JP4911688B2 - Vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control system, and more particularly to a vehicle control system that can reduce a load applied to a vehicle body such as a tire.

  In a wide-area work site such as a crushed stone site and a mine, when carrying out sediment transport work, the work is performed by running a dump truck.

  The tire cost exceeds 20% in the life cycle cost of the dump truck. For this reason, there is a demand for extending the life of the tire and reducing the life cycle cost.

In Patent Document 1 below, for the purpose of reducing the load on the tire, it is determined whether or not the operation state of the driver is applying a load to the tire, and it is determined that the operation state is applying the load to the tire. In this case, an invention is described in which a warning is given to the driver.
JP 2005-47339 A

  The present invention has been made in view of such circumstances, and an object of the present invention is to reduce the load applied to the vehicle body including the tire and reduce the life cycle cost of the vehicle including the dump truck and the like.

  The invention described in Patent Document 1 only determines whether or not the driver's operation state applies a load to the tire, and determines which place on the road surface is the place where the tire is loaded. It is not a thing.

The first invention is
A vehicle control system including a vehicle having a GPS position measurement device on a vehicle body and a control station that controls the vehicle, wherein a position measured by the GPS position measurement device of the vehicle is transmitted to the control station,
By calculating the position measured by the GPS position measuring device, processing for obtaining acceleration is performed in the vehicle or the control station,
Based on the position measured by the GPS position measurement device and the acceleration obtained by the calculation process, the vehicle or the control station performs a process for obtaining the position where the abnormal acceleration has occurred,
The control station performs processing to store the data of the position where the abnormal acceleration occurred in the database,
The control station gives an instruction to the vehicle based on the data stored in the database.

The second invention is
A system for controlling a vehicle having a GPS position measurement device on a vehicle body,
Processing to obtain acceleration by computing the position measured by the GPS position measuring device; and
A process for obtaining a position where an abnormal acceleration has occurred based on the position measured by the GPS position measurement device and the acceleration obtained by the calculation process;
The process of accumulating the data of the position where the abnormal acceleration occurred in the database is performed on the vehicle,
The vehicle is characterized by giving an instruction to its own vehicle based on data stored in the database.

The third invention is the first invention or the second invention,
When the vehicle is a manned vehicle, a warning is given when the vehicle approaches a position where abnormal acceleration occurs.

4th invention is 1st invention or 2nd invention,
When the vehicle is an unmanned vehicle, a control command for preventing the generation of abnormal acceleration is given to the vehicle when approaching a position where the abnormal acceleration has occurred.

The first invention is provided with a vehicle 10 in which a GPS position measuring device 12 is provided in a vehicle body 11 and a control station 20 that controls the vehicle 10, and the position P measured by the GPS position measuring device 12 of the vehicle 10 is controlled. It is assumed that the vehicle control system 1 is transmitted to the station.

  In the vehicle 10 or the control station 20, a process for calculating the acceleration G is performed by calculating the position P measured by the GPS position measuring device 12.

In the vehicle 10 or the control station 20, processing for obtaining the position Pg where the abnormal acceleration G has occurred is performed based on the position P measured by the GPS position measuring device 12 and the acceleration G obtained by the arithmetic processing.

In the control station 20, processing for accumulating data at the position Pg where the abnormal speed G has occurred in the database 30 is performed.

  The control station 20 gives an instruction to the vehicle 10 based on the data stored in the database 30. In this case, when the vehicle 10 is a manned vehicle, a warning is given when approaching the position Pg where the abnormal acceleration G has occurred (third invention). Further, when the vehicle 10 is an unmanned vehicle, when approaching the position Pg where the abnormal acceleration G is generated, a control command for preventing the abnormal acceleration G from being generated is given to the vehicle 10 (fourth invention). .

The second invention is based on the premise that the system 1 controls the vehicle 10 in which the vehicle body 11 is provided with the GPS position measuring device 12.

In the vehicle 10, a process for calculating the acceleration G is performed by calculating the position P measured by the GPS position measurement device 12.

