JP2859996B2 - Vehicle position learning system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling body guided along a scheduled traveling course with a broken line as a course, and when traveling on the same course repeatedly, traveling at a low braking speed before a stop position. The present invention relates to a system for learning a braking position of a traveling body, which can gradually shorten a slowing distance to be traveled and reduce a time for traveling at the low speed for braking.

[0002]

2. Description of the Related Art As a traveling speed control system for a traveling body which travels on a predetermined traveling course at a predetermined speed and smoothly stops at a predetermined stop position, the present applicant has already disclosed Japanese Patent Application Laid-Open No.
-180531 was proposed.

In this conventional system, a governor control means, a brake control means, and a transmission control means are controlled, and all or a part of these means is used to control traveling of the vehicle from start to stop. In a traveling speed control system for a vehicle provided with a speed controller and a course controller for instructing traveling conditions such as a target vehicle speed and a stop position of the vehicle preset in the speed controller, an instruction is given from the course controller to the speed controller when starting. Acceleration processing means for calculating an average acceleration up to a predetermined vehicle speed as an actual average acceleration based on the vehicle speed detected by the speed detection sensor and time data by a clock function when accelerating to the set target vehicle speed; Governor opening value corresponding to each target vehicle speed for each average acceleration The stored memory, the governor opening value determining means for calling the governor opening value for achieving the target vehicle speed with the average acceleration corresponding to the actual average acceleration from the memory, and outputting the governor opening value to the governor control means, and input from the course controller. Based on the current vehicle position and the scheduled stop position and the vehicle speed detected by the speed detection sensor, calculate and determine a braking start position and a target deceleration / acceleration indicating the degree of deceleration when decelerating for stopping. Brake condition determining means, brake hydraulic value determining means for calculating a brake hydraulic value by using the actual average acceleration as a parameter based on the target deceleration / acceleration and outputting the calculated brake hydraulic value to brake control means, and a target vehicle speed indicated by the course controller. The forward / backward shift of the transmission shift lever or the change of the speed stage is determined based on the transmission. Provided the shift switching determining means for outputting a control means, discloses a structure for performing a smooth running control.

[0004] In the above-described conventional configuration, when the vehicle is normally stopped, the course controller calculates the distance from the current position data of the traveling body and the target stop position data to the stop position. The distance data to the stop position is input to the brake condition determining means, and the braking start position is determined. That is, the average deceleration for the traveling body to stop safely and reasonably smoothly from the running vehicle speed.
Acceleration, ie, target deceleration (negative acceleration for deceleration)
The cruising speed at which the vehicle can be immediately stopped at the time of braking, and the marginal distance until the vehicle accurately stops at the target position at this cruising speed are experimentally obtained by an actual vehicle test or the like and stored in a memory.

[0005] Then, a deceleration start distance Dstop from deceleration from the traveling speed Vm of the traveling body to the slowing speed Vim (which can be immediately stopped) at the target deceleration β is obtained. In calculating the deceleration start distance, a certain error in the distance until the speed becomes the slowing speed and a certain slowing distance with a relatively large margin for accurately proceeding to the stop command position are added. The deceleration start position corresponding to the deceleration start distance Dstop is calculated by the brake condition determining means, and it is determined whether the current position data input from the position detection device and the course controller has reached the deceleration start position. When a deceleration start position is reached, a braking start signal is output to the brake control means. Then, while feeding back the vehicle speed data from the speed detection sensor, the above procedure is repeated until the vehicle speed becomes the slow speed. Then, when the vehicle reaches the slow speed, the vehicle travels the slow distance.

When it is determined from the input traveling body position data that the vehicle has reached the stop command position, the brake condition determining means controls the brake control means by instructing the maximum hydraulic pressure (full brake) to the brake hydraulic pressure determining means. And stop immediately. When the traveling body stops, the shift switching determination means outputs a neutral instruction to the transmission control means, and the governor opening degree value determination means outputs a governor low idle instruction to the governor control means.

[0007]

However, in the above configuration, the deceleration start position at which the vehicle starts to decelerate from the course running speed to the slow speed is a fixed distance obtained by adding a considerable margin to the value calculated from the deceleration and the vehicle speed. Therefore, when the vehicle repeatedly travels on the scheduled course, there is a problem that the traveling time at the slow speed increases and the efficiency deteriorates. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its main problem is that when the vehicle repeatedly travels on a scheduled traveling course in which a stop target is set, the actual traveling speed of the previous traveling is reduced by the traveling speed before stopping. Gradually reduce the travel time based on the distance,
An object is to improve work efficiency.

