Autonomous steering control mechanism and system applied to special trucks and agricultural machinery

Description

[001] This descriptive invention report concerns an arrangement for an autonomous driving control system, developed for application and installation in special trucks and agricultural machinery, which allows maintaining vehicle direction without driver intervention, precisely and effectively, on paved or unpaved roads and in areas of various agricultural crops.

[002] The application of this autonomous driving control system in special trucks includes operations in mining, in the transport of dangerous and explosive cargo, or in operations with very high risks.

[003] Another application of this technology is in agricultural machinery, where precise movement over crops is necessary to avoid damage caused by compaction from passing wheels. HISTORY OF THE TECHNIQUE

[004] With the advent of technologies embedded in vehicles, it has been possible to develop solutions and means for autonomous driving, that is, without the assistance or intervention of people (drivers) on pre-programmed trajectories.

[005] Thus, steering control systems (1) (figure 1 of the state of the art) can have various arrangements and characteristics, which can bring advantages and disadvantages, depending on their use, in addition to the cost of each one.

[006] It is important that a driving control system (1) be able to process various inputs and outputs, ensuring safety in autonomous vehicle operation, observing redundancy conditions and monitoring all parts of this system.

[007] The conventional complete autonomous driving control system (1), described and detailed in this description, by way of example (figure 1), is an applied concept, composed of three blocks: signal receiver module (2); command and navigation module (3); and actuators (4). Petition 870250094149, dated 10 / 15 / 2025, page 10 / 26 / 17 State of the Art Analysis

[008] The state of the art contemplates provisions for the signal receiver module block (2), as mentioned in

[007] , composed of various market configuration options, capable of receiving positioning signals from the towers of the SG georeferencing stations (5) or from satellites (6) of the Global Positioning System - GPS (Global Positioning System) SS (figure 1).

[009] After receiving the positioning signals (SG or SS), the signal receiver module (2) processes them and sends the SP signal to the command and navigation module (3) (figures 1 and 2).

[010] The SP signal enters the command and navigation module (3) and is processed (figures 1 and 3) together with other inputs from the driver (operator) interface, carried out by means of the monitor (7), that is, the SO operator signals and the SR signals from the steering wheel position sensors (26).

[011] Thus, once the signals (SP, SR, SO) are received, they are processed by dedicated software, sending the OUTPUT signals SD1 and SD2 to the actuator system (4) (figures 1 and 4).

[012] The descriptions presented between

[008] and

[011] consist of basic and schematic summaries of the state of the art for most driving control systems (1) available on the market and applied in various vehicles.

[013] Thus, the signal receiver module (2) and the command and navigation module (3) are concepts and products widely disclosed by the state of the art, manufactured by various manufacturers, which may be composed separately or in a single body.

[014] However, the diversity lies in the actuator system (4), which corresponds to the power block, responsible for moving the wheels and, when applied, for acting on the brake and the engine.

[015] This actuator system (4) can be electromechanical, hydraulic, pneumatic, combined or discrete from each other.

[016] Upon receiving the input signals SD1 and SD2, both originating from the control and navigation module (3) (figures 3 and 4), the actuator system (4) sends electrical signals to the electric servomotors or hydraulic directional valves, which will actuate Petition 870250094149, dated 10 / 15 / 2025, page 11 / 26 / 17 the vehicle's steering system.

[017] The state of the art illustrates various autonomous driving systems, composed of several power systems.

[018] As an example of one of these systems, there is the electric power steering system (9) (figure 5), characterized by the following components: mechanical steering box (8); servo motor (10) and steering column (11).

[019] The operating principle of this system consists of turning the steering column (11) to the right or to the left, by means of the servomotor (10), which replaces the human hand coupled to the mechanical steering mechanism of the wheels (19) of the front steering suspension (28) of the vehicle, when operating in coupled autonomous mode.

[020] This steering column drive system (11) is an option adopted by several truck and agricultural machinery manufacturers, however, it has limitations in force or torque and, in the event of failure of the servo motor (10) and / or failure in its drive, it may compromise the safety of the vehicle.

[021] Under heavy conditions, this electrical system is critical and requires extensive preventive and corrective maintenance.

[022] Another widely used option, revealed by the state of the art, is the use of an electro-hydraulic system for autonomous driving systems, called hydrostatic power steering (12) (figure 6), consisting of: hydraulic block - manifold (13); electro-electronic control system (14); hydraulic tank (15A); hydraulic pump (15B); hydraulic hoses (15C) and hydraulic cylinders (16) (figure 6).

