JP2019114056A - Running command correction device of work vehicle - Google Patents

Abstract

To provide a running command correction device of a work vehicle capable of upgrading the efficiency in operation of a control system of a work vehicle even when plural work vehicles having different static characteristics or dynamic characteristics coexist.SOLUTION: A running command correction device includes a running control command arithmetic unit (35, 36, and 38) that computes a running control command on the basis of a running command sent from a supervisory control device (10) and position information on a work vehicle, a reference running characteristic arithmetic unit (34) that computes a common reference running characteristic on the basis of plural different running characteristics exhibited by plural work vehicles, a running characteristic memory unit (32) that stores running characteristics, which are specific to the respective work vehicles, in association with vehicle IDs, and a running characteristic correction unit (37) that corrects the running characteristics specific to the vehicles, which are associated with the vehicle IDs stored in the running characteristic memory unit, so that the reference running characteristic can be obtained. The running control command is converted into a running control command, which is specific to each vehicle, on the basis of the corrected running characteristic specific to each vehicle, and is then fed to a running control device (48).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a travel command correction device for a work vehicle, and more particularly to a technology for controlling a plurality of work vehicles that transport ore or the like excavated in a mine.

  In recent years, in open pit mines and the like, an autonomous transportation system (AHS: Autonomous Haulage System) has been adopted, in which a plurality of work vehicles such as dump trucks for transporting excavated ore etc. are unmanned and autonomously operated. It is done.

  Specifically, this autonomous transportation system has a control station equipped with a control control device for monitoring the movement of a plurality of work vehicles, each work vehicle has a vehicle control device, and each control control device By exchanging various information with the vehicle control device of the vehicle by wireless communication, traveling of a plurality of work vehicles is controlled at the same time.

  The information transmitted from the control control device to the vehicle control device of each vehicle includes, for example, vehicle speed information, acceleration information, deceleration information, steering information, etc. of the vehicle, and it depends on the road surface condition of the mine and the transport amount of ore etc. It is important to control the running of each vehicle appropriately to improve the operation efficiency of the autonomous transportation system.

  For example, the road surface condition of the mine changes variously depending on the place where it is excavated, and the traveling resistance of the work vehicle also changes accordingly to affect the vehicle speed, so according to the road surface condition to the accelerator command value which is acceleration information of the vehicle A technology has been developed which matches the vehicle speed with the target vehicle speed in consideration of the correction value and suppresses the decrease in productivity in the mine (Patent Document 1).

Revised front 2016/080555 gazette

  By the way, in mines and the like, since the control control device normally controls the work vehicle to reciprocate a certain traveling route between the excavating site and the excavating site, each vehicle follows the same traveling route. Drive in a row with a gap. On the other hand, working vehicles with various specifications are used in mines etc., and static characteristics such as maximum vehicle speed performance, acceleration performance, deceleration performance etc., time constant (vehicle characteristics, steering characteristics etc.) and inertia for each vehicle Dynamic characteristics such as moment are often different. From this, the control control device collectively manages a plurality of work vehicles having different travel characteristics for each vehicle so as to travel on a predetermined travel route.

  However, when trying to transmit information according to static characteristics and dynamic characteristics that differ from vehicle to vehicle, the information with different contents is individually transmitted to each vehicle, and control becomes complicated as the entire autonomous transportation system. Have the problem of

  Further, if the control control device merely transmits the vehicle speed instruction, the acceleration / deceleration instruction, and the steering instruction to the vehicle control device, there is a problem that the behavior is different for each vehicle based on different static characteristics and dynamic characteristics. For example, when a plurality of vehicles having different traveling characteristics such as maximum vehicle speed performance, acceleration performance, deceleration performance, etc. are traveling on a certain traveling route, each vehicle accelerates / decelerates based on the unique traveling characteristics, It is conceivable that the distance between any of the vehicles becomes narrow. In this case, there is a problem that the vehicle approaching the preceding vehicle is forced to decelerate, and the operation efficiency of the autonomous transportation system decreases. Moreover, when the deceleration performances differ between vehicles, there also exists a problem that interference with vehicles can not fully be prevented.

  According to the technology disclosed in Patent Document 1 above, although the acceleration performance of the vehicle is corrected according to the road surface condition to suppress the decrease in productivity in the mine, in the case where a plurality of work vehicles having different specifications coexist. The effects on operating efficiency due to differences in static and dynamic characteristics of each vehicle are not considered.

