Weight-based decoy system with a path controller

Abstract

Method and means for steering a convoy (1) comprising a follower vehicle (2) to be protected and a weight-based decoy system (4), this method and these means 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 said safe track defined by the weight-based decoy system (4).

Description

[0001] DESCRIPTION

[0002] MASSIVE TRAJECTORY CONTROLLED DECOY SYSTEM

[0003] TECHNICAL FIELD

[0004] The invention relates to the field of defense devices intended to protect a vehicle against dangers present in the ground, in particular explosive devices. The invention relates more particularly to a mass decoy system, that is to say a system intended to be coupled to a vehicle to be protected and adapted to exert pressure on the ground, at the front of the vehicle, in order to trigger any explosive devices present on the path of the vehicle to be protected.

[0005] Mass decoy systems generally consist of a chassis coupled to the front of a vehicle to be protected and equipped with a set of wheels to exert pressure on the ground.

[0006] PRIOR ART

[0007] Anti-personnel and anti-tank mines, improvised explosive devices (IEDs), and generally any type of explosive device triggered by the passage of a vehicle, constitute a threat to vehicles traveling on routes where these explosive devices could be found.

[0008] Mass decoy systems are a means of protecting against this threat. Mass decoy systems are generally installed at the front of a follower vehicle to be protected, and are most often equipped with wheels whose passage over sensors triggers the explosive device.

[0009] The wheels of the mass decoy system are responsible for activating the explosive devices and must be placed as far forward as possible to keep the following vehicle as far away from the location where the decoy explosive device explodes.

[0010] This type of system appeared as early as the First World War and was further developed during the Second World War. More recent developments have improved these systems by replacing metal rollers with juxtapositions of automotive or civil engineering wheels. All of these recent developments use suspended wheels to improve ground tracking during vehicle movement.

[0011] Many solutions have been devised and patented on how to control the steering of the mass decoy system based on information acquired on the steering system of the following vehicle or on the mass decoy system itself (see for example patent application EP2133652).

[0012] All these solutions have the disadvantage of causing the mass decoy system to be steered later, the greater the distance between its running gear and the front end of the following vehicle. However, it is this distance that secures the following vehicle. A compromise is necessary in the prior art between this distance and the decoy performance.

[0013] The consequence of this compromise is that, when entering and exiting bends, there is a risk that explosive devices will be placed in areas not secured by the mass decoy system. To reduce the importance of these unsecured areas, the space between the mass decoy system's running gear and the following vehicle would have to be reduced, which necessarily reduces the distance between the vehicle and a possible explosion.

[0014] Patent application EP2327951 proposes another method of controlling the steering of the mass decoy system. It uses the steering angle (yaw) of the system's rollers relative to its structure to control the steering of the mass decoy system structure relative to the following vehicle. This solution may have advantages in certain situations, but does not change the disadvantage described above.

[0015] This problem of securing bend entrances and exits is therefore not taken into account by the state of the art, with the risk of systematic exploitation of this defect by those who plant explosive devices.

[0016] STATEMENT OF THE INVENTION The invention aims to improve the mass decoying means of the prior art.

[0017] To this end, the invention relates to a method for controlling a convoy comprising a follower vehicle to be protected and a mass decoy system, this method comprising the following steps:

[0018] - control a yaw steering command of the mass decoy system as a function of a route to be followed, the mass decoy system defining a secure path by the passage of at least one running gear adapted to exert pressure on the ground;

[0019] - drive the following vehicle so that its wheels follow a trajectory within the said secure path defined by the mass decoy system.

[0020] According to another object, the invention relates to a mass decoy system intended for the protection of a following vehicle, this mass decoy system comprising at least one running gear adapted to exert pressure on the ground so as to define a secure path, this mass decoy system comprising:

[0021] - a chassis on which the running gear is mounted;

[0022] - means of yaw direction control of the mass decoy system.

[0023] In this mass decoy system, the yaw steering control means of the mass decoy system are adapted to steer the mass decoy system according to a route to be followed.

[0024] According to another object, the invention relates to a convoy comprising a following vehicle to be protected and a mass decoy system as described above. In this convoy, the yaw steering control means of the mass decoy system comprise a steering computer adapted to control the yaw steering control of the mass decoy system as a function of a route to be followed.

[0025] The expression "yaw steering" here refers, in a conventional manner, to the steering action of the rolling element concerned, that is to say the action causing it to rotate around an axis perpendicular to the plane on which it is traveling.