[023] This system is fully hydraulic, without mechanical mechanisms for steering or turning the steering wheels (19), such as tie rods, levers, steering box, among others.

[024] The arrangement described in

[023] is widely used in agricultural machinery such as tractors, harvesters, etc., and allows a truck or agricultural machine to operate in two conditions, two modes: (i) MANUAL - the means by which the operator controls the vehicle himself, but with lighter steering; or (ii) AUTONOMOUS, the means by which the vehicle's steering is controlled by a similar driving control system (1) and Petition 870250094149, dated 10 / 15 / 2025, page 12 / 26 / 17 own, as already described and characterized between

[008] and

[011] .

[025] The operating principle consists of coupling the steering column (11) directly to the hydraulic block - manifold (13), which by the movement of turning the steering wheel (17) (clockwise or counterclockwise) by the vehicle driver, actuates internal directional valves of the hydraulic block - manifold (13), sending more or less hydraulic oil, respectively, to the hydraulic cylinders (16), as illustrated in figure 6, enabling the steering wheels (19) to turn to the right or to the left, but in MANUAL mode.

[026] When the driver wishes to operate in AUTONOMOUS mode, he no longer moves the steering wheel (17) (figure 6), as the driving control system (1) integrated with the hydrostatic power steering (12) will actuate solenoid valves of the electromechanical control system (14), coupled to the body of the hydraulic block - manifold (12), actuating internal directional valves enabling the steering wheels (19) to steer to the side commanded by the control and navigation modules (3).

[027] This system, described between

[022] and

[026] , has operational advantages, but there is no redundancy and, in the event of hydraulic or electrical failure, it may compromise the safety of people and the vehicle itself, as it is not a mechanical alternative system resulting from system redundancy.

[028] In research carried out in INPI, Google Patents and Espacenet databases, documents were found relating to autonomous vehicles, such as trucks and agricultural machinery, including hydraulic control devices for the steering system.

[029] The documents presented between

[030] and

[034] illustrate the state of the art of established technologies for driving control systems (1).

[030] Document BR 102014012786-0 A2, filed on 05 / 21 / 2014, but already archived and not relevant, subsidiarily displays an electronic control device for a planter that uses GPS-provided location, described as an electronic planter control and command device to start and stop planting at precise locations and distances, using geographic location information received by the GPS receiver that is compared with a map. Petition 870250094149, dated 10 / 15 / 2025, page 13 / 26 / 17 digital stored in the equipment's memory. However, this document only claimed the electronic controller equipment, with functionalities and objectives distinct from this utility model.

[031] Document BR 102017012258-1 A2, filed on 08 / 06 / 2017, but rejected and irrelevant, subsidiarily mentions the possibility of using autonomous vehicles in agriculture, exemplifying and briefly describing such equipment. In this document, it claimed a form of control interface between the operator and the system, providing the adjustment and control commands for this type of vehicle.

[032] Patent BR 102016008666-3 A2, filed on 04 / 18 / 2016, granted on 10 / 11 / 2022, with low relevance, describes a control system using a base station, as a method and form of controlling agricultural vehicles and autonomous agricultural systems capable of starting and stopping seed planting by the planter at specific locations and precise distances, using geographic location information received by the GPS receiver. This document shows another way to vectorize the position of the autonomous agricultural vehicle in the field, using a ground base station as a reference, as a complement or not to methods that use the GPS system, and is therefore not conflicting with the utility model presented here.

[033] Another collection of documents deals with autonomous steering systems and control methods, but without significant relevance to the present invention, namely: BR 102021001619-1 A2, filed on 01 / 28 / 2021; BR 102019010279-5 A2, filed on 05 / 20 / 19; patent BR 102017017510-3 B1, granted on 03 / 07 / 23; and patent BR 102016001197-3 B1, granted on 12 / 07 / 2021.

[034] The foreign documents, comprising US patents US 2016 / 0288827 A1, granted on 15 / 01 / 2019, and US 2016 / 0339952 A1, granted on 19 / 02 / 2019, both of the same author, without relevance, describe and claim a steering system and method for an agricultural vehicle with one or more steerable front wheels, one or more steerable rear wheels and a steering input device configured to receive a manual steering input for one or more steerable front wheels and a hydraulic steering device of Petition 870250094149, dated 10 / 15 / 2025, p. 14 / 26 / 17 rear-mounted device coupled to at least one or more steerable rear wheels, a rear valve assembly configured to hydraulically control the rear hydraulic steering device in order to steer at least one steerable rear wheel, and a controller, which after extensive analysis of both patents regarding prior art, it is found that such claims are not in conflict with those presented in the claims section of this utility model application.

