WEIGHT-BASED DECOY SYSTEM WITH A PATH CONTROLLER

Abstract

Method and device for steering a convoy (1) having a follower vehicle (2) to be protected and a weight-based decoy system (4), this method and these device being relative to the following steps: steering a controller of yaw-wise direction of the weight-based decoy system (4) depending on a route to follow, the weight-based decoy system (4) defining a safe track that is made so by passage of at least one axle-and-wheels assembly (5) suitable for exerting pressure on the ground; steering the follower vehicle (2) so that its wheels follow a path that falls on the safe track defined by the weight-based decoy system (4).

Claims

1. A method for steering a convoy (1) comprising a following vehicle (2) to be protected and a weight-based mine-clearing system (4), the method comprising the following steps: steering a yaw-direction steering command of the weight-based mine-clearing system (4) on the basis of a route to be followed, the weight-based mine-clearing system (4) defining a lane made safe by the passage of at least one wheelset (5) designed to apply pressure to the ground; steering the following vehicle (2) so wheels follow a path falling inside said safe lane defined by the weight-based mine-clearing system (4); wherein the step of steering the following vehicle (2) comprises a step of commanding the yaw direction of the following vehicle (2) by a steering actuator (18) of the following vehicle (2), the steering actuator (18) being commanded by a steering computer (17) connected to at least one environment sensor (19) of the following vehicle (2) and designed to steer the path of the following vehicle (2) so that the wheels of the following vehicle (2) fall inside the safe lane defined by the weight-based mine-clearing system (4).

2. The method as claimed in claim 1, wherein the step of steering a yaw-direction command of the weight-based mine-clearing system (4) is performed by a steering computer (12) determining said route to be followed.

3. The method as claimed in claim 2, wherein the yaw-direction steering command of the weight-based mine-clearing system (4) is executed by a steering actuator (10, 11) connected to the steering computer (12).

4. The method as claimed in claim 2, wherein the steering computer (12) determines the route to be followed on the basis of an environmental factor.

5. The method as claimed in claim 4, wherein said environmental factor is the configuration of a pathway.

6. The method as claimed in claim 4, wherein said environmental factor is a line drawn on the ground.

7. The method as claimed in claim 2, wherein the step of steering the following vehicle (2) is performed by a driver of the following vehicle (2).

8. The method as claimed in claim 7, wherein the driver of the following vehicle (2) steers only the following vehicle (2).

9. The method as claimed in claim 1, wherein: the step of steering a yaw-direction command of the weight-based mine-clearing system (4) is performed from the following vehicle (2) by a driver of the following vehicle (2); the step of steering the following vehicle (2) comprises a step of commanding the yaw direction of the following vehicle (2) achieved by a steering actuator (18) of the following vehicle (2), commanded by a steering computer (17) designed to steer the path of the following vehicle (2) so the wheels of the following vehicle (2) fall inside the safe lane defined by the weight-based mine-clearing system (4).

10. A convoy (1) to implement the steering method according to claim 1, comprising a following vehicle (2) that is to be protected and a weight-based mine-clearing system (4) provided with at least one wheelset (5) designed to apply pressure to the ground to define a lane that has been made safe and provided with a commanding device for the yaw direction, the commanding device for the yaw direction of the weight-based mine-clearing system (4) comprise a steering computer (12) connected to at least one environment sensor (13) and designed to determine the route to be followed on the basis of an environmental factor and to steer the weight-based mine-clearing system (4) to the yaw-direction steering command, on the basis of a route to be followed, and wherein the following vehicle (2) comprises a steering actuator (18) commanded by a steering computer (17) designed to steer the path of the following vehicle (2) so that the wheels of the following vehicle (2) fall inside the safe lane defined by the weight-based mine-clearing system (4).

11. The convoy as claimed in claim 10, wherein the environment sensor (13) determines the configuration of a pathway.

12. The convoy as claimed in claim 10, wherein the environment sensor (13) identifies a line drawn on the ground.

13. The convoy as claimed in claim 10, wherein the following vehicle (2) comprises a manual steering-control device designed so that a driver of the following vehicle (2) can command a yaw direction of the following vehicle (2).