[0008]

In order to solve the above-mentioned problems, according to the first aspect of the present invention, a traveling body which is guided and controlled so as to follow a scheduled course while detecting the position of the traveling body. In the traveling body braking position learning system, which controls the vehicle to decelerate at a predetermined deceleration, to slow down at a slowing speed, and to stop at a stop target position, a predetermined stop target position is set and the traveling body repeatedly travels. Providing a storage body storing course information of a course to be run, providing a position detecting device for detecting position coordinates of the running body traveling along the course, controlling the speed of the running body to a slowing speed, A braking control device for braking the traveling body at a predetermined stop command position and stopping at the stop target position. The deceleration start position to start deceleration at a time is provided with a deceleration start position calculating means for calculating by adding an allowance for traveling at a slow speed to the stop command position.The actual speed from the position where the predetermined slow speed is reached to the stop position is provided. providing a creep distance calculating means for calculating a traveling the crawl distance, based on the above actual creep distance, provide a shorter correction value calculating means for calculating the reduced correction distance for reducing this, shortening correction
The shortened correction distance obtained by the value calculation means is reduced from the margin distance.
Not calculated or added to the shortened correction distance calculated up to the previous time.
Technical means of providing a reset means that does not calculate, and calculating the next deceleration start distance by subtracting the shortened correction distance obtained by the shortened correction value calculating means from the margin distance in the deceleration start position calculating means. ing. Claim 2
In the invention, the shortening correction value calculating means stores the calculated shortening correction distance, adds the shortening correction distance calculated up to the previous time, and subtracts the added shortening correction distance from the margin distance to reduce the deceleration. Technical means is employed in which the next deceleration start position is calculated by the start position calculating means.

[0009]

The deceleration start position for starting the deceleration from the traveling speed of the traveling body traveling on the course to be traveled to the predetermined ascending speed is calculated by adding an allowance for traveling at the ascending speed to the stop command position. The deceleration distance at which the traveling body controlled to decelerate at the obtained deceleration start position reaches the deceleration speed and then actually travels to the target stop position is obtained, and a shortening correction distance is calculated based on the calculated deceleration distance, and the deceleration start position calculation is performed. In the calculation of the next creeping start position (distance), the deceleration start position can be delayed by subtracting the shortening correction distance from the marginal speed at the creeping speed to shorten the creeping distance before stopping. The time can be reduced, and the running efficiency can be improved. This shortened correction distance is within a certain range under the same running conditions (for example, one day).
Therefore, if the addition is performed sequentially, the efficiency can be further improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a system for learning a braking position of an unmanned vehicle according to the present invention will be described below with reference to the drawings. As shown in FIG. 1, this system includes a memory 1 storing deceleration and vehicle speed information and a memory 3 storing course information, a deceleration start position calculating means 2, and a position coordinate based on the vehicle speed and azimuth of the vehicle. , A slow-movement distance calculating means 5, and a shortening correction value calculating means 6
, A vehicle speed sequencer 7, a speed controller 8,
It comprises a vehicle speed sensor 9.

That is, the speed controller 8 shown in FIG.
When the stop control is performed, the traveling speed Vm and the target deceleration β of the traveling body set and stored in the memory 1 in advance are stored.
The deceleration start distance Dstop (deceleration braking start position) until deceleration to the slowing speed Vim that can be immediately stopped is obtained by the deceleration start position calculating means 2.

(Equation 1) Here, C ₁ is determined according to a and cargo weight and vehicle attributes like vehicle parameters. The C ₁ receives the load weight value measured by the deadweight automatic measuring device (not shown) may be one that varies in proportion to this. C ₂ is a constant distance running body running at creep speed travels from the stop command position to the stop position, [Delta] C is the shortening correction distance below.

As a result, the vehicle speed of the traveling body changes from Vm to Vi.
m, a distance L1 required for deceleration to m, an allowance L2 for traveling with a margin so as to be able to immediately stop at the stop command position including an error due to the weight of the vehicle, road conditions, and the like. The deceleration start distance Dstop including the distance L3 to the position is obtained, and the coordinates of the deceleration start position are obtained by going back the planned course by the deceleration start distance from the coordinates of the target stop position. Also, when traveling on the scheduled course, when calculating the first deceleration start position Dstop,
ΔC becomes 0.

[0013] Further, the ascending distance calculating means 5 calculates the ascending distance L2 'actually traveled from when the vehicle speed reaches the ascending speed Vim until the stop command is issued, based on the position data of the position detecting device 4. . Then, the actual slowdown distance L
From 2 ', the shortening correction value calculating means 6 calculates the shortening correction distance ΔC for calculating the next deceleration start position. ΔC = δ (L2 ′) Here, δ is a correction constant.
The distance of 30% of the previous slow-moving distance L2 'is set as the correction value.

Therefore, the deceleration start position calculating means 2 calculates the next (second
Calculate the braking start position of the second round). In other words, in the case of the same running condition, the second deceleration from the first deceleration start position at a position closer to the stop target by the deceleration correction distance ΔC.
The second deceleration start position is determined. Based on the braking start position calculated in this way, when the vehicle reaches that position, the braking position of the traveling body is controlled by the speed controller 8 via the vehicle speed sequencer 7. In the figure, reference numeral 9 denotes a vehicle speed sensor which performs deceleration control by detecting and feeding back the vehicle speed of the traveling body until the vehicle speed becomes slow when performing deceleration control.

