WORK VEHICLE CONTROL SYSTEM

• US 20170285658A1
• Filed: 03/31/2016
• Published: 10/05/2017
• Est. Priority Date: 03/31/2016
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Sakai, Atsushi, Shiga, Tatsuya, Kou, Ryuuen
• Granted Patent: US 10,146,228 B2
• Time in Patent Office: Days
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 7/00 Brake-action initiating means
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60Y 2200/41 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A work vehicle control system controls a work vehicle having a braking device. The work vehicle control system includes a location information generating unit that obtains and outputs a location of the work vehicle, and a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit. The control unit determines braking force that controls the braking device based on first accuracy that is accuracy of the location information of the work vehicle obtained from the location information generating unit.

Claims

1. A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising:

a location information generating unit that obtains and outputs a location of the work vehicle; and

a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit, wherein

the control unit determines braking force that controls the braking device based on first accuracy that is accuracy of the location information of the work vehicle obtained from the location information generating unit.

2. The work vehicle control system according to claim 1, wherein

the location information generating unit has at least a GNSS location information generating unit and a scan matching navigation location information generating unit, and

the first accuracy of the location information of the work vehicle obtained from the GNSS location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the scan matching navigation location information generating unit.

3. The work vehicle control system according to claim 1, wherein

the location information generating unit has at least a GNSS location information generating unit and a dead reckoning navigation location information generating unit, and

the first accuracy of the location information of the work vehicle obtained from the GNSS location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the dead reckoning navigation location information generating unit.

4. The work vehicle control system according to claim 1, wherein

the location information generating unit has at least a scan matching navigation location information generating unit and a dead reckoning navigation location information generating unit, and

the first accuracy of the location information of the work vehicle obtained from the scan matching navigation location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the dead reckoning navigation location information generating unit.

5. The work vehicle control system according to claim 1, wherein

the control unit determines the braking force such that an impact that occurs on the work vehicle is reduced as the first accuracy becomes high.

6. The work vehicle control system according to claim 5, wherein

the control unit controls the braking device using first control that causes the braking device to generate the braking force and second control that is executed after the first control and has the braking force equal to or larger than the braking force of the first control, and

the control unit determines the braking force such that the braking force at a time of the first control is increased as the first accuracy becomes high.

7. The work vehicle control system according to claim 5, wherein

the control unit controls the braking device using only first control that causes the braking device to generate the braking force, and

the control unit determines the braking force such that the braking force is reduced as the first accuracy becomes high.

8. The work vehicle control system according to claim 1, wherein

the braking force that controls the braking device is determined by second accuracy that is location accuracy required when the work vehicle stops at a target stop location.

9. A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising:

a location information generating unit that obtains and outputs a location of the work vehicle; and

a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit, wherein

the control unit determines braking force that controls the braking device by using second accuracy that is location accuracy required when the work vehicle stops at a target stop location.

10. The work vehicle control system according to claim 9, wherein

the stop location has at least a discharging location for a crusher and a stop location on a haul lane, and

the second accuracy at the discharging location for the crusher is higher than the second accuracy at the stop location on the haul lane.

11. The work vehicle control system according to claim 9, wherein

the stop location has at least a discharging location for a cliff bottom and a stop location on a haul lane, and

the second accuracy at the discharging location for the cliff bottom is higher than the second accuracy at the stop location on the haul lane.

12. The work vehicle control system according to claim 9, wherein

the stop location has at least a loading location and a stop location on a haul lane, and

the second accuracy at the loading location is higher than the second accuracy at the stop location on the haul lane.

13. The work vehicle control system according to claim 9, wherein

the control unit determines the braking force such that an impact that occurs on the work vehicle is reduced as the second accuracy becomes low.

14. The work vehicle control system according to claim 13, wherein

the control unit controls the braking device using first control that causes the braking device to generate the braking force and second control that is executed after the first control and has the braking force equal to or larger than the braking force of the first control, and

the control unit determines the braking force such that the braking force at a time of the first control is increased as the second accuracy becomes low.

15. The work vehicle control system according to claim 13, wherein

the control unit controls the braking device using only first control that causes the braking device to generate the braking force, and

the control unit determines the braking force such that the braking force is reduced as the second accuracy becomes low.