JP2020050257A - Vehicle traveling state determination device - Google Patents

Abstract

To provide a vehicle traveling state determination device that suppresses contact between a vehicle and an object beside the vehicle.SOLUTION: A lateral sensor 40 detects a distance to a lateral object A10 outside the vehicle 1 in a vehicle lateral direction Y. The lateral sensor 40 includes a front lateral sensor 40f and a rear lateral sensor 40r. The rear lateral sensor 40r detects a position of the vehicle 1 on the same side as the side detected by the front lateral sensor 40f in the vehicle lateral direction Y which is a position of a vehicle rear side X2 further rear than the detection position of the front lateral sensor 40f. A controller 70 determines the traveling state of the vehicle 1 using distances detected by the front lateral sensor 40f and the rear lateral sensor 40r so that a space between the vehicle 1 and the lateral object A10 is wide.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle traveling state determination device that determines a traveling state of a vehicle.

  For example, a conventional vehicle is described in Patent Document 1 and the like. The document describes that a vehicle travels on a ladder-like member bridged between the ground and a bed. Further, it describes that the vehicle travels based on detection information that the left / right copying sensor of the vehicle comes into contact with or separates from the outer end surface of the ladder-like member.

JP-A-2004-314822

  In the technique described in the document, it is necessary that the left and right copying sensors come into contact with and separate from the ladder-like member on which the vehicle travels. Therefore, when the vehicle travels in a place where the left and right copying sensors do not come in contact with or separate from each other (for example, the ground or a bed in the document), the technology described in the document cannot be used. Therefore, for example, the vehicle may come into contact with an object next to the vehicle (for example, in the document, a tilt plate next to a loading platform).

  Accordingly, an object of the present invention is to provide a vehicle traveling state determination device that can suppress contact between a vehicle and an object beside the vehicle.

  The vehicle traveling state determining device of the present invention includes a lateral sensor and a controller. The lateral sensor is provided in a vehicle and detects a distance to a lateral object located outside the vehicle in a lateral direction of the vehicle. The detection value of the lateral sensor is input to the controller. The lateral sensor includes a front lateral sensor and a rear lateral sensor. The rear side sensor detects a position on the same side of the vehicle as the side detected by the front side sensor in the vehicle lateral direction, and a position on the rear side of the vehicle with respect to a detection position of the front side sensor. The controller determines the traveling state of the vehicle using the distances detected by the front lateral sensor and the rear lateral sensor so that the distance between the vehicle and the lateral object is increased.

  With the above configuration, contact between the vehicle and an object beside the vehicle can be suppressed.

It is the figure which looked at vehicles 1 grade from the top. FIG. 2 is a diagram of the vehicle 1 illustrated in FIG. 1 when viewed from above when the vehicle 1 is tilted with respect to a horizontal object A10, and is a diagram illustrating a distance between the vehicle 1 and a right object A12. FIG. 3 is a diagram corresponding to FIG. 2 showing a distance between a vehicle 1 shown in FIG. 2 and a left object A11 and the like. FIG. 2 is a diagram schematically showing a vehicle 1 shown in FIG. 1. It is the figure which looked at the crawler 11c shown in FIG. 1 from the upper part. 2 is a flowchart showing an operation of the vehicle 1 shown in FIG.

  The vehicle 1 including the vehicle traveling state determination device 20 shown in FIG. 1 will be described with reference to FIGS.

  The vehicle 1 is a machine that can travel. The vehicle 1 is, for example, a work machine that performs work, for example, a construction machine that performs construction work, and is, for example, a shovel. In the example shown in FIG. 1, the vehicle 1 is a small shovel. The vehicle 1 may be controlled automatically or may be remotely controlled. The vehicle 1 includes a lower traveling body 11, a blade 13, an upper revolving body 15, an attachment 17, and a vehicle traveling state determination device 20.

  The lower traveling body 11 is capable of traveling and includes a structure (a mechanism, a structure) that supports the upper revolving superstructure 15. The lower traveling body 11 may include, for example, a wheel (not shown), or may include, for example, a crawler 11c (crawler traveling device). The crawlers 11c are provided on the left and right (two).

  The blade 13 (discharge plate) is a working device (a lower traveling body-side working device) attached to the lower traveling body 11. The blade 13 is vertically movable with respect to the lower traveling body 11 and does not move in the vehicle lateral direction Y (the direction will be described later). In addition, a working device other than the blade 13 may be attached to the lower traveling body 11.

  The upper swing body 15 is attached to the lower traveling body 11 so as to be swingable. The upper swing body 15 is provided with, for example, a driver's seat (not shown), a drive source of the vehicle 1 (an engine not shown), and the like.

  The attachment 17 is a working device (an upper-slewing body-side working device) attached to the upper-slewing body 15. The attachment 17 includes, for example, a boom, an arm, a bucket, and the like. When the upper swing body 15 swings with respect to the lower traveling body 11, the attachment 17 swings together with the upper swing body 15.

(direction)
The direction in which the vehicle 1 travels straight forward and backwards is referred to as a vehicle front-rear direction X. For example, when the lower traveling body 11 includes the crawler 11c, the vehicle front-rear direction X is a direction in which each of the left and right crawlers 11c extends. For example, when the lower traveling body 11 includes a wheel, the vehicle front-rear direction X is a direction in which the wheel can roll. In the vehicle front-rear direction X, the direction of movement (the side on which the vehicle 1 moves) when the vehicle 1 advances straight ahead is defined as a vehicle front side X1, and the opposite direction is defined as a vehicle rear side X2. The vehicle front side X1 is a direction from the current position P1 of the vehicle 1 to the target position P2. The direction in which the rotation axis of rotation of the upper revolving unit 15 with respect to the lower traveling unit 11 extends is defined as the vertical direction of the vehicle 1. A direction orthogonal to the vehicle front-rear direction X and the vertical direction of the vehicle 1 is defined as a vehicle lateral direction Y. In the vehicle lateral direction Y, the left side when viewed from the vehicle rear side X2 toward the vehicle front side X1 is referred to as a vehicle left side Y1, and the opposite side is referred to as a vehicle right side Y2. A certain direction of the upper swing body 15 is referred to as “upper swing body 15 front side”. For example, the side on which the attachment 17 projects from the upper revolving unit 15 may be the front side of the upper revolving unit 15. The angle of the upper revolving unit 15 with respect to the lower traveling unit 11 is referred to as “slewing angle”. More specifically, the turning angle is an angle on the front side of the upper turning body 15 with respect to the vehicle front side X1. A state where the front side X1 of the vehicle and the front side of the upper revolving structure 15 coincide with each other (the state shown in FIGS. 1 to 3) is defined as a reference (0 °) of the turning angle. Hereinafter, a case where the turning angle is 0 ° will be mainly described.

  The vehicle running state determination device 20 determines how the vehicle 1 should run (running state). The vehicle traveling state determination device 20 includes a sensor 30 and a controller 70.

  The sensor 30 detects information on the position of an object (such as a horizontal object A10 described later) around the vehicle 1 with respect to the vehicle 1. The sensor 30 includes a lateral sensor 40, a front-back sensor 50, and a turning angle sensor 60 (see FIG. 4).

  The lateral sensor 40 detects information on the position of a lateral object A10 (described later) with respect to the vehicle 1. The lateral sensor 40 detects a distance from the lateral sensor 40 to the lateral object A10. The lateral sensor 40 is a distance sensor, for example, an optical sensor, for example, an infrared sensor. The lateral sensor 40 is attached to the vehicle 1. The lateral sensor 40 includes a left sensor 41 and a right sensor 42.