  The present invention has been made in view of such problems, and an object of the present invention is to operate a control system of a work vehicle even when a plurality of work vehicles having different static characteristics and dynamic characteristics coexist. An object of the present invention is to provide a travel command correction device for a work vehicle capable of improving efficiency.

  In order to achieve the above object, the travel command correction device for a work vehicle according to the present invention is mounted on a plurality of work vehicles traveling autonomously, and common travel commands transmitted from the control control device to the plurality of work vehicles A travel control command for calculating a travel control command based on the common travel command received from the communication device to be received and the position estimation information received from the position estimation device provided on the work vehicle for estimating the position of the work vehicle A vehicle ID uniquely associated with all the unique traveling characteristics of the plurality of work vehicles including the computing unit and the unique traveling characteristics of each vehicle, and the unique traveling characteristics of each of all the vehicles. A traveling characteristic storage unit; a reference traveling characteristic calculation unit for calculating a common reference traveling characteristic from different traveling characteristics of the plurality of work vehicles stored in the traveling characteristic storage unit; and the vehicle Unique vehicle ID is stored, and the unique traveling characteristic for each vehicle among all unique traveling characteristics of the work vehicle stored in the traveling characteristic storage unit so as to obtain each of the reference traveling characteristics And a traveling characteristic correction unit that extracts the traveling characteristic stored in the traveling characteristic storage unit based on the vehicle ID and corrects the extracted traveling characteristic specific to the vehicle in comparison with the reference traveling characteristic. Vehicle travel control for controlling travel of the work vehicle provided on the work vehicle by converting it into travel control commands specific to the vehicle based on the travel characteristics specific to the vehicle corrected by the travel characteristic correction unit Supply to the device.

  Preferably, the inherent traveling characteristic of the work vehicle is at least one of speed, acceleration / deceleration and wheel steering angle, and the common reference traveling characteristic is a corresponding reference speed, reference acceleration / deceleration and reference wheel steering angle. Good to have.

In this case, the inherent travel characteristics of the work vehicle may include at least a deceleration, and the common reference travel characteristics may include a reference deceleration.
Further, it is preferable that the reference traveling characteristic calculation unit calculates the common reference traveling characteristic based on the largest one of the time constants among all the inherent traveling characteristics of the plurality of target work vehicles.

  Preferably, the traveling control command calculating unit, the traveling characteristic storing unit, the reference traveling characteristic calculating unit, and the traveling characteristic correcting unit are unitized and detachably provided on the work vehicle.

  According to the travel command correction device for a work vehicle of the present invention, the travel command correction device is mounted on a plurality of autonomously traveling work vehicles that perform transport work in a work place such as a mine, and a plurality of travel characteristics are different. The common reference traveling characteristic is set to the work vehicle of the above, the inherent traveling characteristic for each vehicle is corrected based on the reference traveling characteristic, and it is determined based on the traveling command from the control control device and the position information of the working vehicle The traveling control command is converted into a traveling control command specific to each vehicle based on the corrected traveling characteristic specific to each vehicle, and supplied to the vehicle traveling control device that controls the traveling of the work vehicle.

  Therefore, with regard to a plurality of work vehicles that travel autonomously based on the travel command from the control control device and the position information of the work vehicle, even if there are a plurality of work vehicles having different travel characteristics mixed, uniformity is achieved. The traveling control of the working vehicle can be performed based on the common reference traveling characteristic, and the interference between the working vehicles can be prevented without increasing the control system, and the operation efficiency of the control system of the working vehicle can be improved. Can.

It is a schematic block diagram of a control system of a work vehicle to which a run command amendment device of a work vehicle concerning the present invention is applied. It is a figure which shows typically two area which continues among driving routes. It is a figure which shows a velocity profile. It is a figure which shows a steering profile. It is a correction | amendment map which shows the relationship between a reference speed and the accelerator operation command value of a dump truck. It is a correction | amendment map which shows the relationship between a reference | standard deceleration degree and the brake operation command value of a dump truck.

Hereinafter, an embodiment of a travel command correction device for a work vehicle according to the present invention will be described with reference to the drawings.
The control system for a work vehicle to which the travel command correction device for a work vehicle according to the present invention is applied is unmanned operation of a plurality of dump trucks (work vehicles) for transporting excavated ore etc. in an open pit mine etc. It is configured as an autonomous transportation system (AHS: Autonomous Haulage System).

