Electric vehicle, active safety control system for electric vehicle, and control method for active safety control system of electric vehicle
US-2017232848-A1 · Aug 17, 2017 · US
Electric work vehicle
US10029571B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10029571-B2 |
| Application number | US-201615336074-A |
| Country | US |
| Kind code | B2 |
| Filing date | Oct 27, 2016 |
| Priority date | Oct 29, 2015 |
| Publication date | Jul 24, 2018 |
| Grant date | Jul 24, 2018 |
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- Title
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- Abstract
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Abstract
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An electric work vehicle includes a left motor which supplies rotating power to a left drive wheel, a right motor which supplies rotating power to a right drive wheel, a motor control unit which provides drive signals to the left motor and the right motor independently of each other in response to an operation relative to a steering operation unit, a yaw rate detector which detects an actual yaw rate of a vehicle body, an arithmetic yaw rate computing unit which derives an arithmetic yaw rate based on a rotating speed of the left motor or the left drive wheel and a rotating speed of the right motor or the right drive wheel, and a slip detection unit detecting occurrence of slipping based on the arithmetic yaw rate and an actual yaw rate.
First claim
Opening claim text (preview).
What is claimed is: 1. An electric work vehicle comprising: a vehicle body including a steering operation unit; a left motor which supplies rotating power to a left drive wheel supporting the vehicle body to the ground; a right motor which supplies rotating power to a right drive wheel supporting the vehicle body to the ground; a motor control unit which provides drive signals to the left motor and the right motor independently of each other in response to an operation relative to the steering operation unit; a yaw rate detector which detects an actual yaw rate of the vehicle body; an arithmetic yaw rate computing unit which derives an arithmetic yaw rate based on a rotating speed of the left motor or the left drive wheel and a rotating speed of the right motor or the right drive wheel; and a slip detection unit detecting occurrence of slipping based on the arithmetic yaw rate and an actual yaw rate, wherein the slip detection unit determines that the electric work vehicle travels on a sloping ground if the actual yaw rate exceeds the arithmetic yaw rate. 2. The electric work vehicle according to claim 1 , wherein the slip detection unit computes a difference between the actual yaw rate and the arithmetic yaw rate; and determines that slipping occurs if the difference is equal to or greater than an upper threshold. 3. The electric work vehicle according to claim 1 , wherein the slip detection unit specifies which of the drive wheels slips based on a sign of the difference between the actual yaw rate and the arithmetic yaw rate. 4. The electric work vehicle according to claim 1 , wherein when the actual yaw rate and the arithmetic yaw rate are below a lower threshold, the slip detection unit determines that both the left drive wheel and the right drive wheel slip based on detection results from an acceleration sensor which detects acceleration of the vehicle body. 5. An electric work vehicle comprising: a vehicle body including a steering operation unit; a left motor which supplies rotating power to a left drive wheel supporting the vehicle body to the ground; a right motor which supplies rotating power to a right drive wheel supporting the vehicle body to the ground; a motor control unit which provides drive signals to the left motor and the right motor independently of each other in response to an operation relative to the steering operation unit; a yaw rate detector which detects an actual yaw rate of the vehicle body; an arithmetic yaw rate computing unit which derives an arithmetic yaw rate based on a rotating speed of the left motor or the left drive wheel and a rotating speed of the right motor or the right drive wheel; and a slip detection unit detecting occurrence of slipping based on the arithmetic yaw rate and an actual yaw rate, wherein the slip detection unit computes a difference between the actual yaw rate and the arithmetic yaw rate; and determines that slipping occurs if the difference is equal to or greater than an upper threshold. 6. The electric work vehicle according to claim 5 , wherein the slip detection unit specifies which of the drive wheels slips based on a sign of the difference between the actual yaw rate and the arithmetic yaw rate. 7. The electric work vehicle according to claim 5 , wherein when the actual yaw rate and the arithmetic yaw rate are below a lower threshold, the slip detection unit determines that both the left drive wheel and the right drive wheel slip based on detection results from an acceleration sensor which detects acceleration of the vehicle body.
Assignees
Inventors
Classifications
Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719 · CPC title
Slip · CPC title
Speed · CPC title
Working vehicles · CPC title
Wheel motors, i.e. motor connected to only one wheel · CPC title
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Frequently asked questions
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- What does patent US10029571B2 cover?
- An electric work vehicle includes a left motor which supplies rotating power to a left drive wheel, a right motor which supplies rotating power to a right drive wheel, a motor control unit which provides drive signals to the left motor and the right motor independently of each other in response to an operation relative to a steering operation unit, a yaw rate detector which detects an actual ya…
- Who is the assignee on this patent?
- Kubota Kk
- What technology area does this patent fall under?
- Primary CPC classification B60L3/10. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Jul 24 2018 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 3 related publications on this page (citations in our corpus or others sharing the same primary CPC).