  The left sensor 41 detects a distance from the left sensor 41 to a left object A11 (described later). The left sensor 41 is arranged at a position where the distance to the left object A11 can be detected. For example, the left sensor 41 is attached to the left side Y1 of the vehicle 1. For example, the left sensor 41 is attached to the upper revolving unit 15 and attached to the left side Y1 portion of the upper revolving unit 15 (the left side portion Y1 of the upper revolving unit 15 when the revolving angle of the upper revolving unit 15 is 0 °). Can be The left sensor 41 may be attached to the lower traveling body 11. The detection direction (detectable direction) of the left sensor 41 is, for example, a direction coinciding with the vehicle lateral direction Y, for example, a direction coinciding with the vehicle left side Y1. The detection direction of the left sensor 41 may be a direction inclined with respect to the vehicle lateral direction Y. Two or more left sensors 41 are provided. The greater the number of left sensors 41, the easier it is to calculate the inclination of the vehicle 1 with respect to the left object A11 (see the inclination α in FIG. 2) more accurately. The left sensor 41 illustrated in FIG. 1 includes a front left sensor 41f (a front side sensor 40f) and a rear left sensor 41r (a rear side sensor 40r).

  The front left sensor 41f and the rear left sensor 41r detect the positions on the same side (specifically, the left side Y1 of the vehicle) in the vehicle lateral direction Y. The rear left sensor 41r detects the position of the vehicle 1 on the same side (vehicle left side Y1) as the side detected by the front left sensor 41f (vehicle left side Y1). The position where the front left sensor 41f can detect (detection position) and the detection position of the rear left sensor 41r are shifted from each other in the vehicle front-rear direction X. The rear left sensor 41r detects the position of the vehicle rear side X2 more than the front left sensor 41f. For example, the rear left sensor 41r is arranged on the vehicle rear side X2 with respect to the front left sensor 41f. For example, the position of the rear left sensor 41r in the vehicle lateral direction Y is the same as the position of the front left sensor 41f in the vehicle lateral direction Y.

  The right sensor 42 detects a distance from the right sensor 42 to a right object A12 (described later). The right sensor 42 is provided symmetrically (laterally symmetrically) or substantially symmetrically with the left sensor 41 in the vehicle lateral direction Y. Two or more right sensors 42 are provided, for example, the same number as the left sensor 41 is provided. Like the left sensor 41, the right sensor 42 includes a front right sensor 42f (a front side sensor 40f) and a rear right sensor 42r (a rear side sensor 40r).

  The front-rear sensor 50 detects information about the position of the front-rear object A20 (described later) with respect to the vehicle 1. The front-rear sensor 50 may be attached to the vehicle 1 or may be provided outside the vehicle 1. The front and rear sensors 50 include a front sensor 51 and a rear sensor 52.

  The front sensor 51 detects information on the position of a front object A21 (described later) with respect to the vehicle 1. For example, the front sensor 51 detects a distance from the front sensor 51 to the front object A21 (a distance in a detection direction of the front sensor 51). The front sensor 51 may not be able to detect the distance more accurately than the lateral sensor 40. For example, the front sensor 51 may be able to detect only whether or not the front object A21 exists within a certain range. The front sensor 51 is set to a position and a number at which information on the position of the front object A21 can be detected. The number of front sensors 51 may be one or more. For example, the front sensor 51 is attached to the upper swing body 15, and is attached to the vehicle front side X1 portion of the upper swing body 15 and the like. The front sensor 51 may be attached to the lower traveling body 11.

  The rear sensor 52 detects information on the position of a rear object A22 (described later) with respect to the vehicle 1. The rear sensor 52 is provided symmetrically or substantially symmetrically in the vehicle front-rear direction X with the front sensor 51.

  The turning angle sensor 60 detects the turning angle of the upper turning body 15 with respect to the lower traveling body 11, as shown in FIG. The turning angle sensor 60 is attached to the vehicle 1. For example, the turning angle sensor 60 includes an upper sensor member 61 attached to the upper revolving unit 15 and a lower sensor member 62 attached to the lower traveling unit 11. An example of detection of the turning angle by the turning angle sensor 60 is as follows.

  [Example 1 of Detection] The turning angle sensor 60 can detect whether or not the turning angle is a predetermined turning angle (for example, about 0 °). [Detection Example 1a] For example, one of the upper sensor member 61 and the lower sensor member 62 is a transmitter that transmits a signal (for example, an optical signal), and the other (the one that is not the transmitter) is a receiver that receives a signal. Machine. [Detection Example 1b] One of the upper sensor member 61 and the lower sensor member 62 is a transceiver that transmits and receives a signal, and the other (the one that is not a transceiver) may be an object that reflects a signal. In the case of [Detection Example 1a] and [Detection Example 1b], when the receiver (or the transceiver) receives the signal, it detects that the turning angle is the predetermined turning angle. Further, when the receiver (or the transceiver) does not receive the signal (for example, refer to the upper sensor member 61 indicated by a two-dot chain line in FIG. 4), it may be detected that the turning angle is not the predetermined turning angle. In this case, if the upper revolving unit 15 is rotated by one turn or less with respect to the lower traveling unit 11, it is possible to detect a state where the turning angle has reached a predetermined turning angle (for example, about 0 °).

  [Example 2 of Detection] The turning angle sensor 60 may be capable of detecting the number of turning angles at predetermined intervals (for example, at 1 ° intervals). The turning angle sensor 60 may be one that directly detects the turning angle (such as an encoder). In this case, for example, the turning angle sensor 60 may be attached to a connection portion (such as a swivel joint (not shown)) between the upper turning body 15 and the lower traveling body 11.

  The controller 70 (see FIG. 1) performs transmission and reception of signals, calculation (judgment and the like), storage of information, and the like. As shown in FIG. 1, a detection value (detection result, output signal) of the sensor 30 is input to the controller 70. The controller 70 may be provided in the vehicle 1 or may be provided outside the vehicle 1.

(Objects around the vehicle 1)
The space in which the vehicle 1 travels is referred to as a space S. An object outside the vehicle 1 in the vehicle lateral direction Y is defined as a horizontal object A10. The horizontal object A10 includes at least one of a left object A11 and a right object A12. The left object A11 is an object located on the left side Y1 of the vehicle 1 with respect to the vehicle 1. The right object A12 is an object located on the right side Y2 of the vehicle with respect to the vehicle 1. Hereinafter, a case where there is a left object A11 and a right object A12 will be described. The left object A11 and the right object A12 are arranged parallel or substantially parallel to each other. An object located outside the vehicle 1 in the vehicle front-rear direction X is referred to as a front-back object A20. The front and rear objects A20 include a front object A21 and a rear object A22. The front object A21 is an object located on the vehicle front side X1 with respect to the vehicle 1. The rear object A22 is an object located on the vehicle rear side X2 with respect to the vehicle 1.

