TRANSPORTER VEHICLE AND TRANSPORTER VEHICLE CONTROL METHOD
First Claim
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1. A transporter vehicle comprising:
- a vehicle;
a vessel that is provided in the vehicle;
a traveling state detection device that detects a traveling state of the vehicle;
an object detection device that detects an object in front of the vehicle; and
a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device.
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Abstract
A transporter vehicle includes: a vehicle; a vessel that is provided in the vehicle; a traveling state detection device that detects a traveling state of the vehicle; an object detection device that detects an object in front of the vehicle; and a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device.
55 Citations
17 Claims
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1. A transporter vehicle comprising:
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a vehicle; a vessel that is provided in the vehicle; a traveling state detection device that detects a traveling state of the vehicle; an object detection device that detects an object in front of the vehicle; and a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A transporter vehicle comprising:
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a vehicle; a vessel that is provided in the vehicle; a traveling state detection device that detects a traveling state of the vehicle; an object detection device that detects an object in front of the vehicle; a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device; a variable setting unit that sets a deceleration of the vehicle based on the loading state of the load of the vessel; and a calculation unit that calculates, based on a traveling speed of the vehicle at a first point detected by the traveling state detection device and the deceleration set by the variable setting unit, a required stop distance between the first point and a second point where the vehicle can be stopped, calculates a stop distance passage time from a first time point at which the vehicle exists at the first point to a second time point at which the vehicle arrives at the second point when the vehicle travels by the required stop distance at the traveling speed, and calculates, based on a relative distance and a relative speed of the object and the vehicle at the first time point detected by the object detection device, an object arrival time from the first time point to a third time point at which the vehicle arrives at the object when the vehicle travels by the relative distance at the relative speed from the first time point, wherein the collision determination unit estimates a time until the collision with the object occurs based on the deceleration set by the variable setting unit, the detection result of the traveling state detection device, and the detection result of the object detection device to determine the possibility of collision based on the stop distance passage time and the object arrival time.
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14. A transporter vehicle control method comprising:
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detecting a traveling state of a transporter vehicle including a vessel by a traveling state detection device provided in the transporter vehicle; detecting an object in front of the transporter vehicle by an object detection device provided in the transporter vehicle; and determining a possibility of collision between the transporter vehicle and the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device. - View Dependent Claims (15, 16, 17)
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Specification