14. The convoy as claimed in claim 10, wherein the following vehicle (2) comprises at least one environment sensor (19) connected to the steering computer (17).

15. (canceled)

16. A convoy (1) to implement the steering method according to claim 1 comprising a following vehicle (2) to be protected and a weight-based mine-clearing system (4) provided with at least one wheelset (5) to apply pressure to the ground to define a lane that has been made safe and provided with a commanding device for commanding the yaw direction, wherein: the commanding device comprises a steering actuator (11) for commanding the yaw-direction of the weight-based mine-clearing system (4) from the following vehicle (2); the following vehicle (2) comprises a manual device (20) for commanding said steering actuator (11) of the weight-based mine-clearing system (4); the following vehicle (2) comprises a steering actuator (18) commanded by a steering computer (17) connected to at least one environment sensor (19) to steer the path of the following vehicle (2) so that the wheels of the following vehicle (2) fall inside the safe lane defined by the weight-based mine-clearing system (4).

17. The convoy as claimed in claim 16, wherein the following vehicle (2) comprises: a first steering wheel (20) constituting the manual device (20) for commanding said steering actuator (11) of the weight-based mine-clearing system (4); a second steering wheel (15) designed for taking control of the steering actuator (17) of the following vehicle (2).

Description

BRIEF DESCRIPTION OF THE FIGURES

[0062] Further features and advantages of the invention will become apparent from the nonlimiting description that follows, given with reference to the attached drawings, in which:

[0063] FIG. 1 is a schematic view from above of a convoy involving a weight-based mine-clearing;

[0064] FIG. 2 is a view of the convoy of FIG. 1 according to a first variant;

[0065] FIG. 3 is a view of the convoy of FIG. 1 according to a second variant;

[0066] FIG. 4 illustrates a convoy according to a first embodiment of the invention;

[0067] FIG. 5 illustrates a variant of the convoy of FIG. 4;

[0068] FIG. 6 illustrates a convoy according to a second embodiment of the invention;

[0069] FIG. 7 illustrates a convoy according to a third embodiment of the invention;

[0070] FIG. 8 schematically illustrates the driving station of the following vehicle of the convoy of FIG. 7.

[0071] Elements that are similar and common to the various embodiments bear the same reference numerals referring to the figures.

DETAILED DESCRIPTION OF THE INVENTION

[0072] FIG. 1 illustrates one example of the overall structure of a convoy 1 involving a weight-based mine-clearing.

[0073] This convoy 1 is made up of a following vehicle 2, in this instance comprising four wheels, the two front wheels 3 being steered direction-controlling wheels. This following vehicle 2 is intended to be protected from hazards hidden in the ground, in the context of the application of the invention. To this end, the convoy 1 comprises a weight-based mine-clearing system 4 coupled to the front of the following vehicle 2.

[0074] The weight-based mine-clearing system 4 comprises rolling means for applying pressure to the ground ahead of the following vehicle 2 so as to trigger any explosive devices encountered, thus sparing the following vehicle 2 from the explosion. The distance between the rolling means that apply pressure to the ground and the front of the following vehicle 2 therefore needs to be great enough for the following vehicle 2 to be kept sufficiently distant at the moment of the explosion. According to the invention, this distance does not penalize the mine-clearing performance and can therefore be maximized.

[0075] In the present example, the rolling means for applying pressure to the ground consist of two wheelsets 5 each comprising two wheels 6. The weight-based mine-clearing system 4 additionally comprises a chassis 7 on which the wheelsets 5 are articulated, each by means of a vertical-axis pivot 8 allowing the wheels of the wheelsets 5 to pivot in yaw.

[0076] The chassis 7 is connected to the following vehicle 2 by a vertical-axis pivot 9, allowing the chassis 7 to pivot in yaw.