[035] Another document analyzed is US patent 2015 / 0142270 A1, granted on 01 / 26 / 2016, without relevance in the search for prior art, claiming only a method for calibrating the control parameters of an off-road vehicle system, presented by control algorithms, and its composition, however, through exhaustive analysis of this document, it is observed that such claims do not conflict with those of the claims presented in this utility model application.

[036] The documents presented below illustrate the state of the art of electric steering systems, coupled or not to the steering control system (1), being: BR 112023011951-0 A2, filed on 12 / 29 / 21; BR 102021010000- A2, filed on 05 / 24 / 2021; BR 112022014157-2 A2, filed on 01 / 28 / 2021, all without relevance in relation to the present invention, serving only for analysis and comparison.

[037] The documents presented below also illustrate the state of the art of hydraulic steering systems, coupled or not to the steering control system (1), namely: BR 112012021547-7 A2, filed, but deposited on 27 / 02 / 2010; BR112013016710-6 A2, filed, but deposited on 13 / 11 / 2018; PI 9700224-0-1, filed, but deposited on 27 / 05 / 1997; patent BR 102016029282-4 A2, granted on 15 / 08 / 2023, all without relevance, which describe only specific systems dedicated to hydraulic steering vehicles.

[038] Other foreign documents were analyzed in relation to hydraulic systems as a means of vehicle steering, namely: GB patent 2160162 A, granted on 12 / 18 / 1985; US patent 2010 / 0320024-A1, granted on 12 / 23 / 2010; and US patent 2010 / 0044142 A1, granted on 02 / 25 / 2010, which deal with systems Petition 870250094149, dated 10 / 15 / 2025, page 15 / 26 / 17 hydraulic steering systems, but which are different from the present invention. OBJECTIVES OF THE INVENTION

[039] The present invention presents an AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM capable of equipping special trucks and agricultural machines (18) (figure 7), such as, for example, a transshipment equipment for collecting chopped sugar cane, to be driven AUTONOMOUSLY, that is, without the direct intervention of a human being in driving this vehicle, one of the objectives being to reduce the load on this operator (driver) inside the vehicle, in addition to the aspect of operator and equipment safety.

[040] The main objective of the present invention is the development of a steering system for a special truck or agricultural machine (18), with redundancy of systems, being hydraulic and mechanical, called mixed steering, which ensures the safety of the driver, people and the equipment itself.

[041] This concept is unprecedented, not presented in the state of the art, as it allows, in the event of a failure of the autonomous driving control system (1), that the driver of the vehicle can continue steering only with the use of the hydraulic steering box (23) functioning, activating the entire steering mechanism of the front steering suspension assembly (28), being conceived within the concept of fail-safe.

[042] The second objective is to reduce the effort on the steering wheel (17) when the driver is driving, as the double-acting hydraulic actuator (31) (Figure 9) will always assist the steering system.

[043] The third objective, in terms of crew(s) and operation safety, allows the driver to decouple this driving control system (1) at any time by simply touching (turning) the steering wheel (17) of the vehicle, changing all control from AUTONOMOUS to MANUAL (total control by the driver).

[044] The fourth objective of this autonomous driving control system (1) is to reduce the workload of the driver of these types of vehicles, who only supervises the operation by means of an onboard control interface, called a monitor (7) (figure 3), inside the cabin. Petition 870250094149, dated 10 / 15 / 2025, page 16 / 26 / 17 DESCRIPTION OF THE FIGURES

[045] In order to supplement the present description so as to obtain a better understanding of the characteristics of the present invention and in accordance with a preferred practical embodiment thereof, a set of drawings is attached to the description, where, by way of example, though not limitation, the following is represented:

[046] Figure 1 schematically represents, in block diagrams, the complete behavior of a conventional autonomous driving control system (1), the system logic, the process of how a vehicle can be driven AUTONOMOUSLY, for better understanding;

[047] Figure 2 illustrates, also using the state of the art, the block diagram form of the INPUTS and OUTPUTS of the signal receiver module (2) for a better understanding of the logic employed in the conventional system;

