Patent Description:
In vehicles today, in particular heavy-duty vehicles such as semi-trailer vehicles or trucks for cargo transport, one or more central electronic control units, ECUs, may be implemented on-board the vehicle in order to read and collect sensor readings from various different types of sensors on-board the vehicle. These sensor readings may, for example, comprise tire pressures, temperatures and identities of tire, or tire sensors located in or on the tires, of the vehicle. These types of systems are conventionally referred to a Tire Pressure Monitoring Systems, TPMS, or Tire Health Systems, THS. These systems normally employ Radio Frequency Identification, RFID, for their sensors.

In a TPMS/THS system, each tire may have one or more integrated tire sensors. Each tire sensor has unique identity, ID. During mounting of the tires, or re-mounting of the tires due to e.g. tire rotation, the TPMS/THS system needs to be informed about exactly in which tire position on the vehicle each tire sensor is located. This is order for the ECU to have information about where on the vehicle each specific tire sensor and tire is located.

One way to determine a tire's tire position, or its tire sensor positions, on the vehicle is to manually determine the tire or tire sensor positions and input this into the TPMS/THS system. Normally, this manual procedure is performed by selecting a specific tire position via a display interface in which all tire positions are shown, and then to hit the tire at the selected position with a mallet or hammer in order to create a small pressure variation inside the tire. The small pressure variation will then be sensed inside the tire by the tire sensor that sends a signal towards central ECUs of TPMS/THS system. Here, the ID of the tire sensor may be modulated or embedded into the signal. However, due to the human factor, this manual configuration might be prone to errors.

Another way to determine tire position on the vehicle for a tire sensor is described in US patent <CIT>. <CIT> describe an auto-location method that requires readings from other sensors on the vehicle, such as, for example, Automatic Brake System, ABS, sensors. Additionally, it also requires placing transmission extenders on each side of the chassis of the vehicle in order to locate form which side or tire the signal was actually sent. Unfortunately, this method requires additional hardware to be installed on the vehicle, such as, TPMS/THS transmission extenders, ABS sensors and/or other vehicle sensors.

<CIT> describes a tire pneumatics monitoring system to provide a valve identification information registration system which performs easy registration operations of valve identification information.

<CIT> describes a device having transmission and/or receiver facilities arranged to a vehicle side for position association of tire sensors. A vehicle-fixed evaluating device is formed for evaluation of measurement signals.

<CIT> describes a system capable of acquiring tire internal information such as the tire internal pressure and the tire internal temperature using tire sensors and tire internal information reading devices.

<CIT> describes a method and apparatus for assessing the condition of a wheel using antennas arranged in a line along a path to be followed by a wheel to be assessed. JPH10302187A describes a transmission/reception antennas in a tire pass area of a vehicle travel path and information-accessing of responders provided in the tires of the vehicle passing.

It is an object of the present invention to provide a sensor array, a control unit and methods therein, along with computer program products, for locating tire sensors on a vehicle that seeks to mitigate, alleviate, or eliminate all or at least some of the above-discussed drawbacks of presently known solutions.

According to a first aspect of embodiments herein, the object is achieved by a sensor array for locating tire sensors on a vehicle. The sensor array is arranged to detect tire sensors on the vehicle as the tires of the vehicle traverses the sensor array. The sensor array is also arranged to identify each of the detected tire sensors on the vehicle.

By having a sensor array arranged to be traversed, e.g. run over, by a vehicle such that the tire sensors of the tires may be read by the sensor array as the tire sensor passes in the vicinity of the sensors of the sensor array, the known location in the sensor array of the tire sensor detecting and identifying the tire sensor enable the tire position of the tire sensor on the vehicle to be automatically determined. Hence, no manual configuration or additional hardware is required for locating tire sensors on a vehicle.

In some embodiments, the sensor array may be configured to send, to a control unit, a signal indicating that one or more tire sensors on the vehicle has been detected and identified. Here, according to some embodiments, the signal comprise information indicating which sensor, or group of sensors, in the sensor array that has detected each of the tire sensors and the determined identities of each of the detected tire sensors. Optionally, according to some embodiments, the signal comprise information indicating tire sensor readings from detected and identified tire sensors in terms of tire pressure and tire temperature. This advantageously enable the control unit to determine the tire position on the vehicle where the tire sensor is located based on which sensor, or group of sensors, that has performed the detection and identification. It also allows the control unit to send this tire position to one or more ECUSs of vehicle, along with the identity of the tire sensor and additionally also the tire pressure and temperature readings of the tire sensor in some cases.

In some embodiments, the sensor array is configured to receive an activation signal from the control unit in response to which the sensor array activates the detection of the tire sensors on the vehicle. This enables the control unit to effectively turn on the sensor array when a detection is to be made, for example, when a vehicle is approaching the sensor array. Here, according to some embodiments, the sensor array may comprise one or more vehicle detection sensors adapted to detect and send a signal to the control unit when a vehicle is about to traverse the sensor array. This enable the control unit to be informed about when a vehicle is approaching the sensor array and automatically turn on the sensor array. Optionally, in some embodiments, the sensor array may further be configured to remain in an idle mode in which only a determined subset of sensors in the sensor array is activated, and send a signal to the control unit as one or more sensors in the subset of sensors in the sensor array detects and identifies one or more tire sensors. In this case, the sensors in the sensor array may indicate when a vehicle is about to traverse the sensor array by detecting and identifying a first tire sensor.

According to some embodiments, the sensors in the sensor array are arranged into groups of sensors covering different surface areas, wherein the different surface areas are adapted to target different tires on the vehicle. This means that the sensor array may be adapted to detect and identify the tire sensors of any type of vehicle having any number of tires or sets of tires. For example, the sensor array may be arranged to detect and identify the tire sensors of dual tires on one side of the vehicle, and thus determine the tire position of both tires, e.g. which of the tires that is the inner wheel and which of the tires is the outer wheel. Here, according to some embodiments, the different surface areas may extend, in the direction in which the vehicle traverses the sensor array, for at least a distance that is equal to or exceeding an expected circumference of the different tires of the vehicle. This will guarantee that no tire sensor is unavailable for detection and identification, since it ensures that the each tire sensor at some point in time while the vehicle is traversing the sensor array will pass in the vicinity of the sensors of the sensor array and thus be detected and identified.

In some embodiments, the sensors in the sensor array may operate as Radio Frequency Identification, RFID, sensors and/or inductive charging sensors capable of interacting with the tire sensors on the vehicle. This means that if a tire sensors pass into the inductive or transmitting range of sensors of the sensor array, it will automatically be read by the sensors of the sensor array, i.e. identified and detected, and transfer its identity and readings via the sensor array to the control unit. According to some embodiments, the sensors in the sensor array may be planar loops antennas or coils having different sizes and arranged in one or more different layers.

Optionally, in some embodiments, the sensor array is arranged to be positioned on or integrated into a ground surface. This means that the sensor array be integrated into a stationary position, such as, into a factory floor, maintenance hall floor, testing facility floor, etc. Alternatively, according to some embodiments, the sensor array is comprised in a movable ground surface cover configured to be traversed by the vehicle. This advantageously allows the sensor array to be flexibly moved to any type of location where location of tire sensors may suitably be determined.

According to some embodiments, the sensor array comprise markers adapted to guide a driver, or autonomous driving system, of the vehicle when traversing the sensor array. By providing visual clear instructions to a driver of the vehicle on how the vehicle should traverse the sensor array in the most suitable way, a proper localization of the tire sensors on the vehicle may be ensured.

According to the invention, the sensor array is arranged in cylindrical rollers arranged to support the tires of the vehicle. This enables the vehicle to remain stationary, while the rotation of the cylindrical rollers on which the tires of the vehicle rests ensures that the tire sensors may be detected and identified by the sensors of the sensor array.