In the vehicle 10, processing for obtaining the position Pg where the abnormal acceleration G has occurred is performed based on the position P measured by the GPS position measurement device 12 and the acceleration G obtained by the arithmetic processing.

In the vehicle 10, a process of accumulating data of the position Pg where the abnormal acceleration G has occurred in the database 30 is performed.

The vehicle 10 gives an instruction to its own vehicle 10 based on the data stored in the database 30. In this case, when the vehicle 10 is a manned vehicle, a warning is given when approaching the position Pg where the abnormal acceleration G has occurred (third invention). Further, when the vehicle 10 is an unmanned vehicle, when approaching the position Pg where the abnormal acceleration G occurs, a control command for preventing the abnormal acceleration G from being generated is given to the vehicle 10 (fourth invention). .

The position Pg where the abnormal acceleration G has occurred in the past is a place where the turning radius is extremely small, a place where the road surface is rough, or a place where a large load is applied to the vehicle body 11 including the tire. If the vehicle passes through such a place in the same running state as in the past, a large load is applied to the vehicle body 11 including the tire as in the past. This shortens the life cycle and increases the life cycle cost by, for example, accelerating wear and fatigue of each part of the vehicle body including the tire.

According to the present invention, whether a manned vehicle or an unmanned vehicle, the vehicle 10 is warned or controlled when the vehicle 10 approaches a position Pg where an abnormal acceleration G has occurred in the past. Instructions are given. For this reason, the vehicle 10 can pass through the position Pg in a traveling state in which an abnormal acceleration G is not generated by decelerating the vehicle speed. For this reason, the load applied to the vehicle body 11 including the tire is reduced. Thereby, the progress of wear and fatigue of each part of the vehicle body including the tire can be delayed, the life cycle can be lengthened, and the life cycle cost can be reduced.

  Embodiments of a vehicle control system according to the present invention will be described below with reference to the drawings. In the present embodiment, a dump truck is assumed as the vehicle.

(First embodiment)
In the first embodiment, it is assumed that the vehicle 10 is a manned vehicle.

  FIG. 1 shows the internal configuration of the vehicle 10 and the internal configuration of the control station 20.

As shown in FIG. 1, a vehicle control system 1 is configured by including a vehicle 10 in which a vehicle body 11 is provided with a GPS (global positioning system) position measurement device 12 and a control station 20 that controls the vehicle 10. Yes. This vehicle control system 1 is a vehicle control system in which the position P measured by the GPS position measuring device 12 of the vehicle 10 is transmitted to the control station 20 and the vehicle 10 is controlled. A plurality of vehicles 10 are arranged at the work site. The control station 20 acquires data on the positions P of the plurality of vehicles 10 and transmits an instruction to each vehicle 10 based on the position data.

The control station 20 is provided with a wireless communication system 21, a tire load monitor system 22, and a database 23. On the other hand, the vehicle 10 is provided with a position measurement system 13, a tire load monitor 14, and a wireless communication system 15.

The position measurement system 13 of the vehicle 10 includes a GPS position measurement device 12.

FIG. 2 is a flowchart showing a processing procedure of the first embodiment. Hereinafter, description will be made with reference to FIGS.

The GPS position measuring device 12 measures the position of the three-dimensional absolute coordinate system. In the position measurement system 13, the information on the position P measured by the GPS position measurement device 12 is used as the position P (x, y, Z) of each coordinate direction X, Y, Z in the local coordinate system with the reference position of the vehicle body 11 as the origin. z). Here, the coordinate directions X, Y, and Z correspond to the front-rear direction, the left-right direction, and the up-down direction of the vehicle body 11, respectively.

The data of the measured position P is taken into the tire load monitor system 14 (step 101).

The tire load monitoring system 14 performs a process of sending the captured vehicle position P data to the wireless communication system 15. The wireless communication system 15 transmits the sequential data of the vehicle position P to the wireless communication system 21 of the control station 20 by wireless communication (step 102).