[0077] In the known way, the wheels 6 of the wheelsets 5 are weighty enough that the pressure they apply to the ground is compatible with the desired function of triggering an explosive device, and are mounted on suspensions which may potentially comprise known pressure equalizers.

[0078] FIGS. 2 and 3 illustrate the overall architecture of the convoy 1 of FIG. 1 according to two variants relating to how the yaw-direction steering of the weight-based mine-clearing system 4 is commanded.

[0079] FIG. 2 illustrates a first variant in which the yaw-direction steering of the weight-based mine-clearing system 4 is commanded by commanding the pivoting of the chassis 7 with respect to the following vehicle 2, using one or more steering actuators 10. The steering actuators 10 allow the chassis 7 to be pivoted about the pivot 9. The steering actuators 10 may for example be hydraulic or electric rams.

[0080] FIG. 2 depicts the convoy 1 in the process of negotiating a bend.

[0081] The pivot 8 is a free pivot, which is to say a pivot that allows the wheelsets 5 the behaviour of wheels able to turn freely in yaw. The wheelsets 5 may pivot freely in yaw (within the limits of their permitted angular travel) and thus naturally follow the pivoting movements of the chassis 7.

[0082] The cornering maneuvers of the convoy 1 are executed by pivoting the chassis 7 about the pivot 9 using the steering actuators 10, the wheelsets 5 orienting themselves, and then the wheels 3 of the following vehicle 2 are commanded to turn in the yaw direction in order to fall inside the lane made safe by the wheelsets 5.

[0083] FIG. 3 is a view similar to FIG. 2 and in which the convoy 1 is likewise negotiating a bend, for a second variant as to how the yaw-direction steering of the weight-based mine-clearing system is commanded. According to this variant, the yaw-direction steering of the weight-based mine-clearing system 4 is commanded by one or more steering actuators 11 (such as hydraulic or electric rams) designed to command the angular position, in the yaw direction, of the wheelsets 5 with respect to the chassis 7. The pivot 9 is itself free, which is to say that the chassis 7 can pivot freely with respect to the following vehicle 2, within its permitted angular travel.

[0084] According to this variant of FIG. 3, the yaw-direction steering of the following vehicle 2 is commanded in the same way as for the variant of FIG. 2, whereas the steering of the weight-based mine-clearing system 4 is steered beforehand by commanding the steering actuators 11 which cause the wheelsets 5 to pivot in the yaw direction thus causing the chassis 7 to move in a steering direction.

[0085] The invention applies to both variants of commanding the steering of the weight-based mine-clearing system 4 of FIGS. 2 and 3, which variants have been given here by way of example, as well as to any other way of steering the weight-based mine-clearing system 4 in the yaw direction, notably a combination of the two variants explained.

[0086] The structure and operation of the convoy 1 and of the weight-based mine-clearing system 4 according to the invention are described in detail with reference to FIGS. 4 to 8.

[0087] According to a first embodiment illustrated in FIGS. 4 and 5, the weight-based mine-clearing system 4 behaves like an autonomous vehicle and, insofar as its yaw-direction steering is concerned, it follows its own route completely or partially autonomously. The driver of the following vehicle 2 drives only their own vehicle, ensuring that the following vehicle 2 follows the lane made safe by the weight-based mine-clearing system 4. More specifically, the driver takes care to ensure that the wheels of the following vehicle 2 fall within the lane made safe by the weight-based mine-clearing system 4. In this example, the lane made safe extends in two strips 23, 24 corresponding to the path of the two wheelsets 5, the right-hand wheels of the following vehicle 2 falling within the strip 23 and the left-hand wheels of the following vehicle falling within the other strip 24.

[0088] The driver of the following vehicle 2 thus controls the rate of advance (acceleration, speed, braking) of the following vehicle 2, and therefore the rate of advance of the convoy 1 as a whole, and the weight-based mine-clearing system 4 steers its own yaw direction and therefore the yaw direction of the convoy 1 as a whole. The role of the driver of the following vehicle 2, as far as yaw-direction commands are concerned, is reduced to following the strips 23, 24.

