Rolling stock comprising a tractor unit and a trailer, and method of piloting such a rolling stock

Abstract

Rolling assembly comprising a tractor unit and a trailer and method of piloting such a rolling assembly This rolling assembly (10) comprises at least one tractor unit (12) comprising at least two steering wheels (16) and a steering angle sensor (20) of the steering wheels, and a trailer (30) configured to be coupled to the tractor unit by means of a coupling (38), the trailer comprising at least two drive wheels (34), each drive wheel comprising an electric motor (36) controlled by a control unit (22).The rolling assembly also includes a device (50) for measuring the angle of rotation (β) of the trailer relative to the tractor unit, and the control unit is configured to correct the trajectory of the trailer by modifying the control of the electric motor of each drive wheel of the trailer according to the steering angle (α) of the steering wheels of the tractor unit and according to the angle of rotation (β) of the trailer relative to the tractor unit. Figure for the abstract: 1.

Description

Title of the invention: Rolling assembly comprising a tractor unit and a trailer, and method for piloting such a rolling assembly

[0001] The present invention relates to a rolling assembly comprising a tractor unit and a trailer and a method for piloting such a rolling assembly.

[0002] In the field of rolling stock comprising a tractor unit and a trailer attached to the tractor unit, it is known to equip the trailer with drive wheels to help the maneuverability of the rolling stock.

[0003] It is known from DE 10 2019 202 781 Al to control the trajectory of such a trailer by adapting the engine torque supplied by each drive wheel of the trailer as a function, on the one hand, of the steering angle of the tractor unit and, on the other hand, of the angle between the tractor unit and the trailer, calculated from the rotation speed of the drive wheels of the trailer.

[0004] Such a vehicle combination, however, cannot operate in complex environments, such as uneven terrain with numerous obstacles or terrain with variable traction, because it cannot accurately detect the trailer's trajectory. This is particularly problematic for a military vehicle equipped with a trailer and operating on terrain that may be very rough, for example, during combat or after a bombing raid.

[0005] It is these drawbacks that the invention intends to remedy more particularly by proposing an improved rolling assembly.

[0006] To this end, the invention relates to a rolling assembly comprising at least:

[0007] - a tractor unit comprising at least two steering wheels and a steering angle sensor for the steering wheels; and - a trailer configured to be coupled to the tractor unit by means of a coupling, the trailer comprising at least two drive wheels, each drive wheel comprising an electric motor controlled by a control unit.

[0008] According to the invention, the rolling assembly also includes a device for measuring the angle of rotation of the trailer relative to the towing vehicle. Furthermore, the control unit is configured to correct the trailer's trajectory by modifying the control signal of the electric motor of each drive wheel of the trailer according to the steering angle of the towing vehicle's steering wheels and according to the angle of rotation of the trailer relative to the towing vehicle.

[0009] Thanks to the invention, the measuring device makes it possible to know precisely the angle of rotation of the trailer relative to the towing vehicle, without having to resort to Indirect calculations based on wheel rotation, which could be distorted by loss of traction, are used. This allows for correction of the trailer's trajectory, even in complex environments where wheel traction is unstable. Indeed, since the trailer's angle of rotation relative to the towing vehicle is measured, it does not depend on the rotational speed of the trailer's wheels, which itself depends on the wheels' grip on the ground.

[0010] According to advantageous, but not mandatory, aspects of the invention, this rolling assembly incorporates one or more of the following features, taken individually or in any technically permissible combination:

[0011] - The device for measuring the angle of rotation of the trailer relative to the machine tractor includes at least two distance sensors, each distance sensor measuring a distance between the tractor unit and the trailer, and the control unit calculates the angle of rotation of the trailer relative to the tractor unit from the distances measured by the distance sensors of the measuring device.

[0012] - The device for measuring the angle of rotation of the trailer relative to the machine The tractor includes an angle sensor located in the hitch.

[0013] According to another aspect, the invention also relates to a method for piloting a rolling assembly as described above, this piloting method comprising at least the following steps:

[0014] a. measurement of the steering angle of the steering wheels of the tractor unit of the rolling assembly; b. determination of the trajectory of the tractor unit; c. measurement of the angle of rotation of the trailer relative to the towing vehicle; d. determination of the trajectory of the trailer of the rolling assembly; and e. correction of the trailer trajectory based on the trajectories determined in steps b) and d).