(Position and direction related to space S)
The space S has a current position P1 and a target position P2. The current position P1 is the current position of the vehicle 1. The target position P2 is a position on the vehicle front side X1 relative to the current position P1, and is a position where the vehicle 1 is to be arranged. For example, the target position P2 may be a position where the vehicle 1 is to be parked (parked). For example, the target position P2 may be a position on the traveling route of the vehicle 1 where the vehicle 1 is to pass. When viewed from above, a line connecting points having the same distance from the right object A12 and the left object A11 is defined as a space center line Sa. The direction in which the space center line Sa extends is referred to as a space front-back direction SX. When the space center line Sa is a curve when viewed from above, the tangential direction of the space center line Sa at a point where the vehicle 1 and the space center line Sa overlap or in the vicinity thereof is referred to as the space front-rear direction. SX may be used. When there is only one of the right object A12 and the left object A11, the direction in which the horizontal object A10 extends is defined as the space front-back direction SX. In the space front-back direction SX, the side from the current position P1 toward the target position P2 is referred to as a space front side SX1, and the opposite side is referred to as a space rear side SX2. The horizontal direction orthogonal to the space front-back direction SX is referred to as a space horizontal direction SY. In the space lateral direction SY, the side that becomes the vehicle right side Y2 when the space front side SX1 and the vehicle front side X1 are matched is the space right side SY2, and the opposite side is the space left side SY1.

  Specific examples of the objects around the vehicle 1 are as follows. [Example 1 of an object or the like] The space S is a carrier of a transport vehicle for transporting the vehicle 1. The horizontal object A10 is a tilt plate at the outer end in the space horizontal direction SY of the loading platform. The front object A21 is a wall of the driver's cab on the space front side SX1 with respect to the bed, or a wall at the end of the space front SX1 of the bed. The rear object A22 is, for example, a portion (a rear portion of the loading platform) of the loading platform on the space rear side SX2 with respect to the vehicle 1. The rear object A22 may include a road plate A22a and the like. The road plate A22a is a member (for example, a ladder-like member) for causing the vehicle 1 to travel between a position below the bed (such as the ground) and the bed. [Example 2 of Object, etc.] The space S may be a parking (parking) place of the vehicle 1. The parking place may be on the ground or in a building (such as a warehouse). At least one of the horizontal object A10 and the front object A21 may be a wall or the like, and may be a vehicle different from the vehicle 1 arranged beside or in front of the vehicle 1. At least one of the front object A21 and the rear object A22 may be a ground or a floor (a surface with which the bottom surface of the vehicle 1 contacts) or a mark (a line or the like) provided on the ground or the floor.

(Actuation)
Vehicle 1 (mainly controller 70) is configured to operate as follows. The controller 70 determines the traveling state of the vehicle 1. The traveling state includes the traveling direction and the turning direction of the vehicle 1. The traveling state is at least one of a left turn, a right turn, forward movement, and reverse movement. The running state may include stopping. The forward movement includes forward straight traveling and forward turning. The forward turn includes a forward left turn and a forward right turn. The reverse travel includes a reverse straight travel and a reverse turn. The reverse turn includes a reverse left turn and a reverse right turn. When the vehicle 1 includes the crawler 11c, the vehicle 1 may turn (spin turn, pivot turn) on the spot without moving forward or backward. In the following, turning means not turning of the upper turning body 15 with respect to the lower running body 11 but turning of the vehicle 1 while running unless otherwise specified.

  The controller 70 uses the distance detected by the lateral sensor 40 to determine a traveling state in which the vehicle 1 does not contact at least the lateral object A10. As shown in FIG. 6, the controller 70 performs a process related to the turning angle (S10), a process related to the target position P2 (S21, S23), and a process related to determination of the traveling state of the forward and reverse travel (S31 to S57). Do. Hereinafter, each step of the flowchart will be described with reference to FIG.

  In step S10, the controller 70 shown in FIG. 1 causes the upper swing body 15 to swing with respect to the lower running body 11 such that the swing angle of the upper swing body 15 with respect to the lower running body 11 becomes a predetermined swing angle. This process is performed before the controller 70 determines the traveling state of the vehicle 1 (for example, before the traveling of the vehicle 1 starts). The “predetermined turning angle” is set in the controller 70. The predetermined turning angle is, for example, a constant value set in the controller 70 in advance. The predetermined turning angle is set to a turning angle (ideal turning angle) suitable for measuring the inclination α (see FIG. 2) (step S31). The predetermined turning angle is, for example, about 0 °, and may be, for example, an angle range (for example, −1 ° to 1 °) having 0 ° as a central value. The turning angle is detected by a turning angle sensor 60 (see FIG. 4).

  In this step S10, how many times the turning angle is may be detected by the turning angle sensor 60 (see FIG. 4). The controller 70 may use the turning angle detected by the turning angle sensor 60 to perform each process (calculation and the like) described later. The controller 70 may use this turning angle to correct (convert) each value (detected value of the sensor 30, etc.) described later. Hereinafter, a case where the turning angle is an ideal state (0 °) will be described. In the following, mainly, as shown in FIG. 2, the case where the direction of the vehicle front side X1 is inclined to the space right side SY2 with respect to the direction of the space front side SX1 (the case where the inclination α is the direction of the space right side SY2) Will be described. When the inclination α is in the direction of the left space SY1, the left and right in the following description may be reversed. Next, the flow proceeds to step S21.

(Process regarding target position P2 (S21, S22))
In step S21, information on the position of the front object A21 with respect to the vehicle 1 is detected by the front sensor 51 shown in FIG. For example, the front sensor 51 may detect a distance from the front sensor 51 to the front object A21 (a distance in a detection direction of the front sensor 51 (for example, a vehicle front-rear direction X)). In this case, the controller 70 calculates, for example, the distance b ₄ shown in FIG. The distance b ₄ is the distance from the edge of the vehicle front X1 of the vehicle 1 (e.g., end of the attachment 17), before the object A21. Next, the flow proceeds to step S23.

In step S23, the controller 70 shown in FIG. 1 determines whether the vehicle 1 has arrived at the target position P2. For example, the controller 70, the distance b ₄ shown in FIG. 2, determines such or less than a predetermined value. When the vehicle 1 has arrived at the target position P2 (YES in S23), the controller 70 determines that the running state is to be stopped, and the flow ends. When the vehicle 1 has not arrived at the target position P2, the controller 70 performs processing (S31 to S57) relating to determination of the traveling state of the forward traveling and the backward traveling.

(Processing Regarding Determination of Running State of Forward and Reverse Travel (S31 to S57))
The controller 70 shown in FIG. 1 determines the traveling state so that the distance between the vehicle 1 and the horizontal object A10 is widened. More specifically, the controller 70 determines the traveling state such that the distance between the vehicle 1 and the horizontal object A10 is longer than a predetermined distance. The “predetermined interval” is set in the controller 70. At least, the controller 70 determines the traveling state so that the vehicle 1 does not contact the lateral object A10. Hereinafter, the case where the distance between the vehicle 1 and the horizontal object A10 is longer than a predetermined distance is also referred to simply as “securing the distance”.

  The outline of the process related to the determination of the traveling state of the forward traveling and the backward traveling is as follows. The horizontal sensor 40 detects the distance to the horizontal object A10 (S31). If the inclination α (see FIG. 2) is within the predetermined range, the traveling state is determined to be forward and straight ahead (S33, S37). When the inclination α is not within the predetermined range, the controller 70 performs a process (S40) related to forward movement. When the vehicle 1 can advance in a state where the space between the vehicle 1 and the horizontal object A10 is secured, the controller 70 determines the traveling state to be forward (S47). If the vehicle 1 cannot move forward in a state where the distance between the vehicle 1 and the horizontal object A10 is secured, the vehicle 1 is moved backward once. For this purpose, the controller 70 performs a process relating to reverse travel (S50), and determines a traveling state relating to reverse travel (S57). Specific examples of these processes are as follows.