FIG. 1 shows a schematic configuration diagram of a control system of a work vehicle to which a travel command correction device for a work vehicle according to the present invention is applied.
Control stations are provided at work places such as mines, and the control system of the work vehicle is largely divided into control control devices 10 provided at the control stations and each dump truck and mounted on autonomous operation control devices 20 and the vehicle control device 40 of each dump truck.

The control control device 10 is a device that transmits a traveling command to each dump truck by performing wireless communication with a plurality of dump trucks that transport ore or the like.
In a working place such as a mine, a traveling route along which the dump truck travels is determined in advance, and this traveling route is divided into a plurality of sections in advance based on the number of dump trucks, the topography, and the like. From this, the travel control route 10 and a plurality of sections are all stored as a route map on the map in the control control unit 10, and the control control unit 10 controls one dump truck in one section so that the dump trucks do not contact each other. Each dump truck is controlled so that only the dump truck travels.

  In FIG. 2, two continuous sections S1 and S2 of the traveling route of the route map stored in the control control device 10 are schematically shown. Although dump trucks T1 and T2 are shown in the same figure, only one dump truck is permitted to travel in each section in this way. In the route map, a plurality of nodes N are displayed in a row with a predetermined interval as an index of the travel route, and each section is based on, for example, the number of nodes N, the distance of the section, the beginning and the end It is prescribed.

  The control control device 10 is provided with a travel permission section calculation unit 12 and a transmission / reception unit 13, and in the travel permission section calculation unit 12, the present of the dump truck transmitted from the autonomous operation control device 20 and received by the transmission / reception unit 13 Based on the position information, one of a plurality of sections is designated as a travel permitted section for each dump truck. As a result, each dump truck always travels while being permitted to any section as described above.

  More specifically, travel permission section calculation unit 12 receives the current position information of the dump truck from autonomous operation control device 20, and from this position information, the predetermined distance is reached from the end of the section where the dump truck is currently traveling. If it recognizes, it will carry out arithmetic processing and it will be judged whether travel permission of the following section following the section concerned is permitted. When it is detected that another dump truck is traveling in the next section, the traveling permission section calculation unit 12 does not perform traveling permission. In this case, as will be described later, the dump truck is decelerated at a point just a stoppable distance from the end so as to temporarily stop at the end of the section currently being traveled. On the other hand, when no dump truck is detected in the next section, the travel permission section calculation unit 12 performs the travel permission. In this case, the dump truck shifts to the next section without decelerating.

  The autonomous driving control device 20 mounted on the dump truck is an own-vehicle position estimation device that estimates the position of its own dump truck (hereinafter also referred to as the own vehicle) based on the information from the position detection device 21 and the position detection device 21 In addition to the (position estimation device) 22 and the transmission / reception device (communication device) 23 that performs transmission / reception with the transmission / reception unit 13 of the control control device 10, a unitized travel command correction device 30 according to the present invention is mounted.

  The travel command correction device 30 includes a travel characteristic storage unit 32 which stores travel characteristics of a dump truck, a reference travel characteristic calculation unit 34 which calculates a reference travel characteristic from travel characteristics of a plurality of dump trucks, and a vehicle position estimation device. 22. A speed profile calculation unit 35 for calculating a speed profile (acceleration, constant speed, deceleration) as a reference among the travel control commands based on the information from the reference 22 and the reference travel characteristic computed in the reference travel characteristic computing unit 34 Among them, a steering profile calculation unit 36 that calculates a reference steering profile, a traveling characteristic correction unit 37 that corrects the traveling characteristic of the dump truck based on the reference traveling characteristic, and a traveling profile and a steering profile Based on the travel characteristics corrected by the correction unit 37, it is converted to a travel control command unique to the dump truck. Travel control command conversion part 38 is provided.

Here, the speed profile calculation unit 35, the steering profile calculation unit 36, and the travel control command conversion unit 38 constitute a travel control command calculation unit of the present invention.
The position detection device 21 is configured to have a GPS (Global Positioning System), a yaw rate sensor, a longitudinal acceleration sensor, and a lateral acceleration sensor.

