• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention proposes a method for detecting an inclination with respect to the ground of a wheel of a motorized vehicle which comprises the following steps: measurement of two accelerations using two accelerometers mounted on the wheel and adapted to measure, respectively the acceleration of the wheel along a first axis (x) and along a second axis (z), the first axis (x) and the second axis (z) being in the plane of said wheel and orthogonal, and - calculating components of a gravity vector (G) in a coordinate system formed by the first axis (x) and the second axis (z) from the acceleration measurements, - determination of a gravity vector module (G) from the computed components, and - determining a position of inclination of the wheel with respect to the ground by comparing the value of the gravity vector module (G) with a predetermined value.
    公开号:FR3032523A1
    申请号:FR1551127
    申请日:2015-02-11
    公开日:2016-08-12
    发明作者:Jacques Rocher；Nicolas Guinart；Pierre-Emmanuel Maire
    申请人:Continental Automotive GmbH；Continental Automotive France SAS；Synerject SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method of detecting an inclination with respect to the ground of a wheel of a motor vehicle. It also relates to a method of managing an engine when the motor vehicle is in an abnormal mode of operation, following for example an accident or a fortuitous event that may cause damage. The invention has applications in the motor vehicle sector and in particular motorcycles. A motorized vehicle includes several safety systems to prevent accidents and also to protect the passengers of the vehicle and the vehicle itself in case of an accident. Current trends are aimed at improving these security systems from an efficiency, reliability and cost-effectiveness perspective. A tilt sensor is used as a safety system embedded in the motor vehicle to determine the inclination of said vehicle and thus to detect a possible accident. In fact, the tilt sensor makes it possible to determine whether the vehicle is no longer in a so-called normal position but, on the contrary, in a so-called lying position where the vehicle is parallel to the ground. The most common tilt sensor in motorized vehicles is an electromechanical system such as a tilt switch, commonly called tilt switch or crash switch. Such a tilt switch is a simple device whose open / closed state depends on its inclination. This switch contains for example a drop of mercury free to move inside a cylindrical tube. When the drop of mercury is at one end, it closes an electrical contact and the current passes. On the contrary, when it is at the opposite end, the electrical contact is open and the current no longer passes. The tilt switch may also include a metal ball in place of the mercury drop. In addition, a simple accelerometer can be used as a tilt switch. In powered vehicles, the tilt switch has a closed position if the vehicle is in the normal position and an open position if the vehicle is in the down position.
    [0002] For the latter case, the information transmitted by the tilt sensor enables a computer to stop the engine of the motorized vehicle for example by cutting the fuel pump of said vehicle or the injection of fuel into the combustion chamber. said vehicle.
    [0003] The tilt switch effectively performs its initial function of cutting the vehicle engine when said vehicle is lying down following an accident. However, the tilt switch may remain stuck, i.e., remain in an open position while the vehicle is straightened and in its normal position. If the tilting switch remains stuck in the open position, then it is impossible to restart the vehicle engine without the intervention of an operator to unlock the tilt switch. This disadvantage is particularly troublesome in low speed accident situations where the passengers are not injured and where the vehicles are not damaged and could leave quickly without going through a maintenance service. The invention aims to eliminate, or at least mitigate, all or part of the disadvantages of the prior art mentioned above. The present invention therefore aims to provide a method for detecting a supine position of a vehicle in case of accident and thus to provide a reliable security system. In addition, the present invention will reduce the costs of manufacturing and implementation of such a safety system and also reduce the size of this system in the vehicle while ensuring its proper operation.