Further, in some embodiments, the one or more tire sensors on the vehicle are Tire Pressure Monitor System, TPMS, or Tire Health System, THS, sensors.

According to a second aspect of embodiments herein, the object is achieved by a method for locating tire sensors on a vehicle using a sensor array. The method comprises detecting tire sensors on the vehicle as the tires of the vehicle traverses the sensor array. The method also comprises identifying each of the detected tire sensors on the vehicle.

According to some embodiments, the method further comprises sending, to a control unit, a signal indicating that one or more tire sensors on the vehicle has been detected and identified. Optionally, in some embodiments, the method may further comprise receiving an activation signal from the control unit in response to which the sensor array activates the detection of the tire sensors on the vehicle. Also, in some embodiments, the method may comprise sending a signal to the control unit when a vehicle is about to traverse the sensor array or when one or more sensors in a determined subset of sensors in the sensor array detects and identifies one or more tire sensors.

According to a third aspect of embodiments herein, the object is achieved by a control unit for locating tire sensors on a vehicle, wherein the control unit is arranged to communicate with the sensor array and an electronic control unit, ECU, on-board the vehicle. The control unit is arranged to receive, from the sensor array, a signal indicating that tire sensors on the vehicle has been detected and identified. The control unit is also arranged to determine the tire position on the vehicle associated with each detected and identified tire sensor based on the obtained signal. Further, the control unit is arranged to transmit, to the ECU, information indicating the determined tire position on the vehicle for each detected and identified tire sensor.

According to some embodiments, the signal may comprise information indicating which sensor, or group of sensors, in the sensor array that has detected each of the tire sensors and the determined identities, IDs, of each of the detected tire sensors. Here, the control unit may, according to some embodiments, comprise a mapping associating each sensor, or group of sensors, in the sensor array with a tire position on the vehicle. Furthermore, in some embodiments, the signal may comprise information indicating tire sensor readings from detected and identified tire sensors in terms of tire pressure and tire temperature.

In some embodiments, the control unit is further arranged to send an activation signal to the sensor array to initiate the detection of the tire sensors on the vehicle. Here, in some embodiments, the control unit is further arranged to send the activation signal in response to receiving a signal from the sensor array indicating that a vehicle is about to traverse the sensor array, or that one or more sensors in a determined subset of sensors in the sensor array has detected and identified one or more tire sensors.

According to a fourth aspect of embodiments herein, the object is achieved by a method performed by a control unit for locating tire sensors on a vehicle, wherein the control unit is arranged to communicate with the sensor array an electronic control unit, ECU, on-board the vehicle. The method comprises receiving, from the sensor array, a signal indicating that tire sensors on the vehicle has been detected and identified. The method also comprises determining the tire position on the vehicle associated with each detected and identified tire sensor based on the obtained signal. The method further comprises transmitting, to the ECU, information indicating the determined tire position on the vehicle for each detected and identified tire sensor.

According to some embodiments, the signal may comprise information indicating which sensor, or group of sensors, in the sensor array that has detected each of the tire sensors and the determined identities of each of the detected tire sensors. Here, the determining of the tire positions may, according to some embodiments, comprise using a mapping comprised in the control unit associating each sensor, or group of sensors, in the sensor array with a tire position on the vehicle. Furthermore, in some embodiments, the signal may comprise information indicating tire sensor readings from detected and identified tire sensors in terms of tire pressure and tire temperature. In some embodiments, the method further comprises sending an activation signal to the sensor array to initiate the detection of the tire sensors on the vehicle. Here, in some embodiments, the activation signal in sent in response to receiving a signal from the sensor array indicating that a vehicle is about to traverse the sensor array, or that one or more sensors in a determined subset of sensors in the sensor array has detected and identified one or more tire sensors.

According to a fifth aspect of the embodiments herein, the object is achieved by a computer program comprising instructions which, when executed in a processing circuitry, cause the processing circuitry to carry out the method described above. According to a sixth aspect of the embodiments herein, the object is achieved by a carrier containing the computer program described above, wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer-readable storage medium. According to a seventh aspect of the embodiments herein, the object is achieved by an arrangement comprising a sensor array as described above and/or a control unit as described above.

<FIG> illustrates an example of a vehicle <NUM>. In this case, the vehicle <NUM> is exemplified as a heavy-duty vehicle combination for cargo transport. The vehicle <NUM> in <FIG> comprises a truck or towing vehicle <NUM> configured to tow a trailer unit <NUM> in a known manner, e.g., by a fifth wheel connection. The vehicle <NUM> comprises wheels <NUM>, <NUM>, and <NUM>. Herein, a heavy-duty vehicle is taken to be a vehicle designed for the handling and transport of heavier objects or large quantities of cargo. As an example, a heavy-duty vehicle could be a semi-trailer vehicle, or a truck as described above. As another example, a heavy-duty vehicle could be a vehicle designed for use in construction, mining operations, and the like. It is appreciated that the techniques and devices disclosed herein can be applied together with a wide variety of electrically powered vehicle units, not just those exemplified in <FIG>. Thus, the techniques disclosed herein are also applicable to, e.g., rigid trucks and also multi-trailer electric heavy-duty vehicles comprising one or more dolly vehicle units.

Thus, even though the embodiments herein for locating tire sensors on a vehicle are described mainly with respect to heavy-duty vehicles, such as. , e.g. semi-trailer vehicles or trucks for cargo transport, the embodiments herein should not be considered restricted to this particular type of vehicle but may also be used in other types of vehicles.

<FIG> illustrates a first top-side view of the vehicle <NUM> and tire positions A-L thereon. In this example, the tire position A is the front left tire position of the truck or towing vehicle <NUM> of the vehicle <NUM>, while the tire position L is the front right tire position of the truck or towing vehicle <NUM> of the vehicle <NUM>. Furthermore, the tire positions of the trailer unit <NUM> ranges around the trailer unit <NUM> from the tire position B for the front left tire of the trailer unit <NUM> to the tire position K of the front right tire of the trailer unit <NUM>. In some cases, certain tire positions may comprise a set of twin wheels as illustrated for the tire positions C, D, I, and J. In this case, the outermost tire position of the set of twin wheels is referred to as C, D, I, and J, respectively, while the innermost tire position of the set of twin wheels is referred to as C', D', I', and J'.

It should also be noted that the notation of the tire positions is merely made for sake of illustrative purposes to provide a clear and concise references to different tire positions; in other words, this notation should not be construed as limiting to the embodiments herein.

<FIG> illustrates a second top-side view of the vehicle <NUM> having tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> comprising tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> at each tire position A-L on the vehicle <NUM> as described above in <FIG>. The vehicle <NUM> further comprise an electronic control unit, ECU <NUM>.

In this example, the tire <NUM> at the tire position A of the truck or towing vehicle <NUM> of the vehicle <NUM> comprise at least one tire sensor <NUM>, while the tire <NUM> at the tire position L of the truck or towing vehicle <NUM> of the vehicle <NUM> comprise at least one tire sensor <NUM>. Similarly, each tire 120a, 120b, 120c at the two front left tire positions B, C, C' of the trailer unit <NUM> of the vehicle <NUM> comprise each at least one tire sensor 121a, 121b, 121c, respectively. Also, each tire 130a, 130b, 130c, 130d at the three back left tire positions D, D', E, F of the trailer unit <NUM> of the vehicle <NUM> comprise each at least one tire sensor 131a, 131b, 131c, 131d, respectively. Furthermore, each tire 140a, 140b, 140c, 140d at the three back right tire positions I, I', H, G of the trailer unit <NUM> of the vehicle <NUM> comprise each at least one tire sensor 141a, 141b, 141c. Lastly, each tire 150a, 150b, 150c at the two front right tire positions K, J, J' of the trailer unit <NUM> of the vehicle <NUM> comprise each at least one tire sensor 151a, 151b, 151c.