[0026] The term "wheel" is to be considered here in its broadest sense and includes wheels, tracked wheels, mechanical devices allowing rolling, etc. The invention first of all guarantees an exact correspondence between the path followed by the mass decoying system, which defines a secure path, and the trajectory of the following vehicle to be protected.

[0027] The following vehicle is thus guaranteed to travel exclusively in the lane secured by the mass decoy system, whatever the complexity of the trajectory and independently of the turns and their sequences.

[0028] The convoy's trajectory is given by the direction of the mass decoy system, and the vehicle is piloted to fit into the secured lane, so that there are no unsecured areas where the presence of an explosive device has not been decoyed.

[0029] The distance between the mass decoy system and the following vehicle can therefore be maximized to increase safety, without degrading the decoy performance. The width of the running gear of the mass decoy system can also be reduced, to be more adjusted to the width of the wheels of the following vehicle, because the trajectory of the wheels of the following vehicle is part of the safe lane.

[0030] The invention also makes it possible to free up some of the driver's vigilance, compared to the vigilance required by most prior art systems in which the driver may have to manage multiple positioning commands relating to the following vehicle that he is driving, but also to the mass decoy system itself, as well as to the means of articulation between the following vehicle and the mass decoy system. The invention allows the driver to concentrate solely on piloting an element.

[0031] Releasing some of the driver's vigilance is indeed essential in this type of application for which any vigilance released can be used to observe the environment (by definition hostile) and thus contributes to the safety of the convoy.

[0032] The invention is also easily adaptable to existing vehicles, at least in some of its configurations, and thus makes it possible to produce mass decoy systems adaptable to existing vehicles. Updating existing fleets of vehicles, at lower cost and with simplified logistics in the field, is essential in military applications. The invention also lends itself to partial or total automation, easily and at lower cost.

[0033] The invention is also compatible with any type of mass decoy system with regard to their trajectory control means. Indeed, mass decoy systems are generally controlled in their yaw trajectory using means such as:

[0034] - a chassis fixed or articulated in relation to the following vehicle and running gear with controlled steering wheels, mounted on the chassis;

[0035] - a chassis articulated in relation to the following vehicle, the orientation of which is controlled by jacks, and running gear with idler wheels in yaw;

[0036] - a combination of the two previous means.

[0037] All of these types of mass decoy system architectures are compatible with the invention.

[0038] The method according to the invention may include the following additional characteristics, alone or in combination:

[0039] - the step of controlling a yaw steering command of the mass decoying system is carried out by a steering computer determining said route to follow;

[0040] - the yaw steering control of the mass decoy system is carried out by a steering actuator connected to the steering computer;

[0041] - the direction calculator determines the route to follow from an element of the environment;

[0042] - said element of the environment is the configuration of a path;

[0043] - said environmental element is a line drawn on the ground;

[0044] - the step of driving the following vehicle is carried out by a driver of the following vehicle;

[0045] - the driver of the following vehicle only drives the following vehicle; - the step of driving the following vehicle includes a step of controlling the yaw direction of the following vehicle carried out by a steering actuator of the following vehicle, this steering actuator being controlled by a steering computer adapted to drive the trajectory of the following vehicle so that the wheels of the following vehicle fit into the safe lane defined by the mass decoy system;

[0046] - the steering computer is connected to at least one environment sensor of the following vehicle;

[0047] - the step of controlling a yaw steering command of the mass decoying system is carried out from the following vehicle by a driver of the following vehicle;

[0048] - the step of controlling the following vehicle comprises a step of controlling the yaw direction of the following vehicle carried out by a steering actuator of the following vehicle, controlled by a steering computer adapted to control the trajectory of the following vehicle so that the wheels of the following vehicle fit into the safe lane defined by the mass decoy system.

