Transporter vehicle and transporter vehicle control method

• US 9,550,493 B2
• Filed: 09/01/2014
• Issued: 01/24/2017
• Est. Priority Date: 09/01/2014
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Ohsugi, Shigeru, Watanabe, Hiroyuki, Mitsuta, Shinji
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US14/430,335
• Publication Number:
  US 20160059854A1
• Time in Patent Office: 876 Days
• Field of Search: 701/50, 701/96, 701/300, 701/301, 340/435, 340/436, 342/70
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision

Abstract

A transporter vehicle includes: a vehicle; an object detection device which includes a detection area at a front side of the vehicle and detects an object at the front side of the vehicle; a process system capable of performing a process for reducing damage caused by a collision; a specific detection area setting unit which sets a specific detection area having a width of a first dimension in a width direction of the vehicle and a length of a second dimension in a traveling direction of the vehicle in the detection area; a collision determination unit which determines whether an object exists in the specific detection area based on a detection result of the object detection device; and a control unit which outputs a signal for reducing damage caused by the collision to the process system based on a determination result of the collision determination unit.

Claims

1. A transporter vehicle comprising:

a vehicle;

an object detection device which includes a detection area at a front side of the vehicle and detects an object at the front side of the vehicle;

a process system which performs a process for reducing damage caused by a collision;

a specific detection area setting unit which sets a specific detection area having a width of a first dimension in a width direction of the vehicle and a length of a second dimension in a traveling direction of the vehicle in the detection area;

a collision determination unit which determines whether the object exists in the specific detection area based on a detection result of the object detection device; and

a control unit which outputs a signal for reducing damage caused by the collision to the process system based on a determination result of the collision determination unit,

wherein the specific detection area setting unit changes a shape of the specific detection area based on a loaded state of a load in a vessel of the vehicle.

2. The transporter vehicle according to claim 1,

wherein the first dimension includes a dimension of a vehicle width of the vehicle.

3. The transporter vehicle according to claim 1,

wherein the specific detection area setting unit changes the shape of the specific detection area based on a traveling condition of the vehicle.

4. The transporter vehicle according to claim 3,

wherein the object detection device is able to detect a relative speed with respect to the object existing in the detection area,

wherein the traveling condition of the vehicle includes the relative speed between the vehicle and the object, and

wherein the specific detection area setting unit changes the length of the specific detection area based on the relative speed.

5. The transporter vehicle according to claim 3, further comprising:

a traveling speed detection device which detects a traveling speed of the vehicle,

wherein the traveling condition of the vehicle includes the traveling speed of the vehicle, and

wherein the specific detection area setting unit changes the length of the specific detection area based on the traveling speed.

6. The transporter vehicle according to claim 3, further comprising:

a traveling direction detection device which detects the traveling direction of the vehicle,

wherein the traveling condition of the vehicle includes the traveling direction of the vehicle, and

wherein the specific detection area setting unit bends the shape of the specific detection area based on the traveling direction.

7. The transporter vehicle according to claim 1, further comprising:

a loading state detection device which detects the loaded state of the load including a weight of the load,

wherein the specific detection area setting unit changes the length of the specific detection area based on the weight of the load.

8. The transporter vehicle according to claim 1,

wherein a determination of the collision determination unit includes a case in which a possibility of the collision is classified into a plurality of levels, and

wherein the specific detection area setting unit classifies the specific detection area into a plurality of portions based on the level.

9. The transporter vehicle according to claim 8,

wherein the process system includes a plurality of process devices capable of performing different processes, and

wherein the control unit outputs the signal to a specific process device based on the level.

10. The transporter vehicle according to claim 9,

wherein the process device includes at least one of an alarm device capable of performing an alarm generation process, a brake device capable of performing a brake process for a traveling device of the vehicle, and a power generation device capable of performing an output reduction process for reducing a driving force for the traveling device of the vehicle.

11. The transporter vehicle according to claim 1,

wherein when the first and second objects exist in the detection area, the specific detection area setting unit sets the first specific detection area and the second specific detection area based on the detection result of the object detection device,

wherein the collision determination unit specifies an object having a high possibility of the collision among the first and second objects, and

wherein the control unit outputs a signal for reducing damage caused by the collision with the object having the high possibility of the collision.

12. The transporter vehicle according to claim 1, further comprising:

an operation device which is disposed in a driving room of the vehicle and is operated by a driver,

wherein the specific detection area is invalidated when the operation device is operated.

13. The transporter vehicle according to claim 1, further comprising:

a steering device capable of changing the traveling direction of the vehicle so that one of a straight movement state and a non-straight movement state changes to the other of the straight movement state and the non-straight movement state,

wherein the specific detection area is invalidated when a change amount in the traveling direction from the straight movement state becomes a predetermined threshold value or more.

14. The transporter vehicle according to claim 1,

wherein the specific detection area is invalidated when a traveling speed of the vehicle becomes a predetermined threshold value or less.

15. The transporter vehicle according to claim 1, further comprising:

a speed change device capable of changing an advancing direction of the vehicle,

wherein the specific detection area is invalidated when the vehicle moves backward.

16. A transporter vehicle comprising:

a vehicle;

an object detection device which includes a detection area at a front side of the vehicle and detects an object at the front side of the vehicle;

a process system which performs a process for reducing damage caused by a collision;

a specific detection area setting unit which sets a specific detection area having a width of a first dimension in a width direction of the vehicle and a length of a second dimension in a traveling direction of the vehicle in the detection area;

a collision determination unit which determines whether the object exists in the specific detection area based on a detection result of the object detection device; and

a control unit which outputs a signal for reducing damage caused by the collision to the process system based on a determination result of the collision determination unit,

wherein the specific detection area includes a first portion, a second portion which is far from the vehicle in relation to the first portion in the traveling direction, and a third portion which is far from the vehicle in relation to the second portion in the traveling direction,

wherein a dimension of a width of the first portion is a dimension of a vehicle width of the vehicle, and

wherein a dimension of a width of the third portion is larger than the dimension of the width of the first portion.

17. A transporter vehicle comprising:

a vehicle;

an object detection device which includes a detection area at a front side of the vehicle and detects an object at the front side of the vehicle;

a process system which performs a process for reducing damage caused by a collision;

a specific detection area setting unit which sets a specific detection area having a width of a first dimension in a width direction of the vehicle and a length of a second dimension in a traveling direction of the vehicle in the detection area;

a collision determination unit which determines whether the object exists in the specific detection area based on a detection result of the object detection device; and

a control unit which outputs a signal for reducing damage caused by the collision to the process system based on a determination result of the collision determination unit,

wherein when the vehicle is in one of a loading field or a soil disposal field, the specific detection area is invalidated.