CN105467991B - 运输车辆的停止位置计算装置及具有该装置的运输车辆 - Google Patents

运输车辆的停止位置计算装置及具有该装置的运输车辆 Download PDF

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Publication number
CN105467991B
CN105467991B CN201510535944.3A CN201510535944A CN105467991B CN 105467991 B CN105467991 B CN 105467991B CN 201510535944 A CN201510535944 A CN 201510535944A CN 105467991 B CN105467991 B CN 105467991B
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China
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dump truck
stopper
travel
stop position
vehicle
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Chinese (zh)
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CN105467991A (zh
Inventor
田中航
一野濑昌则
小野幸彦
斋藤真二郎
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/125—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/142—Heavy duty trucks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Architecture (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
CN201510535944.3A 2014-09-29 2015-08-27 运输车辆的停止位置计算装置及具有该装置的运输车辆 Active CN105467991B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014199435A JP6315696B2 (ja) 2014-09-29 2014-09-29 運搬車両の停止位置算出装置
JP2014-199435 2014-09-29

Publications (2)

Publication Number Publication Date
CN105467991A CN105467991A (zh) 2016-04-06
CN105467991B true CN105467991B (zh) 2020-07-31

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Country Status (5)

Country Link
US (1) US9598823B2 (enExample)
EP (1) EP3000681B1 (enExample)
JP (1) JP6315696B2 (enExample)
KR (1) KR102023480B1 (enExample)
CN (1) CN105467991B (enExample)

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JP6837767B2 (ja) * 2016-07-19 2021-03-03 株式会社クボタ 作業車及び作業車のための傾斜走行管理システム
JP6752168B2 (ja) * 2017-02-27 2020-09-09 日立建機株式会社 ダンプトラック及び後退支援装置
EP3416151B1 (en) * 2017-06-15 2024-04-24 Arriver Software AB Detection of non-v2v vehicles
JP6693483B2 (ja) * 2017-07-26 2020-05-13 株式会社アドヴィックス 車両の停止支援装置
JP6824851B2 (ja) * 2017-09-12 2021-02-03 日立建機株式会社 放土位置決定装置
JP2019127189A (ja) * 2018-01-25 2019-08-01 アイシン精機株式会社 駐車支援装置
JP7134223B2 (ja) * 2018-03-29 2022-09-09 株式会社小松製作所 作業機械の制御システム、方法、及び作業機械
JP2019185246A (ja) * 2018-04-05 2019-10-24 三菱電機株式会社 自動運転制御システム
CN109242172A (zh) * 2018-08-29 2019-01-18 广州大学 基于Dijkstra算法的车辆运输载重量最大化的方法及装置
US12055939B2 (en) * 2019-02-25 2024-08-06 Deka Products Limited Partnership System and method for surface feature detection and traversal
US11230273B2 (en) 2019-05-02 2022-01-25 Liebherr Mining Equipment Newport News Co. Method for autonomously controlling a vehicle
CN112061718B (zh) * 2019-06-10 2022-03-15 李志鹏 一种智能托盘的控制方法及智能托盘
US11860643B2 (en) 2019-07-02 2024-01-02 Liebherr Mining Equipment Newport News Co. System for controlling a plurality of autonomous vehicles on a mine site
CN111522342B (zh) * 2020-04-24 2022-12-09 江苏徐工工程机械研究院有限公司 一种工程车辆的速度处理的方法及装置
US20230278574A1 (en) * 2020-07-28 2023-09-07 Ception Technologies Ltd. Onboard hazard detection system for a vehicle
CN113734155B (zh) * 2021-08-18 2024-02-20 潍柴动力股份有限公司 自动驾驶方法、装置、电子设备及计算机可读存储介质
JP7655193B2 (ja) * 2021-11-02 2025-04-02 トヨタ自動車株式会社 車両
SE2450485A1 (en) * 2024-05-07 2025-11-08 Scania Cv Ab Method and control arrangement for controlling a vehicle reversing towards an edge

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CN1980843A (zh) * 2004-06-04 2007-06-13 凯特运输有限公司 一种用于运输货物的方法以及用于实施所述方法的装置
CN101561680A (zh) * 2009-05-11 2009-10-21 南京航空航天大学 一种自主车辆的嵌入式导引装置及其智能复合导引方法
CN102346483A (zh) * 2011-06-07 2012-02-08 南京航空航天大学 基于无源rfid和辅助视觉的agv运行控制方法
CN102608998A (zh) * 2011-12-23 2012-07-25 南京航空航天大学 嵌入式系统的视觉导引agv系统及方法
CN103234543A (zh) * 2013-04-26 2013-08-07 慕林 基于二维码或/和nfc的定位导航系统及其实现方法

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JP6032730B2 (ja) * 2012-06-21 2016-11-30 日立建機株式会社 運搬機械の停止位置判定装置およびこの装置を備えた積込機械
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US6052079A (en) * 1996-01-31 2000-04-18 Komatsu Ltd. Vehicle with millimeter-wave radar
CN1980843A (zh) * 2004-06-04 2007-06-13 凯特运输有限公司 一种用于运输货物的方法以及用于实施所述方法的装置
CN101561680A (zh) * 2009-05-11 2009-10-21 南京航空航天大学 一种自主车辆的嵌入式导引装置及其智能复合导引方法
CN102346483A (zh) * 2011-06-07 2012-02-08 南京航空航天大学 基于无源rfid和辅助视觉的agv运行控制方法
CN102608998A (zh) * 2011-12-23 2012-07-25 南京航空航天大学 嵌入式系统的视觉导引agv系统及方法
CN103234543A (zh) * 2013-04-26 2013-08-07 慕林 基于二维码或/和nfc的定位导航系统及其实现方法

Also Published As

Publication number Publication date
KR20160037746A (ko) 2016-04-06
US20160090700A1 (en) 2016-03-31
US9598823B2 (en) 2017-03-21
EP3000681B1 (en) 2019-06-19
JP6315696B2 (ja) 2018-04-25
EP3000681A1 (en) 2016-03-30
JP2016071563A (ja) 2016-05-09
CN105467991A (zh) 2016-04-06
KR102023480B1 (ko) 2019-09-20

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