[0015] This piloting method induces the same advantages as those mentioned above concerning the rolling assembly of the invention.

[0016] According to advantageous, but not mandatory, aspects of the invention, this piloting method incorporates one or more of the following features, taken individually or in any technically permissible combination:

[0017] - The steering method is implemented when the rolling assembly moves in reverse gear, so that the trailer can anticipate the trajectory of the towing vehicle.

[0018] - The steering method is implemented when the rolling assembly moves in forward motion, so that the lane in which the trailer moves is identical to the lane in which the tractor unit moves.

[0019] - The piloting method is implemented when the rolling assembly moves in straight line, to avoid the trailer swaying.

[0020] - In step e), the correction of the trailer's trajectory is carried out by the electric motor of each drive wheel by applying a motor torque or a braking torque to said drive wheel.

[0021] - Steps a) to e) are implemented in real time by the control unit.

[0022] - Steps a) to e) are carried out without intervention from a machine operator tractor of the rolling stock.

[0023] The invention will be better understood and other advantages thereof will become more apparent in the light of the following description of an embodiment of a rolling assembly and a method for controlling this rolling assembly, according to the invention, given solely by way of example and with reference to the accompanying drawings in which:

[0024] [Fig-1] Fig. 1 is a schematic representation of a rolling assembly in accordance with the invention, traveling in reverse; and

[0025] [Fig.2] Fig.2 is a schematic representation of the trajectory of the assembly rolling from [Fig.l] traveling forwards.

[0026] A rolling assembly 10 is shown in figures 1 and 2. This rolling assembly 10 includes a tractor unit 12.

[0027] The tractor unit 12 is an autonomous motorized vehicle, such as, for example, a car or a truck.

[0028] The tractor unit 12 comprises a chassis 14, a driver's position 13 which includes a steering wheel 132 and a driver's seat 134, steering wheels 16 controlled from the steering wheel 132 and non-steering wheels 18.

[0029] In the example shown in figures 1 and 2, the tractor unit 12 comprises two steering wheels 16 and two non-steering wheels 18.

[0030] The wheels 16 are said to be "steering" because they can turn, that is to say be oriented, under the effect of a command received from the steering wheel 132, so as to modify the trajectory of the tractor unit 12.

[0031] A steering angle a of the tractor 12 is thus defined, which corresponds to the angle formed between the direction in which the steering wheels 16 are oriented and a direction parallel to a longitudinal axis X12 of the tractor 12, which in practice corresponds to the direction of movement of the tractor 12 when the tractor moves in a straight line.

[0032] Thus, when the tractor 12 moves in a straight line, the angle a is zero.

[0033] When the angle a is non-zero, then the tractor unit 12 rotates in the direction steering wheel orientation 16.

[0034] The tractor unit 12 includes a steering angle sensor 20, which allows the angle a to be measured.

[0035] The steering angle sensor 20 is, for example, a sensor measuring the orientation of the steering wheel 132 controlling the orientation of the steering wheels 16, a sensor measuring a control signal sent to the steering wheels 16 or a sensor measuring the angle of one of the steering wheels 16 relative to the chassis 14.

[0036] Advantageously, the steering wheels 16 and / or the non-steering wheels 18 are drive wheels of the tractor unit 12. The drive wheels are then either connected to a non-shown motor of the tractor unit 12, or each include a non-shown motor, for example an electric motor.

[0037] The tractor unit 12 also includes a control unit 22.

[0038] The control unit 22 allows the tractor 12 to be controlled according to Control commands provided by a driver of the tractor unit, not shown. Control unit 22 is, for example, an on-board computer.

[0039] Advantageously, the driver of the tractor 12 providing piloting commands to the control unit 22 is physically installed on board the tractor, in the driver's seat 13.

[0040] Alternatively, the driver can also control the tractor unit 12 remotely, i.e., remotely guide the tractor unit 12.

[0041] Advantageously, the control unit 22 can control the rotational speed of the drive wheels of the tractor 12.

[0042] In addition, the value of the angle measured by the steering angle sensor 20 is transmitted to the control unit 22. In [Fig.1], this transmission is represented by way of example via a data transmission cable 24.

[0043] The rolling assembly 10 also includes a trailer 30.

[0044] The trailer 30 comprises a chassis 32 and drive wheels 34.

