# US 4,399,884 A · Angle lag control methods and apparatus for long ground vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 4,399,884 A - Document ID: US4399884A - Status: Granted - Kind: A - Application number: 06/300,228 - Filed: 1981-09-08 - Granted: 1983-08-23 - Earliest claimed: 1981-09-08 - Assignees: The Boeing Company - Inventors: Marvin E. Vandehey - Web page: https://patentgrep.com/patent/US4399884A ## CPC - B62D 15/00: Steering not otherwise provided for - B62D 12/02: for vehicles operating in tandem - B62D 53/06: Semi-trailers - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract An automatic control system for articulated vehicles including leading and trailing wheeled supports each having steerable wheels and each pivotally connected to, and supporting, a center frame, and where the leading support may be manually controlled; wherein: (i) a parameter indicative of distance traveled by the vehicle is continuously measured; (ii) the leading angle .alpha..sub.1 between the longitudinal centerlines of the lead support and the frame is continuously measured and averaged over time and as a function of distance traveled to produce a delayed first signal representative of the time average of the leading angle .alpha..sub.1 ; (iii) the trailing angle .alpha..sub.2 between the longitudinal centerlines of the trailing support and the frame is measured to produce a signal representative of the trailing angle .alpha..sub.2 ; (iv) the delayed first signal is compared with the second signal to produce a third signal representative of the angular difference between the trailing angle .alpha..sub.2 and the time average of the leading angle .alpha..sub.1 ; and (v) the third signal is input to an automatic control system for steering the trailing support through a steering angle .beta. sufficient to maintain the trailing angle .alpha..sub.2 substantialy equal to the time average of the leading angle .alpha..sub.1, thus permitting the trailing support to move along substantially the same path as the leading support. ## Claims ### Claim 1 The method of automatically steering the steerable wheels of an unmanned wheeled support pivotally connected to the trailing end of a center frame forming part of a long articulated ground vehicle in response to overall vehicle dynamics including the vehicle dynamics of a controlled power driven wheeled support having steerable wheels and pivotally secured to the leading end of the center frame of the articulated vehicle; said method comprising the steps of: (a) measuring a parameter indicative of the distance traveled by the vehicle; (b) measuring the leading angle .alpha..sub.1 between the longitudinal centerlines passing through the center frame and the controlled support as the vehicle traverses a path which is, at least in part, curvilinear so as to produce a first signal representative of the leading angle .alpha..sub.1 ; (c) averaging the first signal representative of the leading angle .alpha..sub.1 over time and as a function of the distance traveled to produce a delayed first signal representative of the time average of the leading angle .alpha..sub.1 ; (d) measuring the trailing angle .alpha..sub.2 between the longitudinal centerlines passing through the center frame and the unmanned support so as to produce a second signal representative of the trailing angle .alpha..sub.2 ; (e) comparing the second signal representative of the trailing angle .alpha..sub.2 with the delayed first signal representative of the time average of the leading angle .alpha..sub.1 and producing a third signal representative of the angular difference between the trailing angle .alpha..sub.2 and the time average of the leading angle .alpha..sub.1 ; and, (f) utilizing the third signal to govern a steering controller in the unmanned support for steering the unmanned support through a steering angle .beta. sufficient to maintain the trailing angle .alpha..sub.2 substantially equal to the time average of the leading angle .alpha..sub.1 so that the unmanned support travels over substantially the same path as the controlled support as the articulated ground vehicle traverses the path. ### Claim 2 (depends on 1) The method as set forth in claim 1 wherein the controlled power driven wheeled support is a manned operator-controlled vehicle. ### Claim 3 (depends on 1) The method as set forth in claim 1 wherein the controlled power driven wheeled support is an unmanned automatically-controlled vehicle. ### Claim 4 (depends on 1) The method as set forth in claim 1 wherein the controlled power driven wheeled support is a tractor. ### Claim 5 (depends on 4) The method as set forth in claim 4 wherein the unmanned support is a tractor. ### Claim 6 (depends on 5) The method as set forth in claim 5 wherein the controlled support and the unmanned support are oppositely directed. ### Claim 7 (depends on 6) The method as set forth in claim 6 wherein the controlled support is capable of moving at "x" speeds in a forward direction and "y" speeds in a reverse