    [0004] The present invention also aims at providing a motor management method allowing, when an accident situation where the vehicle is in a lying position is detected, to stop the engine of the vehicle for safety. Such a method according to the present invention also aims to allow the engine stopped to restart and re-operate normally when the accident situation is over without any need for maintenance. The associated security system according to the invention will also preferably be easy to regulate and / or a high efficiency and / or a price of 3032523 3 returns moderate. For this purpose, the present invention provides a method of detecting an inclination with respect to the ground of a wheel of a motor vehicle. According to the present invention, said detection method comprises the following steps: measurement of two accelerations using two accelerometers mounted on the wheel and adapted to measure, respectively, the acceleration at a point of said wheel along a first axis and following a second axis, the first axis and the second axis being in the plane of said wheel and orthogonal, and 10 - calculation of the components of a gravity vector in a reference formed by the first axis and the second axis from the measurements of accelerations, determination of the modulus of the gravity vector from the computed components, and determination of a position of inclination of the wheel with respect to the ground by comparing the value of the modulus of the gravity vector with a predetermined value. Tests have shown that such a detection method makes it possible to detect simply and rapidly accident situations where the motorized vehicle is in a position parallel to the ground, said lying position, in a reliable and efficient manner. Indeed, the use of two accelerometers overcomes the use of a tilt switch. The use of two accelerometers makes it possible to reconstruct the gravity vector by determining in the measured accelerations the proportion of the measured acceleration due to gravity, knowing that gravity affects the acceleration measurements by "adding" a signal which varies sinusoidally. It is then necessary to compare the measured gravity vector with a predetermined value in order to facilitate the detection of a supine position of a vehicle. Indeed, when the wheel is vertical, the amplitude of the signal measured by each accelerometer due to gravity is maximum and it becomes zero for a wheel horizontally since the measurement axes of each accelerometer are in the plane of the wheel. In addition, the use of two accelerometers associated with a wheel of the vehicle makes it possible to simply detect a rolling situation of said vehicle and also to locate the wheel in question. Advantageously, the first axis has a direction tangential to the wheel with which it is associated and the second axis has a centripetal direction to said wheel. Considering the centripetal vector and the tangential vector of the wheel under consideration makes it easier to calculate the modulus of the gravity vector. For the sake of optimization, the two accelerometers are those of an automatic tire pressure monitoring system, called TPMS (Tire Pressure Monitoring System). The reuse of two accelerometers already embedded in a vehicle advantageously reduces the size and cost of such a security system. The present invention further relates to a method of managing an engine of a motor vehicle comprising at least two wheels when the vehicle is in an abnormal mode of operation following an accident corresponding to a fortuitous event that may cause damage. The management method comprises the following steps: detecting a transition between a movement phase and a stopping phase of the vehicle; determining a level of inclination with respect to the ground of at least one wheel of the vehicle; vehicle according to the detection method described above, - determining a position of overall inclination of the vehicle relative to the ground according to the measurement of the inclination level of each wheel considered, - stopping the engine of the vehicle, if the vehicle has a position substantially parallel to the ground corresponding to the abnormal operating mode. Such a method of managing an engine makes it possible to effectively detect a possible accident situation where the vehicle is in a supine position and to rapidly stop the engine of the vehicle for the sake of safety. In addition, the use of two accelerometers at each wheel makes it possible to detect simply and quickly, at the same time, the movement of the vehicle and the overall inclination of said vehicle. In one embodiment, a time interval between two tilt level measurements increases as the vehicle speed increases. Controlling the time interval between two measurements of the inclination level makes it possible to reduce the energy consumption of the accelerometers and thus to prolong their autonomy.
    [0005] An advantageous embodiment here provides that the management method further comprises a step of transmitting the measurement of the tilt level to a computing unit via a radio frequency communication. Having a radio frequency transmission makes it possible to transmit measurements made by the accelerometers reliably and to increase the speed of transmission. In addition, the fact of centralizing the measurements of the various wheels considered towards a computing unit also makes it possible to make the management method more reliable while considering the vehicle in its environment. Such a management method further comprises the following steps: detecting a transition between a movement phase and a stopping phase of the vehicle, determining a level of inclination with respect to the ground of at least one wheel of the vehicle according to the detection method described above, - determination of a position of overall inclination of the vehicle relative to the ground according to the measurement of the inclination level of each wheel 20 considered, when the vehicle is in the abnormal mode of operation: - transmission of a release command of a prohibition of starting the vehicle, if it no longer has a position substantially parallel to the ground corresponding to the abnormal operating mode. Thus, there is no engine lock in a shutdown state. This allows, especially in case of accident at low speed where there is no injury or damage to the vehicle, to restart the engine normally, when a user of the vehicle controls the start.
    [0006] In addition, the time interval between two measurements of the level of inclination of a wheel when the vehicle is in the abnormal operating mode is less than that of a wheel when the vehicle is in the stopping phase. Reducing the time interval between two measurements of the inclination of the vehicle, following the detection of an abnormal mode of operation corresponding to an accident situation, makes it possible to quickly restart the engine of the vehicle once. the situation of past accident.