[048] Figure 3 schematically represents the block diagram of the INPUTS and OUTPUTS of the command and navigation module (3) also of the state of the art, to better understand the operating logic of this component;

[049] Figure 4 schematically visualizes the state of the art by means of the actuator system diagram (4), with INPUTS and OUTPUTS for better understanding;

[050] Figure 5 exemplifies and schematically illustrates the state of the art for the electric power steering system (9), with the main components to better understand this system;

[051] Figure 6 also exemplifies and visualizes the state of the art for assisted hydrostatic steering (12) and its discretized elements;

[052] Figure 7 illustrates an example of the state of the art of an agricultural transshipment machine, which can and needs an autonomous driving control system (1) to ensure precise and safe operation;

[053] Figure 8 demonstrates, by the example revealed in the state of the art, the use of an agricultural machine traveling in a sugarcane field, in a precise manner, thus understanding the process described; Petition 870250094149, dated 10 / 15 / 2025, page 17 / 26 / 17

[054] Figure 9 illustrates the innovation with the entire autonomous driving control system (1), schematically grouped into a single illustration, for better understanding of all the grouped elements and their relative positions;

[055] Figure 10A shows the 1st scenario of the operation of the manifold block assembly (21), by the representation of the hydraulic scheme;

[056] Figure 10B shows the 2nd scenario of the operation of the manifold block assembly (21), by the representation of the hydraulic scheme;

[057] Figure 10C shows the 3rd scenario with the pilot-operated directional mode selection valve (32) to the left for better understanding;

[058] Figure 10D shows the 3rd scenario with the pilot-operated directional mode selection valve (32) to the right for better understanding;

[059] Figure 10E shows the 4th scenario of the operation of the manifold block assembly (21), to represent the operation in autonomous driving mode;

[060] Figure 11 shows the interior of the cabin (5), steering wheel (17), power steering box (23) integrated into the front steering assembly, for better explanation and understanding;

[061] Figure 12 illustrates the steering mechanism of the left steering wheel (19) with its integrated elements;

[062] Figure 13 shows the front steering suspension assembly (28), characterized by its elements;

[063] Figure 14 shows the hydraulic actuator (30) and its components;

[064] Figure 15 shows an isometric view of the manifold block (21) and its parts. DETAILED DESCRIPTION OF THE OBJECT

[065] With reference to the illustrative figures, the present invention relates to an “AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM APPLIED TO SPECIAL TRUCKS AND AGRICULTURAL MACHINES”, more precisely it is an arrangement of a system, consisting of means, for the purpose of automating the driving of a special truck or agricultural machine (18), dedicated, respectively, to operations where there are risks of accidents, such as in mining, or in use in agricultural areas, to travel safely and precisely in these areas. Petition 870250094149, dated 10 / 15 / 2025, page 18 / 26 / 17

[066] The autonomous driving control system (1) (figures 1 and 9), schematically, comprises: the signal receiver module (2) from the remote terrestrial station towers for georeferencing (5) and from the satellites (6); the command and navigation module (3); the command interface comprising the monitor (7); and the actuator system (4).

[067] The actuator system (4) of the present invention is characterized by comprising a hydraulic block, also called a manifold (21) (figure 15); the hydraulic steering box (22), hydraulic pump (23), and hydraulic oil tank (24); heat exchanger (25); wheel positioning sensor (26); front steering suspension assembly (29); connecting rod assembly (30); and double-acting hydraulic actuator (31) (figures 3, 9 and 14).

[068] The hydraulic block - manifold (21) (figure 15) is characterized by the composition of a single block, which has, inside: a directional valve piloted by the steering wheel control (28); a piloted directional cut-off valve (27); a piloted directional valve for mode selection (32) (figures 10A, 10B, 10C, 10D and 10E).

[069] As the electrical power source for the autonomous driving control system (1), the battery pack (20) performs this function (figure 9).

[070] For a better understanding of the present invention and the mechanical system (mechanism) for steering the steering wheels (19) of the special truck or agricultural machine (18) (figure 7), the description of the object begins with the front steering suspension assembly (28) (figures 11, 12 and 13), described precisely in Patent BR 2020180015090.

