US Patent 11230148 Method for evaluating the firmness of a ground

A method for evaluating the firmness of the ground on which is running a vehicle equipped with at least one mounted assembly having a radial stiffness kradial comprising a tyre casing having a crown, two sidewalls and two beads, equipped with a sensor sensitive to the circumferential curvature and positioned in line with the crown, comprises the following steps: Estimating a value of the curvature ρA of the tire casing corresponding to first steady-state conditions of the tire casing in contact with the ground; and Evaluating the relative firmness of the ground with respect to the radial stiffness kradial of the mounted assembly as being a function of the value of the curvature ρA of the tire casing.