[0045] In the example shown, the trailer 30 includes two drive wheels 34.

[0046] The wheels 34 are said to be "drive wheels", because each wheel 34 includes an electric motor 36 which allows a motor torque to be delivered to the wheel.

[0047] Thus, the trailer 30 includes as many electric motors 36 as drive wheels 34.

[0048] The trailer 30 is further coupled to the tractor unit 12 by means of a coupling 38.

[0049] The coupling 38 allows the trailer 30 to be mechanically linked to the tractor unit 12, so that the tractor unit 12, when moving forward or backward, pulls the trailer 30 along.

[0050] The coupling 38 is, for example, a tow hook, a tow ball or any manual or automatic system ensuring the mechanical connection between the tractor and the trailer.

[0051] Preferably, the coupling 38 also electrically connects the tractor unit 12 to the trailer 30, in order to transmit, for example, electrical energy and / or information.

[0052] The electric motors 36 of the trailer 30 are controlled by the control unit 22.

[0053] The control unit 22 exchanges data with each electric motor 36, for example to send commands to the electric wheels 36, or to retrieve operating information from the electric wheels 36, such as their rotation speed.

[0054] The exchange of data between the control unit 22 and the electric wheels 36 is carried out via an information transmission system, not shown.

[0055] This information transmission system is, for example, a physical network, such as an electrical cable, which passes through the coupling 38, or a wireless network, such as a secure radio link.

[0056] When the tractor unit 12 is in motion and the electric motors 36 of the drive wheels 34 of the trailer 30 are not in operation, the trailer 30 is towed, in a known manner, by the tractor unit 12. The trajectory of the trailer 30 then depends on the trajectory of the tractor unit, in a passive manner.

[0057] When the electric motors 36 are switched on, the trajectory of the trailer 30 is then modified, so as not to depend solely on the trajectory of the tractor unit.

[0058] Examples of such a modification of the trajectory of the trailer 30 by the electric motors 36 are detailed below.

[0059] In practice, the electric motor 36 of a drive wheel 34 allows a torque to be applied to this drive wheel 34. The torque applied to the wheel 34 is either driving, that is to say it allows the rotational speed of the wheel 34 to be accelerated, or braking, that is to say it allows the rotational speed of the wheel 34 to be slowed down.

[0060] A direction of travel of the rolling assembly 10 in forward motion is defined as a direction of travel of the rolling assembly in which the tractor unit 12 moves forward in the opposite direction to the trailer 30, that is to say that the tractor unit pulls the trailer and does not push it.

[0061] A direction of movement of the rolling assembly 10 in reverse is defined as a direction of movement of the rolling assembly in which the tractor unit 12 moves forward in the direction of the trailer 30.

[0062] In the following description, the terms "left" and "right" are understood in view from above and with respect to the direction of travel of the rolling assembly 10 in forward motion.

[0063] The rolling assembly further includes a measuring device 50. This measuring device, together with the control unit 22, allows the angle of rotation [3 of the trailer 30 relative to the tractor unit 12 to be measured.

[0064] This angle of rotation [3 corresponds in practice to the angle formed between the longitudinal axis X30 of the trailer 30 and the longitudinal axis X12 of the tractor unit 12.

[0065] When the rolling assembly 10 moves in a straight line, the angle of rotation [3 is zero.

[0066] In the embodiment example of [Fig.1], the device 50 includes a first distance sensor 52, which includes a transmitter 54 and a receiver 56, and a second distance sensor 58, which includes a transmitter 60 and a receiver 62.

[0067] In practice, the transmitters 54 and 60 are located at the rear of the tractor unit 12, that is to say on the face of the tractor unit 12 facing the trailer 30 and from which the coupling 38 extends.

[0068] In practice, the receivers 56 and 62 are arranged at the front of the trailer 30, that is to say on the face of the trailer 30 facing the tractor unit 12 and from which the coupling 38 extends.

[0069] Thus, the emitters 54 and 60 on the one hand and the receivers 56 and 62 on the other hand are located opposite each other.

[0070] The first sensor 52 measures the distance between the transmitter 54 and the receiver 56, denoted "L1", and the second sensor 58 measures the distance between the transmitter 60 and the receiver 62, denoted "L2".