[071] The front steering suspension assembly (29) (figure 11) consists of: front axle (33) (figures 11 and 13); upper (left) wheel hub drive arm (34) (figure 12); lower (left) wheel hub drive arm (35); rocker arm (36); connecting rod (37); rocker arm mounting base (38); connecting rod (39); steering box connecting rod (40); lower (right) wheel hub drive arm (41) (figure 13); right wheel hub (42); and right wheel hub (43) (figure 13).

[072] Upper (34) and lower wheel hub drive arms (left) Petition 870250094149, of 10 / 15 / 2025, page 19 / 26 / 17 (35) are jointly fixed by bolts, on top of each eye block (44) of the original left wheel hub (42), as seen in figures 12 and 13 (left side), whose function of the upper (34) and lower (35) wheel hub actuation arm (left) is to serve as a lever to amplify the turning force around the articulated pin (45) and smooth this effort to the original hydraulic steering box (22), this assembly being characterized only for the left side of the front axle (33), for better understanding.

[073] A connecting rod (37), arranged according to figures 11 and 12, has two ball joint type eyelets (46) (figure 14), installed and fixed, respectively, at each end, this one being connected to the end of the drive arm of the upper (left) wheel hub (34) and the other to the rocker arm (36) by means of screws and nuts; the functions of this connecting rod (37) are, firstly, to transmit the movement of the rocker arm (36) to the drive arm of the upper (left) wheel hub (34), in addition to serving to adjust the convergence angle of the original left (42) and right (43) wheel hubs.

[074] The rocker arm (36) can have any type of shape, however, in this case, it has the configuration shown in figure 12, whose function is to serve as a linear force reducer, whose assembly is unique and on the left side. The rocker arm (36) is articulated by the threaded articulating pin (47), which is fitted and locked by a nut (figure 12); connected to the rocker arm (36) is the connecting rod to the steering box (39) (figure 11), having at its other end an eyelet B connected to the original hydraulic steering box (22), by means of the connecting rod (40).

[075] By manually operating the steering wheel (17) in the vehicle cab (figure 11), to the right or to the left, the hydraulic steering box (22) is activated, which acts on the eyelet B of the connecting rod (30), transmitting these movements to the intermediate elements up to the original left (41) and right (42) wheel hub, thus producing the rotation of the front steering wheel assembly (19) (figure 9), in the desired direction, coming from the cab.

[076] The lower (left) wheel hub drive bar (35) (figure 11) and the lower (right) wheel hub drive bar (41) (figure 13) are Petition 870250094149, dated 10 / 15 / 2025, page 20 / 26 / 17 interconnected respectively by the connecting rod assembly (30), composed of the articulated connecting rods (48) and the double-acting hydraulic actuator (31) (figures 13 and 14).

[077] The body of the double-acting hydraulic actuator (31) is fixed horizontally to the rear of the front axle (33) (figure 13) by the eyelets (49) (figure 14), in the eyelet fixings (50) of the front axle (33) (figure 13), by means of mechanical fasteners (screws, washers and nuts), forming a rigid assembly.

[078] A mechanical joint (33) connects each end of the double-acting hydraulic actuator rod (31) (rod to the right and to the left), the respective ends of the two connecting rods (48) (figure 14), these latter mechanical elements being constructed from thick-walled steel bars or tubes, sufficiently rigid to withstand axial tensile loads and resist deformations from compressive loads (buckling).

[079] At opposite ends of each connecting rod (48) there is a 90° male spherical eyelet (46) (figure 14), properly fixed at these ends, which connects to the lower (left) wheel hub drive rod (35) and to the lower (right) wheel hub drive rod (41) (figure 13).

[080] The function of the double-acting hydraulic actuator (31) is to directly actuate and control the wheel steering system (19) (figure 9), when the special truck or agricultural machine (18) is being operated by the autonomous driving control system (1), i.e., without the intervention of the driver of these types of vehicles.

[081] Continuing with the description of the object of the present invention, the autonomous driving control system (1) is illustrated in figure 1, according to the schematic arrangement.

[082] Installed inside the cabin (51) of the special truck or agricultural machine (18) (figure 9) there is a signal receiver module (2), which receives the SS signal (figures 1 and 2) via the satellite constellation signal antenna (52) of the Global Positioning System and the ST signal via the remote terrestrial stations signal antenna for georeferencing (53). Petition 870250094149, dated 10 / 15 / 2025, page 21 / 26 / 17

[083] The ST and SS signals are processed by the signal receiver module (2), which emits the SP position signal to the command and navigation module (3), also installed inside the cabin (51) (figure 9).

