JP7171528B2 - 運搬車両 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/125—Heavy duty trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/28—Wheel speed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図1~図21を参照して、本発明の第1実施形態による運搬車両の一例であるダンプトラック100(以下、単に車両ともいう)について説明する。図1は、本発明の第1実施形態によるダンプトラック100の側面図である。
次に、図22~図25を参照して本発明の第2実施形態による運搬車両の一例であるダンプトラック100を備えた速度制御システム900について説明する。走行経路の路面状態を検出する場合、複数台のダンプトラック100で検出した方が効率的である。そこで、第2実施形態では、上記第1実施形態と異なり、路面状態の検出を複数台のダンプトラック100で行うとともに、各ダンプトラック100で算出したスリップ限界値を管制システム500に送信し、管制システム500によって路面情報を生成する場合について説明する。なお、本実施形態では、上記第1実施形態と同様の構成には同じ符号を付してその詳細な説明を省略する。
101 車体
103 車輪
103a 前輪(従動輪)
103b 後輪(駆動輪)
210 通信装置
300 車両制御装置
500 管制システム
Claims (5)
- 車輪が設けられた車体と、車両制御装置とを備え、走行経路上を走行する運搬車両であって、
前記車両制御装置は、
前記走行経路上の複数の位置における前記車輪のスリップ率を算出し、
前記各スリップ率から、前記複数の位置における、前記車輪の路面に対するグリップ状態とスリップ状態との境界での前記路面と前記車輪との間の摩擦係数値であるスリップ限界値を算出して記憶し、
前記スリップ限界値を読み出して、前記複数の位置における、前記車輪が路面に対して前記グリップ状態を維持できる前記運搬車両の最大加速度および最大減速度の少なくとも一方を算出し、
前記走行経路上の目標位置まで走行する際に、自車両から前記目標位置までの間の走行位置における目標走行速度を、前記目標位置における目標速度と、前記運搬車両が前記走行位置を走行した際の前記スリップ限界値から算出される前記最大加速度および前記最大減速度の少なくとも一方とに応じて設定し、
前記車輪は、駆動輪および従動輪を含み、
前記スリップ率は、前記従動輪のスリップ率であることを特徴とする運搬車両。 - 車輪が設けられた車体と、車両制御装置とを備え、走行経路上を走行する運搬車両であって、
前記車両制御装置は、
前記走行経路上の複数の位置における前記車輪のスリップ率を算出し、
前記各スリップ率から、前記複数の位置における、前記車輪の路面に対するグリップ状態とスリップ状態との境界での前記路面と前記車輪との間の摩擦係数値であるスリップ限界値を算出して記憶し、
前記スリップ限界値を読み出して、前記複数の位置における、前記車輪が路面に対して前記グリップ状態を維持できる前記運搬車両の最大加速度および最大減速度の少なくとも一方を算出し、
前記走行経路上の目標位置まで走行する際に、自車両から前記目標位置までの間の走行位置における目標走行速度を、前記目標位置における目標速度と、前記運搬車両が前記走行位置を走行した際の前記スリップ限界値から算出される前記最大加速度および前記最大減速度の少なくとも一方とに応じて設定し、
前記運搬車両が前記複数の位置を繰り返し通過することにより、前記スリップ限界値を更新し、
更新による前記スリップ限界値の変化から前記路面の滑りやすさの変化を検出し、
前記路面の滑りやすさの変化に応じて前記最大加速度および前記最大減速度の少なくとも一方を変化させることを特徴とする運搬車両。 - 車輪が設けられた車体と、車両制御装置とを備え、走行経路上を走行する運搬車両であって、
前記車両制御装置は、
前記走行経路上の複数の位置における前記車輪のスリップ率を算出し、
前記各スリップ率から、前記複数の位置における、前記車輪の路面に対するグリップ状態とスリップ状態との境界での前記路面と前記車輪との間の摩擦係数値であるスリップ限界値を算出して記憶し、
前記スリップ限界値を読み出して、前記複数の位置における、前記車輪が路面に対して前記グリップ状態を維持できる前記運搬車両の最大加速度および最大減速度の少なくとも一方を算出し、
前記走行経路上の目標位置まで走行する際に、自車両から前記目標位置までの間の走行位置における目標走行速度を、前記目標位置における目標速度と、前記運搬車両が前記走行位置を走行した際の前記スリップ限界値から算出される前記最大加速度および前記最大減速度の少なくとも一方とに応じて設定し、
前記自車両から前記目標位置までの間の複数の前記走行位置における前記目標走行速度を設定する場合、前記目標位置に近い前記走行位置から順に前記目標走行速度を設定することを特徴とする運搬車両。 - 前記車両制御装置は、
前記走行経路を複数の区間に区分けし、
前記各区間において、複数の前記スリップ限界値から1つの前記最大加速度および1つの前記最大減速度の少なくとも一方を算出することを特徴とする請求項2に記載の運搬車両。 - 管制システムとの間で通信可能な通信装置をさらに備え、
前記車両制御装置は、
複数の運搬車両によって得られた複数の位置におけるスリップ限界値から、前記最大加速度および前記最大減速度の少なくとも一方を算出することを特徴とする請求項2に記載の運搬車両。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2019168589A JP7171528B2 (ja) | 2019-09-17 | 2019-09-17 | 運搬車両 |
PCT/JP2020/022548 WO2021053897A1 (ja) | 2019-09-17 | 2020-06-08 | 運搬車両 |
CN202080063038.7A CN114423661B (zh) | 2019-09-17 | 2020-06-08 | 搬运车辆 |
EP20865324.6A EP4033323A4 (en) | 2019-09-17 | 2020-06-08 | TRANSPORT VEHICLE |
US17/641,721 US11834041B2 (en) | 2019-09-17 | 2020-06-08 | Conveying vehicle |
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JP2019168589A JP7171528B2 (ja) | 2019-09-17 | 2019-09-17 | 運搬車両 |
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JP2021047528A JP2021047528A (ja) | 2021-03-25 |
JP7171528B2 true JP7171528B2 (ja) | 2022-11-15 |
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US (1) | US11834041B2 (ja) |
EP (1) | EP4033323A4 (ja) |
JP (1) | JP7171528B2 (ja) |
CN (1) | CN114423661B (ja) |
WO (1) | WO2021053897A1 (ja) |
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