[0071] Advantageously, the distance between a transmitter and a receiver is measured by having the transmitter emit a signal, such as, for example, an ultrasonic sound signal or a light signal, and then measuring the travel time between the transmitter and the receiver. The distance between a transmitter and a receiver is then calculated from the measured travel time and the propagation speed of the emitted signal.

[0072] In practice, as seen in [Fig.1], the first sensor 52 is located on the left of the rolling assembly 10 and the second sensor 58 is located on the right of the rolling assembly.

[0073] When the rolling assembly 10 moves in a straight line, that is to say when the steering angle of the steering wheels 16 of the tractor unit 12 is zero, the distances L1 and L2 are equal.

[0074] When the rolling assembly 10 is turning, that is, when the steering angle α is non-zero, the distances L1 and L2 are no longer equal. The distance L1 or L2 located on the inside of the turn is then less than the distance L1 or L2 located on the outside of the turn.

[0075] In the example illustrated in [Fig.1], the distance L2 measured by the second sensor 58 located to the right of the rolling assembly 10 is less than the distance L1 measured by the first sensor 52 located to the left of the rolling assembly 10, due to the steering angle of the steering wheels 16.

[0076] The distances L1 and L2 measured by the sensors 52 and 58 are transmitted to the control unit 22. In [Fig.1], this transmission is represented by way of example via a data cable 64.

[0077] From the distance values ​​L1 and L2 measured by the measuring device 50, and the dimensions of the tractor unit 12 and the trailer 30, which are known, the control unit 22 accurately calculates the angle [3 of rotation of the trailer 30 with respect to the tractor unit 12.

[0078] For example, when the rear face of the tractor unit 12 is perpendicular to its longitudinal axis X12 and the front face of the trailer 30 is perpendicular to its longitudinal axis X30, the angle between these faces is equal to the angle [3 and the device 50 allows this angle to be measured in a quasi-direct manner.

[0079] If the rear face of the tractor unit 12 is not perpendicular to its longitudinal axis X12, or if the front face of the trailer 30 is not perpendicular to its longitudinal axis X30, the measurement result obtained with the device 50 is adjusted according to the exact geometry of the vehicle combination. Calibration of the device can be performed while the vehicle combination is moving in a straight line.

[0080] It is advantageous to measure the angle [3 of rotation of the trailer 30 with respect to the tractor unit 12 using the measuring device 50, because the measurement obtained is then accurate and independent of the operating parameters of the trailer 30.

[0081] In particular, this measurement is independent of the rotational speed of the drive wheels 34 of the trailer 30, which is generally very variable, particularly in complex environments, and therefore does not allow the angle [3] to be calculated accurately.

[0082] By "complex medium," we mean any medium on which the rolling assembly 10 moves and which is unstructured, that is to say, which presents numerous obstacles such as bumps, holes, or rocks, or which presents variable traction, for example, due to the presence of mud or black ice. A complex medium can also be called "rough terrain." Such a medium is encountered as soon as the rolling assembly 10 leaves the structured medium (roads, marked paths) or travels in degraded conditions of the structured medium (snowfall, road surface deterioration, black ice, etc.).

[0083] The trailer 30 is a so-called "self-supporting" trailer, that is to say that the weight of the trailer 30 is mostly supported by the drive wheels 34, and that the coupling 38 transmits to the tractor unit 12 only a small part of the weight of the trailer 30 according to the regulatory directives currently in force.

[0084] A method for controlling the rolling assembly 10 is now described in more detail.

[0085] This method of controlling the rolling assembly 10 makes it possible to correct the trajectory of the trailer 30, according to the trajectory of the tractor unit 12.

[0086] The piloting process is in practice executed by the control unit 22 of the rolling stock.

[0087] To this end, the method for controlling the rolling assembly 10 comprises at least the following steps:

[0088] a. A first step of measuring the angle a of steering of the steering wheels 16 of the tractor unit 12.

[0089] During this first step, the steering angle sensor 20 measures the steering angle of the steering wheels 16 of the tractor unit 12, and then transmits this measurement to the control unit 22.

[0090] a. A second step of determining the trajectory of the tractor unit 12 of the rolling assembly 10.

[0091] During this second stage, the control unit 22 detects whether the rolling assembly 10 is moving forward or backward.

[0092] This detection of the direction of travel is established for example according to the direction of rotation of the wheels 16 and / or 18 of the tractor unit 12.