In the tire load monitor system 14, the longitudinal and lateral, lateral and vertical accelerations G of the vehicle body 11 are calculated by processing the longitudinal and lateral positions P and the vertical direction P of the vehicle body 11 measured by the position measurement system 13. Is obtained. That is, the longitudinal acceleration G of the vehicle body 11 in the longitudinal direction, the lateral direction, and the vertical direction is obtained by differentiating twice the position P in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body 11 (step 103).

In the tire load monitor system 14, a process for obtaining a position Pg where an abnormal acceleration G has occurred is performed based on the position P measured by the position measurement system 13 and the acceleration G obtained by the arithmetic processing. That is, it is determined whether or not the acceleration G obtained by the calculation process exceeds a certain level. In this case, it is determined whether or not a certain level is exceeded for each acceleration G in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body 11, and any of the acceleration G in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body 11 is constant. If it exceeds the level, it is determined that the acceleration is abnormal (step 104). If the result of this determination is that the acceleration G exceeds a certain level, processing for sending the abnormal acceleration value G and data of the position Pg where the abnormal acceleration G occurred to the wireless communication system 15 is performed. . The wireless communication system 15 transmits this data to the wireless communication system 21 of the control station 20 by wireless communication.

The abnormal acceleration G and the data of the position Pg where the abnormal acceleration G is generated are received by the wireless communication system 21 of the control station 20, and the abnormal acceleration G and the abnormal acceleration G are detected via the tire load monitor system 22. The position Pg where the acceleration G is generated is associated and stored in the database 23. The data stored in the database 23 is sequentially updated with the latest data. For example, even if it is a position Pg where an abnormal acceleration G occurred in the past, if the acceleration is not abnormal when the vehicle 10 passes the point Pg next time, the data of the position Pg is deleted. Is done. This is because the road surface changes with time, for example, the uneven road surface becomes flat by repair (step 105).

The tire load monitor system 22 of the control station 20 gives an instruction to the vehicle 10 based on the data stored in the database 30. That is, the current vehicle position P sequentially transmitted from the vehicle 10 is read (step 201), and the current vehicle position P is compared with the position Pg where the abnormal acceleration G accumulated in the database 30 occurs ( Step 202), it is determined whether or not the vehicle 10 has approached the position Pg where the abnormal acceleration G has occurred (Step 203). As a result, when it is determined that the vehicle 10 has approached the position Pg where the abnormal acceleration G has occurred, a warning is transmitted to the vehicle 10 from the control station 20 via the wireless communication system 21. The warning is received by the wireless communication system 15 of the vehicle 10 and displayed on a monitor screen (not shown). The content of this warning is, for example, “information on the magnitude of the abnormal acceleration G and the direction of the abnormal acceleration (front and rear, left and right, up and down) and information on the position Pg where the abnormal acceleration G occurred”. For this reason, the operator can perform a driving operation so as not to cause the abnormal acceleration G at the position Pg where the abnormal acceleration G is generated. This driving operation is, for example, as follows.

a) Decrease the speed or decrease the acceleration and deceleration.

b) Increase the turning radius.

c) In a place where acceleration in the vertical direction is particularly large, the travel position is offset by a certain amount so as to avoid the place.

As described above, according to the present embodiment, when the vehicle 10 approaches the position Pg where the abnormal acceleration G has occurred in the past, a warning is given and an instruction to pay attention to the driving operation is given. Is given. For this reason, the vehicle 10 can pass through the position Pg in a traveling state in which an abnormal acceleration G is not generated by decelerating the vehicle speed. For this reason, the load applied to the vehicle body 11 including the tire is reduced. Thereby, the progress of wear and fatigue of each part of the vehicle body including the tire can be delayed, the life cycle can be lengthened, and the life cycle cost can be reduced.

Further, according to the present embodiment, data of a plurality of vehicles 10 are accumulated in the database 23. Since the data of the position Pg where the abnormal acceleration G has occurred is collected from the plurality of vehicles 10, highly reliable data can be acquired.

  Various modifications can be made to the above-described embodiment.