  In the vehicle position estimation device 22, the position of the vehicle is estimated based on the GPS information from the position detection device 21, and in the place where the GPS information can not be obtained, the position of the vehicle is the yaw rate sensor, longitudinal acceleration sensor and lateral acceleration sensor It is complemented based on the vehicle attitude information from. The position of the own vehicle estimated by the own vehicle position estimation device 22 is supplied to the speed profile calculation unit 35 and the steering profile calculation unit 36 of the traveling command correction device 30 and the control control device via the transmission / reception device 23 as described above Sent to ten.

  The traveling characteristic storage unit 32 of the traveling command correction device 30 includes information on static characteristics and dynamic characteristics (hereinafter, also simply referred to as inherent traveling characteristics) inherent to all dump trucks controlled by the control control device 10 and all of them. A vehicle ID uniquely associated with a unique traveling characteristic for each vehicle is stored. The static characteristics and dynamic characteristics of the dump truck differ depending on the dump truck specifications (manufacturing company, model, etc.), and the running characteristic storage unit 32 has different specifications (specification A, specification B, specification C,. Information of static characteristics and dynamic characteristics of all the dump trucks, and vehicle IDs (IDA, IDB, IDC,...) Are stored in advance. The static characteristics include, for example, basic specifications of a dump truck (maximum speed, minimum turning radius, empty truck weight, etc.), maximum acceleration / deceleration, minimum acceleration / deceleration, etc. As the dynamic characteristics, time constants (vehicle characteristics, steering characteristics, etc.), moment of inertia, etc. correspond.

  The static and dynamic characteristics information of the dump truck and the vehicle ID stored in the traveling characteristic storage unit 32 fluctuates according to the number of specifications and the number of dump trucks to be used. By wireless communication with the control control device 10, it is possible to rewrite as appropriate.

  In the reference driving characteristic calculation unit 34, based on the static characteristics and dynamic characteristics of all dump trucks of different specifications used in the work place stored in the driving characteristic storage unit 32, the reference speed, the reference acceleration and deceleration, in particular the reference deceleration and Reference static characteristics and dynamic characteristics (hereinafter, simply referred to as reference travel characteristics) such as a reference wheel steering angle are respectively calculated and set.

  Specifically, for example, with reference to the reference speed and the reference deceleration, the reference driving characteristic calculation unit 34 selects the lowest maximum speed and the smallest maximum reduction among the maximum speeds and maximum decelerations of all the stored dump trucks. The reference speed and the reference deceleration are respectively set based on the speed. Note that the reference speed and the reference deceleration do not necessarily have to match the lowest maximum speed or the smallest maximum deceleration, and can be appropriately set within the range below the lowest maximum speed or the smallest maximum deceleration depending on the situation. Just do it. Here, indicating the lowest maximum speed and the smallest maximum deceleration can be reworded as the largest time constant.

  Further, for example, regarding the reference wheel steering angle, the reference driving characteristic calculation unit 34 sets the reference wheel steering angle based on, for example, the smallest maximum wheel steering angle among the stored maximum wheel steering angles of all dump trucks. Ru.

  In the speed profile calculation unit 35, the reference calculated by the reference driving characteristic calculation unit 34 based on the travel permitted section information received via the transmission / reception device 23 and the position information of the own vehicle estimated by the own vehicle position estimation device 22. Among the traveling characteristics, a velocity profile (acceleration, constant velocity, deceleration) serving as a reference in a section for which traveling is permitted in the traveling control command is calculated according to the reference speed and the reference deceleration. Specifically, the speed profile calculation unit 35 shares the route map with the travel permission zone calculation unit 12 of the control control device 10 and stores the same, and once the vehicle enters a zone where it is permitted to travel, the route map Based on the above, as shown in FIG. 3 showing the relationship between the section position and the speed, the remaining distance L to the end P of the section is determined from the position information Pc of the host vehicle estimated by the host vehicle position estimation device 22 From v and the reference deceleration a, the stoppable distance Ld that can be stopped at the end P and the braking start position Pd are determined, and a reference speed profile is calculated.

  In addition, in the travel route, the speed limit is usually set according to the conditions (straight road, curved road, low μ road, etc.) of the travel route for each section or each place in the section. In practice, it is calculated based on the speed limit while making the reference speed the maximum speed.

  Further, in the steering profile calculation unit 36, according to the reference wheel steering angle calculated by the reference travel characteristic calculation unit 34 on the basis of the travel permission section information and the position information of the own vehicle, Calculate the steering profile that is the basis of Similarly to the above, once the vehicle enters a section where travel is permitted, based on a route map (curved road etc.), as shown in FIG. 4, the relationship between the section position and the wheel steering angle is calculated. Do. Note that FIG. 4 illustrates the case where the travel route is bent to the left and right, and the steering is largely steered to the left and then steered to the right.