    [0007] Advantageously, the inclination level of each wheel of the vehicle is measured and taken into account for the determination of the overall inclination position of the vehicle. Considering all the wheels of the vehicle to detect the inclination of the vehicle makes it possible to increase the reliability of such a management method.
    [0008] The present invention also relates to an electronic module for detecting an inclination with respect to the ground of a wheel of a motor vehicle. This electronic detection module comprises means for implementing each of the steps of the detection method described above.
    [0009] Finally, the present invention further relates to an electronic module for managing an engine of a motor vehicle. This electronic management module comprises means for implementing each of the steps of the management method described above. Details and advantages of the present invention will appear better on reading the description which follows, made with reference to the appended diagrammatic drawings in which: FIG. 1 is a diagram of a motorcycle viewed in profile according to one embodiment, FIG. 2 is a diagram of a motorcycle seen from above according to the preceding embodiment, and FIG. 3 is a flow chart of a method of managing an engine according to one embodiment. In the following description, the present invention is illustrated in a motorcycle application.
    [0010] FIG. 1 and FIG. 2 illustrate a general diagram of a motorcycle 1 having a tilt detection system 3 shown on a front wheel 5. In addition, FIG. 1 shows the motorcycle 1 in a normal position according to a shape. and Figure 2 shows said motorcycle 1 in a recumbent position according to the same embodiment. The normal position of the motorcycle 1 corresponds to a straight position of the motorcycle 1 in which said motorcycle 1 can ride normally. On the contrary, the recumbent position of the motorcycle 1 corresponds to a position parallel to the ground. The 5 motorcycle 1 is in the supine position, generally, following an accident associated with a fortuitous event that may cause damage to said motorcycle 1 and passenger (s). Thus, when the motorcycle 1 is in a lying position following an accident, it is in an abnormal operating mode, opposed to a normal operating mode in which the motorcycle 1 is in the driving phase or in the parking phase. In this embodiment, the front wheel 5 comprises two accelerometers. A first accelerometer measures the acceleration of the front wheel 5 along a first axis x and a second accelerometer measures the acceleration of the same front wheel 5 along a second axis z. The first axis 15 x and the second axis z are orthogonal and their respective directions are in the plane of the wheel. They therefore form a landmark. Both accelerometers are both integrated on the same support in an electronic box mounted on the front wheel 5. They are preferably integral with the wheel so that the two axes form a rotating marker. Thus, the accelerometers can be fixed on a wheel valve or glued inside the wheel on the tire or circled on the rim of the wheel or at any place where it is possible to measure the air pressure. wheel tire. Still in the embodiment of FIGS. 1 and 2, the first x axis has a direction tangential to the wheel with which it is associated, that is to say that it is perpendicular to the radius of said front wheel 5 and the second axis z has a centripetal direction, i.e. it has the same direction as a radius of the front wheel 5. The acceleration x "measured along the first axis x corresponding to 30 l tangential acceleration is decomposed as indicated by the relation 7 and the acceleration z "measured along the second axis z is decomposed as indicated by the relation 9. Gx and G, are the components of a gravity vector G along the first axis x and the second axis z, respectively, r is the distance 3032523 separating the accelerometer from the center of the wheel and w is the rotational speed of the wheel. The component G, is phase shifted by +/- 90 ° with respect to the component G, of the gravity vector G as a function of the direction of rotation of the front wheel 5 since the two axes x and z are orthogonal. 5 x "= Gx (7) z" = no '+ Gz (9) In the example of FIG. 1, it is then possible to calculate that the modulus of the gravity vector G is equal to:' / IGz12 + IGx12 = IGI = Thus, since the modulus of the gravity vector G is equal to 1g corresponding to about 9.80665 m.sup.-2, then the front wheel 5 is straight in a normal position. On the contrary, in the example of FIG. 2, it can be calculated that the modulus of the gravity vector G is equal to: IGz1 = IGx1 = 0 9 (13) Indeed in this example, the gravity vector G is perpendicular to the plane of the first axis x and the second axis z. So the respective amplitudes of its two components G, and G, projected on the plane of the vectors are zero. Thus, the front wheel 5 is in a supine position.