In the above-described embodiment, the vehicle 10 performs the process of obtaining the acceleration G by calculating the position P measured by the GPS position measuring device 12. However, this processing may be performed by the control station 20.

Further, the vehicle 10 is configured to perform processing for obtaining the position Pg where the abnormal acceleration G is generated based on the position P measured by the GPS position measurement device 12 and the acceleration G obtained by the arithmetic processing. . However, this processing may be performed by the control station 20.

In the above-described embodiment, the longitudinal acceleration G, the lateral acceleration, and the vertical acceleration G of the vehicle body 11 are obtained, and any of the longitudinal acceleration G, the lateral acceleration, and the vertical acceleration G of the vehicle body 11 exceeds a certain level. If so, it is determined that the acceleration is abnormal. However, when one or two accelerations G in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body 11 are obtained and the acceleration G in the obtained direction exceeds a certain level, the acceleration is abnormal. You may make it judge that there exists. This is because the acceleration in which direction has an adverse effect differs depending on the parts constituting the vehicle 10, and the direction of acceleration can be selected according to the part for which the running cost is desired to be reduced. In order to reduce the running cost of the tire, at least the longitudinal and lateral acceleration G of the vehicle body 11 is obtained, and when either the longitudinal or lateral acceleration G of the vehicle body 11 exceeds a certain level, What is necessary is just to judge that it is an abnormal acceleration. That is, the tire wear amount D can be obtained from the following equation (1).

D = K / 2 [pi] Rb (1-N) .W2 (Gl2 / Cp + GA2 / Tp) (1)
K: tire wear coefficient R: tire load radius b: tire contact width N: tire groove occupying ratio W: vertical load Gl: lateral acceleration GA: longitudinal acceleration Cp: cornering power Tp: From equation (1) above traction power, it can be seen that the tire wear amount D increases in proportion to the square of the longitudinal acceleration GA and the lateral acceleration Gl of the vehicle body 11.

(Second embodiment)
In the second embodiment, it is assumed that the vehicle 10 is an unmanned vehicle. In the following description, the same parts as those in the first embodiment will not be described repeatedly, and different parts will be described.

  FIG. 3 shows the internal configuration of the vehicle 10 and the internal configuration of the control station 20. FIG. 3 has substantially the same configuration as FIG. 2, and differs from FIG. 2 only in that an automatic control unit 16 is added to the vehicle 10.

As shown in FIG. 3, the automatic control unit 16 of the vehicle 10 has a traveling mechanism and a steering mechanism so that the vehicle 10 travels at a target speed along a target traveling course in accordance with steering control and speed control commands. (Not shown). That is, while comparing the current vehicle position P and vehicle traveling direction of the host vehicle 10 measured by the position measurement system 13 with the target position and target traveling direction of successive passing points on the target traveling course, the host vehicle 10 Generates a traveling command and a steering command so as to follow the successive passing point positions on the target traveling course without deviation with respect to the target position and the target traveling direction, and outputs them to the traveling mechanism unit and the steering mechanism unit. Further, an acceleration / deceleration command is output to the traveling mechanism so that the guided speed of the unmanned vehicle 10 becomes the target speed. As a result, the unmanned vehicle 10 is guided to travel at the target speed along the scheduled traveling course. The above-described steering control and speed control commands generated inside the vehicle are changed by a control command given from the control station 20. This content will be described later with reference to FIG.

FIG. 4 is a flowchart showing a processing procedure of the second embodiment. Since the processing from steps 101 to 105 described in FIG. 2 and the processing from steps 201 to 203 are common, the processing of steps 204 ′ and 205 will be described.

If it is determined in step 203 that the vehicle 10 has approached the position Pg where the abnormal acceleration G has occurred, a control command is transmitted from the control station 20 to the vehicle 10 via the wireless communication system 21. This control command is a control command for preventing the abnormal acceleration G from being generated at the position Pg where the abnormal acceleration G is generated (step 204 ′).

