Transporter vehicle and transporter vehicle control method

Patent metadata

Field	Value
Publication number	US-9902397-B2
Application number	US-201414401616-A
Country	US
Kind code	B2
Filing date	Jul 30, 2014
Priority date	Jul 30, 2014
Publication date	Feb 27, 2018
Grant date	Feb 27, 2018

Abstract

A transporter vehicle includes: a vehicle; a vessel that is provided in the vehicle; a traveling state detection device that detects a traveling state of the vehicle; an object detection device that detects an object in front of the vehicle; and a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device.

First claim

The invention claimed is:

1. A transporter vehicle comprising:
a vehicle;
a vessel that is provided in the vehicle;
a traveling state detection device that detects a traveling state of the vehicle;
an object detection device that detects an object in front of the vehicle;
a detection unit that detects a loading state of a load of the vessel; and
a collision determination unit that determines a possibility of collision with the object based on a deceleration of the vehicle set based on the loading state of the load of the vessel detected by the detection unit, a detection result of the traveling state detection device, and a detection result of the object detection device; and
a calculation unit that
calculates, based on a traveling speed of the vehicle at a first point detected by the traveling state detection device and the deceleration, a required stop distance between the first point and a second point where the vehicle can be stopped,
calculates a stop distance passage time from a first time point at which the vehicle exists at the first point to a second time point at which the vehicle arrives at the second point when the vehicle travels by the required stop distance at the traveling speed from the first time point, and
calculates, based on a relative distance and a relative speed of the object and the vehicle at the first time point detected by the object detection device, an object arrival time from the first time point to a third time point at which the vehicle arrives at the object when the vehicle travels by the relative distance at the relative speed from the first time point,

wherein the collision determination unit determines the possibility of collision based on the stop distance passage time and the object arrival time.

2. The transporter vehicle according to claim 1 , further comprising:
a variable setting unit that sets the deceleration of the vehicle based on the loading state of the load of the vessel,
wherein the collision determination unit determines the possibility of collision by estimating a time until the collision with the object occurs based on the deceleration set by the variable setting unit, the detection result of the traveling state detection device, and the detection result of the object detection device.

3. The transporter vehicle according to claim 2 , further comprising:
a calculation unit that calculates, based on a traveling speed of the vehicle at a first point detected by the traveling state detection device and the deceleration set by the variable setting unit, a required stop distance between the first point and a second point where the vehicle can be stopped, calculates a stop distance passage time from a first time point at which the vehicle exists at the first point to a second time point at which the vehicle arrives at the second point when the vehicle travels by the required stop distance at the traveling speed, and calculates, based on a relative distance and a relative speed of the object and the vehicle at the first time point detected by the object detection device, an object arrival time from the first time point to a third time point at which the vehicle arrives at the object when the vehicle travels by the relative distance at the relative speed from the first time point,
wherein the collision determination unit determines the possibility of collision based on the stop distance passage time and the object arrival time.

4. The transporter vehicle according to claim 1 , further comprising:
a process system capable of performing a process for reducing damage caused by the collision; and
a control unit that outputs a signal for reducing damage caused by the collision to the process system based on a determination result of the collision determination unit.

5. The transporter vehicle according to claim 4 ,
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 determination result of the collision determination unit.

6. The transporter vehicle according to claim 5 ,
wherein the determination of the collision determination unit includes a classification of the possibility of collision into a plurality of levels, and
wherein the control unit outputs the signal to a specific process device based on the level.

7. The transporter vehicle according to claim 4 ,
wherein the process devices include at least one of an alarm device capable of performing an alarm generation process, a braking device capable of performing a brake process on a traveling device of the vehicle, and a power generation device capable of performing an output reduction process of reducing a driving force for the traveling device of the vehicle.

8. The transporter vehicle according to claim 1 , wherein a detection result of the detection unit is output to the collision determination unit.

9. The transporter vehicle according to claim 1 ,
wherein the detection unit includes a weight sensor that detects a weight of the vessel.

10. The transporter vehicle according to claim 1 ,
wherein the loading state includes a state whether a load exists in the vessel.

11. The transporter vehicle according to claim 10 ,
wherein a load is loaded on the vessel in a loading field of a mine, the vehicle travels from the loading field to a soil disposal field of the mine, and the load is discharged in the soil disposal field,
wherein a first deceleration is set when the vehicle travels after the load is loaded in the loading field, and
wherein a second deceleration larger than the first deceleration is set when the vehicle travels after the load is discharged in the soil disposal field.

12. The transporter vehicle according to claim 1 ,
wherein a load is loaded on the vessel by a loading machine in the loading field, and
wherein information on the loading state of the vessel is output from the loading machine to the collision determination unit.

13. A transporter vehicle comprising:
a vehicle;
a vessel that is provided in the vehicle;
a traveling state detection device that detects a traveling state of the vehicle;
an object detection device that detects an object in front of the vehicle;
a collision determination unit that determines a possibility of collision with the object based on a loading state of a load of the vessel, a detection result of the traveling state detection device, and a detection result of the object detection device;
a variable setting unit that sets a deceleration of the vehicle based on the loading state of the load of the vessel; and
a calculation unit that
calculates, based on a traveling speed of the vehicle at a first point detected by the traveling state detection device and the deceleration, a required stop distance between the first point and a second point where the vehicle can be stopped,
calculates a stop distance passage time from a first time point at which the vehicle exists at the first point to a second time point at which the vehicle arrives at the second point when the vehicle travels by the required stop distance at the traveling speed from the first time point, and
calculates, based on a relative distance and a relative speed of the object and the vehicle at the first time point detected by the object detection device, an object arrival time from the first time point to a third time point at which the vehicle arrives at the object when the vehicle travels by the relative distance at the relative speed from the first time point,

wherein the collision determination unit estimates a time until the collision with the object o

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Ohsugi Shigeru
• Sugihara Motohide
• Mitsuta Shinji

Classifications

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W2540/215

  Selection or confirmation of options · 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

• B60W2530/10

  Weight · CPC title