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1. (WO2018036723) METHOD OF STABILIZATION BY ORIENTATION OF A CONVOY OF VEHICLES
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Pub. No.: WO/2018/036723 International Application No.: PCT/EP2017/068122
Publication Date: 01.03.2018 International Filing Date: 18.07.2017
IPC:
B62D 12/02 (2006.01) ,B62D 47/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
12
Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
02
for vehicles operating in tandem
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
47
Motor vehicles or trailers predominantly for carrying passengers
Applicants:
COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES [FR/FR]; 25 rue Leblanc - Bâtiment "Le Ponant D" 75015 Paris, FR
Inventors:
MICAELLI, Alain; FR
LUCET, Eric; FR
Agent:
COLLET, Alain; FR
LUCAS, Laurent; FR
Priority Data:
165795926.08.2016FR
Title (EN) METHOD OF STABILIZATION BY ORIENTATION OF A CONVOY OF VEHICLES
(FR) PROCEDE DE STABILISATION PAR ORIENTATION D'UN CONVOI DE VEHICULES
Abstract:
(EN) The invention relates to a method for stabilizing a convoy of vehicles (11, 12) linked pairwise one behind the other, comprising a lead vehicle (11) and at least one second vehicle (12) comprising a front axle assembly (14) with two wheels (17, 18) mobile in rotation about a front axis, a rear axle assembly (15) with two wheels (19, 20) mobile in rotation about a rear axis, the front axis of a second vehicle (12) coinciding with the rear axis of the vehicle (11, 12) which precedes it, an articulation (21) configured to render the rear axle assembly (15) mobile in rotation about a vertical axis substantially perpendicular to the reference plane with respect to the front axle assembly (14), a sensor intended to estimate an orientation of the second vehicle (12), a computer, the method comprising the following steps: estimation of the position and the orientation of the vehicles (11, 12), determination of the disparity between the actual trajectory and the reference trajectory, calculation of a control vector to be applied to the two wheels (17, 18) of the front axle assembly (14), application of the first control vector to the two wheels (17, 18) of the front axle assembly (14) of each second vehicle (12).
(FR) L'invention concerne un procédé de stabilisation d'un convoi de véhicules (11, 12) reliés deux à deux l'un derrière l'autre, comprenant un véhicule de tête (11) et au moins un deuxième véhicule (12) comprenant un train avant (14) à deux roues (17, 18) mobiles en rotation autour d'un axe avant, un train arrière (15) à deux roues (19, 20) mobiles en rotation autour d'un axe arrière, l'axe avant d'un deuxième véhicule (12) étant confondu avec l'axe arrière du véhicule (11, 12) qui le précède, une articulation (21) configurée pour rendre le train arrière (15) mobile en rotation autour d'un axe vertical sensiblement perpendiculaire au plan de référence par rapport au train avant (14), un capteur destiné à estimer une orientation du deuxième véhicule (12), un calculateur, le procédé comprenant les étapes suivantes: estimation de la position et l'orientation des véhicules (11, 12), détermination de l'écart entre la trajectoire réelle et la trajectoire de référence, calcul d'un vecteur de commande à appliquer aux deux roues (17, 18) du train avant (14), application du premier vecteur de commande aux deux roues (17, 18) du train avant (14) de chaque deuxième véhicule (12).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: French (FR)
Filing Language: French (FR)