Weight-based decoy system with a path controller
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 ).
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 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. 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 devicde ( 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 ).
16. The convoy as claimed in claim 15 , 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 ).