The invention relates to a system (100) for soil loosening of soil (2) which has become compacted by wheels (4) of an agricultural vehicle (200) or an agricultural implement (300), said system comprises: - one or more soil loosening devices (10) for loosening soil in a wheel track (1 2)； — in respect of each soil loosening device, a sensing system (14) which is configured for sensing a height difference between soil located in said wheel track (12) and soil (18) located outside said wheel track ( 12)； - a control unit (20)； wherein each of said one or more soil loosening devices (10) comprises one or more soil loosening elements (22) for loosening soil is said wheel track (12), and wherein each of said one or more soil loosening elements (22) is/are mechanically connected to adjustment means (24) for adjusting the degree of soil loosening provided by said one or more soil loosening elements (22)； wherein said sensing system (14) being configured to provide one or more sensing signals (26) representative of said sensed height, difference of soil； and wherein said control unit (20) is configured to receive said one or more sensing signals (26) provided by said sensing system (14) and to provide a control signal (28) on the basis thereof； wherein said adjustment means (24) is configured to receive said control signal (28), and on the basis thereof to adjust the degree of soil loosening of said one or more soil loosening elements (22) of said one or more soil loosening devices (10).