In step S31, the horizontal sensor 40 detects a distance from the horizontal sensor 40 to the horizontal object A10. Among the horizontal sensors 40, at least the horizontal sensor 40 (the right sensor 42) on the same side as the direction of the inclination α (the right side of the space SY2 in FIG. 2) detects the distance to the horizontal object A10 (the right object A12). The right sensor 42 and the left sensor 41 shown in FIG. 1 may detect the distance to the horizontal object A10. Here, a case where the right sensor 42 detects the distance from the right sensor 42 to the right object A12 will be described. As shown in FIG. 2, the distance from the rear right sensor 42r to the right object A12, the distance a _1. The distance from the front right sensor 42f to the right object A12, the distance a _2. The distance a ₁ and the distance a ₂ are distances (linear distances) in the detection direction of the right sensor 42, and are not necessarily the shortest distances from the right sensor 42 to the right object A12. In this example, the position in the vehicle lateral direction Y is the same between the front right sensor 42f and the rear right sensor 42r. Further, in this example, the detection angle (φ ₁ ) of the rear right sensor 42r with respect to the vehicle front-rear direction X and the detection angle (φ ₂ ) of the front right sensor 42f with respect to the vehicle front-rear direction X are 90 °. I do. In the front right sensor 42f and the rear right sensor 42r, and if the position is deviated in the vehicle transverse direction Y, in such as when at least one of phi ₁ and phi ₂ are not 90 °, the calculation to be described later Each value used may be corrected (converted). Next, the flow proceeds to step S33.

In step S33, the controller 70 (see FIG. 1, the same applies to the following controller 70) determines whether the inclination α is within a predetermined range. Further, the controller 70 determines the direction of the inclination α. Specifically, for example, the controller 70 determines whether or not the difference between the distance a ₁ and the distance a ₂ is within a predetermined range. When the distance a ₁ is larger than the distance a ₂ , the direction of the inclination α is the space right SY2. If the distance a ₁ is smaller than the distance a ₂ , the direction of the inclination α is the space left side SY1. The predetermined range of the inclination α is set in the controller 70. The predetermined range of the inclination α is set such that an interval between the vehicle 1 and the right object A12 can be secured when the vehicle 1 moves forward and straight ahead with the inclination α within the predetermined range. The predetermined range of the inclination α is, for example, an angle range having 0 ° as a center value. The predetermined range of the inclination α may be a constant value preset in the controller 70, for example, may be set according to the size of the vehicle 1, and if the size of the space S is known, it may be set according to the size of the space S. It may be set. The predetermined range of the inclination α may be set (changed) by the controller 70 according to some condition (for example, the distance b ₄ , the distance a ₁ , the distance a _2, etc.). If the inclination α is within the predetermined range (YES in S33), the controller 70 determines that an interval can be secured between the vehicle 1 and the right object A12 when the vehicle 1 advances straight ahead. In this case, the controller 70 determines the traveling state to be straight forward (S37), and returns to, for example, step S21. When the inclination α is not within the predetermined range (NO in S33), the controller 70 performs a process related to forward movement (S40).

(Process related to advance (S40))
Next, the controller 70 determines (estimates) whether the vehicle 1 can move forward. In step S41, the controller 70 calculates the distance value b _5. Interval value b ₅ from the portion 1a of the vehicle 1, which is a value related to the distance to the right object A12. Interval value b ₅ may be a distance from the portion 1a to the right object A12, may be a value determined according to the distance. The portion 1a is a portion that is considered to first contact the right object A12 in the vehicle 1 when the vehicle 1 moves forward and straight ahead. The portion 1a is an end (an end in the vehicle front-rear direction X) of the vehicle front side X1 in the vehicle right side Y2 (outside the vehicle lateral direction Y) of the vehicle 1. Specifically, for example, the portion 1a is an end (front end) of the blade 13 on the vehicle right side Y2 and the vehicle front side X1. When the vehicle 1 does not include the blade 13, the portion 1a may be, for example, an end portion of the crawler 11c on the vehicle right side Y2 and the vehicle front side X1. In the example shown in FIG. 2, the interval value b _5, in the longitudinal direction X the vehicle, the distance from the portion 1a to the right object A12. Interval value b ₅ are not in contact with the right object A12, the vehicle 1 is a value representing how be advanced straight much from the current position P1. Interval value b ₅ is in the longitudinal direction X the vehicle, from the portion 1a, and extends the left object A11 right objects A12 space may be the distance to the extended portion in the longitudinal direction SX (FIG. 3 in the space longitudinal direction SX portion , and reference interval values d _5).

Information used to calculate the distance value b ₅ are, for example, as follows. Rear right distance a ₁ sensor 42r detects, and the distance a ₂ of the front right sensor 42f detects, is used to calculate a distance value b _5. Design data of the vehicle 1 (known value) is used to calculate the distance value b _5. Specifically, (dimensions of e.g. undercarriage 11, the dimensions of the upper frame 15) the dimensions of the vehicle 1, is used to calculate a distance value b _5. Further, information of the position of the right sensor 42 in the vehicle 1, is used to calculate a distance value b _5. The information of the position of the right sensor 42 in the vehicle 1, for example, the distance b ₂ and the distance b ₃ may be included. The distance b ₂ is the front right sensor 42f and the rear right sensor 42r, the distance (interval) in the vehicle longitudinal direction X. The distance b ₃ is the front right sensor 42f and the partial 1a, the distance in the vehicle longitudinal direction X. Detection angle of the front right sensor 42f with respect to the vehicle longitudinal direction X (phi _1), and the detection angle of the rear right sensor 42r with respect to the vehicle longitudinal direction X (phi ₂₎ is used to calculate the distance value b _5. Turning angle of the upper frame 15 relative to undercarriage 11 may be used to calculate the distance value b _5. The information used to calculate the distance value b ₅ are (the same applies to the calculation of the following path) that may be selected as needed. For example, when the front right sensor 42f is arranged in the portion 1a, the dimensions of the vehicle 1 need not be used for the calculation.

Specific examples of the calculation of the distance value b ₅ is as follows. The angle formed by the direction in which the right object A12 extends (space front-back direction SX) and the vehicle lateral direction Y (for example, the detection direction of the right sensor 42) is defined as an angle Θ. Θ is expressed as in the following Expression 1. Further, from the relationship of similarity, the distance b ₁ shown in FIG. 2 is expressed by the number of below 2.

By subtracting the distance b ₂ (known value) and the distance b ₃ (known value) from the distance b ₁ , the interval value b ₅ is obtained. Next, the flow proceeds to step S43 (may proceed to step S45).

  In step S43, the controller 70 calculates a trajectory (trajectory, route) through which the vehicle 1 is predicted to pass. The trajectory calculated by the controller 70 is the trajectory of the vehicle 1 in the space S, and is the trajectory of the vehicle 1 with respect to the right object A12. The trajectory calculated by the controller 70 is a trajectory that the vehicle 1 is predicted to pass if the vehicle 1 moves forward (forward or straight ahead or turns). The trajectory calculated by the controller 70 is a trajectory of at least a portion of the vehicle 1 that can come into contact with the right object A12, for example, a trajectory of a corner portion (for example, the portion 1a) of the vehicle 1 when viewed from above. Alternatively, the trajectory of the entire vehicle 1 may be used.