[0089] In FIG. 4, the weight-based mine-clearing system 4 comprises means for commanding the yaw-direction steering corresponding to the variant of FIG. 2.

[0090] The weight-based mine-clearing system 4 comprises a steering computer 12 designed to collect information about the environment of the weight-based mine-clearing system 4 in order to determine the route to follow. This steering computer 12 controls the steering actuators 10 in order to influence the yaw direction adopted by the weight-based mine-clearing system 4.

[0091] The steering computer 12 is also connected to environment sensors 13 fixed to the chassis 7 and able to capture one or more parameters pertaining to the external environment so as to allow the steering computer 12 to determine the route to follow.

[0092] Any currently-known solution in the field of autonomous vehicles can be implemented for thus allowing the steering computer 12 to direct the weight-based mine-clearing system 4 on the basis of the information from the environment sensors 13. In the present example, the environment sensors 13 are able to discern the configuration of a pathway by detecting the edge 16 of a defined route (it being possible for this edge 16 to be embodied by barriers, hedges, etc.). These environment sensors 13 may be optical sensors, infrared sensors, ultrasound, laser, radar, lidar, etc. sensors.

[0093] The environment sensors 13 and the associated signal processing may consist of any known means from the prior art of autonomous vehicles or robots. In particular, the environment sensors 13 may be designed to follow a route drawn out on the ground beforehand, for example by a line of paint applied beforehand, or visible or radioelectric marker posts. This arrangement may of course be supplemented by any other factor known from the field of autonomous vehicles, such as positioning and navigation software, etc.

[0094] These means that allow a vehicle to follow a route autonomously are known from elsewhere and will not be described in greater detail here. These means are therefore applied here to the weight-based mine-clearing system 4 so that its yaw direction can be steered autonomously.

[0095] Whereas the weight-based mine-clearing system 4 is arranged as an autonomous vehicle (apart from the fact that it is coupled to the following vehicle 2), the following vehicle 2 remains a conventional vehicle with yaw-direction steering means available to the driver. The following vehicle comprises for example a conventional steering device 14, consisting for example of a steering rack commanded by a steering wheel 15 and acting on the steering angle of the steered direction-controlling wheels 3.

[0096] This embodiment is particularly advantageous in the case of a retrofit to a fleet of existing vehicles in order to update same. The following vehicles 2 require no modification, simply the fitting of a new weight-based mine-clearing system 4 according to the invention.

[0097] Although the following vehicle 2 is not modified in any way, it is used in a substantially different way from the prior art. The driver effectively drives the following vehicle 2, relieved of the need to choose the route to follow.

[0098] The driver of the following vehicle 2 therefore acts on the steering wheel 15 only to steer their own vehicle so that their wheels fall within the safe lane 23, 24 defined by the weight-based mine-clearing system 4. In concrete terms, in the present example in which the weight-based mine-clearing system 4 comprises two wheelsets 5, the driver of the following vehicle 2 acts on the steering wheel 15 only to bring the wheels of their own vehicle 2 into the wheeltracks of the wheelsets 5 of the weight-based mine-clearing system 4. The driver of the following vehicle 2 is thus relieved both of managing the weight-based mine-clearing system 4 and of managing the route to follow. The simple task of keeping the wheels of the following vehicle 2 in the wheeltracks already made by the wheelsets 5 while managing the rate of advance of the convoy frees up some of the attention of the driver who can then also be attentive to other operational aspects of the mission of the convoy 1 and to the environment in general.

[0099] When use of the weight-based mine-clearing system is not required (outside of the danger zones), the convoy 1 may offer a mode of operation in which the weight-based mine-clearing system 4 is deactivated, the position of the chassis 7 is locked and the following vehicle 2 is then driven in the conventional way without using the weight-based mine-clearing system.