direction and the unmanned support is capable of moving at "x" speeds in a reverse direction and "y" speeds in a forward direction, where "x" and "y" are any selected whole integers. ### Claim 8 (depends on 1, 7) The method as set forth in claims 1 or 7 wherein motive power is provided for both the controlled support and the unmanned support with acceleration, throttle and brake commands for the unmanned support being slaved to the corresponding commands for the controlled support. ### Claim 9 (depends on 1) The method as set forth in claim 1 wherein an odometer is utilized to measure the distance parameter. ### Claim 10 (depends on 1) The method as set forth in claim 1 wherein the steering controller in the unmanned support is servo operated. ### Claim 11 (depends on 1, 2, 3, 4, 5, 6) The method as set forth in claims 1, 2, 3, 4, 5 or 6 wherein averaging of the first signal in step (c) to produce a delayed first signal representative of the time average of the leading angle .alpha..sub.1 is accomplished with an analog filter. ### Claim 12 (depends on 1, 2, 3, 4, 5, 6) The method as set forth in claims 1, 2, 3, 4, 5 or 6 wherein averaging of the first signal in step (c) to produce a delayed first signal representative of the time average of the leading angle .alpha..sub.1 is accomplished with a non-recursive digital filter. ### Claim 13 (depends on 1, 2, 3, 4, 5, 6) The method as set forth in claims 1, 2, 3, 4, 5 or 6 wherein averaging of the first signal in step (c) to produce a delayed first signal representative of the time average of the leading angle .alpha..sub.1 is accomplished with a recursive digital filter. ### Claim 14 (depends on 1, 2, 3, 4, 5, 6) The method as set forth in claims 1, 2, 3, 4, 5 or 6 wherein the distance parameter measured in step (a), the first and second signals respectively produced in steps (b) and (d), the delayed first signal representative of the time average of the leading angle .alpha..sub.1 produced in step (c), and the comparison set forth in step (e), are steps performed in accordance with a control guidance law for providing steering commands for the trailing support and wherein the control guidance law comprises: SR=G.sub.2 [.alpha..sub.2 ]-G.sub.1 [XS(k)(.alpha..sub.1 -.alpha..sub.1(lagged) -1)+.alpha..sub.1(lagged) -1]; where "SR" is the rear support steering command, "G.sub.1 " is a gain constant for the leading support, "G.sub.2 " is a gain constant for the trailing support, "XS" is the incremental distance ytraveled as measured in step (a), "k" is a filter constant, ".alpha..sub.1 " and ".alpha..sub.2 " are, respectively, the leading and trailing centerline angles, and ".alpha..sub.1(lagged) -1" is the previously delayed first signal representative of the time average of the leading angle .alpha..sub.1. ### Claim 15 The method of automatically steering the steerable wheels of an unmanned wheeled support pivotally connected to the trailing end of a center frame forming part of a long articulated ground vehicle in response to overall vehicle dynamics including the vehicle dynamics of a controlled power driven wheeled support having steerable wheels and pivotally secured to the leading end of the center frame of the articulated vehicle; said method comprising the steps of: (a) measuring a parameter indicative of the distance traveled by the vehicle; (b) measuring the leading angle .alpha..sub.1 between the longitudinal centerlines passing through the center frame and the controlled support as the vehicle traverses a path which is, at least in part, curvilinear so as to produce a first signal representative of the leading angle .alpha..sub.1 ; (c) delaying the first signal representative of the leading angle .alpha..sub.1 for a time increment sufficient to permit the articulated vehicle to move a distance substantially proportional to the longitudinal spacing between the points of pivotal connection of the center frame to both the controlled support and the unmanned support; (d) measuring the trailing angle .alpha..sub.2 between the longitudinal centerlines passing through the center frame and the unmanned support so as to produce a second signal representative of the trailing angle .alpha..sub.2 ; (e) comparing the second signal representative of the trailing angle .alpha..sub.2 at the end of the time increment with the delayed first signal measured at the beginning of the time increment and producing a third signal representative of the angular difference between the trailing angle .alpha..sub.2 and the delayed leading angle .alpha..sub.1 ; and, (f) utilizing the third signal to govern a steering controller in the unmanned support for steering the unmanned support through a steering angle .beta. sufficient to maintain the trailing angle .alpha..sub.2 at the end of the time increment substantially equal to the delayed leading angle .alpha..sub.1 as measured at the beginning of the time increment so that the unmanned support travels over substantially the same path as the controlled support as the articulated ground