[0093] Then, still during the second step, the control unit 22 determines the trajectory of the tractor 12, from the direction of travel of the rolling assembly 10, the speed of the tractor 12 and the steering angle a of the steering wheels 16 of the tractor.

[0094] a. A third step of measuring the angle of rotation [3 of the trailer 30 relative to the tractor unit 12.

[0095] During this third step, the measuring device 50 measures the distances L1 and L2 and then transmits these distance measurements to the control unit 22.

[0096] Next, the control unit 22 calculates the angle of rotation [3 of the trailer 30 relative to the tractor unit 12 as described above. Thus, the angle of rotation [3 is measured indirectly by the device 50.

[0097] a. A fourth step of determining the trajectory of the trailer 30 of the rolling assembly 10.

[0098] During this fourth step, the control unit 22 determines the trajectory of the trailer 30, from the trajectory of the tractor unit 12 determined during step b) and the angle of rotation [3 of the trailer 30 determined during step c).

[0099] a. A fifth step of correcting the trajectory of the trailer 30 of the rolling assembly 10.

[0100] During this fifth step, the control unit 22 corrects the trajectory of the trailer 30 according to the trajectory of the trailer determined during step d) and the trajectory of the tractor unit 12 determined during step b).

[0101] The order of steps a) to e) of the piloting process may be different. In particular, steps b) and c) may be reversed so as to measure the angles α and [3] before de complete the trajectories of the tractor unit 12 and the trailer 30.

[0102] Advantageously, the five steps a) to e) of the piloting process are executed cyclically, in real time, by the control unit 22. The iteration frequency of steps a) to e) is a function of the speed of movement of the tractor.

[0103] Preferably, the trajectory correction carried out during the fifth step of the piloting process consists of modifying the trajectory of the trailer 30 so that this trajectory is identical to the trajectory of the tractor unit 12.

[0104] In practice, this correction of the trajectory of the trailer 30 is achieved by modifying the motor torques applied by the electric motors 36 to the drive wheels 34 of the trailer 30.

[0105] Thus, the control unit 22 corrects the trajectory of the trailer 30 by modifying the control of the electric motor 36 of each drive wheel 34 of the trailer according to the steering angles a and rotation [3.

[0106] Preferably, when the rolling assembly 10 is moving in a straight line, i.e., when no correction of the trajectory of the trailer 30 is required, the electric motors 36 deliver zero torque to the wheels 34 of the trailer. Thus, the movement of the trailer 30 is driven solely by the movement of the towing unit 12, and the wheels 34 rotate without being driven.

[0107] Two examples of trajectory correction of trailer 30 are illustrated in figures 1 and 2.

[0108] In [Fig.1], the rolling assembly 10 moves in reverse, that is to say that the tractor unit 12 pushes the trailer 30 backwards.

[0109] Furthermore, the steering wheels 16 of the tractor unit 12 are turned to the right, i.e., the tractor unit turns to its right side. In other words, the trajectory of the tractor unit 12 can be approximated as an arc of a circle whose center is located on the right side of the rolling assembly.

[0110] In this example, during step e), the control unit 22 corrects the trajectory of the trailer 30 by sending a corrected, or modified, steering command to the electric motors 36, leading to the application of a motor or braking torque on each drive wheel 34. These motor or braking torques are equivalent to the application of a force on the drive wheels.

[0111] In the example, a force Fl is applied to the drive wheel 34 located to the left of the trailer 30 and a force F2 is applied to the drive wheel 34 located to the right of the trailer.

[0112] To allow the trailer 30 to follow the trajectory of the towing vehicle 12, i.e., an arc of a circle whose center is located on the right side of the vehicle assembly, the torque applied to the left drive wheel is driving, i.e., the force Fl is directed in the direction of movement of the vehicle assembly 10, leading This wheel accelerates, and the torque applied to the right drive wheel is braking, that is to say that the force F2 is directed in the opposite direction to the direction of movement of the rolling assembly, causing this wheel to slow down.

[0113] Advantageously, the absolute value of the forces Fl and F2 is adjusted by the control unit 22 to precisely control the trajectory of the trailer 30. Thus, depending on the correction to be applied to the trajectory of the trailer, the absolute value of the force F2 can be greater than, or equal to, the absolute value of the force Fl, or vice versa, depending on the adhesion encountered.