The ECU <NUM> and each of the one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> may be part of an on-board Tire Pressure Monitor System/Tire Health System, TPMS/THS. In other words, the one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> may be TPMS/THS sensors, and the ECU <NUM> may be a TPMS/THS sensor reader. The one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> may also be referred to as TPMS/THS transponders and be arranged to use RFID.

As part of the developing of the embodiments described herein, it has been realized that ordinary TPMS/THS system on-board a vehicle <NUM> conventionally requires active driving on roads and reaching specific speeds, before all necessary tire sensor readings are obtained. This is due to the fact that TPMS/THS system also relies on speed sensor readings from, e.g. an on-board Automatic Brake System, ABS, system. This information is then combined with internal wheel speeds and rotation directions from accelerometer readings that may be integrated in tire sensors. This means, for example, that for a factory that mounts or installs the TPMS/THS system on the vehicle <NUM> for the first time, or an automotive workshop that mounts or installs new tires, will need to diagnose the TPMS/THS system in order to assess if the mounting/installation was successful. However, this confirmation will only be available after driving the vehicle <NUM> a certain period of time. According to the embodiments herein, this information may instead be obtained from a sensor array and a control unit as described below without any need for driving the vehicle <NUM>.

To perform the method actions for locating tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM> as described below with reference to <FIG>, the sensor array <NUM> and the control unit <NUM> may form part of the following arrangement depicted in <FIG> illustrates a sensor array <NUM> and a control unit <NUM> according to some embodiments.

<FIG> further shows a schematic view of a sensor array <NUM> according to some embodiments. The sensor array <NUM> is arranged to detect tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> as the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> traverses the sensor array <NUM>, and identify each of the detected tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. According to some embodiments, the sensor array <NUM> is configured to send, to the control unit <NUM>, a signal indicating that one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> has been detected and identified. This signal may comprise the identity of the one or more detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Also, according to some embodiments, this signal may also comprise information indicating which sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> that has detected each of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and the determined identities of each of the detected tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. In some embodiments, the signal may further comprise information indicating sensor readings from the sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> in terms of tire pressure and tire temperature. The latter is possible since ISO <NUM> series of RFID standards cover the same frequencies as used by tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to send pressure and temperature readings. Therefore, the sensor array <NUM> may be used to also obtain the tire sensor readings, and not only their identification and tire position.

The sensor array <NUM> may comprise a large number of sensors <NUM>. The sensors <NUM> may be arranged into groups of sensors <NUM>, <NUM>, <NUM> in the sensor array <NUM>. The groups of sensors <NUM>, <NUM>, <NUM> may also be referred to as sensor sub-arrays. Each group of sensors <NUM>, <NUM>, <NUM> may cover different surface areas or measurement zones, where each group of sensors <NUM>, <NUM>, <NUM> may be adapted to target different tires <NUM>,<NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. The different surface areas are denoted by the dashed lined areas of the sensor array <NUM> in <FIG>. In other words, different measurement areas or zones may be defined above the sensor array <NUM>. As seen in <FIG>, one set of measurement areas/zones may on the left side on the sensor array <NUM>, and another set of measurement areas/zones may on the right side. In some embodiments, some measurement areas/zones may be defined in order to separately read twin tires, such as, the tires 120b-120c, 130a-120b, 140a-140b or 150b-120c on the vehicle <NUM> in <FIG>. These measurement areas/zones may be are defined in such a way that a tire or twin tire from a twin mount on the vehicle <NUM> may only be closest to its planned measurement areas/zones on the sensor array <NUM>. These measurement areas/zones may, for example, be a bit smaller, e.g. have same width as a tire with some additional margins around it, as compared other measurement areas/zones of the sensor array <NUM>. By combining information regarding which measurement areas/zones the tire <NUM>,<NUM>, <NUM>, <NUM>, <NUM>, <NUM> entered and respective tire sensor identification readings, automatic location of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is achieved.

Furthermore, some of the group of sensors <NUM>, <NUM>, <NUM> may also be arranged to detect the same tires for redundancy purposes. According to some embodiments, each surface area comprising groups of sensors <NUM>, <NUM>, <NUM> may extend in the direction in which the vehicle <NUM> traverses the sensor array <NUM>. The groups of sensors <NUM>, <NUM>, <NUM> may extend for at least a distance equal to or exceeding an expected circumference of the different tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM>. The direction in which the vehicle <NUM> traverses the sensor array <NUM> is indicated by the fully drawn arrows before and after the sensor array <NUM> in <FIG>.

As described above, the groups of sensors <NUM>, <NUM>, <NUM> in the sensor array <NUM> may be arranged to form different sensor clusters in order to generate a multitude of surface areas or measuring zones above surface of the sensor array <NUM>. As the one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> pass through one of the surface areas or measuring zones of the sensor array <NUM>, the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may induce a electro-magnetic field inside the sensor coils or planar loops of the sensor array <NUM>. This may create a signal capable of transferring information from the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the sensor array <NUM>. The information from the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may comprise the respective identity of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, but may also, according to some embodiments, comprise information indicating tire sensor readings from detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in terms of tire pressure and tire temperature.

Each of the sensors <NUM> in the sensor array <NUM> may operate as Radio Frequency Identification, RFID, sensors (such as, e.g. Near Field Communication, NFC, sensors) and/or inductive charging sensors capable of interacting with the tire sensors <NUM>,<NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. The sensors <NUM> in the sensor array <NUM> may, for example, be planar loops antennas or coils having different sizes and arranged in one or more different layers. In other words, the sensors <NUM>, or the groups of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> may serve as an initiator or initiating device providing a carrier field towards a target device, e.g. a tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. The target device may then communicate back by modulating the incident field. Here, the target device, i.e. a tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, may draw its operating power from the initiator-provided electromagnetic field, e.g. an electromagnetic field generated by the sensors <NUM>, or the groups of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM>. Thus, the sensors <NUM>, or the groups of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> and the tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be regarded as two loop antennas, which use inductive coupling between each other and therefore effectively form a core transformer.

It should also be noted that the sensor array <NUM> may be arranged to be positioned on or integrated into a ground surface. In this case, it should also be noted that since the ground surface or floor may be conductive, an additional ferrite material may be provided beneath the sensor array and the ground surface or floor. According to one example, the sensor array <NUM> may be built into the floor of a factory of the vehicle <NUM>. For example, once a TPMS/THS system and transponders, i.e. the ECU <NUM> and the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, are installed, the vehicle <NUM> may drive over the sensor array <NUM> to get an initial tire sensor reading as the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, rotate above the sensor array <NUM>. According to another example, the sensor array <NUM> may be built into the floor of the automotive dealer or workshop. When one or more tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> have been replaced, or radiated, the vehicle <NUM> may drive over the sensor array <NUM> to get new tire sensor readings, i.e. auto-locate the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> anew, and recalibrate the on-board TPMS/THS system. According to a further example, the sensor array <NUM> may be built into the floor of a weight station or Weight-in-Motion, WIM, station. WIM stations may, for example, be available in Europe after regulation according to EU-directive <NUM>/<NUM> is implemented. The weight stations may measure the weight loads of commercial vehicles to ensure a proper weight load for vehicle <NUM>. Upon providing on-board weight information to the on-board TPMS/THS system of the vehicle <NUM>, the sensor array <NUM> could also be used in order to recommend a certain tire pressure for a specific carried weight load. Optionally, the sensor array <NUM> may be comprised in a movable ground surface cover configured to be traversed by the vehicle <NUM>. For example, the sensor array <NUM> may be a large film which quickly and easily may be rolled out on a concrete floor inside or outside any factory, station, automotive dealer, automotive workshop, etc..