    [0011] A calculation unit (not shown in the figures) is embedded in the motorcycle 1 and allows the establishment of a method of detecting a slope relative to the ground of the front wheel 5 of the motorcycle 1. In the embodiment of Figures 1 and 2, the detection method comprises the following steps: measuring the acceleration x ", z" of the front wheel 5 along the first axis x and the second axis z, and - calculating components G ,, G, of the gravity vector G in the coordinate system formed by the first axis x and the second axis z from the acceleration measurements x ", z" and using the relations 7 and 9, the radius r and the speed of rotation w being known, - determining a modulus of the gravity vector G from the components G ,, G, calculated, and 3032 523 9 - determining a position of inclination of the wheel relative to on the ground by comparing the value of the modulus of the gravity vector G with the value measured when the wheel is vertical Gmax. This last value Gmax is theoretically g (= 9.80665) but may be different depending on the 5 settings and calibrations performed. The calculation of the ratio G / Gmax makes it possible to know then the inclination of the wheel. A Gaure value is also determined from which it is considered that the wheel is lying down and therefore in a position considered abnormal. Of course, the predetermined value G threshold is preferably close to 0. Thus, if the modulus of gravity vector G determined by the detection method is greater than the predetermined value G then the front wheel 5 is considered to be in a normal position. . On the contrary, if this module is lower than the predetermined value Gseuii, that is to say if it is equal to 0, then the front wheel 5 is in a lying position.
    [0012] A recent motorcycle is generally equipped with an automatic tire pressure control system, called TPMS system (Tire Pressure Monitoring System). Indeed, this TPMS system is now mandatory, in Europe and also in the United States, on all new models of motorized vehicles.
    [0013] The TPMS system is a system enhancing the safety of the vehicle by monitoring the tire pressure while taking into account the driving conditions of said vehicle. One of the TPMS system types is the TPMS direct system which detects the pressure of each tire of the vehicle directly on the corresponding tire. The TPMS direct system comprises 25 different sensors positioned directly in the rim of the wheel and more precisely inside the pneumatic chamber. In particular, a direct TPMS system comprises a pressure sensor and a temperature sensor. In addition, the TPMS direct system comprises, on each wheel considered, a first accelerometer whose function is to detect the phases of movement of the vehicle in order to activate or not the TPMS system and, generally, a second accelerometer for locating the vehicle. concerned wheel in order to indicate to the user on which wheel is a problem when it is detected.
    [0014] In a preferred embodiment, the accelerometers of a direct TPMS system are also used to detect the inclination of a wheel of the motorcycle 1. In fact, rather than adding two accelerometers, the accelerometers of the TPMS system. direct can be used to detect the movement of the motorcycle 1, locate the wheel considered among all the wheels of the bike 1 and also to determine the inclination of the wheel considered. In this embodiment, the method of detecting an inclination with respect to the ground of a wheel of a motor vehicle is the same as that described previously with reference to FIGS. 1 and 2. Thus the detection system of inclination 3 corresponds to the direct TPMS system associated with the front wheel 5 of the motorcycle 1. In an exemplary embodiment, the two associated accelerometers are each composed of a sensitive element. These sensitive elements are arranged on the same chip so as to form a single sensor.
    [0015] The invention further relates to a method of managing an engine of a motorcycle 1. FIG. 3 illustrates an embodiment of this management method. The management method comprises a first step of acquiring the accelerations x ", z" respectively along the first axis x and the second axis z of the front wheel 5. Then, the management method comprises an analysis step 17 data acquired during the acquisition step 15 to determine the speed of the motorcycle 1. This analysis step 17 allows the detection 19 of a transition between a movement phase and a stopping phase of the motorcycle 1.
