Method of stabilization by entrainment of a train of 2004.

摘要

The present invention relates to a process of stabilization of a train of vehicles (11, 12) connected in pairs one behind the other, comprising a head (11) and at least a second vehicle (12) comprising a front train (14) with two wheels (17, 18) to move in rotation about an axis, a rear axle (15) with two wheels (19, 20) to move in rotation about an axis, the front axis of a second vehicle (12) being coincident with the rear axis of the vehicle (11, 12) which precedes it, an articulation (21) is configured in order to make the rear axle (15) which is movable in rotation about a vertical axis substantially perpendicular to the plane of reference with respect to the front axle (14), a sensor adapted to estimate the orientation of the second vehicle (12), a computer, the method comprising the following steps: the estimation of the position and orientation of the vehicles (11, 12), • determination of the difference between the real trajectory and the reference path, the calculation of a control vector to be applied to the rear axle (15), • application of the control vector at the rear axle (15) of the vehicle (12).