The control command is received by the wireless communication system 15 of the vehicle 10 and is taken into the automatic control unit 16. The contents of this control command are, for example, as follows.

a ′) Give a running command to reduce the speed, or reduce acceleration and deceleration b ′) Give a steering command to increase the turning radius c ′) Especially in places where the vertical acceleration is large, A steering command to avoid is given to offset the travel position by a certain amount.

When such a control command is given, the vehicle 10 prevents the vehicle 10 from giving an abnormal acceleration G by giving a control command when the vehicle 10 approaches the position Pg where the abnormal acceleration G has occurred in the past. Are automatically controlled (step 205). For this reason, the vehicle 10 can pass through the position Pg in a traveling state in which an abnormal acceleration G is not generated by decelerating the vehicle speed. For this reason, the load applied to the vehicle body 11 including the tire is reduced. Thereby, the progress of wear and fatigue of each part of the vehicle body including the tire can be delayed, the life cycle can be lengthened, and the life cycle cost can be reduced.

Further, according to the present embodiment, data of a plurality of vehicles 10 are accumulated in the database 23. Since the data of the position Pg where the abnormal acceleration G has occurred is collected from the plurality of vehicles 10, highly reliable data can be acquired.

  Various modifications can be made to the above-described embodiment.

In the above-described embodiment, the vehicle 10 performs the process of obtaining the acceleration G by calculating the position P measured by the GPS position measuring device 12. However, this processing may be performed by the control station 20.

Further, the vehicle 10 is configured to perform processing for obtaining the position Pg where the abnormal acceleration G is generated based on the position P measured by the GPS position measurement device 12 and the acceleration G obtained by the arithmetic processing. . However, this processing may be performed by the control station 20.

In the above-described embodiment, the longitudinal acceleration G, the lateral acceleration, and the vertical acceleration G of the vehicle body 11 are obtained, and any of the longitudinal acceleration G, the lateral acceleration, and the vertical acceleration G of the vehicle body 11 exceeds a certain level. If so, it is determined that the acceleration is abnormal. However, when one or two accelerations G in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body 11 are obtained and the acceleration G in the obtained direction exceeds a certain level, the acceleration is abnormal. You may make it judge that there exists.

(Third embodiment)
In the first and second embodiments described above, the control station 20 accumulates data on the position Pg where the abnormal acceleration G has occurred, and sends a warning or control command from the control station 20 to the vehicle 10. I have to. However, such a function of the control station 20 is provided in the own vehicle 10, and the data of the position Pg where the abnormal acceleration G is generated is accumulated in the own vehicle 10 to warn or control the own vehicle 10. You may comprise so that a command may be given. In other words, in the present embodiment, in the vehicle 10, the process for obtaining the acceleration G is performed by calculating the position P measured by the GPS position measuring device 12. Further, in the vehicle 10, processing for obtaining the position Pg where the abnormal acceleration G has occurred is performed based on the position P measured by the GPS position measurement device 12 and the acceleration G obtained by the arithmetic processing. In the vehicle 10, data on the position Pg where the abnormal acceleration G has occurred is stored in the database 23. The vehicle 10 gives an instruction to its own vehicle 10 based on the data accumulated in the database 30. In this case, when the vehicle 10 is a manned vehicle, a warning is given to the own vehicle 10 when approaching the position Pg where the abnormal acceleration G has occurred. Further, when the vehicle 10 is an unmanned vehicle, when the vehicle 10 approaches the position Pg where the abnormal acceleration G is generated, a control command for preventing the abnormal acceleration G from being generated is given to the own vehicle 10.

Furthermore, data may be transmitted / received between a plurality of vehicles 10 and the data of the position Pg where the abnormal acceleration G obtained in the other vehicle 10 is generated may be accumulated in the database 23 of the own vehicle 10. . As described above, by sharing the data of the position Pg where the abnormal acceleration G is generated between the plurality of vehicles 10, more reliable data can be acquired.