    [0016] In the case where the motorcycle 1 is in a movement phase, then the management method waits (waiting step 33) for a new acquisition of the accelerations x ", z" according to the acquisition step 15. In a first adjustment step 21, the management method sets the periodicity of the acquisition step 15 at a high frequency. More specifically, the time interval between two acquisitions of x ", z" accelerations to detect a transition between a motion phase and a stop phase is preferably small relative to the time interval between two acquisitions accelerations x ", z" to determine the position of the bike. In particular, the periodicity of the acquisition step increases as the speed of the motorcycle increases. In the opposite case where the motorcycle 1 is in a stopping phase, then the management method sets, in a second adjustment step 23, the periodicity of the acquisition of the accelerations x ", z" in order to measure a level. tilting of the wheel at a low frequency. The management method then comprises a step of measuring a level of inclination with respect to the ground of the front wheel 5 according to the previously described detection method. This measuring step 25 is repeated in parallel preferably for all the wheels considered. The management method then comprises a step 27 for determining an overall inclination position of the motorcycle 1 relative to the ground as a function of the measurement of the inclination level of each wheel considered. The determining step 27 determines whether the motorcycle is in the normal position or is in a supine position, there can be no intermediate position. In the case where the motorcycle is in a normal position, then the management method waits (waiting step 33) a new acquisition accelerations x ", z" according to the acquisition step 15. In the opposite case where the motorcycle is in a recumbent position, then the motorcycle is in the abnormal operating mode and the management method includes a stopping control step 29 of the motorcycle engine. The stop command can for example consist of stalling the engine for example by cutting the fuel injection into the engine. In parallel, the management method comprises a third adjustment step 31 of the periodicity of the acquisition of accelerations x ", z" in order to measure a level of inclination of the wheel at a frequency higher than that where the motorcycle is in a stopping phase and in a normal position but preferentially lower than that where the motorcycle is in a phase of movement. The increase of this periodicity makes it possible to restart the motorcycle quickly in the event that the accident did not cause any material damage to the motorcycle. The vehicle then returns to the normal operating mode. The management method waits (waiting step 33) then a new acquisition of the accelerations x ", z" according to the acquisition step 15.
    [0017] In addition, the management method has several steps of transmitting the information acquired by the accelerometers to a computing unit via a radio frequency communication. The calculation unit therefore has the function of calculating the inclination levels of each wheel, of centralizing the different information and of determining the overall inclination level of the motorcycle 1. In one embodiment, the unit of calculation is part of an injection computer. However, the calculation unit could also be part of the cockpit calculator or be a dedicated calculator dedicated to the detection method and the previously described management method.
    [0018] The present invention further relates to an electronic module for detecting the inclination with respect to the ground of a wheel of a vehicle. The electronic detection module comprises means for implementing each of the steps of the detection method described above. In addition, the present invention relates to an electronic engine management module of a vehicle. The electronic management module comprises means for implementing each of the steps of the management method described above. In an alternative embodiment of the present invention, the first axis x and the second axis z are not oriented in the centripetal direction and the tangential direction. Indeed, these axes can be chosen randomly as long as they remain in the direction of the plane of the wheel and perpendicular to each other. The fact of taking a centripetal axis and a tangential axis makes it possible to limit and simplify the calculations of the modulus of the vector representative of gravity G.
    [0019] In addition, in another variant embodiment, the management method takes into account the inclination of all the wheels of the vehicle in order to determine the overall inclination of the vehicle for greater reliability. However, in the example where the vehicle is a car, the management method could take into account, for example, only three wheels.
    [0020] The present invention thus makes it possible to determine, simply and reliably and quickly, the inclination of each of the wheels of a vehicle in order to determine whether the latter is in an abnormal mode of operation. The invention then makes it possible to set up a security system that is efficient and inexpensive since it reuses sensors already present in the vehicle. In addition, using the gravity vector module compared to a predetermined value combined with the fact that the vehicle is stationary makes it possible to secure the engine stop control by taking into account various situations where the vehicle is strongly leaning without being in a situation of accident, for example the case of a motorcycle during a sharp turn. In addition, combining the tilt measurements of several wheels of the vehicle makes it possible to detect situations of inconsistency and to decide whether the engine needs to be cut. Regulating the periodicity of acquisition accelerations can increase the life of sensors that are autonomous and operate with a battery while ensuring a sufficient level of security.
    [0021] The present invention makes it possible to eliminate the inclination sensor of the prior art. In an alternative embodiment, the present invention may, on the contrary, make it possible to create a redundancy of the vehicle inclination detection information by associating the present invention with the inclination sensor of the prior art.