[0049] The convoy according to the invention may include the following additional characteristics, alone or in combination:

[0050] - the direction calculator is adapted to determine the route to follow from an element of the environment;

[0051] - the mass decoying system comprises at least one environmental sensor connected to the steering computer;

[0052] - the environmental sensor is suitable for determining the configuration of a path;

[0053] - the environmental sensor is adapted to identify a line drawn on the ground;

[0054] - the following vehicle comprises manual steering control means adapted to control a yaw steering of the following vehicle by a driver of the following vehicle; - the following vehicle comprises a steering actuator controlled by a steering computer adapted to control the trajectory of the following vehicle so that the wheels of the following vehicle fit into the safe lane defined by the mass decoy system; - the following vehicle comprises at least one environment sensor connected to the steering computer;

[0055] - the yaw steering control means of the mass decoy system comprise a steering actuator adapted to control the yaw steering of the mass decoy system from the following vehicle; - the following vehicle comprises manual control means for said steering actuator of the mass decoy system;

[0056] - the following vehicle comprises a steering actuator controlled by a steering computer adapted to control the trajectory of the following vehicle so that the wheels of the following vehicle fit into the safe lane defined by the mass decoy system;

[0057] - the following vehicle comprises: a first steering wheel constituting the manual control means of said steering actuator of the mass decoying system; a second steering wheel adapted to take control of the steering actuator of the following vehicle. PRESENTATION OF THE FIGURES

[0058] Other characteristics and advantages of the invention will emerge from the non-limiting description which follows, with reference to the appended drawings in which:

[0059] - figure 1 is a schematic top view of a mass decoy convoy; - figure 2 is a view of the convoy of figure 1 according to a first variant;

[0060] - figure 3 is a view of the convoy of figure 1 according to a second variant;

[0061] - figure 4 illustrates a convoy according to a first embodiment of the invention; - figure 5 illustrates a variant of the convoy of figure 4;

[0062] - figure 6 illustrates a convoy according to a second embodiment of the invention;

[0063] - figure 7 illustrates a convoy according to a third embodiment of the invention;

[0064] - Figure 8 schematically illustrates the driving position of the following vehicle of the convoy of Figure 7.

[0065] Elements similar and common to the various embodiments bear the same reference numbers in the figures.

[0066] DETAILED DESCRIPTION

[0067] Figure 1 illustrates an example of the general structure of a convoy 1 with mass decoying.

[0068] This convoy 1 consists of a follower vehicle 2 comprising four wheels in the present example, the two front wheels 3 being steered wheels. This follower vehicle 2 is intended to be protected from dangers hidden on the ground, within the framework of the application of the invention. For this purpose, the convoy 1 comprises a mass decoy system 4 coupled to the front of the follower vehicle 2.

[0069] The mass decoy system 4 comprises rolling means for exerting pressure on the ground in front of the follower vehicle 2 so as to trigger any explosive devices encountered, thus protecting the follower vehicle 2 from the explosion. The distance between the rolling means exerting pressure on the ground and the front of the follower vehicle 2 must therefore be sufficiently large so that the follower vehicle 2 is sufficiently far away at the time of the explosion. According to the invention, this distance does not penalize the decoy performance and can therefore be maximized.

[0070] In the present example, the rolling means for exerting pressure on the ground are constituted by two rolling trains 5 each comprising two wheels 6. The mass decoying system 4 further comprises a chassis 7 on which the rolling trains 5 are each articulated by a pivot 8 with a vertical axis, allowing the wheels of the rolling trains 5 to pivot in yaw.

[0071] The chassis 7 is connected to the following vehicle 2 by a pivot 9 with a vertical axis, allowing the chassis 7 to pivot in yaw.

[0072] In a known manner, the wheels 6 of the running gear 5 have sufficient weight so that their pressure on the ground is compatible with the desired function of triggering an explosive device, and are mounted on suspensions possibly including known pressure equalizers.

[0073] Figures 2 and 3 illustrate the general architecture of convoy 1 of Figure 1 according to two variants relating to the yaw steering control of the mass decoy system 4.

[0074] Figure 2 illustrates a first variant in which the yaw steering control of the mass decoy system 4 is done by controlling the pivoting of the chassis 7 relative to the following vehicle 2, using one or more steering actuators 10. The steering actuators 10 make it possible to pivot the chassis 7 around the pivot 9. The steering actuators 10 can be, for example, hydraulic or electric cylinders.

[0075] In Figure 2, convoy 1 is shown negotiating a bend.

[0076] The pivot 8 is a free pivot, that is to say it provides the running gears 5 with the behavior of idler wheels in yaw. The running gears 5 can freely pivot in yaw (within the limit of their permitted angular amplitude) and thus naturally follow the pivoting movements of the chassis 7.

[0077] The turning maneuvers of convoy 1 are executed by pivoting the chassis 7 around the pivot 9 using the steering actuators 10, the running gear 5 orienting itself, then the wheels 3 of the following vehicle 2 are controlled in yaw rotation to fit into the track secured by the running gear 5.