[0114] The forces Fl and F2 cause the trailer 30 to turn to its right, so as to follow the same trajectory as the tractor unit 12. The trailer 30 then anticipates the trajectory of the tractor unit 12.

[0115] As the rolling assembly 10 moves in reverse, the trailer 30 moves in front of the tractor unit 12, in the same direction as the rolling assembly. Thus, the trailer 30 is said to anticipate the trajectory of the tractor unit 12 because its trajectory is modified so as to move in the same lane as the tractor unit 12 will take, even though the trailer enters this lane before the tractor unit.

[0116] This steering method is particularly advantageous when the rolling assembly 10 is moving in reverse. Indeed, it is well known that maneuvering a trailer coupled to a tractor unit in reverse is complex. Improper maneuvering of a rolling assembly in reverse can lead to the trailer jackknifing, that is, overturning so that its orientation is reversed. The steering method of the invention therefore makes it possible to avoid such jackknifing.

[0117] This is particularly important in the case where it is not possible to uncouple the trailer 30 from the tractor unit 12 for a reverse maneuver, which is the case in a military theater of operations where the driver or passengers of the tractor unit must not leave the vehicle, lest they be exposed to enemy fire.

[0118] In [Fig.2], the rolling assembly 10 moves forward, that is to say that the tractor unit 12 precedes the trailer 30 by pulling it.

[0119] Furthermore, the rolling assembly 10 follows a trajectory which consists of making a left turn of approximately 90 degrees. To represent the entire trajectory, the rolling assembly is shown simultaneously in three different positions.

[0120] The first position corresponds to the start of the left turn of the rolling assembly 10. In this position, the rolling assembly is referenced as "10A"

[0121] In the second position, the rolling assembly 10 is shown during its left turn. The steering wheels 16 of the tractor unit 12 are then turned to the left. In this position, the rolling assembly is referenced as "10B".

[0122] The third position corresponds to a straight-line trajectory, after the rolling assembly 10 has completed its leftward rotation. In this position, the rolling assembly is referenced as "10C".

[0123] The corridor C12 in which the tractor 12 moves during its trajectory is represented by two continuous curves.

[0124] The corridor C'30 in which the trailer 30 would move during its trajectory, in the case where the trajectory of the trailer 30 would not be corrected by the piloting method of the invention, is represented by two dotted curves.

[0125] It is noted that these two corridors are not superimposed, that is to say that without correction, the trajectory of the trailer 30 differs from the trajectory of the tractor unit 12. In particular, the trajectory of the trailer 30 is shifted towards the inside of the turn, relative to the trajectory of the tractor unit 12.

[0126] Thus, in this example of a rolling assembly 10 moving forward, the control method of the invention makes it possible to correct the trajectory of the trailer 30 so that it is identical to the trajectory of the tractor unit 12.

[0127] Thanks to the piloting method of the invention, after correction of the trajectory of the trailer 30 by action of the electric motors 36 on the drive wheels 34, controlled by the control unit 22, the corridor C30 in which the trailer 30 moves is identical to the corridor C12 in which the tractor unit 12 moves.

[0128] In another example not shown, when the rolling assembly 10 is moving in a straight line, the electric motors 36 apply motor and braking torques to the wheels 34 so as to compensate for oscillations of the trailer 30 and to keep the trailer 30 in a straight line. Such oscillations generally occur when the rolling assembly is moving at high speed and are commonly referred to as "yaw".

[0129] Thanks to the control method of the invention and the precision of the measuring device 50, the trajectory of the trailer 30 is corrected precisely in real time so as to be identical to the trajectory of the tractor unit 12, whether the rolling assembly 10 is moving forward or backward.

[0130] Thus, the method of controlling the rolling assembly 10 described above is effective for controlling the rolling assembly 10, including in complex environments.

[0131] Furthermore, the control method of the invention is implemented autonomously by the control unit 22, without intervention from the driver of the tractor 12, which is advantageous.

[0132] This avoids, for example, complicating the driving of the rolling assembly 10. A driver not trained in the maneuvering of trailers can then drive the rolling assembly 10 without special precautions, since the trajectory of the trailer 30 adapts autonomously to the driving of the tractor unit.

[0133] In a non-represented variant of the invention, the transmission of the angle value a from the angle sensor 20 to the control unit 22 is carried out wirelessly, for example by radio link.