The sensor array <NUM> may also comprise markers <NUM> adapted to guide a driver, or autonomous driving system, of the vehicle <NUM> when traversing the sensor array <NUM>. Also, in case of an autonomous vehicle traversing the sensor array <NUM>, the camera sensors on the autonomous vehicle may be used in order to read the markers <NUM> and to guide the autonomous vehicle through the testing zone of the sensor array <NUM>.

The sensor array <NUM> may also comprise one or more vehicle detection sensor <NUM> adapted to detect and send a signal to the control unit <NUM> when a vehicle <NUM> is about to traverse the sensor array <NUM>. Optionally, the sensor array <NUM> may be connected to an external vehicle detection sensor (not shown). For example, in some cases the ECU <NUM> on-board the vehicle <NUM> may need to initiate a system check before the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> start sending back their sensor readings. The tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> might not be activated before that. Therefore, sensor array <NUM> may be enable to activate tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> independently of that. This may, for example, be performed by integrating one or more vehicle detection sensors <NUM> in the sensor array <NUM> in order to indicate that a vehicle is about to pass, i.e. traverse the sensor array <NUM>. These sensors may, for example, be pressure or laser sensors <NUM> located before the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the direction in which the vehicle <NUM> traverses the sensor array <NUM>. The sensor array <NUM> may then start sending out signals via its sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in order to make the tire sensors <NUM>, <NUM>,<NUM>,<NUM>, <NUM>, <NUM> on the vehicle <NUM> respond. Optionally, the sensor array <NUM> may be in an idle mode and activate only some of its sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, for example, at determined time intervals. Thus, as soon as the active sensors <NUM>, or active group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> detect a reading from a tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, the sensor array <NUM> may activate all the sensors <NUM>, or all the group of sensors <NUM>, <NUM>, <NUM>, in the entire sensor array <NUM>. Thus, according to some embodiments, the sensor array <NUM> may be configured to receive an activation signal from the control unit <NUM> in response to which the sensor array <NUM> activates the detection of the tire sensors <NUM>, <NUM>,<NUM>,<NUM>, <NUM>, <NUM> on the vehicle <NUM>. In some embodiments, the sensor array <NUM> may be configured to receive an activation signal from the control unit <NUM> in response to which the sensor array <NUM> activates the detection of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. Here, according to some embodiments, the sensor array <NUM> may also be configured to remain in an idle mode in which only a determined subset of sensors in the sensor array <NUM> is activated, and send a signal to the control unit <NUM> as one or more sensors in the subset of sensors in the sensor array <NUM> detects and identifies one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. This means that the one or more vehicle detection sensor <NUM> may be implemented via some of the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM>. In this case, these sensors <NUM>, or group of sensors <NUM>, must be located before the rest of the sensors <NUM>, or group of sensors <NUM>, in the direction in which the vehicle <NUM> traverses the sensor array <NUM> as shown in <FIG>.

The sensor array <NUM> may also be arranged to communicate with a control unit <NUM>. This may, for example, be performed via an electrical connection <NUM> adapted to transmit analogue electrical signals to and/or from each of the sensors <NUM>, or groups of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM>. However, it should be noted that other types of communication between the sensor array <NUM> and the control unit <NUM> may also be implemented, such as, e.g. via wireless communication protocol, for transferring signals between the sensor array <NUM> and the control unit <NUM>. This is, however, not described in any further detail herein.

It should also be noted tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> alone also may have RFID tags or sensors for tire identification that is separate from the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Here, it should be noted that the sensor array <NUM> may be used also for detecting the identity of the tire, e.g. tire ID. Further, the sensor array <NUM> may be used also for pairing the identity of the tire, e.g. tire ID, with the identity of the tire sensor, e.g. tire sensor ID. Also, in case of having other sensor IDs, such as for example, separate pressure and temperature sensors, the sensor array <NUM> may also be used for pairing these with the tire ID/tire sensor IDs. In other words, the pairing of the different RFID tags or sensors may be performed automatically as the vehicle <NUM> traverses the sensor array <NUM> as described above.

<FIG> further also shows a schematic view of a control unit <NUM> according to some embodiments. The control unit <NUM> is arranged to communicate with the sensor array <NUM> as described above, and an electronic control unit, ECU <NUM>, on-board the vehicle <NUM>. The control unit <NUM> may comprise a processing circuitry <NUM> and a computer readable storage unit or memory <NUM>. The processing circuitry <NUM> may be arranged to execute instructions stored in the computer readable storage unit <NUM>. The control unit <NUM> may also, for example, be connected to a display interface <NUM> for communicating with a user of the arrangement <NUM>, <NUM>. The display interface <NUM> may, for example, be an interactive touch display or a display connected to keyboard providing user input capabilities.

The control unit <NUM> and/or processing circuitry <NUM> may further comprise an Input/Output, I/O, module <NUM>, a detecting module <NUM> and a determining module <NUM>. Here, the I/O module <NUM> may comprise a communication interface that enable the control unit <NUM> and/or processing circuitry <NUM> to communicate and exchange signals with the sensor array <NUM>. For example, the I/O module <NUM> may comprise an AD converter (not shown) for transforming analogue electrical signals from the sensor array <NUM> into a digital format for processing by the control unit <NUM> and/or processing circuitry <NUM>. Also, the I/O module <NUM> may also comprise a wireless communication interface that enables the control unit <NUM> and/or processing circuitry <NUM> to communicate with the ECU <NUM> on-board the vehicle <NUM>. For this purpose, the control unit <NUM> may also comprise an antenna <NUM>. Further, the I/O module <NUM> may also comprise a communication interface that enables the control unit <NUM> and/or processing circuitry <NUM> to communicate an online server or cloud server <NUM> in a communications network <NUM>, such as, e.g. the Internet. Furthermore, the I/O module <NUM> may comprise a display interface and a user interface that enables the control unit <NUM> and/or processing circuitry <NUM> to communicate with a user of the control unit <NUM> and sensor array <NUM>, e.g. via the display interface <NUM>.

The control unit <NUM> or processing circuitry <NUM> is configured to, or may comprise the I/O module <NUM> configured to, receive, from the sensor array <NUM>, a signal indicating that tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> has been detected and identified. Also, the control unit <NUM> or processing circuitry <NUM> is configured to, or may comprise the determining module <NUM> configured to, determine the tire position A-L on the vehicle <NUM> associated with each detected and identified tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> based on the obtained signal. Further, the control unit <NUM> or processing circuitry <NUM> is configured to, or may comprise the I/O module <NUM> configured to, transmit, to the ECU <NUM>, information indicating the determined tire position A-L on the vehicle <NUM> for each detected and identified tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

In some embodiments, the signal comprise information indicating which sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> that has detected each of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and the determined identities of each of the detected tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Also, in some embodiments, the signal may further comprise information indicating tire sensor readings from detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in terms of tire pressure and tire temperature. Here, in some embodiments, the control unit <NUM> or processing circuitry <NUM> may comprise, or may comprise the determining module <NUM> comprising, a mapping associating each sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> with a tire position A-L on the vehicle <NUM>.