FIG. 1 is a diagram showing a configuration of a manned vehicle and a control station. FIG. 2 is a flowchart showing a processing procedure corresponding to FIG. FIG. 3 is a diagram showing the configuration of the unmanned vehicle and the control station. FIG. 4 is a flowchart showing a processing procedure corresponding to FIG.

Explanation of symbols

  10 vehicles, 20 control stations 23 database

Claims (5)

A plurality of vehicles arranged at a work site, wherein the vehicle body is provided with a GPS position measuring device that measures a three-dimensional position of a three-dimensional absolute coordinate system, and a control station that controls the plurality of vehicles And a vehicle control system in which positions measured by the GPS position measuring devices of the plurality of vehicles are transmitted to a control station,
In a vehicle control system for determining a place in the work site where a large load is applied to the vehicle from the road surface of the work site, and reducing a load applied to the vehicle from the road surface of the work site,
The vehicle or the control station performs processing for obtaining acceleration in the front-rear direction, left-right direction, and up-down direction of the vehicle body by performing arithmetic processing on the three-dimensional position measured by the GPS position measurement device,
Based on the three-dimensional position measured by the GPS position measurement device and the longitudinal and lateral and lateral and vertical accelerations of the vehicle body obtained by the calculation process, the longitudinal and lateral accelerations of the vehicle body, the lateral acceleration of the vehicle body, If any of the accelerations in the vertical direction of the vehicle body exceeds a certain level, it is determined that the acceleration is abnormal, and the vehicle or the control station performs a process for determining the position where the abnormal acceleration has occurred.
The data obtained from the plurality of vehicles, the processing of accumulating in the database the data of the position where the abnormal acceleration has occurred, in the control station,
Based on the data stored in the database, the control station compares the current vehicle position with the position where the abnormal acceleration has been stored in the database, so that the vehicle is in the position where the abnormal acceleration has occurred. Determine whether or not the vehicle has approached, and give a control command to prevent the vehicle from causing a warning or abnormal acceleration when it is determined that the vehicle has approached a position where abnormal acceleration has occurred A vehicle control system characterized by A vehicle control system that controls a plurality of vehicles arranged at a work site, wherein the vehicle is provided with a GPS position measurement device that measures a three-dimensional position of a three-dimensional absolute coordinate system on a vehicle body,
In a vehicle control system for determining a place in the work site where a large load is applied to the vehicle from the road surface of the work site, and reducing a load applied to the vehicle from the road surface of the work site,
Processing for calculating acceleration in the front-rear direction, left-right direction, and up-down direction of the vehicle body by calculating the three-dimensional position measured by the GPS position measurement device;
Based on the three-dimensional position measured by the GPS position measurement device and the longitudinal and lateral and lateral and vertical accelerations of the vehicle body obtained by the calculation process, the longitudinal and lateral accelerations of the vehicle body, the lateral acceleration of the vehicle body, When any of the accelerations in the vertical direction of the vehicle body exceeds a certain level, it is determined that the acceleration is abnormal, and a process for obtaining the position where the abnormal acceleration has occurred,
The process of accumulating the data of the position where the abnormal acceleration occurred in the database is performed on the vehicle,
Based on the data stored in the database, the vehicle compares the current vehicle position with the position where the abnormal acceleration has been stored in the database, and the vehicle approaches the position where the abnormal acceleration has occurred. If the vehicle has approached the position where the abnormal acceleration occurred, give a control command to prevent the vehicle from causing a warning or abnormal acceleration. A vehicle control system characterized by 3. The vehicle control system according to claim 1, wherein when the vehicle is a manned vehicle, a warning is given when the vehicle approaches a position where abnormal acceleration occurs. 3. The vehicle according to claim 1, wherein, when the vehicle is an unmanned vehicle, when the vehicle approaches a position where the abnormal acceleration occurs, a control command for preventing the abnormal acceleration from being generated is given to the vehicle. Control system. 3. A process of transmitting and receiving data between a plurality of vehicles and storing data of a position where an abnormal acceleration obtained in another vehicle is generated in a database of the own vehicle. Vehicle control system as described.

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