[084] The control and navigation module (3), upon receiving the SP position signal (INPUT 1), also receives the SO data entered by the driver (INPUT 2) from the control interface - monitor (7), the SR electrical feedback signal from the steering wheel position sensor (26) (INPUT 3) and the PR electrical signal from the pressure switch (53) (INPUT 4) (figures 3 and 9)

[085] The information from INPUTS 1, 2, 3 and 4 is processed by the command and navigation module (3) by means of dedicated software, generating OUTPUTS 1 and 2, respectively, with signals SD1 and SD2.

[086] OUTPUT 1 refers to the electrical communication signal processed by the control and navigation module (3) for the actuation of the pilot-operated directional valve of the steering wheel control (28) (figures 9 and 10), with OUTPUT 2 being the control signal for actuating the pilot-operated directional shut-off valve (27).

[087] A hydraulic block - manifold (21) (figure 14), built exclusively for this type of application, is installed on the chassis or in another safe and protected position of the special truck or agricultural machine (18), having the function of integrating all the logic of the hydraulic circuit of the autonomous driving control system_(1), arranged in a single metal block machined from steel, aluminum, or other compatible materials, already characterized in

[049] .

[088] Connected or fixed to the body of the hydraulic manifold block (21) are: the pressure switch (54); the hydraulic hose (55) from the hydraulic pump (23) (line P1); the hydraulic hose (56) (line P2) returning to the tank (24) from the heat exchanger (25); the hydraulic hoses (57) (lines P3 and P4) from the hydraulic steering box (22); the hydraulic hoses (58) (line P5) for pressure to the steering box (22); the hydraulic hose (59) (line P6) returning to the heat exchanger (25); the hydraulic hose (60) (line P7) returning to the heat exchanger (25); the hydraulic hoses (61) (lines P8 and P9) from the hydraulic manifold block (21) to the double-acting hydraulic actuator (31), all schematically arranged as follows: Petition 870250094149, dated 10 / 15 / 2025, pages 22 / 26 / 17, in accordance with figure 9 for better understanding.

[089] The wheel positioning sensor shaft (26), schematically arranged in figure 9, is rigidly fixed to the eyelet block (44) (figure 12), whose function is to provide an electrical communication SR signal (INPUT 3) (figures 3 and 9) to the control and navigation module (3) about the position of the wheel (19), i.e., the rotation angle β.

[090] The operating principle of the “AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM APPLIED TO SPECIAL TRUCKS AND AGRICULTURAL MACHINES” is characterized as a closed-loop control system with multiple INPUT and OUTPUT variables, whose function is to manage the entire installed autonomous driving control system (1), under the responsibility of the command and navigation module (3), by means of dedicated and exclusive software.

[091] The components that make up the entire actuator system (4), already described in

[49] , make up the logic of the hydraulic part, components developed and built in a novel way for this type of application.

[092] The operating logic of the “AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM APPLIED TO SPECIAL TRUCKS AND AGRICULTURAL MACHINES” consists of 3 scenarios.

[093] Figure 10A illustrates the 1st operating scenario of the hydraulic block - manifold (22) with the pilot-operated shut-off directional valve (27) open, the pilot-operated wheel control directional valve (28) centered and the pilot-operated mode selection directional valve (32) positioned to the left, as shown in Figure 10A, and the hydraulic pump (23) stopped, with the Diesel engine off.

[094] Figure 10B illustrates the 2nd scenario of the operation of the hydraulic block - manifold (22), with the hydraulic pump (23) generating flow through the BT inlet, that is, with the Diesel engine already running; with the oil entering, the pressure begins to increase in lines 1 and 2, forcing the pilot-operated directional mode selection valve (32) to modulate (move) to the right, carrying the oil through line 3 at the pressure outlet P to the steering box (22) (figure 9); in this way it is possible to steer the steering wheel (17) fed by this hydraulic oil, proportionally, to the steering box (22) and to the double-acting hydraulic actuator (31), according to the side desired by the driver; this scenario Petition 870250094149, dated 10 / 15 / 2025, page 23 / 26 / 17 does not yet have the autonomous driving control system coupled (1).