[0100] FIG. 5 illustrates the same embodiment as FIG. 4, but for the variant whereby the yaw direction of the weight-based mine-clearing system 4 is commanded in the way corresponding to FIG. 3. In this variant, the steering computer 12, still connected to the environment sensors 13, here acts on the steering actuators 11 which modify the steering angle of the wheelsets 5.

[0101] In this variant, the weight-based mine-clearing system 4 likewise follows its route like an autonomous vehicle, in the same way as for the variant of FIG. 4, with the same possibilities. The only thing that varies is the way in which the yaw direction of the weight-based mine-clearing system 4 is commanded.

[0102] The driver of the following vehicle 2 acts on the steering wheel 15 as described previously, in order to keep the wheels of the following vehicle 2 in the wheeltracks of the wheelsets 5.

[0103] FIG. 6 illustrates a second embodiment in which the weight-based mine-clearing system 4 behaves like an autonomous vehicle in the same way as for the first embodiment, thanks to its steering computer 12 connected to the environment sensors 13 and to the actuators 10 for controlling the yaw-direction steering of the weight-based mine-clearing system 4.

[0104] However, according to this second embodiment, the following vehicle 2 additionally comprises a steering computer 17 controlling a steering actuator 18 for the following vehicle 2. The steering computer 17 may thus control the yaw-direction steering of the following vehicle 2.

[0105] According to this second embodiment, the following vehicle 2 is steered so that its path is contained within the lane made safe by the weight-based mine-clearing system 4. Here, vehicle control is achieved, so far as the yaw-direction steering is concerned, without the intervention of the driver of the following vehicle 2.

[0106] The steering computer 17 of the vehicle 2 may be connected to the steering computer 12 of the weight-based mine-clearing system 4 for transmitting path information.

[0107] The steering computer 17 may moreover benefit from any arrangement known in the field of autonomous vehicles to enable it to cause the following vehicle 2 to follow a path that falls within the lane made safe by the weight-based mine-clearing system 4 so that the steering angle of the steered direction-controlling wheels 3 cause these wheels to fall inside the strips 23, 24 of the safe lane.

[0108] The steering computer 17 may additionally be connected to its own environment sensors 19 mounted on the following vehicle 2, and to any other element that ensures its autonomy (so far as the yaw-direction steering is concerned).

[0109] According to this embodiment, the driver of the following vehicle 2 manages only the rate of advance of the vehicle (acceleration, speed, braking). The driver has even more of their attention free for other observations relating to the current mission.

[0110] The steering wheel 15 is, however, always available to the driver of the following vehicle 2 who may act at any moment and take back control of the steering computer 17 of the following vehicle 2, if need be. The steering computer 17 is for example connected to a sensor that detects the action on the steering wheel and triggers the stopping of the automatic commanding of the steering of the vehicle in order to leave the yaw-direction steering of the following vehicle 2 to the driver again.

[0111] This second embodiment may of course, just like the first embodiment, also be implemented with the variant corresponding to FIG. 3 as to how the yaw-direction steering of the weight-based mine-clearing system 4 is commanded.

[0112] FIG. 7 illustrates a third embodiment of the invention in which the driver of the following vehicle 2 directly controls the yaw-direction steering of the weight-based mine-clearing system 4.

[0113] The example of FIG. 7 relates to the variant corresponding to FIG. 3 as to how the yaw-direction steering of the weight-based mine-clearing system 4 is controlled.

[0114] According to this third embodiment, the weight-based mine-clearing system 4 is simplified and its steering is not automated. The following vehicle 2 comprises a steering wheel 20 acting directly on the steering actuators 11 of the weight-based mine-clearing system 4. The steering wheel 20 may for example be connected by hydraulic hoses to the actuators 11 which consist of rams, thus allowing these rams to be controlled remotely. Any variant for the remote operation of the steering actuators 11 from the following vehicle 2 may be envisioned (transmission by cable, electrical or electromechanical transmission, etc.).

[0115] The following vehicle 2 additionally comprises a steering computer 17 designed to control the yaw-direction steering of the following vehicle 2 by action on the steering actuator 18.

