Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
  • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
  • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
  • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
  • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
  • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
  • G01D5/3473—Circular or rotary encoders
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
  • G01D5/48—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using wave or particle radiation means
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Definitions

• the present invention relates to a guidance system of a follower vehicle, adapted to guide the follower vehicle so that it follows a leader, of the type comprising a location of the leader system relative to the follower vehicle.
• the invention also relates to a vehicle and a convoy comprising such a guide system, and a corresponding guide method.
• the mobile platform can autonomously follow the soldier.
• each guidance system is adapted to guide the vehicle they equip so that it follows a leader, consisting of the vehicle preceding said equipped vehicle, or by the soldier.
• each guidance system generally comprises a location system of the leader, adapted to identify the position of the driver relative to the equipped vehicle, and an automatic vehicle control system equipped according to the position of the leader identified by the system of control. location.
• GPS satellite positioning system
• This system includes a GPS tag carried by the leader. This system is however dependent on the quality of reception of the GPS signal, the latter being able to be scrambled, and requires an active communication (radio, optical, ...) between the leader and the follower.
• Goniometer locating systems are also known which, by means of a radio beacon carried by the leader and a radio receiver carried by the follower vehicle, make it possible to determine the axis in which the leader is relatively to the follower. However, by not giving the distance from the leader to the follower, these systems give only partial information on the location of the leader.
• LIDAR-type location systems are known. These systems include a LIDAR carried by the follower vehicle, which makes it possible to locate the leader in a plane, or in space. These systems are however expensive.
• the system includes a wire sensor carried by the follower vehicle, the wire sensor comprising a cable, attached at one end to the leader, a cable winder, and a cable length measuring member.
• This system further comprises a device for measuring the angle formed by the cable with the axis of the vehicle.
• environmental parameters such as wind speed can easily vary the angle, leading to an error in the location of the leader.
• An object of the invention is therefore to obtain a reliable and inexpensive determination of the location of a leader to guide a follower vehicle for following said leader. Another objective is to obtain a precise determination of the location of the leader.
• the subject of the invention is a guiding system of the aforementioned type, comprising:
• the guidance system also has one or more of the following optional features, taken in isolation or in any technically possible combination (s): the reference points comprise at least two reference points aligned with each other in a plane substantially parallel to a rolling plane of the follower vehicle,
• the reference points comprise at least three reference points which are not aligned with each other, the distance measuring devices being at least three in number,
• the computer is programmed to calculate a relative speed of the leader with respect to the follower vehicle from the distances measured
• each distance measuring device comprises a wire sensor comprising a cable having a connection end to the leader, a cable return winder held taut, and a member for measuring the unwound length of cable,
• the computer is programmed to deduce from measured distances a two-dimensional position of the leader in the rolling plane of the follower vehicle,
• the computer is programmed to deduce from measured distances a three-dimensional position of the leader in the space
• the invention also relates to a vehicle comprising a guidance system as defined above, the vehicle being driven according to the position of the leader deduced by the computer.
• the guidance system also has the following characteristic, taken separately or in any combination (s) technically possible with the optional features listed above:
• the locating system further comprises a transmitting beacon, intended to be carried by the leader, adapted to emit a wave
• each distance measuring device comprises a wave receiving member, a chronometer, adapted to measure a duration between an instant of emission of the wave by the transmitting beacon and a moment of reception of the wave by the receiving member, and a module, programmed to deduce from the measured duration the distance of the transmitting beacon to the receiving organ.
• the invention furthermore relates to a convoy comprising a leader, a follower vehicle and a guidance system as defined above, in which the transmitting beacon is carried by the leader and each distance measuring device is carried by the driver. follower vehicle, the follower vehicle being driven according to the position of the leader deduced by the calculator.
• the subject of the invention is also a method for guiding a follower vehicle, comprising the following successive steps:
• the guiding method also has one or more of the following characteristics, taken in isolation or according to any combination (s) technically possible (s):
• the method comprises a subsequent step of transmitting a tracking instruction of the follower vehicle according to the initial and modified positions deduced, and
• the method comprises a preliminary step of connecting at least two cables to the follower vehicle and the leader, a first of said cables being stretched between the first reference point and the leader and a second of said cables being stretched between the second reference point; and the leader, and:
• the first initial distance is deduced from the length of the first cable before the movement of the leader
• the second initial distance is deduced from the length of the second cable before the leader moves
• FIG. 1 is a schematic top view of a convoy according to a first embodiment of the invention
• FIG. 2 is a schematic perspective view of the convoy of FIG. 1,
• FIG. 3 is a diagrammatic perspective view in partial section of a distance measuring device of a locating system fitted to the convoy of FIG. 1;
• FIG. 4 is a diagrammatic view from above of a convoy according to a second embodiment of the invention.