  Information used for calculating the trajectory is, for example, as follows. The dimensions of the vehicle 1 (for example, the dimensions of the lower traveling structure 11 and the dimensions of the upper revolving structure 15) are used for calculating the trajectory. The traveling speed of the vehicle 1 is used for calculating the trajectory. For example, the traveling speed of each of the left and right crawlers 11c (details will be described later) is used for calculating the trajectory. Information on the current position P1 of the vehicle 1 in the space S (for example, a detection value of the sensor 30 or the like) may be used for calculating the trajectory.

The traveling speed of the vehicle 1 used for calculating the trajectory is determined, for example, as follows. When the vehicle 1 is traveling, the “traveling speed” may be the current (actual) traveling speed of the vehicle 1 or the traveling speed of the vehicle 1 as a target value (target traveling speed). The current traveling speed of the vehicle 1 can be calculated from, for example, the number of rotations of the motor of the lower traveling body 11. When the vehicle 1 is stopped, the “travel speed” is the target travel speed. The target traveling speed is set in the controller 70, for example. The target traveling speed may be a speed preset in the controller 70. In this case, the target traveling speed may be, for example, an upper limit value of the traveling speed set in advance in the controller 70 as a traveling speed used when moving in the space S (for example, when loading on a bed). For example, a plurality of types of target traveling speeds may be set in the controller 70 in advance. The target traveling speed is the traveling speed of the vehicle 1 when the vehicle 1 is turned forward to the side where the inclination α decreases. For example, the target traveling speed is the traveling speed of the vehicle 1 when the vehicle 1 is turned forward to the side where the difference between the distance a ₁ and the distance a ₂ becomes smaller.

An example of the calculation of the trajectory is as follows. Here, an example in which the vehicle 1 includes the left and right crawlers 11c is shown. As shown in FIG. 5, the speeds of the left and right crawlers 11c (the space S (the speed of the crawler 11c with respect to the reference Fig. 2)) V _l respectively, and V _r. An interval between the left and right crawlers 11c (an interval between widthwise centers of the left and right crawlers 11c) is 2d. Each velocity of the center of the vehicle 1, and angular velocity, and V _c, omega _c. At this time, the following relational expression of the following Equation 3 holds for the center coordinates (x, y) and the azimuth θ of the vehicle 1.

In the case where the vehicle 1 is provided with left and right crawlers 11c, a one is 0 V _l and V _r, there is the other is greater than zero. When the vehicle 1 includes the left and right crawlers 11c, the vehicle 1 may perform a spin turn. For spin turn, the right crawler 11c and the left crawler 11c are rotated in opposite directions to each other, positive and negative is reversed between V _l and V _r (for example, the forward positive and negative reverse) . However, in the case of a spin turn, the difference between the calculated trajectory and the actual trajectory of the vehicle 1 may be larger than in the case of a forward turn. Therefore, the spin turn need not be included in the traveling state determined by the controller 70 (may be included). Next, the flow proceeds to step S45.

In step S45, the controller 70 determines the distance between the vehicle 1 and the right object A12 shown in FIG. More specifically, the controller 70 uses the calculated interval value b ₅ and the calculated trajectory to determine whether or not an interval between the vehicle 1 and the right object A12 can be secured when the vehicle 1 moves forward (straight forward, turns). Is determined (a specific example of the determination will be described later). If the distance between the vehicle 1 and the right object A12 can be ensured when the vehicle 1 advances (YES in S45), the controller 70 determines the traveling state to be forward (straight forward or forward turn) (step S47). ). If the distance between the vehicle 1 and the right object A12 cannot be ensured when the vehicle 1 moves forward (NO in S45), a process relating to reverse travel (S50) is performed to temporarily reverse.

A specific example of the determination in step S45 is as follows. Controller 70 Specific Example 1a judgment], if the distance value b ₅ equal to or greater than a predetermined value, it is determined that the vehicle 1 can be secured a gap between the vehicle 1 and the lateral object A10 when advancing straight, running state It is determined that the vehicle is going straight forward (step S47). Predetermined value of the interval value b ₅ are set in the controller 70. Predetermined value of interval value b ₅ may be a constant value that is preset in the controller 70 may be a fixed value that is set according to, for example, the dimensions of the vehicle 1. Predetermined value of interval value b ₅ may be a controller 70 sets (changes) value in accordance with conditions. For example, the controller 70, the predetermined value of the interval value b _5, may be set according to the detected value of the front sensor 51 (for example, a distance b _4). For example, the controller 70, as the distance b ₄ is large, it may be set to a large predetermined value of interval value b _5.

If the distance value b ₅ [Examples 1b of the determination] less than a predetermined value, if the vehicle 1 is advanced straight, it can not be secured a distance between the vehicle 1 and the right object A12, the controller 70 determines. In this case, the controller 70 determines whether or not an interval between the vehicle 1 and the right object A12 can be secured when the vehicle 1 turns forward along the locus calculated in step S43. If the space between the vehicle 1 and the right object A12 can be ensured when the vehicle 1 makes a forward turn along the above trajectory, the traveling state is determined so as to make a forward turn with the calculated trajectory (step S47). If the distance between the vehicle 1 and the right object A12 cannot be ensured when the vehicle 1 turns forward along the above-described trajectory, a process relating to reverse travel (S50) is performed in order to temporarily reverse.

(Process for reverse travel (S50))
Next, the controller 70 determines (estimates) whether the vehicle 1 can move backward. The process relating to backward travel (S50) is substantially the same as the process relating to forward travel (S40), but with the front and rear and left and right reversed.

In step S51, the controller 70, like the distance value b ₅ (however, contrary to and fro), calculates a distance value d ₅ shown in FIG. Spacing values d ₅ from the portion 1b of the vehicle 1, which is a value related to the distance to the left object A11. Spacing values d ₅ from the portion 1b of the vehicle 1 may be a distance to the left object A11, may be a value determined according to the distance. The portion 1b is a portion that is considered to first contact the left object A11 in the vehicle 1 when the vehicle 1 moves backward and straight. The portion 1b is a vehicle rear side X2 end (a vehicle front-rear direction X end) of the vehicle left side Y1 (vehicle lateral direction Y outside) of the vehicle 1. Specifically, for example, the portion 1b is an end of the crawler 11c of the vehicle left side Y1 on the vehicle left side Y1 and the vehicle rear side X2. Specifically, for example, the distance value d _5, in the longitudinal direction X the vehicle, from the portion 1b, a distance to the portion extended left object A11 space longitudinal direction SX. Spacing values d ₅ is in the longitudinal direction X the vehicle, from the portion 1b, may be a distance to the left object A11 (see interval value b _5, and right objects A12 in FIG. 3).