In some embodiments, the control unit <NUM> or processing circuitry <NUM> may be configured to, or may comprise the I/O module <NUM> configured to, send an activation signal to the sensor array <NUM> to initiate the detection of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. Here, according to some embodiments, the control unit <NUM> or processing circuitry <NUM> may be configured to, or may comprise the I/O module <NUM> configured to, send the activation signal in response to receiving a signal from the sensor array <NUM> indicating that a vehicle <NUM> is about to traverse the sensor array <NUM>, or that one or more sensors in a determined subset of sensors in the sensor array <NUM> has detected and identified one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

Furthermore, the embodiments for locating tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM> described above may be at least partly implemented through one or more processors, such as, the processing circuitry <NUM> in the control unit <NUM> depicted in <FIG>, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code or code means for performing the embodiments herein when being loaded into the processing circuitry <NUM> in the control unit <NUM>. The data carrier, or computer readable medium, may be one of an electronic signal, optical signal, radio signal or computer-readable storage medium. The computer program code may e.g. be provided as pure program code in the control unit <NUM> or on a server and downloaded to the control unit <NUM>. Thus, it should be noted that the control unit <NUM> may in some embodiments be implemented as computer programs stored in memory, e.g. in the computer readable storage unit <NUM> in <FIG>, for execution by processors or processing modules, e.g. the processing circuitry <NUM> in the control unit <NUM> in <FIG>.

Those skilled in the art will also appreciate that the processing circuitry <NUM> and the computer readable storage unit <NUM> described above may refer to a combination of analog and digital circuits, and/or one or more processors configured with software and/or firmware, e.g. stored in a memory, that when executed by the one or more processors such as the processing circuitry <NUM> perform as described above. One or more of these processors, as well as the other digital hardware, may be included in a single application-specific integrated circuit (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).

Examples of embodiments of a method for locating tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM> using a sensor array <NUM>, will now be described with reference to the flowchart depicted in <FIG> is an illustrated example of actions, steps or operations which may be performed the sensor array <NUM> as described above with reference to <FIG>. The method may comprise the following actions, steps or operations.

Action <NUM>. Optionally, in some embodiments, the sensor array <NUM> may send a signal to the control unit <NUM> when a vehicle <NUM> is about to traverse the sensor array <NUM> or when one or more sensors in a determined subset of sensors in the sensor array <NUM> detects and identifies one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Here, for example, the one or more vehicle detection sensors <NUM> may be used to determined when a vehicle <NUM> is about to traverse the sensor array <NUM>. Optionally, the one or more vehicle detection sensors <NUM> may be implemented by a determined subset of the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM>. According to another option, the sensor array <NUM> may also be arranged to be connected to one or more external vehicle detection sensors, such as, a standalone pressure or laser sensors.

Action <NUM>. According to some embodiments, the sensor array <NUM> may receive an activation signal from the control unit <NUM> in response to which the sensor array <NUM> may activate the detection of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. This activation signal may, for example, be a on or off signal from the control unit <NUM>, e.g. based on user input. Optionally, this activation signal may, for example, be received in response to the signal sent in Action <NUM>.

Action <NUM>. The sensor array <NUM> detects the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> as the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> traverses the sensor array <NUM>. This means that, as the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> rolls over the sensor array <NUM>, the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> will pass closely over the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, e.g. through the electromagnetic fields generated by the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>. Thus, the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> will be detectable by the sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, of the sensor array <NUM>.

As the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> is detected in Action <NUM>, the sensor array <NUM> identifies each of the detected tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. Each of the detected tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> will generate unique signal in the respective sensors <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, of the sensor array <NUM> that detected it. The signal will comprise information regarding the identity of the detected tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. According to some embodiments, the signal may also comprise information indicating tire sensor readings from detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in terms of tire pressure and tire temperature.

After detecting and identifying the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in Actions <NUM>-<NUM>, the sensor array <NUM> may send, to a control unit <NUM>, a signal indicating that one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> has been detected and identified. This signal may the same as the signal described above in Action <NUM>.

Examples of embodiments of performed by a control unit <NUM> for locating tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM>, wherein the control unit <NUM> is arranged to communicate with a sensor array <NUM> and an electronic control unit, ECU, <NUM> on-board the vehicle <NUM>, will now be described with reference to the flowchart depicted in <FIG> is an illustrated example of actions, steps or operations which may be performed by the control unit <NUM> as described above with reference to <FIG>. The method may comprise the following actions, steps or operations.

Action <NUM>. Optionally, according to some embodiments, the control unit <NUM> may send an activation signal to the sensor array <NUM> to initiate the detection of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. This may, for example, be an on/off signal to the sensor array <NUM>. In some embodiments, the activation signal may be sent in response to receiving a signal from the sensor array <NUM> indicating that a vehicle <NUM> is about to traverse the sensor array <NUM>, or that one or more sensors in a determined subset of sensors in the sensor array <NUM> has detected and identified one or more tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

The control unit <NUM> receive, from the sensor array <NUM>, a signal indicating that tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> has been detected and identified. Here, the signal may comprise information indicating which sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> that has detected each of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and the determined identities of each of the detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Thus, the control unit <NUM> is informed about the identity of each detected and identified tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and about which sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> that detected and identified each of tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. According to some embodiments, the signal may further comprise information indicating tire sensor readings from detected and identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in terms of tire pressure and tire temperature.

After receiving the signal from the sensor array <NUM> in Action <NUM>, the control unit <NUM> determines the tire position A-L on the vehicle <NUM> associated with each detected and identified tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> based on the received signal. Here, in some embodiments, this may be performed by using a mapping comprised in the control unit <NUM> associating each sensor <NUM>, or group of sensors <NUM>, <NUM>, <NUM>, in the sensor array <NUM> with a tire position A-L on the vehicle <NUM>.

After the determination in Action <NUM>, the control unit <NUM> transmits, to the ECU <NUM>, information indicating the determined tire position A-L on the vehicle <NUM> for each detected and identified tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Hence, the ECU <NUM> is informed about which tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is located at which tire position A-L on the vehicle <NUM>. This means, for example, that the on-board TPMS/THS system, of which the ECU <NUM> may be a part of, is informed about which tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is located at which tire position A-L on the vehicle <NUM>.

<FIG> illustrates the sensor array <NUM> arranged on or in cylindrical rollers <NUM>, <NUM> arranged to support the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> according to some embodiments. Here, it should be noted that, in some embodiments, the sensor array <NUM> may be built into any form of rotating means, such as, e.g. the cylindrical rollers <NUM>, <NUM>, adapted to carry the vehicle <NUM> while rotating the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM>. Here, the sensor array <NUM> may be arranged around the rotating means as shown in <FIG>. For example, the rotating means could be used to run speed test inside a test chamber or during balancing a wheel at an automotive workshop.

It should further be noted that, similarly as described above for tire sensors, the same application of transponders, as used for the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, may also be used for other purposes in a similar manner. For example, the sensor array <NUM> may be provide at a battery exchange station wherein an automatic battery exchange is performed on the vehicle <NUM>. In this case, the one or more batteries in the vehicle <NUM> may have transponders, similar to the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> as described herein, mounted on them in pre-determined and well-known positions on the vehicle <NUM>. This means that, since the position of these transponders may be determined with an accuracy of down to a few millimetres by the sensor array <NUM>, the information from the sensor array <NUM> may, for example, be used to control and adjust one or more robot arms that is exchanging the battery in an accurate and precise manner.

Optionally, in some embodiments, the sensor array <NUM> may be integrated with coils or sensors that also may be used to, e.g. perform inductive charging of batteries on-board the vehicle <NUM>. In this case, the coils or sensors used for charging could also be used in order to read and position the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

According to another aspect, it is also an object of embodiments herein to provide a control unit and a method therein, along with computer program products and carriers, for detecting and identifying tire sensors on a vehicle using a sensor array that seeks to mitigate, alleviate, or eliminate all or at least some of the above-discussed drawbacks of presently known solutions in the background part.

