Method for controlling an arrangement comprising a motor vehicle and a winch.

Abstract

A method for controlling an arrangement (200) comprising a motor vehicle (100) and a winch (10) for a motor vehicle (100). This method is characterized in that it comprises a step of simultaneously implementing: - a traction force exerted on the vehicle by a cable (11) of the winch (10) of the arrangement (200) attached to the vehicle, and - a strategy automatically controlled by the motor vehicle (100) and intended to reduce the slip rate of a drive and steering wheel (2) of the vehicle on the ground. Figure for the abstract: 1

Claims

Demands

1. Method of controlling an arrangement (200) comprising a motor vehicle (100) and a winch (10) for a motor vehicle, characterized in that it comprises a step of simultaneously implementing - a traction force exerted on the vehicle by a cable (11) of the winch (10) of the arrangement (200) attached to the vehicle, and - a strategy automatically controlled by the motor vehicle (100) and intended to reduce a slip rate of a drive and steering wheel (2) of the vehicle on the ground.

2. A control method according to the preceding claim, characterized in that it includes, prior to the simultaneous implementation step, a step of determining a type of soil located in contact with at least one drive and steering wheel (2) as being muddy, snowy, sandy or rocky, and / or the determination step comprising an input by a user of the soil type via a human-machine interface (551) of the motor vehicle (100).

3. Control method according to claim 2, characterized in that, when the type of soil is determined to be muddy, snowy or sandy, a first strategy is automatically implemented when a current slip rate of at least one drive and steering wheel (2) on the ground is greater than a first given slip rate threshold.

4. Control method according to the preceding claim, characterized in that the strategy automatically controlled by the vehicle includes a first strategy including an automatic steering of at least one drive and steering wheel (2) between a first angle and a second angle for a first duration.

5. A control method according to any one of the preceding claims, characterized in that the vehicle-automatically controlled strategy includes a second strategy for controlling at least one cylinder of a suspension of the motor vehicle (100) to create successive alternations between an increase and a reduction of a length of the cylinder, in particular so as to bring a center of gravity of the motor vehicle (100) closer to a point of contact between at least one drive and steering wheel (2) and the ground.

6. Control method according to claim 5, characterized in that the second strategy is implemented only when the first duration exceeds a second given duration threshold.

7. A control method according to any one of the preceding claims and according to claim 4, characterized in that the first strategy comprises, for each steering angle, - a determination of a current slip rate of the at least one driving and steering wheel (2) on the ground, and a comparison of the current slip rate to a given third slip rate threshold, and - when the current slip rate is determined to be less than the given first threshold, a modification of the first steering angle and the second steering angle is applied so as to reduce a gap between the current steering angle and the first steering angle and / or so as to reduce a gap between the current steering angle and the second steering angle, the given first slip rate threshold being determined according to the type of ground in contact with the at least one steering wheel.

8. A control method according to any one of the preceding claims and according to claim 4 and / or 5, characterized in that it includes a deactivation step which prevents or interrupts the implementation of the first and second strategies.

9. Device (6) for controlling an arrangement (200) comprising a motor vehicle (100) and a winch (10), the device comprising hardware and / or software elements (61, 610, 611, 612) implementing the method according to any one of claims 1 to 8.

10. Arrangement (200) comprising a motor vehicle (100) and a winch (10), the arrangement comprising a control device (6) according to the preceding claim.

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