• FIG. 5 illustrates a guiding method implemented by a guiding system fitted to the convoy of FIG. 1.
• the convoy 10 shown in Figures 1, 2 and 4, comprises a leader 12, a follower vehicle 14, and a system 16 for guiding the follower vehicle 14, adapted to guide the follower vehicle 14 so that it follows the leader 12.
• the convoy 10 is a military convoy.
• the leader 12 is, in the example shown, a soldier.
• the leader 12 is constituted by any type of object or person with means of locomotion, for example by a vehicle.
• the follower vehicle 14 is a motor vehicle. In the example shown, it is a transport platform, mobile and motorized. Alternatively, it is a transport truck.
• orientation terms used in the following are defined relative to the usual orthonormal reference frame of the vehicles, defined relative to the follower vehicle 14 and represented in FIGS. 1, 2 and 4, and in which there are:
• a longitudinal direction X oriented from the rear to the front of the vehicle 14,
• a transverse direction Y oriented from the right to the left of the vehicle 14, and
• a vertical direction Z oriented from bottom to top, substantially perpendicular to a rolling plane of the follower vehicle 14, defined by the contact points of the vehicle wheels 14 with the ground.
• the guidance system 16 includes a location system 20 for determining a position of the leader 12 relative to the follower vehicle 14, and a system 22 automatic steering of the following vehicle 14 according to the position of the leader 12 determined by the location system 20.
• the location system 20 comprises at least two distance measuring devices 23, in particular, as shown, at least three distance measuring devices 23. Each is adapted to measure a distance, respectively D1, D2, D3, from the leader 12 to an associated reference point, respectively 25, 26, 27, of the follower vehicle 14.
• the location system 20 also comprises a computer 28, connected to each of the measuring devices 23 and programmed to derive distances D1 , D2, D3 measured by the measuring devices 23 the position of the leader 12 relative to the follower vehicle 14.
• the reference points 25, 26, 27 are spaced apart from each other. They are preferably, as shown, arranged in the same vertical plane. They are in particular arranged at the front of the follower vehicle 14.
• the reference points 25, 26, 27 comprise a first 25 and a second 26 reference points aligned horizontally with each other. These reference points 25, 26 are in particular aligned transversely with each other.
• the first and second reference points 25, 26 are spaced apart by a space e. They are preferably, as shown, arranged along the lateral ends of the follower vehicle 14, so as to maximize the space e.
• the reference points 25, 26, 27 also comprise, as shown in FIGS. 1 and 2, a third reference point 27 which is not aligned with the first and second reference points 25, 26. It should be noted that , although this third reference point 27 has been omitted in FIG. 4 for the sake of clarity, the location system 20 also includes, according to the second embodiment, this third reference point 27.
• the third reference point 27 is in particular, as shown in FIG. 2, disposed in a median plane M of the segment S joining the first and second reference points 25, 26.
• the third reference point 27 is at a distance d from the segment S.
• each measuring device 23 is arranged, as shown, at the associated reference point 24, 25, 26.
• each measuring device 23 is constituted by a wire sensor 30.
• each wire sensor 30 comprises, in known manner, a cable 32, a winder 34 for the cable 32, and a member 36 for measuring the length of cable 32 unwound.
• the cable 32 is designed to resist a voltage greater than 500 N. It has a diameter preferably less than 1 mm. It is typically made of nylon or steel wire.
• the cable 32 is fixed, by a first end (not shown), to the winder 34. Its opposite end forms a connecting end of the cable 32 to the leader 12, and for this purpose carries a fastener 38.
• this fastener 38 is formed by a clipped loop.
• the reel 34 comprises a shaft 40 and, integral with the shaft 40, coaxial with the shaft 40, a coil 42 for winding the cable 32.
• the reel 34 also comprises a housing 44 forming a frame on which the shaft 40 is rotatably mounted about its axis, and a member 46 for returning the cable 32 in a wound position on the coil 42.
• the shaft 40 is housed in the housing 44. It is carried at its axial ends by the housing 44.
• the coil 42 is delimited axially on the shaft 40 by two flanges 48 for guiding the cable 32.