[0078] Figure 3 is a view similar to Figure 2 in which the convoy 1 is also negotiating a turn, for a second variant of yaw steering control of the mass decoy system. According to this variant, the yaw steering of the mass decoy system 4 is controlled by one or more steering actuators 11 (such as hydraulic or electric cylinders) adapted to control the yaw angular position of the running gear 5 relative to the chassis 7. The pivot 9 is free, that is to say that the chassis 7 can freely pivot relative to the following vehicle 2, within the angular amplitude permitted to it.

[0079] According to this variant of Figure 3, the yaw steering of the following vehicle 2 is controlled in the same way as for the variant of Figure 2, while the steering of the mass decoy system 4 is previously controlled by controlling the steering actuators 11 which pivot the running gear 5 in yaw and thus take the chassis 7 in a steering direction.

[0080] The invention applies to the two variants of direction control of the mass decoy system 4 of figures 2 and 3, given here as an example, as well as to any other means of controlling the mass decoy system 4 in yaw, in particular a combination of the two variants described.

[0081] The structure and operation of the convoy 1 and the mass decoy system 4 according to the invention are described in detail with reference to Figures 4 to 8.

[0082] According to a first embodiment illustrated in Figures 4 and 5, the mass decoying system 4 behaves like an autonomous vehicle and, with regard to its yaw control, it follows its own route in total or partial autonomy. The driver of the following vehicle 2 only drives his vehicle by ensuring that the following vehicle 2 follows the lane secured by the mass decoying system 4. More precisely, the driver ensures that the wheels of the following vehicle 2 fit into the lane secured by the mass decoying system 4. In this example, the secured lane extends along two strips 23, 24 corresponding to the trajectory of the two running gears 5, the right wheels of the following vehicle 2 fitting into the strip 23, and the left wheels of the following vehicle fitting into the other strip 24.

[0083] The driver of the following vehicle 2 thus controls the advance (acceleration, speed, braking) of the following vehicle 2, and therefore the advance of the entire convoy 1, and the mass decoy system 4 controls its yaw direction, and therefore the yaw direction of the entire convoy 1. The role of the driver of the following vehicle 2, as regards yaw control, is reduced to following the strips 23, 24. In Figure 4, the mass decoy system 4 comprises yaw control means corresponding to the variant of Figure 2.

[0084] The mass decoy system 4 comprises a steering computer 12 adapted to collect information on the environment of the mass decoy system 4 to determine the route to follow. This steering computer 12 controls the steering actuators 10 to act on the yaw direction taken by the mass decoy system 4.

[0085] The steering computer 12 is also connected to environmental sensors 13 fixed to the chassis 7 and making it possible to understand one or more parameters of the external environment, in order to allow the steering computer 12 to determine the route to follow.

[0086] Any solution currently known in the field of autonomous vehicles can be implemented to allow the steering computer 12 to direct the mass decoy system 4 based on information from the environmental sensors 13. In the present example, the environmental sensors 13 make it possible to discern the configuration of a path by detecting the edge 16 of a defined road (this edge 16 being able to be materialized by barriers, hedges, etc.). These environmental sensors 13 can be optical sensors, infrared, ultrasonic, laser, radar, lidar sensors, etc.

[0087] The environmental sensors 13 and the associated signal processing may consist of any means known from the state of the art in autonomous vehicles or robots. In particular, the environmental sensors 13 may be adapted to follow a route previously traced on the ground, for example by a line of paint deposited beforehand, or visual or radioelectric stakes. This arrangement may of course be supplemented by any other element known in the field of autonomous vehicles, such as positioning and navigation software, etc.

[0088] These means allowing a vehicle to follow a road autonomously are known elsewhere and will not be described in more detail here. These means are therefore applied here to the mass decoy system 4 for the autonomous control of its yaw steering. While the mass decoy system 4 is arranged as an autonomous vehicle (except that it is coupled to the following vehicle 2), the following vehicle 2 remains a conventional vehicle with yaw steering means available to the driver. The following vehicle comprises for example a conventional steering device 14, constituted for example by a steering rack controlled by a steering wheel 15, and acting on the steering angle of the steered wheels 3.

[0089] This embodiment is particularly advantageous in the case of re-equipping a fleet of existing vehicles with a view to updating them. The following vehicles 2 do not require any modification, simply the adaptation of a new mass decoy system 4 according to the invention.

