Control apparatus for utility vehicle

• US 10,386,852 B2
• Filed: 03/29/2017
• Issued: 08/20/2019
• Est. Priority Date: 03/31/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Shimamura, Hideaki, Matsui, Yuki
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): LaRose, Renee
• Application Number:
  US15/473,443
• Publication Number:
  US 20170285652A1
• Time in Patent Office: 874 Days
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 34/63 having cutters rotating about a vertical axis
• CPC Class Codes: A01D 34/78 electric
• CPC Class Codes: A01D 69/02 electric
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• CPC Class Codes: B60K 2001/0416 Arrangement in the rear part of the vehicle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2210/30 AC to DC converters
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/16 Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: B60R 16/0207 Wire harnesses
• CPC Class Codes: B60R 2021/01013 Means for detecting collision, impending collision or roll-over
• CPC Class Codes: B60R 21/0136 responsive to actual contact with an obstacle , e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle monitoring crash strength in combination with passenger seat detection B60R21/01558
• CPC Class Codes: G01C 21/08 involving use of the magnetic field of the earth
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0265 : using buried wires
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles

Abstract

In an apparatus for controlling operation of a utility vehicle that detects a magnetic field generated by electric current flowing through a boundary wire of a working area and is driven to run within the working area based on the detected magnetic field, having left and right magnetic sensor installed at lateral right and left positions of the vehicle to produce outputs proportional to strength of the magnetic field, turning mode is switched between gentle turning mode to make the vehicle turn while running near the boundary wire and sharp turning mode to make the vehicle pause near the boundary wire and then turn, when it is determined from the outputs of the magnetic sensors that the vehicle approaches the boundary wire, each time predetermined conditions are satisfied, and operation of the prime mover is controlled such that the vehicle turns in accordance with the switched turning mode.

Claims

1. An apparatus for controlling operation of a utility vehicle that detects a boundary of a working area and is driven by a prime mover to run within the working area based on the detected boundary, comprising:

a sensor installed on the utility vehicle and produces outputs indicating the boundary of the working area; and

an electronic control unit having a microprocessor and a memory,

wherein the microprocessor is configured to function as;

a running control unit configured to control operation of the prime mover such that the vehicle turns in accordance with a first turning mode to make the vehicle turn while running near the boundary at a desired turning radius and a first desired turning angle and a second turning mode to make the vehicle pause near the boundary and then turn at a second desired turning angle when it is determined from the outputs of the sensor that the vehicle approaches the boundary;

a mode setting unit configured to initially set one of the first turning mode and the second turning mode at beginning of operation; and

a mode switching unit configured to switch the turning mode between the first turning mode and the second turning mode each time it is determined that a predetermined condition including at least one of an operating time of and a number of turns of the vehicle is satisfied,

wherein the running control unit controls operation of the prime mover such that the vehicle turns in accordance with the switched turning mode.

2. The apparatus according to claim 1, wherein the predetermined condition includes the operating time of the vehicle, and it is determined that the predetermined condition is satisfied when the operating time of the vehicle is equal to or greater than a prescribed time.

3. The apparatus according to claim 1, wherein the predetermined condition includes the number of turns of the vehicle, and it is determined that the predetermined condition is satisfied when the number of the turns of the vehicle is equal to or greater than a prescribed number.

4. The apparatus according to claim 1, wherein the running control unit memorizes a number of times that the predetermined condition is satisfied after finishing controlling of the operation of the prime mover.

5. The apparatus according to claim 1, wherein the first turning mode is a mode to calculate the desired turning radius and the first desired turning angle of the vehicle and to turn the vehicle in accordance with the calculated turning radius and turning angle toward a side of a body of the vehicle.

6. The apparatus according to claim 5, wherein an approach angle of the vehicle toward the boundary is calculated, and the first desired turning angle is calculated based on random values between a minimum value and a maximum value of a calculated approach angle.

7. The apparatus according to claim 1, wherein the second turning mode is a mode to make the vehicle run straight forward, pause the vehicle when a front end part of a body of the vehicle crosses over the boundary, and next turn the vehicle with the front end part of the body that crossed over the boundary as an outer wheel side.

8. A method for controlling operation of a utility vehicle that detects a boundary of a working area and is driven by a prime mover to run within the working area based on the detected boundary, having:

a sensor installed on the utility vehicle and produces outputs indicating the boundary of the working area;

comprising the steps of;

controlling operation of the prime mover such that the vehicle turns in accordance with a first turning mode to make the vehicle turn while running near the boundary at a desired turning radius and a first desired turning angle and a second turning mode to make the vehicle pause near the boundary and then turn at a second desired turning angle when it is determined from the outputs of the sensor that the vehicle approaches the boundary;

initially setting one of the first turning mode and the second turning mode at beginning of operation; and

switching the turning mode between the first turning mode and the second turning mode each time it is determined that a predetermined condition including at least one of an operating time of and a number of turns of the vehicle is satisfied,

wherein the step of controlling operation of the prime mover controls operation of the prime mover such that the vehicle turns in accordance with the switched turning mode.

9. The method according to claim 8, wherein the predetermined condition includes the operating time of the vehicle, and it is determined that the predetermined condition is satisfied when the operating time of the vehicle is equal to or greater than a prescribed time.

10. The method according to claim 8, wherein the predetermined condition includes a number of turns of the vehicle, and it is determined that the predetermined condition is satisfied when the number of the turns of the vehicle is equal to or greater than a prescribed number.

11. The method according to claim 8, wherein the step of controlling operation of the prime mover memorizes a number of times that the predetermined condition is satisfied after finishing controlling of the operation of the prime mover.

12. The method according to claim 8, wherein the first turning mode is a mode to calculate the desired turning radius and the first desired turning angle of the vehicle and to turn the vehicle in accordance with the calculated turning radius and turning angle toward a side of a body of the vehicle.

13. The method according to claim 12, wherein an approach angle of the vehicle toward the boundary is calculated, and the first desired turning angle is calculated to random values between a minimum value and a maximum value of a calculated approach angle.

14. The method according to claim 8, wherein the second turning mode is a mode to make the vehicle run straight forward, pause the vehicle when a front end part of a body of the vehicle crosses over the boundary, and next turn the vehicle with the front end part of the body that crossed over the boundary as an outer wheel side.