[0134] In a non-shown variant of the invention, the tractor 12 comprises a different number of steering wheels 16, for example four steering wheels 16.

[0135] In a non-represented variant of the invention, the tractor 12 comprises a different number of non-steering wheels 18, for example four non-steering wheels 18.

[0136] In a non-shown variant of the invention, the tractor unit 12 comprises only steering wheels 16, for example, four steering wheels 16. In such a variant, the tractor unit 12 comprises, for example, a front axle with steering wheels and a rear axle with steering wheels. The steering wheels of the rear axle can be actuated in the same direction or in the opposite direction to the steering wheels of the front axle.In this variant, the driver of the tractor unit 12 can then control the direction of the tractor unit according to two distinct strategies: in the first strategy, the front axle wheels and the rear axle wheels are turned in opposite directions, thus reducing the turning radius of the tractor unit; and in the second strategy, the front axle wheels and the rear axle wheels are turned in the same direction, for example, parallel to each other, which allows the tractor unit to move sideways. Preferably, when the tractor unit 12 is moving in reverse according to this second strategy, the trajectory of the trailer 30 is corrected using the drive wheels 34, based on the steering angles a and rotation angle [3], so that the trailer follows a trajectory parallel to the trajectory along which the tractor unit is moving.

[0137] In a non-shown variant of the invention, the steering wheels 16 of the tractor unit 12 are drive wheels.

[0138] In a non-represented variant of the invention, the trailer 30 comprises a different number of drive wheels 34, for example four drive wheels 34. In such a variant, the tractor unit 12 comprises, for example, a front axle with drive wheels and a rear axle with drive wheels.

[0139] In this variant, the driver of the tractor unit 12 can advantageously choose his mode of movement between three distinct modes of movement: in a first mode, only the wheels of the front axle contribute to the movement of the tractor vehicle, the wheels of the rear axle then being followers; in a second mode, only the wheels of the rear axle contribute to the movement of the tractor vehicle, the wheels of the front axle then being followers; in a third mode, the wheels of the front and rear axles contribute simultaneously to the movement of the tractor vehicle.

[0140] In a non-shown variant of the invention, the trailer 30 also includes non-drive wheels, which do not include an electric motor.

[0141] In a non-shown embodiment of the invention, the electric motors 36 that deliver motor torque to the drive wheels 34 are not located within the wheels 34 and are connected to the wheels 34 by a drive shaft. In this embodiment, since a motor 36 is associated with a drive wheel 34, each drive wheel 34 is said to comprise an electric motor 36.

[0142] In a non-shown embodiment of the invention, the receivers 56 and 62 are replaced by reflectors, so that the signals emitted by the emitters 54 and 60 are reflected by the reflectors and then detected by the emitters 54 and 60. Thus, the sensors 52 and 58 measure the round-trip travel time of a signal between the emitter and the reflector. The distance between an emitter and a reflector is then calculated from the measured travel time and the propagation speed of the emitted signal.

[0143] In a non-represented variant of the invention, the measuring device 50 comprises two sensors 52 and 58 without receivers, configured to measure respectively the distance L1 and the distance L2 only from a transmitter, for example by measuring the distance between a transmitter and the nearest point of the trailer 30.

[0144] In a non-shown variant of the invention, the device for measuring the angle of rotation [3 of the trailer 30 relative to the tractor unit 12 comprises an angle sensor disposed in the coupling 38, instead of the first sensor 52 and second sensor 58. In this case, the angle measurement is direct and does not require calculation in the control unit 22.

[0145] In a non-represented variant of the invention, the calculation of the angle [3 from the measurements taken by the measuring device 50 is carried out by a second control unit, separate from the control unit 22. Preferably, this second control unit is located in the trailer 30 and communicates with the control unit 22, either through a data cable or by wireless link.

[0146] In a non-shown variant of the invention, when the rolling assembly 10 moves in a straight line, the electric motors 36 of the trailer 30 all deliver the same motor torque to the drive wheels 34. Thus, in this variant, the trailer 30 is not only pulled by the tractor unit 12, but actively contributes to the movement of the rolling assembly 10. This configuration is particularly advantageous for improving the performance of the rolling assembly 10, for example when the rolling assembly 10 climbs a steep slope.