[0090] Although the following vehicle 2 is not modified, its use is significantly different from the prior art. The driver drives the following vehicle 2 without having to choose the route to follow.

[0091] The driver of the following vehicle 2 therefore acts on the steering wheel 15 only to steer his vehicle so that its wheels fit into the safe lane 23, 24 defined by the mass decoying system 4. Concretely, in the present example where the mass decoying system 4 comprises two running gears 5, the driver of the following vehicle 2 acts on the steering wheel 15 only to put the wheels of his vehicle 2 in the tracks of the running gears 5 of the mass decoying system 4. The driver of the following vehicle 2 is thus relieved of both the management of the mass decoying system 4, as well as the management of the route to be followed. The simple task of putting the wheels of the following vehicle 2 in tracks previously made by the running gears 5, by managing the advance of the convoy, frees up part of the driver's attention, who can then also be attentive to other operational aspects of the mission of the convoy 1, and to the general environment.

[0092] When the use of the mass decoy system is not required (outside the danger zones), the convoy 1 can have an operating mode in which the mass decoy system 4 is deactivated, the position of the chassis 7 is locked and the following vehicle 2 is then driven in a conventional manner without using the mass decoy system. Figure 5 illustrates the same embodiment as Figure 4, but for the yaw steering control variant of the mass decoy system 4 corresponding to Figure 3. According to this variant, the steering computer 12, still connected to the environment sensors 13, acts here on the steering actuators 11 which modify the steering angle of the running gear 5.

[0093] According to this variant, the mass decoy system 4 also follows its route as an autonomous vehicle, in the same way as for the variant of Figure 4, with the same possibilities. Only the way of controlling the yaw direction of the mass decoy system 4 varies.

[0094] The driver of the following vehicle 2 acts on the steering wheel 15 as described previously, to place the wheels of the following vehicle 2 in the tracks of the running gear 5.

[0095] Figure 6 illustrates a second embodiment in which the mass decoy system 4 behaves like an autonomous vehicle in the same way as for the first embodiment, thanks to its steering computer 12 connected to the environment sensors 13 and to the actuators 10 to control the direction of the mass decoy system 4 in yaw.

[0096] However, according to this second embodiment, the following vehicle 2 further comprises a steering computer 17 controlling a steering actuator 18 for the following vehicle 2. The steering computer 17 can thus control the yaw steering of the following vehicle 2.

[0097] According to this second embodiment, the steering of the following vehicle 2 is carried out so that its trajectory is contained within the lane secured by the mass decoy system 4. This steering is then carried out, with regard to the yaw steering, without the intervention of the driver of the following vehicle 2.

[0098] The steering computer 17 of the vehicle 2 can be connected to the steering computer 12 of the mass decoy system 4, for the transmission of trajectory information.

[0099] The steering computer 17 can also benefit from any arrangement known in the field of autonomous vehicles to be able to make the following vehicle 2 follow a trajectory which falls within the lane secured by the mass decoy system 4, so that the steering angle of the steered wheels 3 causes the latter to fall within the bands 23, 24 of the secure lane.

[0100] The steering computer 17 can also be connected to its own environmental sensors 19 mounted on the following vehicle 2, and to any other element allowing its autonomy (with regard to yaw steering).

[0101] According to this embodiment, the driver of the following vehicle 2 only manages the vehicle's progress (acceleration, speed, braking). His attention is even more freed up for other observations relating to the current mission.

[0102] The steering wheel 15 is however always available to the driver of the following vehicle 2, who can act at any time and take control of the steering computer 17 of the following vehicle 2, if necessary. The steering computer 17 is for example connected to a sensor detecting the action on the steering wheel, and triggers a stop of the automatic control of the vehicle's steering, to leave yaw driving again to the driver of the following vehicle 2.

[0103] This second embodiment can of course also be implemented with the yaw steering control variant of the mass decoy system 4 corresponding to FIG. 3, as for the first embodiment.

[0104] Figure 7 illustrates a third embodiment of the invention in which the driver of the following vehicle 2 directly controls the yaw direction of the mass decoying system 4.

[0105] The example in Figure 7 relates to the variant of steering the mass decoy system 4 corresponding to Figure 3.