According to one aspect of embodiments herein, the object is achieved by a method for detecting and identifying tire sensors on a vehicle using a sensor array. The method comprises calibrating the sensor array by moving one or more tire sensors about the sensor array, or vice versa, whereby the sensor array detects and identifies the one or more tire sensors. The method also comprises using the calibration data of the sensor array upon performing the detection and identification of the tire sensors on the vehicle as the tires of the vehicle traverses the sensor array.

By moving the one or more tire sensors in a tire about the sensor array, or moving the sensor array about the one or more tire sensors in the tire (i.e. vice versa), a control unit using the sensor array is able to be calibrated for the specific tire/tire sensor constellation of a certain tire prior to installation, i.e. before starting to position tire sensors in a vehicle using the sensor array. The positioning is then performed in the same commonly defined coordinate system for the tire sensor and the sensor array.

According to some embodiments, the one or more tire sensor may be moved across the sensor array, or the sensor array may be moved around the tire sensor, according to different predetermined tire orientations and tire sensor locations in the tire. This means, for example, that a robot arm holding a tire comprising one or more tire sensors may move the tire such that the tire sensors located at different positions in the tire is motioned above the sensors array in a number of different possible positions as the tire sensor might read inside a specific tire. The sensors in the senor array may thus interrogating tire sensors, which may respond back like a transponder as described in above with reference to <FIG>. The sensor in the sensor array may also register the signals originating from the tire sensors by being in different positions, for example, by register the electromagnetic fields that are induced in the sensors of the sensor array by the tire sensors by being moved about in different positions in the vicinity of the sensors of the sensor array. This signals may then be sent to the control unit in which they may be digitized and stored. This calibration data may thus be used to calibrate real tire sensor measurements by the sensor array and the control unit.

According to some embodiments, the method comprises comparing the calibration data of the sensor array with data obtained from the sensor array when detecting and identifying tire sensors on the vehicle in order to adapt the operation of the sensor array. This means that when an actual tire sensor measurements is performed by the sensor array and the control unit, the control unit may perform a comparison of the actual tire sensor measurements with the calibration data obtained prior to installation of the sensor array and control unit. Here, optionally, the method may comprise a machine learning model that is trained to determine tire identification information based on the calibration data of the sensor array and the data obtained from the sensor array when detecting and identifying tire sensors on the vehicle. For example, calibration data relating to a large number of different tires with a large number of different possible tire sensors and tire sensor positions may be collected and used to train a machine learning model, such as, e.g. a neural network model, to recognize certain tire identification information. According to another option, a look-up table or lists may be used by the control unit in the comparison for determining the tire identification information.

In some embodiments, the tire identification information may here comprise the identity of tire sensors, and/or the identity of a vendor or Original Equipment Manufacturer, OEM, associated with the identified tire sensors. This means that as a vehicle traverses the sensor array, the control unit may determine the tire identification information based on the actual sensor measurements of the sensor array and the calibration data. According to some embodiments, the data obtained from the sensor array when detecting and identifying tire sensors on the vehicle may also comprise local sensor information associated with the time of detecting and identifying tire sensors on the vehicle by the sensor array, wherein the sensor information comprise one or more of: a local temperature value, a local humidity value, and a local resistance value. This means that specific conditions at the time of the sensor measurements at the location of the sensor array may be registered and comprised in the calibration data.

Also, in some embodiments, the method may comprise transmitting the calibration data of the sensor array and data obtained from the sensor array when detecting and identifying tire sensors on the vehicle to a central server. In this case, the central server may store the calibration data of the sensor array, as well as, the data obtained from the sensor array when detecting and identifying tire sensors on the vehicle.

According to an aspect of the embodiments herein, the object is achieved by a control unit arranged to communicate with a sensor array, wherein the control unit is configured to perform the method as described above. According to an aspect of the embodiments herein, the object is achieved by a computer program comprising instructions which, when executed in a processing circuitry, cause the processing circuitry to carry out the method described above. According to an aspect of the embodiments herein, the object is achieved by a carrier containing the computer program described above, wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer-readable storage medium.

Examples of embodiments for detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM> using a sensor array <NUM>, will now be described with reference to the flowchart depicted in <FIG> is an illustrated example of actions, steps or operations which may be performed by a control unit <NUM> arranged to communicate with a sensor array <NUM>, as described above with reference to <FIG>. The method may comprise the following actions, steps or operations.

Action <NUM>. The control unit <NUM> calibrates the sensor array <NUM> by moving one or more tire sensors A, A', A" about the sensor array <NUM>, or vice versa, whereby the sensor array <NUM> detects and identifies the tire sensor A, A', A". Here, the one or more tires sensors A, A', A" may be any one of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in the same tire <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. In some embodiment, the one or more tire sensors A, A', A" may be moved across the sensor array <NUM>, or the sensor array <NUM> is moved around the one or more tire sensors A, A', A", according to different predetermined tire orientations <NUM>-<NUM> and tire sensor locations in the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

The different predetermined tire orientations <NUM>-<NUM> and tire sensor locations of the one or more tire sensors A, A', A" is illustrated in <FIG>. By placing one or more tire sensor A, A', A" in different positions about the sensor array <NUM>, it is possible for the control unit <NUM> to determine the position of the one or more tire sensor A, A', A" with millimetre accuracy. Thus, when a tire with one or more tire sensors in similar tire sensor positions inside the tire is passing over the sensor array <NUM>, the positions of the one or more tire sensor A, A', A" may be determined with an accuracy of millimetres. This info may be provided in a sensor array coordinate system X, Y, Z. When the vehicle <NUM> is passing over the sensor array <NUM>, the vehicle coordinate system may be matched to the sensor array coordinate system X, Y, Z. In this sense, tire sensor position of the tire sensor A, A', A" may be consider known also in the vehicle coordinate system.

For example, one or more robotic arm or similar may be arranged above or nearby the sensor array <NUM>. These robotic arms may hold a tire comprising the one or more tire sensors A, A', A" and move tire about, i.e. around and above, the sensor array <NUM>. Optionally, the one or more robotic arms may be arranged to hold the sensor array <NUM> and move the sensor array about, i.e. around and above, the tire and the one or more tire sensors A, A', A". This means that all sensors of the sensor array <NUM> for which the tire sensors A, A', A" comes in a close enough vicinity of will register a signal. The robotic arms may operate in same coordinate system X, Y, Z as the sensor array <NUM>, which means that each tire sensor position x, y, z and angle positions of the one or more tire sensors A, A', A" will be known in the coordinate system X, Y, Z. This information may then be combined with the signals received by each sensor in the sensor array <NUM>.

Action <NUM>. After the calibration in Action <NUM>, the control unit <NUM> may use the calibration data of the sensor array <NUM> upon performing the detection and identification of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> as the tires <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the vehicle <NUM> traverses the sensor array <NUM>. This means that, after the calibration and as a vehicle <NUM> is traverses the sensor array <NUM>, the sensors in the sensor array <NUM> may again register a signal and then use the calibration data to perform the detection and identification of the tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

According to some embodiments, the control unit <NUM> may compare the calibration data of the sensor array <NUM> with data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> in order to adapt the operation of the sensor array <NUM>. This may, for example, mean that by comparing the signals from the sensor array <NUM>, i.e. the data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, with the signals registered by the sensor of the sensor array <NUM> during the calibration, i.e. the calibration data of the sensor array <NUM>, and finding the closest match, the control unit <NUM> is able to estimate the tire sensor positions x, y, z and angles of the tire sensors A, A', A" inside a tire in the coordinate system X, Y, Z.