[095] Figures 10C and 10D illustrate the 3rd operating scenario of the hydraulic block - manifold (22), with the Diesel engine running and the hydraulic pump (23) generating flow and pressure through the BT inlet; the pilot-operated directional shut-off valve (27) actuated by the SD2 OUTPUT of the control and navigation module (3), which actuates the solenoid S1 (62), in the indicated direction, closing the RD and LD inlets, deactivating the steering box (22); the pilot-operated directional mode selection valve (32) modulates to both sides, according to the pressure oscillation in line 2; in this scenario the wheels (19) are stationary and oil is returning to the tank (24) through the T outlet via lines 4 and 5.

[096] Figure 10E illustrates the 4th scenario of the operation of the hydraulic block - manifold (22), with the Diesel engine running and the hydraulic pump (23) generating flow and pressure through the BT inlet; the pilot-operated directional shut-off valve (27) actuated by the SD2 OUTPUT of the control and navigation module (3), which actuates the solenoid S1 (62), in the indicated direction, closing the RD and LD inlets, and the pilot-operated directional valve of the wheel control (28) actuated (piloted) by the signal from the SD1 OUTPUT of the control and navigation module (3), which actuates the solenoid S2 (63), in one of the indicated directions (right or left), of the pilot-operated directional valve of the wheel control (28); as shown in the example in Figure 10E, the wheels (19) steer to the right; the oil feeds line 5 and the oil from line 6 returns to the tank through outlet T; in this scenario the autonomous driving control system (1) is operating;To provide feedback to the control system loop, the wheel position sensor (26) measures the turning angle β and transmits this information via a communication interface, the SR signal (figures 3 and 9), the value of this angle to the control and navigation module (3); with this electronic information and through logic (software), the control and navigation module (3) processes this signal and corrects the trajectory of the special truck or agricultural machine (18), altering the positioning of the solenoid S2 (63), and consequently sending more oil flow (increasing the hydraulic pressure) to one of the chambers D or E of the hydraulic actuator (31) (figure 14), altering the turning angle β of the wheel (figure 9), through the mechanism already described, of the front steering suspension assembly.

[097] The hydraulic pump (23), coupled to the engine of the special truck or machine Petition 870250094149, dated 10 / 15 / 2025, page 24 / 26 / 17 agricultural (18), provides hydraulic energy to the autonomous driving control system (1), through a hydraulic hose (55) (line P1) to the hydraulic block - manifold (21) which internally distributes this oil flow to the other components coupled to it, through the internal circuit (figure 10A).

[098] The hydraulic oil supply for the hydraulic pump (23) is made directly from an external tank (24), which may or may not be an original component of the special truck or agricultural machine (18); the return of the oil used in the system is carried out by the hydraulic block - manifold (21) necessarily passing through the heat exchanger (25) to the tank (24), via line P2 (figure 9).

[099] When the autonomous driving control system_(1) is engaged, the driver only supervises the autonomous operation from inside the cabin (51).

[100] In EMERGENCY situations, where the operator needs to take over the manual driving of the special truck or agricultural machine (18), by turning the steering wheel (17), i.e., with the intention of controlling it, this effort increases the pressure at the TP output of the hydraulic block - manifold (21); this pressure increase is captured by the pressure switch (54), as shown in figure 9, and in turn sends an electrical signal PR (INPUT 4) to the control and navigation module (3), to open the pilot-operated directional shut-off valve (27) and center the pilot-operated directional wheel control valve (28) (figure 10B);

[101] The present invention concisely demonstrates an “AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM APPLIED TO SPECIAL TRUCKS AND AGRICULTURAL MACHINES”, which may be referred to as an “autopilot” system, where all the functions of this actual implementation may not be described in this descriptive report, since, as in any practical development, several specific implementation decisions needed to be made to achieve the specific objectives of its designers, such as compliance with constraints related to the system and the business itself, which may vary from one implementation to another.

[102] Therefore, the present invention, referred to as “AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM APPLIED TO SPECIAL TRUCKS AND Petition 870250094149, dated 10 / 15 / 2025, pages 25 / 26 / 17 AGRICULTURAL MACHINES”, can be applied in kit form to a special truck or agricultural machine (18), if properly installed, allowing this vehicle to travel autonomously, i.e., without the intervention of a human being (driver), who needs to follow a precise and safe pre-programmed trajectory, and it is understood that when this invention is put into practice, modifications may be introduced with regard to certain constructive and form details, depending on variations in models of special trucks or agricultural machines (18), without this implying a departure from the fundamental principles that are clearly substantiated in the claims, it being thus stated that the terminology used was not intended to be limiting. b