[0106] According to this third embodiment, the mass decoying system 4 is simplified and its control is not automated. The follower vehicle 2 comprises a steering wheel 20 acting directly on the steering actuators 11 of the mass decoying system 4. The steering wheel 20 can for example be connected by hydraulic hoses to the actuators 11 consisting of cylinders and thus remotely control these cylinders. Any variant for the remote control of the steering actuators 11 from the follower vehicle 2 can be envisaged (cable transmission, electric transmission, electromechanical, etc.).

[0107] The following vehicle 2 further comprises a steering computer 17 adapted to control the yaw steering of the following vehicle 2 by acting on the steering actuator 18.

[0108] The steering computer 17 is responsible for controlling the steering of the following vehicle 2 so that the trajectory of the following vehicle 2 falls within the safe lane opened by the mass decoy system 4. The steering computer 17 is thus connected, for example, to sensors relating to the handling of the steering wheel 20 or to the actuation of the actuators 11, or for example to sensors representative of the position of the chassis 7 relative to the following vehicle 2, or any other element allowing the steering computer 17 to know the trajectory of the mass decoy system 4 and in particular of its running gear 5. Depending on this information, the steering computer 17 controls the steering of the following vehicle 2 so that its wheels follow a trajectory falling within the safe lane opened by the mass decoy system 4.

[0109] The driver of the following vehicle 2 therefore controls the trajectory of the convoy 1 as a whole by acting on the yaw control of the mass decoy system 4, and manages the advance of the convoy 1 as a whole by acting on the advance (acceleration, speed, braking) of the following vehicle 2.

[0110] This third embodiment can of course also be implemented with the yaw steering control variant of the mass decoy system 4 corresponding to Figure 2.

[0111] Figure 8 illustrates an exemplary embodiment of the driving means of the following vehicle 2 for the third embodiment of Figure 7.

[0112] The driver of the following vehicle 2 has, in this example, two steering wheels 15, 20 mounted concentrically but independently of each other at his driving position. During the phases when the convoy 1 is outside a danger zone and the mass decoy system 4 is deactivated, the driver of the following vehicle 2 drives the vehicle in a conventional manner with the steering wheel 15 (the steering actuator 18 and the steering computer 17 being deactivated).

[0113] During the phases of crossing dangerous zones, the mass decoy system is activated and the driver of the following vehicle 2 controls the yaw direction of the mass decoy system 4 by acting on the steering wheel 20, while the steering computer 17 is responsible for controlling the steering actuator 18 (which is here a rotary actuator) meshed on the steering column 21, and therefore acting on the steering rack 22.

[0114] The driver of the following vehicle 2 acts only on the steering wheel 20 but can at any time take back control of the steering of the following vehicle 2, if necessary, temporarily or permanently, by acting directly on the steering wheel 15.

[0115] The driver of the following vehicle 2 can manually deactivate the automatic actuation of the vehicle's steering, or the steering wheel 15 can be equipped with a sensor detecting the driver's action on the steering wheel 15 and deactivating the automatic actuation in response.

[0116] In all embodiments of the invention, during the phases of use of the mass decoy system 4, the trajectory of the convoy 1 is defined by the mass decoy system 4, whether automatically (first and second embodiments) or manually by the action of the driver of the following vehicle (third embodiment). The yaw steering of the following vehicle 2 is only carried out in response to the trajectory taken by the mass decoy system 4. Not only is the trajectory of the following vehicle 2 carried out in response to the trajectory of the mass decoy system 4, but in addition each yaw command of the following vehicle 2 chronologically follows the yaw command of the mass decoy system 4. This guarantees that the following vehicle 2 inevitably has the possibility of following the traces of the mass decoy system 4 without uncertainty on the path secured by the mass decoy system 4.The following vehicle 2 places its trajectory in a safe lane which has already been produced when the yaw commands concerning it must be determined.

[0117] Alternative embodiments of the invention may be implemented. In particular, the examples described relate to a four-wheeled, two-wheeled follower vehicle, it being understood that the invention applies equally well to any follower vehicle equipped with other configurations in terms of the number of wheels and the number of steered wheels, just as it applies to other wheel configurations such as tracks.

[0118] The invention also applies to a convoy whose follower vehicle is not physically coupled to the mass decoy system, and simply follows it remotely.