  The traveling characteristic correction unit 37 selects and extracts the inherent traveling characteristics of the vehicle from the static characteristics and the dynamic characteristics of the dump truck of different specifications stored in the traveling characteristic storage unit 32, and generates a reference traveling characteristic calculation unit. Based on the reference travel characteristic calculated at 34, the inherent travel characteristic of the vehicle is corrected. Specifically, the static characteristics and the dynamic characteristics of each dump truck depend on the operation target of each dump truck, that is, the operation command value of the traveling drive device 42, the brake device 44, the steering device 46, etc. The characteristic correction unit 37 generates and stores correspondences between the reference travel characteristic and the operation command value of the operation target of the dump truck. Specifically, in the traveling characteristic correction unit 37, the traveling characteristic specific to each vehicle and the vehicle ID of all the dump trucks to be controlled by the control control device 10 are associated with each other and stored. Thus, each dump truck inquires from the traveling characteristic storage unit 32 a vehicle ID that matches the inherent traveling characteristic stored in the traveling characteristic correction unit 37 included in each vehicle, and is linked to the coincident vehicle ID The travel characteristics are corrected based on the specifications of each vehicle by comparing the travel characteristics with the reference travel characteristics.

  For example, regarding speed and deceleration, the relationship between the reference speed and the accelerator operation command value of the dump truck of each specification (for example, specifications A to C) is mapped as shown in FIG. The relationship with the brake operation command value of the dump truck (for example, specifications A to C) is mapped as shown in FIG. Thus, the traveling characteristic correction unit 37 is a dump truck having a relationship between a reference speed and an accelerator operation command value, a relationship between a reference deceleration and a brake operation command value, and a relationship between a reference wheel steering angle and a steering operation angle. The correction map is generated and stored according to the specification of

  The traveling control command conversion unit 38 uses the correction profile stored in the traveling characteristic correcting unit 37 to calculate a reference speed profile, which is a traveling control instruction calculated by the speed profile calculating unit 35, into a unique traveling control command for each vehicle. The steering profile, which is the travel control command calculated by the steering profile calculation unit 36, is converted into the accelerator operation command value corresponding to the reference speed and the brake operation command value corresponding to the reference deceleration. It converts into a steering operation angle corresponding to a reference wheel steering angle which is a specific travel control command of the above, and supplies the accelerator operation command value information, the brake operation command value information and the steering operation angle information to the vehicle control device 40.

  As described above, when the travel permission section calculation unit 12 of the control control device 10 recognizes from the current position information of the dump truck that it has reached a predetermined distance before the end of the section where the dump truck is currently traveling, Arithmetic processing is performed to determine whether the travel permission of the next section following the section is permitted. Specifically, when the stopable distance is set by the speed profile calculation unit 35, a distance longer than the stopable distance is defined as a predetermined distance, and the autonomous operation control device 20 determines that the dump truck is a predetermined distance from the end of the section When the vehicle has reached the front, the transmission / reception device 23 transmits a confirmation signal to the transmission / reception unit 13 and the travel permission section calculation unit 12 determines whether or not the travel permission of the next section is permitted.

  From this, until the dump truck reaches the braking start position calculated by the speed profile calculation unit 35, the accelerator operation command value information and the steering operation angle information are supplied from the traveling control command conversion unit 38 to the vehicle control device 40. . Even if the dump truck reaches the braking start position, if the travel permission of the next section is not performed by the travel permission section calculation unit 12, when the dump truck reaches the braking start position, the travel control command conversion unit 38 Brake operation command value information from the vehicle is supplied to the vehicle control device 40. On the other hand, when the travel permission of the next section is performed by the travel permission section calculation unit 12, even if the dump truck reaches the braking start position, the brake operation command value information is controlled by the vehicle control command information from the travel control command conversion unit 38. It is not supplied to the device 40, and the driving control command conversion unit 38 continues to supply the accelerator operation command value information and the steering operation angle information to the vehicle control device 40.

  When the dump truck enters the next section, new acceleration operation command value information, brake operation command value information, and steering from the travel control command conversion unit 38 according to the travel permission instruction for the next section from the travel permission section calculation unit 12 Operation angle information is supplied to the vehicle control device 40.

