Work vehicle control system

Patent metadata

Field	Value
Publication number	US-10146228-B2
Application number	US-201615311226-A
Country	US
Kind code	B2
Filing date	Mar 31, 2016
Priority date	Mar 31, 2016
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

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.

First claim

The invention claimed is:

1. A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising:
a first location information device configured to obtain and output first location information of the work vehicle and to have a first measurement accuracy;
a second location information device configured to obtain and output second location information of the work vehicle and to have a second measurement accuracy greater than the first measurement accuracy; and
a vehicle body controller configured to control the braking device by applying a braking force that is determined based on one of the first and second location information, wherein
the vehicle body controller increases the braking force when the braking device is controlled with the second location information device having the second measurement accuracy and decreases the braking force when the braking device is controlled with the first location information device having the first measurement accuracy.

2. The work vehicle control system according to claim 1 , wherein
the second location information device includes a GNSS receiver and the first location information device includes a location output controller,
the location output controller is configured to calculate the location information of the work vehicle by scan matching navigation, and
the measurement accuracy of the location information of the work vehicle obtained from the GNSS receiver is higher than from the location output controller.

3. The work vehicle control system according to claim 1 , wherein
the second location information device includes a GNSS receiver and the first location information device includes a dead reckoning processor,
the dead reckoning processor is configured to estimate the location information of the work vehicle by dead reckoning navigation, and
the measurement accuracy of the location information of the work vehicle obtained from the GNSS receiver is higher than from the dead reckoning processor.

4. The work vehicle control system according to claim 1 , wherein
the second location information device includes a location output controller and the first location information device includes a dead reckoning processor,
the location output controller is configured to calculate the location information of the work vehicle by scan matching navigation,
the dead reckoning processor is configured to estimate the location information of the work vehicle by dead reckoning navigation, and
the measurement accuracy of the location information of the work vehicle obtained from the location output controller is higher than from the dead reckoning processor.

5. The work vehicle control system according to claim 1 , wherein
the vehicle body controller determines the braking force so as to reduce an impact that occurs on the work vehicle as the measurement accuracy becomes higher.

6. The work vehicle control system according to claim 5 , wherein
the vehicle body controller controls the braking device by a first control and a second control executed after the first control,
the vehicle body controller causes the braking device to generate the braking force in the first control and the second control respectively, the braking force of the second control is equal to or larger than the braking force of the first control, and
the vehicle body controller determines the braking force so as to increase the braking force in the first control as the measurement accuracy becomes higher.

7. The work vehicle control system according to claim 5 , wherein
the vehicle body controller controls the braking device by only a first control,
the vehicle body controller causes the braking device to generate the braking force in the first control, and
the vehicle body controller determines the braking force so as to reduce the braking force as the measurement accuracy becomes higher.

8. The work vehicle control system according to claim 1 , wherein
the vehicle body controller determines the braking force of the braking device based on a target location accuracy required when the work vehicle stops at a stop location.

9. A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising:
a first target location having a first target location accuracy;
a second target location information having a second target location accuracy greater than the first target location accuracy;
a location information device configured to obtain and output location information of the work vehicle; and
a vehicle body controller configured to control the braking device by applying a braking force that is determined based on the location information of the work vehicle obtained from the location information device, wherein
the vehicle body controller increases the braking force when the vehicle is at or near the second target location having the second target location accuracy and decreases the braking force when the vehicle is at or near the first target location having the first target location accuracy.

10. The work vehicle control system according to claim 9 , wherein
the second target location comprises a discharging location for a crusher and the first target location comprises a haul stop location on a haul lane, and
the target location accuracy is higher at the discharging location for the crusher at the haul stop location on the haul lane.

11. The work vehicle control system according to claim 9 , wherein
the second target location comprises a discharging location for a cliff bottom and the first target location comprises a haul stop location on a haul lane, and
the target location accuracy is higher at the discharging location for the cliff bottom than at the haul stop location on the haul lane.

12. The work vehicle control system according to claim 9 , wherein
the second target location comprises a loading location and the first target location comprises a haul stop location on a haul lane, and
the target location accuracy is higher at the loading location than at the haul stop location on the haul lane.

13. The work vehicle control system according to claim 9 , wherein
the vehicle body controller determines the braking force so as to reduce an impact that occurs on the work vehicle as the target location accuracy becomes lower.

14. The work vehicle control system according to claim 13 , wherein
the vehicle body controller controls the braking device by a first control and a second control executed after the first control,
the vehicle body controller causes the braking device to generate the braking force in the first control and the second control respectively, the braking force of the second control is equal to or larger than the braking force of the first control, and
the vehicle body controller determines the braking force so as to increase the braking force in the first control as the target location accuracy becomes lower.

15. The work vehicle control system according to claim 13 , wherein
the vehicle body controller controls the braking device by only a first control,
the vehicle body controller causes the braking device to generate the braking force in the first control, and
the vehicle body controller determines the braking force so as to reduce the braking force as the target location accuracy becomes lower.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Sakai Atsushi
• Shiga Tatsuya
• Kou Ryuuen

Classifications

• G01S17/931

  of land vehicles · CPC title

• B60T2201/02

  Active or adaptive cruise control system; Distance control · CPC title

• G01C21/26

  specially adapted for navigation in a road network · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title

• B60T7/22

  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 title