• the first end of the cable 32 is fixed to the coil 42.
• the cable 32 is wound on the coil 42 so that, when the cable 32 is unwound, the shaft 40 rotates about its axis in a first direction relative to the housing 44.
• the housing 44 has an outlet 50 of the cable 32 out of the housing 44.
• This orifice 50 has a diameter sufficient to allow the passage of the cable 32, but too small to allow the passage of the fastener 38.
• the return member 46 is typically constituted by a member for biasing the shaft 40 in rotation about its axis in a second direction, opposite to the first direction, relative to the housing 44.
• this biasing member is a spiral spring attached to the housing 44 and to the shaft 40.
• the cable 32 is permanently held taut between its connecting end and the winder 34.
• the measuring member 36 comprises a sensor 52, for measuring the number of revolutions of the shaft 40 about its axis and, advantageously, the angular position of the shaft 40.
• the measuring member 36 also comprises a unit of calculation 54, to deduce from the number of turns and, if appropriate, the measured angular position (s), the length of cable 32 unwound, and determine, from the length of cable 32 unwound, the distance from the reference point 25, 26, 27 associated with the leader 12.
• the sensor 52 is typically an incremental sensor, comprising a rotatable portion 55A integral with the shaft 40 and a fixed portion 55B integral with the housing 44.
• the measuring member 36 is also adapted to measure a winding speed and rewinding of the cable 32 in the winder 34.
• the calculation unit 54 is also adapted to deduce temporal variations in the number of revolutions and, if appropriate, in the measured angular position (s), this uncoiling and rewinding speed.
• This type of measuring device has the advantage of being robust, reliable, inexpensive, and giving a precise distance from the leader 12 to each reference point 25, 26, 27. It is also not very intrusive vis-à-vis driver's eye 12.
• the locating system 20 further comprises a transmitting beacon 60, carried by the leader 12.
• This beacon 60 is adapted to emit a wave W, intended to be received by each one. Measuring devices 23.
• This wave W is typically an ultrasonic wave.
• the beacon 60 is also adapted to emit an electromagnetic signal (not shown), typically a radio or infrared signal, simultaneously with the W wave.
• an electromagnetic signal typically a radio or infrared signal
• Each distance measuring device 23 is adapted to measure the distance D1, D2, D3 of the leader 12 at the associated reference point 25, 26, 27 as a function of the travel time of the wave W of the beacon 60 until said reference point 25, 26, 27.
• each measuring device 23 comprises a wave reception member 62, arranged at the associated reference point 25, 26, 27, a stopwatch 64, adapted to measure a time between a transmission instant of W wave by the transmitting beacon 60 and a moment of reception of the wave W by the receiving member 62, and a module 66, programmed to deduce from the measured duration the distance D1, D2, D3 of the transmitting beacon 60 at the receiving member 62.
• the receiving member 62 is typically a microphone.
• the module 66 is programmed to deduce the distance D1, D2, D3 of the measured duration by means of the known speed of propagation of the wave W in the air.
• Each measuring device 23 also comprises a member 68 for triggering the stopwatch 64 during the emission of the wave W by the beacon 60.
• This triggering member 68 comprises a device (not shown) for receiving the signal transmitted by the beacon 60, typically a radio antenna or an infrared sensor, and means (not shown) for transmitting a stopwatch timing signal 64 upon receiving the electromagnetic signal.
• the signal is received by the triggering member 68 almost instantaneously after its emission.
• the instant of triggering of the stopwatch 64 is substantially coincident with the instant of emission of the wave W by the beacon 60.
• This type of measuring device is reliable, inexpensive and avoids any physical connection between the leader 12 and the follower vehicle 14.
• it has the disadvantage of being intrusive vis-à-vis the leader 12, that- It has to carry a beacon, and requires that waves and active signals are emitted by the leader 12 which, in the case of a military convoy, could lead to its detection by enemy devices.
• the computer 28 is rogrammed to solve the following system of equations:
• the computer 28 is programmed to take into account an error margin on each of the measured distances D1, D2, D3 to solve this system of equations.
• This system of equations having two solutions, one with a negative x coordinate and the other with a positive x coordinate, the computer 28 is programmed to retain as the position of the leader 12 relative to the follower vehicle 14 the solution comprising an x coordinate positive.
• the computer 28 is programmed to solve the system of measurement. following equations:
• the computer 28 is programmed to hold the position of the leader 12 relative to the follower vehicle 14 the solution comprising a positive x coordinate.
