Vehicle control systems and methods

• US 9,533,864 B2
• Filed: 04/29/2015
• Issued: 01/03/2017
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: Nacco Materials Handling Group Incorporated (Nacco Industries Incorporated)
• Original Assignee: Hyster-Yale Group Inc.
• Inventors: Peterson, Kenneth W.
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/699,952
• Publication Number:
  US 20150315000A1
• Time in Patent Office: 615 Days
• Field of Search: 701/50, 701/2, 701/540, 701/99, 701/23, 701/1, 701/3, 701/16, 701/36, 701/37, 701/96, 701/70, 701/93, 701/22, 701/41, 701/49, 701/28, 701/537, 701/82
• US Class Current: 1/1
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/24 Electrical devices or systems
• CPC Class Codes: H02P 3/12 by short-circuit or resistive braking
• CPC Class Codes: H02P 3/14 by regenerative braking

Abstract

Vehicles equipped with certain embodiments may be used to pick up a load and to assist the vehicle operator'"'"'s control of the vehicle in a manner that inhibits damage to the load. In some embodiments, portions of the system measure a distance between a vehicle and a load. The distance measurement is used by a controller in the vehicle to alter one or more of vehicle and/or vehicle component speed, acceleration characteristics, deceleration characteristics, target speed, or speed limit, singularly or in any combination.

Claims

1. A method of controlling a vehicle comprising:

receiving at a vehicle controller a distance data signal representing a distance to an object from a distance sensor attached to a portion of the vehicle;

receiving at the vehicle controller a command from an input device to move the portion of the vehicle to which the distance sensor is attached closer to the object; and

via the vehicle controller, and while the vehicle controller receives the command to move the portion of the vehicle, modifying a movement characteristic of the vehicle based on the distance data signal such that, regardless of whether the command from the input device to move the portion of the vehicle to which the distance sensor is attached commands a constant speed or a speed that is faster than a current speed, the vehicle controller causes the vehicle portion to which the distance sensor is attached to progressively slow until the vehicle portion contacts the object.

2. The method according to claim 1, wherein the vehicle portion to which the distance sensor is attached progressively slows to contact the object at a speed of 0.15 meters per second or less.

3. The method according to claim 1, wherein the vehicle portion to which the distance sensor is attached progressively slows at a linear rate as it approaches the object.

4. The method according to claim 1, wherein the vehicle portion to which the distance sensor is attached progressively slows at a proportional rate as it approaches the object.

5. The method according to claim 1, wherein the input device comprises an accelerator input device and modifying a movement characteristic comprises altering algorithms that control the accelerator input device characteristics such that a control resolution of the accelerator input device is progressively decreased based on the distance data signal.

6. The method according to claim 1, wherein the input device comprises a brake input device and modifying a movement characteristic comprises altering algorithms that control the brake input device characteristics such that a control resolution of the brake input device is progressively increased based on the distance data signal.

7. The method according to claim 1, wherein the input device comprises an accelerator input device and modifying a movement characteristic comprises modifying a traction characteristic of the vehicle to progressively reduce a traction target speed limit for one or more positions of the accelerator input device based on the distance data signal.

8. The method according to claim 1, wherein the input device comprises an accelerator input device and modifying a movement characteristic comprises modifying a traction characteristic of the vehicle to progressively reduce the overall maximum speed limit of the vehicle based on the distance data signal.

9. The method according to claim 1, wherein the input device comprises an accelerator input device and modifying a movement characteristic comprises progressively decreasing acceleration targets for the vehicle based on the distance data signal.

10. The method according to claim 1, wherein the input device comprises an accelerator input device and modifying a movement characteristic comprises progressively increasing deceleration targets for the vehicle based on the distance data signal.

11. The method according to claim 1, wherein the input device comprises an attachment control device and modifying a movement characteristic comprises one or more of progressively decreasing a control resolution of the attachment control device, progressively reducing an attachment speed limit for one or more positions of the attachment control device, progressively reducing the overall maximum speed of an attachment controlled by the attachment control device, progressively decreasing acceleration targets for the attachment controlled by the attachment control device, and progressively increasing deceleration targets for the attachment controlled by the attachment control device.

12. The method according to claim 1, wherein the input device comprises an accelerator input device, a brake input device and an attachment control device and modifying a movement characteristic based on the distance data signal comprises any combination of (a) one or more of progressively decreasing a control resolution of the accelerator input device, progressively increasing a control resolution of the brake input device, progressively reducing a vehicle speed limit for one or more positions of the accelerator input device, progressively reducing the overall maximum vehicle speed, decreasing acceleration targets for the accelerator input device, and progressively increasing deceleration targets for the accelerator input device with (b) one or more of progressively decreasing a control resolution of the attachment control device, progressively reducing an attachment speed limit for one or more positions of the attachment control device, progressively reducing the overall maximum speed of an attachment controlled by the attachment control device, progressively decreasing acceleration targets for the attachment controlled by the attachment control device, and progressively increasing deceleration targets for the attachment controlled by the attachment control device.

13. An apparatus for controlling a vehicle comprising:

a sensor configured to measure a distance to an object mounted on a portion of the vehicle; and

a vehicle controller communicating with the sensor;

wherein the vehicle controller is programmed to receive a motion command from an input device;

wherein the vehicle controller is further programmed to receive a distance data signal representing a distance to an object from the sensor; and

wherein the vehicle controller is further programmed to, while receiving the motion command, modify a motion characteristic of the vehicle based on the distance data signal such that, regardless of whether the command from the input device to move the portion of the vehicle to which the distance sensor is attached commands a constant speed or at a speed that is faster than a current speed, such that the vehicle controller causes the vehicle portion to which the distance sensor is attached to progressively slow as it approaches the object to contact the object.

14. The apparatus according to claim 13, wherein the input device comprises an accelerator input device and a brake input device and modifying a movement characteristic based on the distance data signal comprises any combination of one or more of progressively decreasing a control resolution of the accelerator input device, progressively increasing a control resolution of the brake input device, progressively reducing a vehicle speed limit for one or more positions of the accelerator input device, progressively reducing the overall maximum vehicle speed, progressively decreasing acceleration targets for the accelerator input device, and progressively increasing deceleration targets for the accelerator input device.

15. The apparatus according to claim 13, wherein the input device comprises an attachment control device and modifying a movement characteristic based on the distance data signal comprises any combination of one or more of progressively decreasing a control resolution of the attachment control device, progressively reducing an attachment speed limit for one or more positions of the attachment control device, progressively reducing the overall maximum speed of an attachment controlled by the attachment control device, progressively decreasing acceleration targets for the attachment controlled by the attachment control device, and progressively increasing deceleration targets for the attachment controlled by the attachment control device.