vehicle traverses the path. ### Claim 16 (depends on 15) The method as set forth in claim 15 wherein the controlled power driven wheeled support is a manned operator controlled vehicle. ### Claim 17 (depends on 15) The method as set forth in claim 15 wherein the controlled power driven wheeled support is an unmanned automatically controlled vehicle. ### Claim 18 (depends on 15) The method as set forth in claim 15 wherein the controlled power driven wheeled support is a tractor. ### Claim 19 (depends on 18) The method as set forth in claim 18 wherein the unmanned support is a tractor. ### Claim 20 (depends on 19) The method as set forth in claim 19 wherein the controlled support and the unmanned support are oppositely directed. ### Claim 21 In a power driven relatively long articulated ground vehicle of the type having a central frame, a first steerable wheeled support pivotally connected to and supporting the leading end of the central frame, and a second steerable wheeled support pivotally connected to and supporting the trailing end of the central frame, an improved steering control guidance system for maintaining the first and second steerable wheeled supports on substantially the same path, irrespective of curvature, as the articulated vehicle traverses a prescribed path which is, at least in part, curvilinear having curved portions defined by radii of curvature at least equal to the minimum turning radius of the vehicle; said control guidance system comprising, in combination: (a) means for providing motive power to at least said first steerable wheeled support for driving said vehicle; (b) control means for steering said first wheeled support; (c) means for measuring a parameter representative of the distance traveled by said vehicle; (d) means for measuring the leading angle .alpha..sub.1 between the longitudinal centerline passing through said frame and said first support and for producing a first signal representative of said leading angle .alpha..sub.1 ; (e) means for averaging said first signal over time and as a function of the distance traveled to produce a delayed first signal representative of the time average of said leading angle .alpha..sub.1 ; (f) means for measuring the trailing angle .alpha..sub.2 between the longitudinal centerlines passing through said frame and said second support and for producing a second signal representative of said trailing angle .alpha..sub.2 ; (g) comparator means for comparing said second signal representative of said trailing angle .alpha..sub.2 with said delayed first signal representative of the time average of said leading angle .alpha..sub.1 and for producing a third signal representative of the angular difference between said trailing angle .alpha..sub.2 and the time average of said leading angle .alpha..sub.1 ; and (h) control means responsive to said third signal for automatically steering said second support through a steering angle .beta. sufficient to maintain said trailing angle .alpha..sub.2 substantially equal to the time average of said leading angle .alpha..sub.1 so that said second support travels over substantially the same path as said first support as said articulated ground vehicle traverses said prescribed path. ### Claim 22 (depends on 21) A control guidance system as set forth in claim 21 wherein said first wheeled support is a manned operator-controlled vehicle. ### Claim 23 (depends on 21) A control guidance system as set forth in claim 21 wherein said first wheeled support is an unmanned automatically-controlled vehicle. ### Claim 24 (depends on 21) A control guidance system as set forth in claim 21 wherein said first wheeled support is a tractor. ### Claim 25 (depends on 24) A control guidance system as set forth in claim 24 wherein said second support is a tractor. ### Claim 26 (depends on 25) A control guidance system as set forth in claim 25 wherein said first support and said second support are oppositely directed. ### Claim 27 (depends on 26) A control guidance system as set forth in claim 26 wherein said first support is capable of moving at "x" speeds in a forward direction and "y" speeds in a reverse direction and said second support is capable of moving at "x" speeds in a reverse direction and "y" speeds in a forward direction, where "x" and "y" are any selected whole integers. ### Claim 28 (depends on 21, 27) A control guidance system as set forth in claims 21 or 27 wherein motive power is provided for both said first support and said second support with acceleration, throttle and brake commands for said second support being slaved to the corresponding commands for said first support. ### Claim 29 (depends on 21) A control guidance system as set forth in claim 21 wherein an odometer is utilized to measure the distance parameter. ### Claim 30 (depends on 21) A control guidance system as set forth in claim 21 wherein said control means in said second support is servo operated. ### Claim 31 (depends on 21, 22, 23, 24, 25, 26) A control guidance system as set forth in claims 