In some embodiments, the control unit <NUM> may comprise a machine learning model that is trained to determine tire identification information based on the calibration data of the sensor array <NUM> and the data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. Here, according to some embodiments, the tire identification information may comprise the identity of tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and/or the identity of a vendor or Original Equipment Manufacturer, OEM, associated with the identified tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. This information may then be used by the control unit <NUM> to adapt the operation of the sensor array <NUM>, such as, e.g. increasing/decreasing a power level of the sensors in the sensor array <NUM> in order to improve the ability of the sensor array <NUM> to detect a specific vendor/OEM of a tire.

Optionally, in some embodiments, the control unit <NUM> may transmit the calibration data of the sensor array <NUM> and data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> to a central server <NUM>. Here, the central server may store the calibration data of the sensor array <NUM>, as well as, the data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. In other words, by being moved about in different locations and reading the one or more tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of different vendors, the sensor array <NUM> may, for example, send its daily readings to a central server <NUM>. This may, for example, be performed in order to report back to a central service in which conditions the test/calibration of the sensor array <NUM> was performed. In this way, a central server <NUM>, such as, e.g. a cloud or online server, may continuously be provided with this information, and may use this information in order to optimize for different environmental conditions, such as, e.g. snow, rain, mud, etc., or to the one or more tire sensor <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of different vendors.

In some embodiments, the data obtained from the sensor array <NUM> when detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> may also comprise local sensor information associated with the time of detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM> by the sensor array <NUM>, wherein the sensor information comprise one or more of: a local temperature value, a local humidity value, and a local resistance value. This means that specific conditions at the time of the sensor measurements at the location of the sensor array <NUM> may be registered and comprised in the calibration data.

Furthermore, the embodiments for detecting and identifying tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on a vehicle <NUM> using a sensor array <NUM> described above may be at least partly implemented through one or more processors, such as, the processing circuitry <NUM> in the control unit <NUM> depicted in <FIG>, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code or code means for performing the embodiments herein when being loaded into the processing circuitry <NUM> in the control unit <NUM>. The data carrier, or computer readable medium, may be one of an electronic signal, optical signal, radio signal, or computer-readable storage medium. The computer program code may e.g. be provided as pure program code in the control unit <NUM> or on a server and downloaded to the control unit <NUM>. Thus, it should be noted that the control unit <NUM> may in some embodiments be implemented as computer programs stored in memory, e.g. in the computer readable storage unit <NUM> in <FIG>, for execution by processors or processing modules, e.g. the processing circuitry <NUM> in the control unit <NUM> in <FIG>.

According to some aspects of embodiments herein, an electronic control unit, ECU, for monitoring tire sensors in a vehicle is provided. The ECU is arranged to obtain a tire sensor location relative to a tire sensor reader location. The ECU is also arranged to adapt a tire sensor interrogation time instant based on the obtained relative tire sensor location. By adapting a tire sensor interrogation time instant based on the obtained relative tire sensor location, the ECU may ensure that transmissions from the tire sensors is only performed during optimal, or close to optimal, transmission conditions towards its tire sensor reader location. Hence, the tire sensors will not waste any energy on transmissions at times when the transmission conditions towards the ECU's tire sensor reader location is not optimal. This will lead to a lower energy consumption in the tire sensors, and consequently to an extended battery life-time of the tire sensors.

In some embodiments, the tire sensor interrogation time instant may be adapted to a time instant when the distance between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. This means that a preferred tire sensor interrogation time instant may be when the tire sensor has its shortest radial distance towards the ECU's tire sensor reader location, which often provides the most advantageous transmission conditions. Here, it should also be noted that the tire sensor reader location of the ECU and the location of the ECU may be the same location, i.e. the tire sensor reader may be located in the ECU. Furthermore, an ECU may be connected to a plurality of range extenders, and thus have several tire sensor reader locations.

Optionally, according to some embodiments, the tire sensor interrogation time instant may adapted to a time instant when the polarization loss for communication between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. Since the tire sensor inside the tires may end up in different positions in which their antenna may not be in the most advantageous position for transmitting towards an antenna of an ECU's tire sensor reader, this may result in a polarization loss. However, since the tire sensors may comprise accelerometers for determining the speed and direction of rotation of a tire, this information together with the position of tire sensor inside the tire may be used in order to identify the most advantageous position of tire sensor that ensure minimum of polarization loss.

In some embodiments, the ECU may be arranged to configure each tire sensor to only transmit data to the ECU during the adapted tire sensor interrogation time instant for each tire sensor. This means the ECU may provide the tire sensors with instructions or commands as to when to transmit data towards the ECU's tire sensor reader, or relevant ECU tire sensor reader in case of a plurality of tire sensor reader locations, e.g. several range extenders.

According to some embodiments, the relative tire sensor location may be obtained based on information indicating the radial distance between a tire vertical and the tire sensor when the distance between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. This is advantageous since the radial distance from a tire vertical to an origin of a vehicle coordinate system, e.g. origo, may be predetermined or registered in the ECU, thus the tire sensor location relative to other tire sensors and to the ECU's tire sensor reader is completely defined. Also, since this information may be registered in the ECU, and thus in the TPMS/THS system, it may be used for improving the TPMS/THS system operations.

In some embodiments, the information indicating the radial distance for a tire sensor may be manually configured in the ECU. Hence, the radial distance may be obtained manually directly from a user entering information into the ECU. Optionally, the information indicating the radial distance for a tire sensor may be received from a control unit in response to the vehicle traversing a sensor array arranged to communicate with the control unit. In this case, the radial distance may be obtained automatically from a control unit and a sensor array. In some embodiments, the tire sensors and the ECU may be part of a Tire Pressure Monitor System/Tire Health System, TPMS/THS, in a heavy-duty vehicle.

According to some aspects of embodiments herein, a method performed by an ECU for monitoring tire sensors in a vehicle is provided. The method comprise obtaining a tire sensor location relative to a tire sensor reader location. The method also comprise adapting a tire sensor interrogation time instant based on the obtained relative tire sensor location. In some embodiments, the tire sensor interrogation time instant may be adapted to a time instant when the distance between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. Optionally, in some embodiments, the tire sensor interrogation time instant is adapted to a time instant when the polarization loss for communication between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. The method may, according to some embodiments, comprise configuring each tire sensor to only transmit data to the ECU during the adapted tire sensor interrogation time instant for each tire sensor. In some embodiments, the relative tire sensor location is obtained based on information indicating the radial distance between a tire vertical and the tire sensor when the distance between the obtained relative tire sensor location and the tire sensor reader location is at, or about, a minimum. Here, the information indicating the radial distance for a tire sensor may be manually configured in the ECU according to some embodiments. Optionally, the method may obtain the relative tire sensor location by receiving from a control unit, information indicating the radial distance for a tire sensor in response to the vehicle traversing a sensor array connected to the control unit.

According to some aspects of the embodiments herein, a computer program comprising instructions is provided which, when executed in a processing circuitry, cause the processing circuitry to carry out the method described above. According to a fourth aspect of the embodiments herein, the object is achieved by a carrier containing the computer program described above, wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer-readable storage medium. According to a fifth aspect of the embodiments herein, the object is achieved by a wheel arranged with a tire sensor, wherein the wheel comprise visual markings on the rim or tire of the wheel indicating the location of the tire sensor in order to provide a visual indication of a radial distance between a tire vertical and the tire sensor.

<FIG> illustrate different ECU tire sensor reader locations on a vehicle <NUM> according to some embodiments. A tire sensor reader of the ECU <NUM> may be co-located with the ECU <NUM> or located at a different location that the ECU <NUM> on the vehicle <NUM>. These locations are denoted by the dashed circles in the example vehicles A-K in <FIG>. However, in for example long heavy-duty trucks or trailers, several range extenders may be used by the ECU to obtain a suitable coverage of all tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>. Thus, there may be more than one tire sensor reader connected to an ECU <NUM>. These additional locations are denoted by the empty circles in the example vehicles A-K in <FIG>. Although the locations of the tire sensor readers illustrated in <FIG> for different example vehicles A-K may be advantageous for obtaining a suitable coverage of all tire sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> on the vehicle <NUM>, this should not be construed as limiting for the embodiments described herein.