Claims

DEMANDS 1. Method for piloting a convoy (1) comprising a follower vehicle (2) to be protected and a mass decoy system (4), this method comprising the following steps: - to control a yaw steering command of the mass decoy system (4) according to a route to follow, the mass decoy system (4) defining a route secured by the passage of at least one rolling stock (5) adapted to exert pressure on the ground; - to control the following vehicle (2) so that its wheels follow a trajectory within said safe lane defined by the mass decoy system (4); this method being characterized in that the step of controlling the following vehicle (2) includes a step of yaw control of the following vehicle (2) carried out by a steering actuator (18) of the following vehicle (2), this steering actuator (18) being controlled by a steering computer (17) connected to at least one environmental sensor (19) of the following vehicle (2) and adapted to control the trajectory of the following vehicle (2) so that the wheels of the following vehicle (2) are within the safe lane defined by the mass decoy system (4).

2. Method according to claim 1, characterized in that the step of piloting a yaw direction control of the mass decoy system (4) is carried out by a steering computer (12) determining said route to follow.

3. Method according to claim 2, characterized in that the yaw steering control of the mass decoy system (4) is achieved by a steering actuator (10, 11) connected to the steering computer (12).

4. A method according to any one of claims 2 or 3, characterized in that the steering computer (12) determines the route to follow from an element of the environment.

5. Method according to claim 4, characterized in that said element of the environment is the configuration of a path.

6. Method according to claim 4, characterized in that said element of the environment is a line drawn on the ground.

7. Method according to any one of claims 2 to 6, characterized in that the step of piloting the follower vehicle (2) is carried out by a driver of the follower vehicle (2).

8. Method according to claim 7, characterized in that the driver of the following vehicle (2) only drives the following vehicle (2).

9. A method according to claim 1, characterized in that: - the step of controlling a yaw steering command of the mass decoy system (4) is carried out from the following vehicle (2) by a driver of the following vehicle (2); - the step of piloting the following vehicle (2) includes a step of yaw steering control of the following vehicle (2) carried out by a steering actuator (18) of the following vehicle (2), controlled by a steering computer (17) adapted to pilot the trajectory of the following vehicle (2) so that the wheels of the following vehicle (2) are in the safe lane defined by the mass decoy system (4).

10. Convoy (1) comprising a follower vehicle (2) to be protected and a mass decoy system (4) having at least one running gear (5) adapted to exert pressure on the ground so as to define a secure track and having means for yaw control, this convoy (1) being characterized in that the means for yaw control of the mass decoy system (4) comprise a steering computer (12) connected to at least one environmental sensor (13) and adapted to determine the route to be followed from an element of the environment as well as to control the yaw control of the mass decoy system (4) according to a route to be followed.

11. Convoy according to claim 10, characterized in that the environmental sensor (13) is adapted to determine the configuration of a path.

12. Convoy according to claim 10, characterized in that the environmental sensor (13) is adapted to identify a line drawn on the ground.

13. Convoy according to any one of claims 10 to 12, characterized in that the following vehicle (2) includes manual steering control means adapted to control a yaw direction of the following vehicle (2) by a driver of the following vehicle (2).

14. Convoy according to any one of claims 10 to 12, characterized in that the following vehicle (2) includes a steering actuator (18) controlled by a steering computer (17) adapted to control the trajectory of the following vehicle (2) so that the wheels of the following vehicle (2) are in the safe lane defined by the mass decoy system (4).

15. Convoy according to claim 14, characterized in that the following vehicle (2) includes at least one environmental sensor (19) connected to the steering computer (17).

16. Convoy (1) comprising a follower vehicle (2) to be protected and a mass decoy system (4) equipped with at least one running gear (5) adapted to exert pressure on the ground so as to define a secure track and equipped with yaw control means, this convoy (1) being characterized in that: - the yaw control means of the mass decoy system (4) include a steering actuator (11) adapted to control the yaw direction of the mass decoy system (4) from the following vehicle (2); - the following vehicle (2) includes manual control means (20) of said steering actuator (11) of the mass decoy system (4); - the following vehicle (2) includes a steering actuator (18) controlled by a steering computer (17) connected to at least one environmental sensor (19) adapted to control the trajectory of the following vehicle (2) so that the wheels of the following vehicle (2) are in the safe lane defined by the mass decoy system (4).

17. Convoy according to claim 16, characterized in that the following vehicle (2) comprises: - a first steering wheel (20) constituting the manual control means of said steering actuator (11) of the mass decoy system (4); - a second steering wheel (15) adapted to take control of the steering actuator (17) of the following vehicle (2).

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