The shortened correction distance ΔC calculated as described above
Is stored in the shortening correction value calculating means 6. When the deceleration start position calculating means 2 calculates the next (third) deceleration stop position, the stored shortening correction value up to the previous time is called and the next shortening correction value is calculated. Then, the deceleration start position is calculated based on the shortened correction distance obtained by adding the total. Therefore, each time the traveling object repeatedly travels on the scheduled course, the deceleration start position is calculated as a shortened correction distance based on the actual ascending distance, and these are added to determine the deceleration start position. The start position gradually approaches the stop target.

When a special condition is applied to the deceleration slowing or stopping control, it is not appropriate to calculate the next deceleration stopping distance using the shortening correction value based on the slowing distance. A reset means (not shown) is provided so as not to perform this operation.

When the deceleration start distance is calculated and the deceleration start position is determined in this way, the traveling body detects its own position with the position detecting device and, when the deceleration start position is reached, the speed controller 8 as in the prior art. Outputs a braking start signal to the braking control device. Then, while the vehicle speed data is fed back from the vehicle speed sensor 9, the control is repeated until the vehicle speed becomes the slowing speed Vim, and when the slowing speed is reached, the vehicle slows down to the stop command position.

When it is determined that the input position data of the traveling body has reached the stop command position, the speed controller 8 instructs a maximum hydraulic pressure value (full brake) to the braking control device to immediately move the traveling body. Stop. Here, the stop command position is a position where the distance to the stop when braking at the slow speed is calculated in the reverse direction along the course from the stop target position, and in the present embodiment, an example in which the position is a fixed position is shown. However, in the present invention, it may be changed according to the amount of product load of the traveling body or the traveling road conditions.

[0019]

As described above, according to the present invention, when the traveling body is stopped at the target stop position of the course, the position at which the vehicle starts to decelerate from the set vehicle speed to the slow speed during the course traveling is
As the vehicle travels many times, the vehicle gradually approaches the target stop position and the ascending distance becomes shorter, so that the overall traveling time is shortened and the traveling body can be operated efficiently. Change
Special conditions are added for deceleration slowdown or stop control.
If this is the case, do not perform shortening correction to increase safety.
I'm worried.

[Brief description of the drawings]

FIG. 1 is a block diagram of a braking position learning system according to the present invention.

FIG. 2 is a reference diagram showing a braking position.

[Explanation of symbols]

 1, 3 memory 2 deceleration start position calculating means 4 position detecting device 5 slowing-down distance calculating means 6 shortening correction value calculating means 7 vehicle speed sequencer 8 speed controller 9 vehicle speed sensor 10 braking control device

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinya Hirose 1-3-2 Kitaaoyama, Minato-ku, Tokyo Inside the New Caterpillar Mitsubishi Corporation (72) Inventor Masahiro Hiroike 1-2-3 Kitaaoyama, Minato-ku, Tokyo New Caterpillar Mitsubishi Co., Ltd. (72) Inventor Tadashi Atono 1-3-2 Kitaaoyama, Minato-ku, Tokyo New Caterpillar Mitsubishi Co., Ltd. (72) Inventor Yoshihisa Kusagawa 2-3-3 Marunouchi, Chiyoda-ku, Tokyo No. 2 Within Nippon Steel Mining Co., Ltd. (56) References JP-A-1-183709 (JP, A) (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 1/02

Claims (2)

(57) [Claims] A traveling body guided and controlled to follow a scheduled course while detecting the position of the traveling body is decelerated at a predetermined deceleration, slowed down at a slow speed, and stopped at a stop target position. In the learning system for learning a braking position of a traveling body, a predetermined stop target position is set, and a storage body storing course information of a scheduled traveling course in which the traveling body repeatedly travels, and traveling along the course. A position detection device that detects the position coordinates of the traveling body, a braking control device that controls the speed of the traveling body to slow down to a slowing speed, brakes the slowing traveling body at a predetermined stop command position, and stops at the stop target position. The deceleration start position at which the vehicle starts to decelerate from the traveling speed of the traveling body traveling on the scheduled course to the predetermined ascending speed, and the extra distance to travel at the ascending speed to the stop command position, A deceleration start position calculating means for calculating the deceleration start position calculating means, a deceleration distance calculating means for calculating a deceleration distance actually traveled from a position at which the speed becomes a predetermined deceleration speed to a stop position, and A shortening correction value calculating means for calculating a shortening correction distance for shortening, and a shortening correction distance obtained by the shortening correction value calculating means are converted into a margin distance.
Shortening correction not subtracted from separation or calculated up to the previous time
Distance and provided with reset means not added, the braking position of the traveling body and calculates the next deceleration start distance resulting shortened corrected distance the deceleration start position calculating means is subtracted from the margin distance Learning system. 2. A shortening correction value calculating means stores the calculated shortening correction distance, adds the shortening correction value calculated up to the previous time, and subtracts the added shortening correction distance from the margin distance to reduce the deceleration. 2. The system according to claim 1, wherein the start position calculating means calculates the next deceleration start position.