Information used to calculate the distance value d ₅ is substantially the same (but opposite to and fro) with the information used for the calculation of the interval value b _5, for example, as follows. Distance c ₁ front left sensor 41f detects, and the distance c ₂ of the rear left sensor 41r is detected, it is used to calculate a distance value d _5. Design data, such as the dimensions of the vehicle 1 (known value) is used to calculate the distance value d _5. Further, information of the position of the left sensor 41 with respect to the vehicle 1 is used for calculation of the distance value d _5. The position information of the left sensor 41 to the vehicle 1, for example, the distance d ₂ and a distance d ₃ may be included. The distance d ₂ is the front left sensor 41f and the rear left sensor 41r, the distance (interval) in the vehicle longitudinal direction X. The distance d ₃ is the rear left sensor 41r and portions 1b, a distance in the vehicle longitudinal direction X. Detection angle of the front left sensor 41f with respect to the vehicle longitudinal direction X (ψ _1), and the detection angle of the rear left sensor 41r with respect to the vehicle longitudinal direction X (ψ ₂₎ is used to calculate the distance value b _5. Turning angle of the upper frame 15 relative to undercarriage 11 may be used for the calculation of the distance value d _5. The information used to calculate the distance value d ₅ is may be selected as needed.

Specific examples of the calculation of the distance value d ₅ is as follows. The angle formed by the direction in which the left object A11 extends (space front-back direction SX) and the vehicle lateral direction Y (for example, the detection direction of the left sensor 41) is defined as an angle Θ. Θ is expressed as in the following Expression 4. Further, from a similar relationship, the distance d ₁ shown in FIG. 3 is expressed as in the following Expression 5.

By subtracting the distance d ₂ (known value) and the distance d ₃ (known value) from the distance d ₁ , the interval value d ₅ is obtained. Next, the flow proceeds to step S53 (may proceed to step S55).

  In step S53, the controller 70 calculates the trajectory (trajectory, route) that the vehicle 1 is predicted to pass through in the same manner as in step S43 (but in the forward, backward, left, and right directions). Next, the flow proceeds to step S55.

  In step S55, the controller 70 determines the distance between the vehicle 1 and the left object A11 in the same manner as in step S45 (but in the forward, backward, left, and right directions). [Specific Example 2a of Judgment] As in [Specific Example 1a of Judgment], when the vehicle 1 moves backward and straight, the controller 70 judges whether or not the distance between the left object A11 and the vehicle 1 can be secured. You may. [Specific Example 2b of Determination] Similarly to the above [Specific Example 1b of Determination], when the vehicle 1 makes a reverse turn along the trajectory calculated in step S53, the controller 70 determines whether the vehicle 1 and the right object A12 It may be determined whether or not the interval can be secured.

  Further, the controller 70 may make a determination regarding the rear object A22 (for example, a bed). [Specific Example 2c of Determination] For example, the rear sensor 52 (see FIG. 1) detects information on the position of the rear object A22 with respect to the vehicle 1. Then, the controller 70 determines whether or not there is a space S that can be moved backward on the vehicle rear side X2 of the vehicle 1. When there is a space S where the vehicle can move backward, the controller 70 changes the traveling state to the reverse straight or the reverse turn based on at least one of the above-described [specific example 2a] and [specific example 2b]. Is determined (step S57). If there is no space S where the vehicle can move backward (YES in S55), the controller 70 determines that the traveling state is stopped. In this case, the flow ends. In this case, the controller 70 may output an error signal. [Specific Example 2d of Judgment] The rear sensor 52 (see FIG. 1) determines the distance from the end of the vehicle 1 on the rear side X2 to the end of the space S on the rear side of the space SX2 (such as the rear end of the loading platform). It may be detected. The controller 70 may determine whether or not the distance is equal to or longer than a predetermined distance. When this distance is equal to or longer than the predetermined distance, the controller 70 may determine that there is a space S that can move backward on the vehicle rear side X2 of the vehicle 1. When this distance is less than the predetermined distance, the controller 70 may determine that there is no reversible space S on the vehicle rear side X2 of the vehicle 1.

  The controller 70 determines the traveling state in step S37, S47, or S57, and causes the vehicle 1 shown in FIG. 1 to travel according to the determined traveling state. The detection by the sensor 30 and each process (each determination) of the controller 70 are continuously performed while the vehicle 1 is running. After step S37, S47, or S57, the flow returns to step S21. While the vehicle 1 is moving backward (after step S57), the flow may return to step S31 because the vehicle 1 does not arrive at the target position P2.

  An example of the timing of stopping the backward movement of the vehicle 1 (changing the running state from the backward movement to the stop) is as follows. When the inclination α (see FIG. 3) falls within a predetermined range (YES in S33) during the reverse turning of the vehicle 1, the controller 70 may stop the reverse movement and start the forward movement (S47). The controller 70 calculates the trajectory of the forward turning while the vehicle 1 is moving backward (S43). If it is determined that the forward turning is possible (YES in S45), the controller 70 stops the reverse movement and moves forward. May be started (S47).

  The controller 70 determines the traveling state so as to secure at least a predetermined interval between the vehicle 1 and the horizontal object A10. In this case, for example, the vehicle 1 moves to the space front SX1 and moves to the target position P2 while repeatedly moving to the space right SY2 and moving to the space left SY1.

It is preferable that the controller 70 determines the traveling state on the side where the inclination α shown in FIG. 3 becomes smaller. [Example 3a] It is preferable that the controller 70 determines the traveling state on the side where the vehicle front-rear direction X and the direction in which the left object A11 extends are parallel to each other. Specifically, for example, the controller 70, on the side and the distance c ₂ of the front left sensor 41f detects the distance c ₁ and the rear left sensor 41r detected is equal, it is preferable to determine the running state. [Example 3b] It is preferable that the controller 70 determines the traveling state on the side where the vehicle front-rear direction X and the direction in which the right object A12 extends are parallel to each other. Specifically, for example, the controller 70, the distance a ₁ to the side right sensor 42r detects after 2, the distance a ₂ of the front right sensor 42f detects, on the side is equal, determines the running state Is preferred. [Example 3c] It is more preferable that the controller 70 determines the traveling state so as to satisfy both [Example 3a] and [Example 3b].

It is preferable that the controller 70 determine the traveling state such that the central portion in the vehicle lateral direction Y of the vehicle 1 approaches the space center line Sa (the central portion in the space lateral direction SY of the space S). More specifically, the controller 70 determines the traveling state on the side where the distance from the left side Y1 of the vehicle 1 to the left object A11 and the distance from the right side Y2 of the vehicle 1 to the right object A12 are equal. Is preferred. Specifically, for example, it is preferable that the controller 70 determine the traveling state on the side where the distance a ₁ or the distance a ₂ is equal to the distance c ₁ or the distance c ₂ shown in FIG.

  The operation of the vehicle traveling state determination device 20 (see FIG. 1), for example, the order of the steps in the flowchart shown in FIG. 6 can be variously changed. For example, the controller 70 may determine the traveling state to be forward turning when the vehicle can advance straight ahead (for example, in the case of YES in S33). Specifically, for example, the controller 70 may determine the traveling state to be a forward turn so that the inclination α is small even when the vehicle can advance straight ahead. Further, for example, the controller 70 may determine the traveling state to be a forward turn so that the center of the vehicle 1 in the lateral direction Y of the vehicle 1 approaches the center line Sa even when the vehicle can travel straight forward. Similarly, the controller 70 may determine the traveling state to be reverse so that the inclination α becomes small when the vehicle can move forward. In addition, the controller 70 may determine the traveling state to be the reverse so that the center of the vehicle 1 in the lateral direction Y of the vehicle 1 approaches the space center line Sa when the vehicle 1 can advance.

  Note that the controller 70 does not have to cause the vehicle 1 to travel according to the determined traveling state. For example, the controller 70 may display the determined driving state. In this case, the operator of the vehicle 1 may perform an operation to drive the vehicle 1 with reference to the display.