• the computer 28 is programmed to derive measured distances D1, D2 a three-dimensional position of the leader 12 in the horizontal plane.
• the computer 28 is also programmed to calculate a relative speed of the leader 12 relative to the follower vehicle 14.
• the computer 28 is for example, in the first embodiment, adapted to deduce this speed from the speeds of unwinding and rewinding of the cables 32 of the measurement devices 23 measured by their measuring devices 36.
• the computer 28 is adapted to calculate this speed by time derivation of the successive positions deduced by the computer 28.
• the computer 28 is also programmed to return error information when it fails to solve the aforementioned system of equations.
• the computer 28 is connected to the control system 22 by a digital connection interface 70, intended to transmit the deduced position and, where appropriate, the speed calculated by the computer 28 to the control system 22.
• This connection interface 70 is typically constituted by an Ethernet link, or by a CAN bus.
• the control system 22 comprises algorithms, known to those skilled in the art, adapted to generate a displacement instruction of the follower vehicle 14 as a function of the position of the leader 12 and, if applicable, the speed of the leader 12, determined by the location system 20.
• the control system 22 is also programmed to stop the follower vehicle 14 when the computer 28 returns error information.
• a method 100 implemented by the guiding system 16 according to the first embodiment of the invention will now be described, with reference to FIG. 5.
• a first step 1 10 the leader 12 is in an initial position P, relative to the follower vehicle 14.
• the cable 32 is then unwound from the reel 34, and attached to the leader 32 by its connecting end.
• the cable 32 of a first of the measuring devices 23 is stretched between the first reference point 25 and the leader 12
• the cable 32 of a second of the measuring devices 23 is stretched between the second reference point 26 and the leader 12
• the cable 32 of a third of the measuring devices 23 is stretched between the third reference point 27 and the leader 12.
• the measuring devices 23 then measure, during a second step 120, a first initial distance D1, the leader 12 at the first reference point 25, a second initial distance D2, the leader 12 at the second reference point 26, and a third initial distance D3, from the leader 12 to the third reference point 27.
• Each initial distance, respectively D1 ,, D2 ,, D3 , is in particular deduced from the length of the cable 32 of the measuring device 23 associated with the reference point, respectively 25, 26, 27, which is unwound from the reel 34.
• This initial distance D1 ,, D2 ,, D3, is for example equal to the unwound length of cable.
• a predetermined length is subtracted from the unwound length of cable to determine the initial distance D1 ,, D2 ,,
• the computer 28 deduces from the initial distances D1 ,, D2 ,, D3, the initial position P, of the leader 12 relative to the follower vehicle 14. This initial position P is transmitted to the control system 22.
• a fourth step 140 the leader 12 moves relative to the follower vehicle 14. It leaves its initial position P, to occupy a modified position P m .
• the measuring devices 23 measure a first modified distance D1 m from the leader 12 to the first reference point 25, a second modified distance D2 m from the leader 12 to the second reference point 26, and a third modified distance D3 m of the leader 12 to the third reference point 27.
• each modified distance respectively D1 m , D2 m , D3 m , is deduced from the length of the cable 32 of the device.
• the computer 28 deduces the modified distances D1 m , D2 m , D3 m the modified position P m of the leader 12 relative to the follower vehicle 14. This modified position P m is transmitted to the control system 22.
• control system 22 transmits a displacement instruction of the follower vehicle 14 as a function of the initial positions P, and modified P m .
• Steps 120 to 170 are then repeated, as many times as necessary, until the guiding method 100 ends.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Automation & Control Theory (AREA)
• Aviation & Aerospace Engineering (AREA)
• Acoustics & Sound (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Length Measuring Devices With Unspecified Measuring Means (AREA)

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• 2012
  • 2012-10-09 FR FR1202695A patent/FR2996646B1/fr active Active
• 2013
  • 2013-09-27 WO PCT/EP2013/070259 patent/WO2014056740A1/fr active Application Filing
  • 2013-09-27 EP EP13766569.1A patent/EP2906998A1/fr not_active Ceased
  • 2013-09-27 US US14/429,088 patent/US9616891B2/en active Active
• 2015
  • 2015-03-22 IL IL237875A patent/IL237875B/en active IP Right Grant
• 2016
  • 2016-02-17 HK HK16101700.1A patent/HK1214005A1/zh unknown
• 2020
  • 2020-06-30 IL IL275768A patent/IL275768A/en unknown

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