Claims

01. “AUTONOMOUS DRIVING MECHANISM AND CONTROL SYSTEM APPLIED TO SPECIAL TRUCKS AND AGRICULTURAL MACHINES”, consisting of means to make the driving of a special truck or agricultural machine autonomous, for various uses, including in agricultural areas, to be driven without the direct intervention of a human being in the driving of this type of vehicle, comprising a signal receiver module (2), command and navigation module (3); control interface (monitor) (7); battery pack (20); GPS satellite constellation signal antenna (51); remote ground station antenna for georeferencing (52) and cabin (50), characterized by the mechanism comprising actuators (4) including a single hydraulic manifold block (21) to which is coupled a pilot-operated directional valve controlling the steering wheels (28); pilot-operated directional shut-off valve (27);pilot-operated directional valve for mode selection (32), in addition to the hydraulic pump components (23) connected to the hydraulic oil tank (24) and corresponding heat exchanger (25); the mechanism also includes a steering wheel (17) mounted on the hydraulic steering box (22) connected, on one side, to the actuator system (4) by means of hydraulic hoses (57) and on the other to the front directional suspension assembly (29) equipped with a wheel positioning sensor (26) and, in the center of which is installed the double-acting hydraulic actuator (31) communicating with the actuator system (4) by means of hydraulic hoses (61); the block (21) includes the pressure switch assembly (54); said hydraulic block - manifold (21) comprising pilot-operated directional valve for wheel control (28); pilot-operated directional shut-off valve (27); pilot-operated directional valve for mode selection (32);solenoid S1 (52) and solenoid S2 (63).

02. “SELF-DRIVING MECHANISM AND CONTROL SYSTEM according to claim 1, characterized in that the double-acting hydraulic actuator assembly (31) is composed of the sleeve (64) provided externally with mounting and fixing eyelets (49) for the body of the double-acting hydraulic actuator (31); said sleeve (64) incorporates and encloses a piston (65); from the distal ends of said sleeve (64) project the portions of internal rods (66) communicating with the piston (65). Petition 870250094149, dated 10 / 15 / 2025, page 7 / 26; 2 / 3 03. “AUTONOMOUS DRIVING MECHANISM AND CONTROL SYSTEM” according to claim 1, characterized in that the lower (left) wheel hub drive bar (35) and the lower (right) wheel hub drive bar (41) are interconnected respectively by the connecting rod assembly (30), composed of the articulated connecting rods (48) and the double-acting hydraulic actuator (31).

04. “AUTONOMOUS DRIVING MECHANISM AND CONTROL SYSTEM” according to claim 1, characterized in that the double-acting hydraulic actuator (31) is fixed between the eyelets (49) of the cylinder liner (64) and the eyelets (50) of the front axle (33). 05.“AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM” according to any of the preceding claims, characterized in that the double-acting hydraulic actuator (31) comprises direct control of the wheel steering system (19), when the special truck or agricultural machine (18) is being operated by the autonomous driving control system (1) without driver intervention. 06.“AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM” according to the mechanism of claim 1 and wherein the ST and SS signals being processed by the signal receiver module (2), emits the SP position signal to the command and navigation module (3), also installed inside the cabin (51), characterized by: - ​​the command and navigation module (3), upon receiving the SP position signal (INPUT 1) also receives the SO data entered by the driver (INPUT 2) from the command interface - monitor (7), the SR electrical feedback signal from the steering wheel position sensor (26) (INPUT 3) and the PR electrical signal from the pressure switch (53) (INPUT 4); - the information from INPUTS 1, 2, 3 and 4 is processed by the command and navigation module (3) by means of dedicated software, generating OUTPUTS 1 and 2, respectively the SD1 and SD2 signals; - OUTPUT 2 generates the command signal for actuating the pilot-operated directional shut-off valve (27). 07.“AUTONOMOUS DRIVING CONTROL MECHANISM AND SYSTEM” according to any of claims 1 and 5, characterized by the inversion between autonomous and manual driving comprising steering wheel rotation (17) and increased Petition 870250094149, dated 10 / 15 / 2025, page 8 / 26. 3 / 3 pressure at the TP outlet of the hydraulic block - manifold (21) whose signal is picked up by the pressure switch (54) which: - sends an electrical signal PR (INPUT 4) to the control and navigation module (3); - opens the pilot-operated directional shut-off valve (27); and - centers the pilot-operated directional control valve of the wheels (28).

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