(effect)
The effects of the vehicle traveling state determination device 20 shown in FIG. 1 are as follows.

(Effect of the first invention)
[Configuration 1-1] The vehicle traveling state determination device 20 includes a lateral sensor 40 and a controller 70. The lateral sensor 40 is provided in the vehicle 1 and detects a distance to a lateral object A10 located outside the vehicle 1 in the vehicle lateral direction Y. The controller 70 receives a value detected by the lateral sensor 40.

  [Configuration 1-2] The lateral sensor 40 includes a front lateral sensor 40f and a rear lateral sensor 40r. The rear side sensor 40r is located on the same side as the side detected by the front side sensor 40f (for example, the vehicle left side Y1) with respect to the vehicle 1 (for example, the vehicle left side Y1), and is detected by the front side sensor 40f. The position of the vehicle rear side X2 is detected from the position.

  [Configuration 1-3] The controller 70 uses the distances detected by the front lateral sensor 40f and the rear lateral sensor 40r to move the vehicle 1 such that the distance between the vehicle 1 and the lateral object A10 is increased. Determine the state.

  The vehicle traveling state determination device 20 includes the above [Configuration 1-2]. Therefore, the distance to the horizontal object A10 is detected at each of the detection position of the front lateral sensor 40f and the detection position of the rear lateral sensor 40r on at least one side in the vehicle lateral direction Y with respect to the vehicle 1. Therefore, for example, the inclination α shown in FIG. 2 can be detected. In the above [Configuration 1-3], the traveling state of the vehicle 1 can be determined such that the distance between the vehicle 1 and the horizontal object A10 is widened using the detection result (for example, the inclination α). . Therefore, when the vehicle 1 travels according to the determined traveling state, contact between the vehicle 1 and the horizontal object A10 can be suppressed.

(Effect of the Second Invention)
[Structure 2] As shown in FIG. 2, the value relating to the distance from the end of the vehicle 1 in the vehicle front-rear direction X on the outer side in the vehicle lateral direction Y to the horizontal object A10 is represented by interval values (b ₅ , d ₅ (FIG. 3) See)). The controller 70 (see FIG. 1) uses the dimensions of the vehicle 1, the position of the lateral sensor 40 with respect to the vehicle 1, and the detection angles (φ ₁ , φ ₂ ) of the lateral sensor 40 with respect to the vehicle 1 to determine the interval values (b ₅ , d ₅ ) is calculated. The controller 70 determines the traveling state of the vehicle 1 using the calculated interval values (b ₅ , d ₅ ).

The ends of the vehicle 1 in the vehicle front-rear direction X outside the vehicle lateral direction Y (for example, the portions 1a and 1b (see FIG. 3)) are more likely to contact the horizontal object A10 than other portions of the vehicle 1. It can be said that it is a high part. Therefore, in the above [Configuration 2], the interval values (b ₅ , d ₅ (see FIG. 3)), which are values relating to the distance from this portion (portion 1a, portion 1b) to the horizontal object A10, are used to determine the traveling state. Used for Therefore, as compared with a case where the interval values (b ₅ , d ₅ ) are not used for determining the traveling state, the interval between the vehicle 1 and the horizontal object A10 can be more reliably secured.

(Effect of the third invention)
[Configuration 3] The controller 70 shown in FIG. 1 calculates a trajectory predicted to pass through the vehicle 1 using the size of the vehicle 1 and the traveling speed of the vehicle 1 (S43 and S53 in FIG. 6). The controller 70 determines the traveling state of the vehicle 1 using the calculated trajectory (S47, S57 in FIG. 6).

  According to the above [Configuration 3], the interval between the vehicle 1 and the horizontal object A10 can be more reliably secured as compared with the case where the trajectory predicted to pass through the vehicle 1 is not used for determining the traveling state.

(Effect of the fourth invention)
[Configuration 4] The vehicle 1 includes left and right crawlers 11c. The controller 70 calculates the trajectory using the traveling speeds ( _Vl , _Vr ) of the left and right crawlers 11c shown in FIG.

By the Configuration 4], compared with the case where the left and right crawler 11c each running speed (V _l, V _r) is not used to determine the running state can be appropriately calculated path of the vehicle 1 shown in FIG. As a result, the space between the vehicle 1 and the horizontal object A10 can be more easily secured.

(Effect of the fifth invention)
[Configuration 5] The vehicle traveling state determination device 20 includes a front-rear sensor 50. The front-rear sensor 50 detects information on the position of the front-rear object A20 located outside the vehicle 1 in the vehicle front-rear direction X with respect to the vehicle 1. The controller 70 determines the traveling state of the vehicle 1 using the information detected by the front and rear sensors 50.

  According to the above [Configuration 5], the traveling state can be determined according to the positional relationship between the front and rear object A20 and the vehicle 1. Specifically, for example, the traveling state can be determined according to whether or not there is a space S where the vehicle 1 can move forward on the vehicle front side X1 with respect to the vehicle 1. Further, for example, the traveling state can be determined according to whether or not there is a space S where the vehicle 1 can move backward on the vehicle rear side X2 with respect to the vehicle 1.

(Effect of the sixth invention)
[Configuration 6] The vehicle 1 includes a lower traveling body 11 that can travel and an upper revolving body 15 that is pivotally attached to the lower traveling body 11. The lateral sensor 40 is attached to the upper swing body 15.

  With the above [Configuration 6], the function of detecting the lateral sensor 40 is more easily exhibited than in the case where the lateral sensor 40 is attached to the lower traveling body 11. Specifically, for example, as compared with the case where the lateral sensor 40 is attached to the lower traveling body 11, the lateral sensor 40 is less likely to be stained and damaged.

(Effect of the seventh invention)
[Configuration 7] The controller 70 controls the lower traveling unit so that the turning angle of the upper revolving unit 15 with respect to the lower traveling unit 11 becomes the predetermined turning angle set in the controller 70 before determining the traveling state of the vehicle 1. The upper swing body 15 is swung with respect to 11 (S10 in FIG. 6).

  In the above [Configuration 6], the upper swing body 15 can swing with respect to the lower traveling body 11, and the lateral sensor 40 is attached to the upper swing body 15. Therefore, even if the position of the horizontal object A10 with respect to the lower traveling body 11 is the same, when the upper revolving structure 15 turns with respect to the lower traveling body 11, the distance from the lateral sensor 40 to the horizontal object A10 changes. Therefore, the vehicle traveling state determination device 20 includes the above [Configuration 7]. Therefore, the traveling state can be determined in a state where the turning angle of the upper revolving unit 15 with respect to the lower traveling body 11 is set to a turning angle (for example, 0 °) suitable for determining the traveling state. As a result, the space between the vehicle 1 and the horizontal object A10 can be more easily secured.

(Effect of the eighth invention)
[Configuration 8] The controller 70 determines the traveling state of the vehicle 1 on a side where the vehicle longitudinal direction X of the vehicle 1 and the direction in which the horizontal object A10 extends (space longitudinal direction SX) are parallel.

  With the above [Configuration 8], the vehicle 1 can be caused to travel so as to be parallel to the horizontal object A10. As a result, the space between the vehicle 1 and the horizontal object A10 can be more easily secured.