Examples of embodiments performed by electronic control unit, ECU <NUM>, for monitoring tire sensors 121b, 121b', 131d in a vehicle <NUM>, will now be described with reference to the flowchart depicted in <FIG> is an illustrated example of actions, steps or operations which may be performed by an ECU <NUM> on-board the vehicle <NUM>. The method may comprise the following actions, steps or operations.

Action <NUM>. The ECU <NUM> obtains a tire sensor location d<NUM>, γ<NUM>, d<NUM>, γ<NUM> relative to a tire sensor reader location <NUM>. Here, the tire sensor reader location <NUM> may, for example, an origin of a vehicle coordinate system (<NUM>, <NUM>, <NUM>) as shown in <FIG>.

In some embodiments, the relative tire sensor location γ<NUM>, γ<NUM> may be obtained based on information indicating the radial distance γ<NUM>, γ<NUM> between a tire vertical v<NUM>, v<NUM> and the tire sensor 121b, 121b', 131d when the distance between the obtained relative tire sensor location γ<NUM>, γ<NUM> and the tire sensor reader location <NUM> is at, or about, a minimum.

In some embodiments, the information indicating the radial distance γ<NUM>, γ<NUM> for a tire sensor 121b, 121b', 131d may be manually configured in the ECU <NUM>. For example, this means that manual input of the tire sensors relationship to each other and to the ECU <NUM> may be used. As shown in <FIG>, one example of a vehicle coordinate system may located the ECU <NUM> at its origin. The tire sensors, such as, e.g. tire sensor 120b, 121b', 130d, may be mounted and located in the tires 120b, 130d according to instructions. For example, the tire sensors 121b, 121b', 131d are usually mounted inside or outside on the rim of the tire 120b, 130d or built into the tire 120b, 121b', 130d. The tire 120b, 130d may then be mounted on the rim.

According to some embodiments, in order to assist in the manual reading of the relative tire sensor location, a wheel <NUM>, <NUM> arranged with a tire sensor 121b, 121b', 131d, wherein the wheel <NUM>, <NUM> comprise visual markings on the rim <NUM>, <NUM> or tire 120b, 130d indicating the location of the tire sensor 121b, 121b', 131d, in order to provide a visual indication of a radial distance γ<NUM>, γ<NUM> between a tire vertical v<NUM>, v<NUM> and the tire sensor 121b, 121b', 131d, may be provided. In this case, the visual markings may be indicated on the tires 120b, 130d or the rims <NUM>, <NUM> in order to have visual information regarding where the tire sensor 121b, 121b', 131d is located. For tire sensors built into a tire, these type of visual markings may be provided by default. When the tire 120b, 130d is mounted onto the chassis of the vehicle <NUM>, angles or coordinates of the tire sensors 121b, 121b', 131d may be manually read based on these visual markings.

Optionally, in some embodiments, the ECU <NUM> may receive the information indicating the radial distance γ<NUM>, γ<NUM> for a tire sensor 121b, 121b', 131d in response to the vehicle <NUM> traversing a sensor array <NUM> arranged to communicate with the control unit <NUM>. For example, this means that an automatic determination of the tire sensors relationship to each other and to the ECU <NUM> may be used.

After completed mounting of the tires 120b, 130d comprising the tire sensors 121b, 121b', 131d, on the vehicle <NUM>, the vehicle may traverse a sensor array <NUM> as described above. It is thus possible to position the tire sensors 121b, 121b', 131d within vehicle coordinate system, and determine the relationship between the tire sensors 121b, 121b', 131d and ECU <NUM>. For example, as the tires 120b, 130d are rotating, the measurement areas/zones of the sensor array <NUM> may be adapted or created such that its middle coincide with the lowest position of the tire sensor 121b, 121b', 131d in the tire 120b, 130d and the surface of sensor array <NUM>. By determining the relationship between the middle of such adapted or created measurement areas/zones of the sensor array <NUM>, information is obtained regarding the relationship between the tire sensors 121b, 121b', 131d and ECU <NUM>.

Action <NUM>. After obtaining the tire sensor location d<NUM>, γ<NUM>, d<NUM>, γ<NUM>, the ECU <NUM> adapts a tire sensor interrogation time instant t<NUM>, t<NUM> based on the obtained relative tire sensor location d<NUM>, γ<NUM>, d<NUM>, γ<NUM>. According to some embodiments, the tire sensor interrogation time instant t<NUM>, t<NUM> is adapted to a time instant when the distance between the obtained relative tire sensor location d<NUM>, γ<NUM>, d<NUM>, γ<NUM> and the tire sensor reader location <NUM> is at, or about, a minimum. Optionally, according to some embodiments, the tire sensor interrogation time instant t<NUM>, t<NUM> is adapted to a time instant when the polarization loss for communication between the obtained relative tire sensor location d<NUM>, γ<NUM>, d<NUM>, γ<NUM> and the tire sensor reader location <NUM> is at, or about, a minimum.

Action <NUM>. Optionally, the ECU <NUM> may configure each tire sensor 120b, 130d to only transmit data to the ECU <NUM> during the adapted tire sensor interrogation time instant t<NUM>, t<NUM> for each tire sensor 120b, 130d. This means, for example, that the tire sensors 121b, 121b', 131d may get instructions to broadcast their tire sensor readings only when, e.g. the shortest radial distance between the tire sensors 121b, 121b', 131d and ECU <NUM> occurs.

<FIG> illustrate a vehicle coordinate system wherein the location of the tire sensor reader of the ECU <NUM> is the origin, i.e. origo. The location of the tire sensor reader of the ECU <NUM> is, in this example, the same as the location of the ECU <NUM>.

The vehicle coordinate system may be registered in the ECU <NUM>, wherein the relationship between the tire verticals v<NUM>-<NUM>, e.g. the tire verticals v<NUM>, v<NUM> for the tires 120b, 130d, and the location of the tire sensor reader of the ECU <NUM> may be predetermined or predefined. This may, for example, be obtained by using the distances d<NUM>-<NUM> between the location of the tire sensor reader of the ECU <NUM> and the tire verticals v<NUM>-<NUM>, as well as, the distance of each tire on the Y-axis from the X-axis (as shown in <FIG>). This means that by determining the position of the tire sensors relative to its tire vertical, respectively, the position of the tire sensors relative to the location of the tire sensor reader of the ECU <NUM> may be obtained.

For example, by determining the radial distance γ<NUM>, γ<NUM>' between the tire sensor 121b, 121b' and the tire vertical v<NUM>, the position of the tire sensors 121b, 121b' relative to the location of the tire sensor reader of the ECU <NUM> may be obtained. Similarly, by determining the radial distance γ<NUM> between the tire sensor 131d and the tire vertical v<NUM>, the position of the tire sensors 131d relative to the location of the tire sensor reader of the ECU <NUM>, e.g. (<NUM>, <NUM>, <NUM>) in the vehicle coordinate system, may be obtained.

Claim 1:
A sensor array (<NUM>) for locating tire sensors (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) on a vehicle (<NUM>), the sensor array (<NUM>) being arranged to:
detect tire sensors (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) on the vehicle (<NUM>) as the tires (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) of the vehicle (<NUM>) traverses the sensor array (<NUM>), and identify each of the detected tire sensors (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) on the vehicle (<NUM>), characterized in that
the sensor array (<NUM>) is arranged in cylindrical rollers (<NUM>, <NUM>) arranged to support the tires (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) of the vehicle (<NUM>).