulate the flow and pressure of the suspension and the ride height.
    [0017]
    17. System for estimating the reliability of measurements according to the preceding claim, wherein, when the application of the WFC sensors (12) is the angular location of the wheels (R1 to R4), the data for monitoring the status of the (2) provided by the block I31-11 of a hydropneumatic suspension control system are correlated with the acceleration data (SA) of the WFC sensors (12).
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    法律状态:
    2015-12-21| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-24| PLSC| Publication of the preliminary search report|Effective date: 20160624 |
    2016-12-22| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-19| PLFP| Fee payment|Year of fee payment: 6 |
    2020-12-23| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-24| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1462580A|FR3030373B1|2014-12-17|2014-12-17|METHOD FOR ESTIMATING THE RELIABILITY OF WHEEL SENSOR MEASUREMENTS OF A VEHICLE AND SYSTEM FOR IMPLEMENTING SAID METHOD|
    FR1462580|2014-12-17|FR1462580A| FR3030373B1|2014-12-17|2014-12-17|METHOD FOR ESTIMATING THE RELIABILITY OF WHEEL SENSOR MEASUREMENTS OF A VEHICLE AND SYSTEM FOR IMPLEMENTING SAID METHOD|
    US14/968,663| US10132719B2|2014-12-17|2015-12-14|Method for estimating the reliability of measurements by wheel sensors of a vehicle and system for its application|
    CN201510941885.XA| CN105711350B|2014-12-17|2015-12-16|System for the method for the reliability of the wheel detector estimation measurement by vehicle and for its application|
    US16/018,443| US10900871B2|2014-12-17|2018-06-26|Method for estimating the reliability of measurements by wheel sensors of a vehicle and system for its application|
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