(Effect of the ninth invention)
[Configuration 9] The front side lateral sensor 40f includes a front left sensor 41f and a front right sensor 42f. The front left sensor 41f detects the left object A11. The left object A11 is a horizontal object A10 located on the left side Y1 of the vehicle 1 with respect to the vehicle 1. The front right sensor 42f detects the right object A12. The right object A12 is a horizontal object A10 located on the right side of the vehicle Y2 with respect to the vehicle 1. The rear lateral sensor 40r includes a rear left sensor 41r for detecting the left object A11 and a rear right sensor 42r for detecting the right object A12.

  According to the above [Configuration 9], the vehicle 1 can be run in a state where the distance between the vehicle 1 and the left object A11 is large and in a state where the distance between the vehicle 1 and the right object A12 is large.

(Effect of the tenth invention)
[Configuration 10] The controller 70 is configured to set the traveling state of the vehicle 1 on a side where the distance from the left side Y1 of the vehicle 1 to the left object A11 is equal to the distance from the right side Y2 of the vehicle 1 to the right object A12. To determine.

  With the above [Configuration 10], it is easy to arrange the vehicle 1 at the center between the left object A11 and the right object A12. As a result, the space between the vehicle 1 and the horizontal object A10 can be more easily secured.

  In the above [Configuration 1-1] to [Configuration 1-3] and [Configuration 2] to [Configuration 8], the horizontal sensor 40 is at least one of the right sensor 42 and the left sensor 41. For example, when the lateral sensor 40 is the right sensor 42, the front lateral sensor 40f is the front right sensor 42f, the rear lateral sensor 40r is the rear right sensor 42r, and the horizontal object A10 is the right object A12. .

(Effect when the space S is a cargo bed)
When the space S is a carrier of a carrier, the vehicle 1 is loaded on the carrier (space S), and after the carrier transports the vehicle 1, the vehicle 1 is unloaded from the carrier. At the time of loading / unloading, the vehicle 1 may be loaded / unloaded from the carrier using the road plate A22a. The road plate A22a is usually disposed in parallel or substantially parallel to the tilt plate (lateral object A10). Therefore, when the vehicle 1 is unloaded from the loading platform (space S), it is desired that the vehicle 1 be positioned parallel to the tilt plate (lateral object A10). Therefore, at the time when the vehicle 1 is loaded on the loading platform (space S), it is desirable that the vehicle 1 be loaded parallel to the tilt plate (horizontal object A10). When the space S is a cargo bed and the above [Configuration 8] is provided, it is easy to load the vehicle 1 in parallel with the tilt plate (horizontal object A10). Further, when loading and unloading the vehicle 1, it is desired that the vehicle 1 be disposed at the center of the loading platform (space S) in the space lateral direction SY so that the vehicle 1 does not contact the tilt plate. When the space S is a loading platform and the above [Configuration 10] is provided, the vehicle 1 is easily arranged at the center of the loading platform (space S) in the space lateral direction SY.

(Modification)
The above embodiment may be variously modified. For example, the arrangement and shape of each component may be changed. For example, the order of the steps in the flowchart illustrated in FIG. 6 may be changed, and some of the steps may not be performed. For example, the number of components of the vehicle 1 may be changed, and some of the components may not be provided. For example, what is described as a plurality of different components may be one member or part. For example, what is described as one member or part may be provided separately for a plurality of different members or parts. For example, the vehicle 1 may not be divided into the lower traveling structure 11 and the upper revolving structure 15.

DESCRIPTION OF SYMBOLS 1 Vehicle 11 Lower traveling body 11c Crawler 15 Upper revolving body 40 Lateral sensor 40f Front lateral sensor 40r Rear lateral sensor 41f Front left sensor (front lateral sensor)
41r Rear left sensor (rear horizontal sensor)
42f Front right sensor (Front side sensor)
42r Rear right sensor (rear horizontal sensor)
50 before and after the sensor 70 the controller b _5, d ₅ interval values A10 lateral object A11 left object (lateral object)
A12 Right object (horizontal object)
A20 Front and back objects X Vehicle front and rear direction X2 Vehicle rear side Y Vehicle lateral direction Y1 Vehicle left side Y2 Vehicle right side

Claims (10)

A lateral sensor provided on the vehicle, for detecting a distance to a lateral object located outside the vehicle in the lateral direction of the vehicle;
A controller to which a detection value of the lateral sensor is input;
With
The lateral sensor is
A front side sensor,
A position on the same side in the vehicle lateral direction as the side detected by the front side sensor with respect to the vehicle, and a rear side sensor that detects a position on the rear side of the vehicle from the detection position of the front side sensor,
With
The controller uses the distances detected by the front side sensor and the rear side sensor to determine a running state of the vehicle such that an interval between the vehicle and the side object is widened.
Vehicle traveling state determination device. The vehicle traveling state determination device according to claim 1,
When a value related to the distance from the end in the vehicle front-rear direction in the vehicle lateral direction outside portion of the vehicle to the lateral object is an interval value,
The controller calculates the interval value using the size of the vehicle, the position of the lateral sensor with respect to the vehicle, and the detection angle of the lateral sensor with respect to the vehicle, and calculates the interval value using the calculated interval value. Determine the driving state,
Vehicle traveling state determination device. The vehicle traveling state determination device according to claim 1 or 2,
The controller calculates the trajectory that the vehicle is predicted to pass, using the dimensions of the vehicle, and the traveling speed of the vehicle, and determines the traveling state of the vehicle using the calculated trajectory,
Vehicle traveling state determination device. The vehicle traveling state determination device according to claim 3,
The vehicle includes left and right crawlers,
The controller calculates the trajectory using the traveling speed of each of the left and right crawlers,
Vehicle traveling state determination device. The vehicle traveling state determination device according to any one of claims 1 to 4,
A front-rear sensor that detects information about a position of the front-rear object outside the vehicle in the vehicle front-rear direction with respect to the vehicle,
The controller determines a traveling state of the vehicle using information detected by the front and rear sensors,
Vehicle traveling state determination device. The vehicle traveling state determination device according to any one of claims 1 to 5,
The vehicle is
A movable undercarriage,
An upper revolving structure that is pivotally attached to the lower traveling structure,
With
The lateral sensor is attached to the upper swing body,
Vehicle traveling state determination device. The vehicle traveling state determination device according to claim 6,
The controller, before determining the traveling state of the vehicle, the turning angle of the upper revolving structure with respect to the lower running structure, so that the turning angle of the upper revolving structure is a predetermined turning angle set in the controller, the lower traveling structure Revolving the upper revolving superstructure,
Vehicle traveling state determination device. The vehicle traveling state determination device according to any one of claims 1 to 7,
The controller determines the running state of the vehicle on the side where the vehicle front-rear direction of the vehicle and the direction in which the lateral object extends are parallel.
Vehicle traveling state determination device. The vehicle traveling state determination device according to any one of claims 1 to 8,
The front side lateral sensor,
A front left sensor that detects a left object that is the lateral object on the left side of the vehicle relative to the vehicle;
A front right sensor that detects a right object that is the lateral object on the vehicle right side of the vehicle,
With
The rear side sensor is
A rear left sensor for detecting the left object,
A rear right sensor for detecting the right object,
Comprising,
Vehicle traveling state determination device. The vehicle traveling state determination device according to claim 9,
The controller determines the running state of the vehicle on the side where the interval from the left side portion of the vehicle to the left object and the interval from the right side portion of the vehicle to the right object are equal.
Vehicle traveling state determination device.

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