    [0022] The present invention can find applications in any type of motorized vehicle such as motorcycles or automobiles. Of course, the present invention is not limited to the preferred embodiment and embodiments described above by way of non-limiting examples. It also relates to the variants of embodiment within the scope of those skilled in the art within the scope of the claims below.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of detecting an inclination with respect to the ground of a wheel of a motor vehicle, characterized in that it comprises the following steps: - measurement of two accelerations (x ", z") using two accelerometers mounted on the wheel and adapted to measure, respectively, the acceleration (x ", z") at a point of said wheel along a first axis (x) and along a second axis (z), the first axis (x) and the second axis (z) being in the plane of said wheel and orthogonal, and - calculating the components (Gx, G7) of a gravity vector (G) in a coordinate system formed by the first axis (x) and the second axis (z) from the acceleration measurements (x ", z"), - determination of the modulus of the gravity vector (G) from the calculated components (Gx, G7), and - determination of a position of inclination of the wheel by ground ratio by comparing the value of the gravity vector module (G) with a predetermined value (Gmax).
    [0002]
    2. The detection method according to claim 1, characterized in that the first axis (x) has a direction tangential to the wheel with which it is associated and in that the second axis (z) has a centripetal direction to said wheel.
    [0003]
    3. The detection method according to one of claims 1 or 2, characterized in that the two accelerometers are those of an automatic tire pressure monitoring system, said TPMS system (Tire Pressure Monitoring System).
    [0004]
    4. A method of managing an engine of a motor vehicle comprising at least two wheels when the vehicle is in an abnormal mode of operation following an accident corresponding to a fortuitous event that may cause damage, characterized in that it comprises the following steps: - detecting a transition between a movement phase and a stopping phase of the vehicle, - determining a level of inclination with respect to the ground of at least one wheel of the vehicle according to any one Claims 1 to 3, - determination of a position of overall inclination of the vehicle by the ground relative to the measurement of the inclination level of each wheel considered, - stopping of the engine of the vehicle, if the vehicle presents a position substantially parallel to the ground corresponding to the abnormal operating mode.
    [0005]
    5. Management method according to claim 4, characterized in that a time interval between two measurements of the inclination level increases as the vehicle speed increases.
    [0006]
    6. Management method according to one of claims 4 or 5, characterized in that it further comprises a step of transmitting the measurement of the tilt level to a calculation unit via a radio frequency communication.
    [0007]
    7. Management method according to any one of claims 4 to 6, characterized in that it further comprises the following steps: - detection of a transition between a movement phase and a stopping phase of the vehicle, determining a level of inclination with respect to the ground of at least one wheel of the vehicle according to any one of claims 1 to 3, determining a position of overall inclination of the vehicle relative to the ground in according to the measurement of the inclination level of each wheel considered, when the vehicle is in the abnormal operating mode: - transmission of an unlocking command of a vehicle starting prohibition, if the latter no longer has a position 25 substantially parallel to the ground corresponding to the abnormal operating mode.
    [0008]
    8. Management method according to any one of claims 4 to 7, characterized in that the time interval between two measurements of the inclination level of a wheel when the vehicle is in the abnormal operating mode is less than to that of a wheel when the vehicle is in the stop phase.
    [0009]
    9. An electronic module for detecting a slope relative to the ground of a wheel of a motor vehicle characterized in that it comprises means for the implementation of each of the steps of a detection method according to the invention. any of claims 1 to 3.
    [0010]
    10. An electronic engine management module of a motor vehicle characterized in that it comprises means for the implementation of each of the steps of a management method according to any one of claims 4 to 8. .
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    同族专利:
    公开号 | 公开日
    FR3032523B1|2017-03-10|
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    2016-08-12| PLSC| Publication of the preliminary search report|Effective date: 20160812 |
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1551127A|FR3032523B1|2015-02-11|2015-02-11|METHOD FOR DETECTING AN INCLINATION FROM THE GROUND OF A WHEEL|FR1551127A| FR3032523B1|2015-02-11|2015-02-11|METHOD FOR DETECTING AN INCLINATION FROM THE GROUND OF A WHEEL|
    PCT/EP2016/000146| WO2016128114A1|2015-02-11|2016-01-28|Method for detecting an inclination of a wheel relative to the horizontal|
    US15/549,673| US10364766B2|2015-02-11|2016-01-28|Method for detecting an inclination of a wheel relative to the horizontal|
    CN201680015031.1A| CN107407561B|2015-02-11|2016-01-28|Detect the detection method of the gradient of wheel with respect to the horizontal plane|
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