[0147] In this variant, when a trajectory correction of the trailer 30 is required, for example when turning right in reverse, analogously to the example in [Fig. 1], then the electric motors 36 each deliver a motor torque to the drive wheels 34, corresponding to two forces Fl and F2 directed in the direction of travel of the rolling assembly 10, but of different absolute value. The difference in engine torque applied to the drive wheels 34 then allows the trailer 30 to turn in order to correct its trajectory.

[0148] In addition, such a correction also makes it possible to stabilize the trajectory of the trailer 30 when the rolling assembly 10 moves in a straight line, to avoid yawing of the trailer.

[0149] In a non-represented variant of the invention, when the rolling assembly 10 moves in a straight line and downhill, the electric motors 36 of the trailer 30 all deliver an identical braking torque to the drive wheels 34 in order to help the rolling assembly 10 control its downhill speed.

[0150] In this embodiment, when a trajectory correction of the trailer 30 is required, the electric motors 36 each deliver a braking torque to the drive wheels 34, corresponding to two forces F1 and F2 directed in the opposite direction to the direction of travel of the rolling assembly 10, but with different absolute values. The difference in braking torque applied to the drive wheels 34 then allows the trailer 30 to be rotated in order to correct its trajectory.

[0151] In addition, such a correction also makes it possible to stabilize the trajectory of the trailer 30 when the rolling assembly 10 moves in a straight line, to avoid yawing of the trailer.

[0152] Any feature described for an embodiment or variant in the foregoing may be implemented for the other embodiments and variants described above, provided that it is technically feasible.

Claims

Demands

1. A method for piloting a rolling assembly (10), the rolling assembly (10) comprising at least: - a tractor unit (12) comprising at least two steering wheels (16) and a steering angle sensor (20) (a) for the steering wheels; and - a trailer (30) configured to be coupled to the tractor unit by means of a coupling (38), the trailer comprising at least two drive wheels (34), each drive wheel comprising an electric motor (36) controlled by a control unit (22), the rolling assembly (10) also comprising a device (50) for measuring the angle of rotation (|3) of the trailer (30) relative to the towing vehicle (12), the control unit being configured to correct the trajectory of the trailer (30) by modifying the control of the electric motor (36) of each drive wheel (34) of the trailer according to the steering angle (a) of the steering wheels (16) of the tractor unit (12) and according to the angle of rotation (|3) of the trailer relative to the tractor unit, this piloting procedure being carried out by the control unit (22) and comprising at least the following steps: a. measurement of the steering angle (a) of the steering wheels (16) of the tractor unit (12) of the rolling assembly (10); b. determination of the trajectory of the tractor unit (12); c. measurement of the angle of rotation (|3) of the trailer (30) relative to the tractor unit (12); d. determination of the trajectory of the trailer (30) of the rolling assembly (10); and e. correction of the trajectory of the trailer (30) on the basis of the trajectories determined in steps b) and d). characterized in that the piloting method is implemented when the rolling assembly (10) moves in reverse, so that the trailer (30) anticipates the trajectory of the tractor unit (12).

2. A method for piloting a rolling assembly (10) according to claim 1, characterized in that the device (50) for measuring the angle of rotation (|3) of the trailer (30) relative to the tractor unit (12) comprises at least two distance sensors (52, 58), each distance sensor measuring a distance (L1, L2) between the tractor unit and the trailer, and in that the control unit (22) calculates the angle of rotation (|3) of the trailer (30) relative to the tractor unit (12) from the distances (L1, L2) measured by the distance sensors (52, 58) of the measuring device (50).

3. Method of piloting a rolling assembly (10) according to claim 1, characterized in that the device (50) for measuring the angle of rotation (|3) of the trailer (30) relative to the tractor unit (12) comprises an angle sensor disposed in the coupling (38).

4. Method of piloting a rolling assembly (10) according to any one of claims 1 to 3, characterized in that at step e), the correction of the trajectory of the trailer (30) is carried out by the electric motor (36) of each drive wheel (34) by applying a motor torque or a braking torque to said drive wheel.

5. Method of piloting a rolling assembly (10) according to any one of claims 1 to 4, characterized in that steps a) to e) are implemented in real time by the control unit (22).

6. Method of piloting a rolling assembly (10) according to any one of claims 1 to 5, characterized in that steps a) to e) are implemented without intervention of a driver of the tractor unit (12) of the rolling assembly (10).

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