The transmission / reception device 23 transmits / receives signals to / from the transmission / reception unit 13 of the control control device 10 by wireless communication using a common protocol.
As described above, the travel command correction device 30 of the autonomous driving control device 20 is unitized and electrically connected to the vehicle control device 40 via the connector. The connector preferably has the same standard on the male and female sides, but if the standard is different, for example, a conversion adapter is used.

  The vehicle control device 40 includes a travel drive device 42 that accelerates and decelerates drive sources such as an engine and a motor of a dump truck, a brake device 44 that operates a brake, a steering device 46 that operates a steering, and a vehicle travel control device An accelerator operation command value information, a brake operation command value information, and a steering operation angle information are input to the vehicle travel control device 48 from the travel control command conversion unit 38 via the connector. The vehicle travel control device 48 controls the travel drive device 42, the brake device 44, and the steering device 46 based on the accelerator operation command value information, the brake operation command value information, and the steering operation angle information from the travel control command conversion unit 38. .

  Specifically, the vehicle drive control device 48 drives the accelerator operation command value corresponding to the reference speed based on the accelerator operation command value information until the dump truck reaches a predetermined distance before the end of the section. Control of the device 42 is performed. At the same time, based on the steering operation angle information, the steering device 46 is controlled such that the steering operation angle corresponds to the reference wheel steering angle.

  Then, when the dump truck reaches a predetermined distance before the end of the section, and the travel permission of the next section is not performed by the travel permission section calculation unit 12, the vehicle travel control device 48 generates the speed profile calculation unit 35. When the dump truck arrives at the braking start position calculated by the above, the brake device 44 is controlled to obtain a brake operation command value corresponding to the reference deceleration based on the brake operation command value information. As a result, the dump truck is temporarily stopped at the end of the section, and waits for the travel permission of the next section to be performed by the travel permitted section calculation unit 12. This ensures safety.

  On the other hand, when the travel permission of the next section is permitted by the travel permission section calculation unit 12, the vehicle travel control device 48 continues to use the accelerator operation command value information even if the dump truck reaches the braking start position. The traveling drive unit 42 is controlled to obtain an accelerator operation command value corresponding to the reference speed, and in the next section, the traveling drive unit 42, the braking device 44, and the steering device according to a new instruction from the traveling permission section calculation unit 12. The above series of control is repeated for 46.

  Here, when the dump truck reaches the braking start position, the control of the brake device 44 is performed based on the brake operation command value information, but in the case of a dump truck where the travel drive device 42 can also perform the brake operation. In this case, control of the traveling drive device 42 may be performed based on the brake operation command value information.

  As described above, according to the travel command correction device for a work vehicle according to the present invention, an autonomous transport system for autonomously operating a plurality of unmanned dump trucks for transporting ore or the like excavated in a mine etc. Even if the static characteristics and dynamic characteristics of multiple dump trucks differ due to differences in specifications, common reference driving characteristics such as reference speed, reference deceleration, and reference wheel steering angle are set, and all dump trucks are common. The traveling characteristics of the individual dump truck can be corrected based on the reference velocity, the reference deceleration, and the reference wheel steering angle so that the traveling of the dump truck can be controlled so that the vehicle travels with the speed, deceleration and wheel steering angle.

  Thereby, even if a plurality of dump trucks having different static characteristics and dynamic characteristics are mixed in the work place, dumping is performed based on the common speed, deceleration, and wheel steering angle uniformed among all the dump trucks. It is possible to control the traveling of the truck, and it is possible to improve the operation efficiency of the control system of the work vehicle while preventing interference between the dump trucks without complicating the control system.

  In particular, the travel command correction device 30 that issues a travel control command to the vehicle control device 40 included in each dump truck is detachably unitized and mounted on each dump truck and electrically connected to the vehicle control device 40 via the connector. Connection is possible. Therefore, even in the case where a plurality of dump trucks having different specifications coexist, the travel command correction device 30 can be made common and mounted on all the dump trucks, and a highly versatile control system can be constructed.

This is the end of the description of the embodiment of the travel command correction device for a work vehicle according to the present invention, but the present invention is not limited to the above embodiment.
For example, in the above embodiment, for example, the reference speed, the reference deceleration, and the reference wheel steering angle are set as the reference travel characteristics of the dump truck, but the present invention is not limited thereto. A reference value may be provided for the dynamic characteristic, and the same control as described above may be performed.