21, 22, 23, 24, 25 or 26 wherein an analog filter is provided for averaging said first signal to produce said delayed first signal representative of the time average of said leading angle .alpha..sub.1. ### Claim 32 (depends on 21, 22, 23, 24, 25, 26) A control guidance system as set forth in claims 21, 22, 23, 24, 25 or 26 wherein a non-recursive filter is provided for averaging said first signal to produce said delayed first signal representative of the time average of said leading angle .alpha..sub.1. ### Claim 33 (depends on 21, 22, 23, 24, 25, 26) A control guidance system as set forth in claims 21, 22, 23, 24, 25 or 26 wherein a recursive digital filter is provided for averaging said first signal to produce said delayed first signal representative of the time average of said leading angle .alpha..sub.1. ### Claim 34 (depends on 21, 22, 23, 24, 25, 26) A control guidance system as set forth in claims 21, 22, 23, 24, 25 or 26 wherein said distance parameter, said first and second signals, said delayed first signal representative of the time average of said leading angle .alpha..sub.1, and said comparator means, are operated in accordance with a control guidance law for providing steering commands for said trailing support and wherein said control guidance law comprises: SR=G.sub.2 [.alpha..sub.2 ]-G.sub.1 [XS(k)(.alpha..sub.1 -.alpha..sub.1(lagged) -1)+.alpha..sub.1(lagged) -1]; where "SR" is the steering command for said rear support, "G.sub.1 " is a gain constant for said leading support, "G.sub.2 " is a gain constant for said trailing support, "XS" is the incremental distance traveled, "k" is a filter constant, ".alpha..sub.1 " and ".alpha..sub.2 " are, respectively, said leading and trailing centerline angles, and ".alpha..sub.1(lagged) -1" is the previously delayed first signal representative of the time average of said leading angle .alpha..sub.1. ### Claim 35 A control guidance system for automatically steering the steerable wheels of an unmanned wheeled support pivotally connected to the trailing end of a center frame forming part of a long articulated ground vehicle in response to overall vehicle dynamics including the vehicle dynamics of a controlled power driven wheeled support having steerable wheels and pivotally secured to the leading end of the center frame of the articulated vehicle; said control guidance system comprising, in combination: (a) means for measuring a parameter indicative of the distance traveled by said vehicle; (b) means for measuring the leading angle .alpha..sub.1 between the longitudinal centerlines passing through said center frame and said controlled support as said vehicle traverses a path which is, at least in part, curvilinear so as to produce a first signal representative of said leading angle .alpha..sub.1 ; (c) means for delaying said first signal representative of said leading angle .alpha..sub.1 for a time increment sufficient to permit said articulated vehicle to move a distance substantially proportional to the longitudinal spacing between said pivotal connections of said center frame to both said controlled support and said unmanned support; (d) means for measuring the trailing angle .alpha..sub.2 between the longitudinal centerlines passing through said center frame and said unmanned support so as to produce a second signal representative of said trailing angle .alpha..sub.2 ; (e) means for comparing said second signal representative of said trailing angle .alpha..sub.2 at the end of said time increment with said delayed first signal measured at the beginning of said time increment, and for producing a third signal representative of the angular difference between said trailing angle .alpha..sub.2 and said delayed leading angle .alpha..sub.1 ; and, (f) control means responsive to said third signal for automatically steering said unmanned support through a steering angle .beta. sufficient to maintain said trailing angle .alpha..sub.2 at the end of said time increment substantially equal to said delayed leading angle .alpha..sub.1 as measured at the beginning of said time increment so that said unmanned support travels over substantially the same path as said controlled support as said articulated ground vehicle traverses said path. ### Claim 36 (depends on 36) A control guidance system as set forth in claim 36 wherein said controlled power driven wheeled support is a manned operator controlled vehicle. ### Claim 37 (depends on 35) A control guidance system as set forth in claim 35 wherein said controlled power driven wheeled support is an unmaned automatically controlled vehicle. ### Claim 38 (depends on 35) A control guidance system as set forth in claim 35 wherein said controlled power driven wheeled support is a tractor. ### Claim 39 (depends on 38) A control guidance system as set forth in claim 38 wherein said unmanned support is a tractor. ### Claim 40 (depends on 39) A control guidance system as set forth in claim 39 wherein said controlled support and said unmanned support are oppositely directed.