[0116] The steering computer 17 is tasked with steering the following vehicle 2 in such a way that the path of the following vehicle 2 falls within the safe path cleared by the weight-based mine-clearing system 4. The steering computer 17 is thus connected for example to sensors relating to the handling of the steering wheel 20 or the actuation of the actuators 11, or for example to sensors indicative of the position of the chassis 7 relative to the following vehicle 2, or any other element that allows the steering computer 17 to know the path of the weight-based mine-clearing system 4 and notably of its wheelsets 5. On the basis of this information, the steering computer 17 steers the following vehicle 2 in such a way that its wheels follow a path that falls inside the lane made safe by the weight-based mine-clearing system 4.

[0117] The driver of the following vehicle 2 therefore commands the path of the convoy 1 as a whole by acting on the yaw-direction steering command for the weight-based mine-clearing system 4, and manages the rate of advance of the convoy 1 as a whole by acting on the rate of advance (acceleration, speed, braking) of the following vehicle 2.

[0118] This third embodiment may of course also be implemented with the variant corresponding to FIG. 2 as to how the yaw-direction steering of the weight-based mine-clearing system 4 is commanded.

[0119] FIG. 8 illustrates an example of how means for driving the following vehicle 2 are embodied for the third embodiment of FIG. 7.

[0120] The driver of the following vehicle 2 according to this example has available to them in the driving post two steering wheels 15, 20 which are mounted concentrically but independently of one another.

[0121] During phases in which the convoy 1 is outside a danger zone and the weight-based mine-clearing system 4 is deactivated, the driver of the following vehicle 2 drives the vehicle in the conventional way using the steering wheel 15 (the steering actuator 18 and the steering computer 17 being deactivated).

[0122] During phases passing through danger zones, the weight-based mine-clearing system is activated and the driver of the following vehicle 2 controls the yaw-direction steering of the weight-based mine-clearing system 4 by acting on the steering wheel 20, whereas the steering computer 17 assumes responsibility for controlling the steering actuator 18 (which in this instance is a rotary actuator) in mesh with the steering column 21 and therefore acting on the steering rack 22.

[0123] The driver of the following vehicle 2 acts only on the steering wheel 20 but can at any moment take back control of the steering of the following vehicle 2, if need be, either temporarily or permanently, by direct action on the steering wheel 15.

[0124] The driver of the following vehicle 2 may manually deactivate the automatic actuation of the steering of the vehicle, or the steering wheel 15 may be equipped with a sensor that detects action by the driver on the steering wheel 15 and in response deactivates the automatic actuation.

[0125] In all of the embodiments of the invention, during phases of use of the weight-based mine-clearing system 4, the path of the convoy 1 is defined by the weight-based mine-clearing system 4, whether this be automatically (first and second embodiments) or manually through action by the driver of the following vehicle (third embodiment). The yaw direction of the following vehicle 2 is steered only in response to the path taken by the weight-based mine-clearing system 4. Not only is the path of the following vehicle 2 achieved in response to the path of the weight-based mine-clearing system 4, but also, each yaw-direction command of the following vehicle 2 chronologically follows the yaw-direction command of the weight-based mine-clearing system 4. This ensures that the following vehicle 2 unavoidably has the ability to follow the wheeltracks of the weight-based mine-clearing system 4 with no uncertainty as to the lane made safe by the weight-based mine-clearing system 4. The following vehicle 2 keeps its path within a safe lane that has already been created at the time at which the yaw-direction steering commands relating to this vehicle need to be determined.

[0126] Variant embodiments of the invention may be implemented. In particular, the examples described relate to a following vehicle having four wheels, two of them steered, it being appreciated that the invention applies equally to any following vehicle equipped with other configurations and numbers of wheels and steered wheels, just as it applies to other configurations of wheels such as caterpillar tracks.

[0127] The invention also applies to a convoy in which the following vehicle is not physically coupled to the weight-based mine-clearing system but simply follows it at a distance.