  Also, it is not necessary to set reference values for all of the speed, deceleration, and wheel steering angle of the dump truck, and at least one of the reference speed, reference deceleration, and reference wheel steering angle may be set and used. It is also good. For example, when it is desired to equalize the deceleration degree and the wheel steering angle of the dump truck, the reference deceleration degree and the reference wheel steering angle may be set and used, and in particular, the deceleration of the dump truck should be equalized. If desired, at least the reference deceleration may be set and used.

  In the above embodiment, the velocity profile calculating unit 35 obtains the velocity profile while keeping the reference deceleration a constant as shown in FIG. 3. However, the reference deceleration may not necessarily be constant, and gradually It may be variably set to be small or gradually change to a large value.

Moreover, in the said embodiment, although the case where the driving | running route was divided into the several section was demonstrated to the example, the driving | running route does not necessarily need to be divided into the section. According to the travel command correction device for a work vehicle according to the present invention, the travel characteristics of the dump truck are equalized, so that even if the travel route is not divided into sections, control is performed while preventing interference between dump trucks. It is possible to improve the operation efficiency of the system.
Moreover, although the case where a working vehicle is a dump truck was demonstrated to the example in the said embodiment, a working vehicle is not restricted to a dump truck.

DESCRIPTION OF SYMBOLS 10 control control apparatus 12 driving | running | working permission area calculating part 13 transmission / reception part 20 autonomous operation control apparatus 21 position detection apparatus 22 self-vehicles position estimation apparatus (position estimation apparatus)
23 Transmitter / receiver (communication device)
30 travel command correction device 32 travel characteristic storage unit 34 reference travel characteristic calculation unit 35 speed profile calculation unit (travel control instruction calculation unit)
36 Steering profile calculator (travel control command calculator)
37 traveling characteristic correction unit 38 traveling control command conversion unit (travel control instruction calculation unit)
40 Vehicle control device 42 Travel drive device 44 Brake device 46 Steering device 48 Vehicle travel control device

Claims (5)

It is mounted on multiple work vehicles that travel autonomously,
The common travel instruction received from the communication device that receives the common travel instruction transmitted from the control control device to the plurality of work vehicles, and the position estimation device provided on the work vehicle to estimate the position of the work vehicle A travel control command calculation unit that calculates a travel control command based on the received position estimation information;
A traveling characteristic storage unit that stores all inherent traveling characteristics of the plurality of work vehicles including the inherent traveling characteristics for each vehicle, and a vehicle ID uniquely associated with the inherent traveling characteristics for each of all the vehicles. When,
A reference travel characteristic calculation unit that calculates a common reference travel characteristic from different travel characteristics of the plurality of work vehicles stored in the travel characteristic storage unit;
A unique vehicle ID of each vehicle is stored, and among all unique traveling characteristics of the work vehicle stored in the traveling characteristic storage unit so as to obtain each of the reference traveling characteristics, unique to each vehicle And a traveling characteristic correction unit that extracts traveling characteristics from the traveling characteristic storage unit based on the vehicle ID and corrects the extracted traveling characteristics specific to the vehicle in comparison with the reference traveling characteristics.
The travel control command is converted into a unique travel control command for each vehicle based on the unique travel characteristic for each vehicle corrected by the travel characteristic correction unit, and provided for the work vehicle to travel the work vehicle A travel command correction device for a working vehicle that supplies a vehicle travel control device to be controlled.   The inherent traveling characteristic of the work vehicle is at least one of speed, acceleration / deceleration and wheel steering angle, and the common reference traveling characteristic is a corresponding reference speed, reference acceleration / deceleration and reference wheel steering angle. A travel command correction device for a work vehicle according to Item 1.   The travel command correction device for a work vehicle according to claim 2, wherein the inherent travel characteristic of the work vehicle includes at least a deceleration, and the common reference travel characteristic includes a reference deceleration.   The reference driving characteristic calculation unit according to claim 1, wherein the common reference driving characteristic is calculated based on the largest time constant among all inherent driving characteristics of the plurality of target work vehicles. Travel command correction device for work vehicle.   The work vehicle according to claim 1, wherein the travel control command calculation unit, the travel characteristic storage unit, the reference travel characteristic calculation unit, and the travel characteristic correction unit are unitized and provided detachably on the work vehicle. Run command correction device.

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