WO2004009396A1 - Vehicule de transport de charges, notamment chariot a fourche - Google Patents

Vehicule de transport de charges, notamment chariot a fourche Download PDF

Info

Publication number
WO2004009396A1
WO2004009396A1 PCT/EP2003/007828 EP0307828W WO2004009396A1 WO 2004009396 A1 WO2004009396 A1 WO 2004009396A1 EP 0307828 W EP0307828 W EP 0307828W WO 2004009396 A1 WO2004009396 A1 WO 2004009396A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
control device
control
acceleration
inclination
Prior art date
Application number
PCT/EP2003/007828
Other languages
German (de)
English (en)
Inventor
Johan Wallaert
Original Assignee
Hoerbiger Antriebstechnik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hoerbiger Antriebstechnik Gmbh filed Critical Hoerbiger Antriebstechnik Gmbh
Publication of WO2004009396A1 publication Critical patent/WO2004009396A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/245—Longitudinal vehicle inclination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0011—Proportional Integral Differential [PID] controller
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks

Definitions

  • the invention relates to a load transport vehicle, in particular a forklift, according to the preamble of claim 1.
  • a power shift transmission is understood to mean a mechanical transmission arrangement that is driven by a hydraulic torque converter, which enables shifting operations without torque interruption.
  • the switching operations are effected by opening a clutch and closing another clutch, which separates one gear wheel from the gear shaft and connects another gear wheel to the shaft.
  • the clutches have a stack of alternating friction plates and steel plates. A piston under hydraulic pressure presses these plates together to establish the transmission connection to the shaft, and a spring pushes the unpressurized piston back to separate the gear wheels and the transmission shaft.
  • the brake system is operated hydraulically and has an arrangement which makes an electro-proportional pressure control possible.
  • the engine is controlled by means of a CAN controller or a servo motor is used which interacts with the fuel pump.
  • a central control device for the drivetrain monitors the accelerator pedal (accelerator pedal) to determine driving intentions of the driver.
  • the degree of pedal actuation is a measure of the desired vehicle speed.
  • the amount of change in pedal actuation indicates the desired acceleration or deceleration of the vehicle.
  • the control device tries to continuously set the desired speed by adjusting the torque delivered by the engine, with a suitable pressure being applied to the brakes of the transmission for a predetermined transmission range. If the speed is too low, the control device reduces the brake pressure and increases the engine torque, and if the speed is too high, the procedure is reversed.
  • Entering the operating mode enables the driver to adapt the acceleration or braking effect of the system to the particular driving state.
  • An automatic shifting algorithm is usually carried out in parallel with this speed control algorithm in order to achieve a suitable selection of the transmission ratio.
  • operating controls e.g. control of the forks of a forklift
  • This information is used to automatically adjust the engine, transmission and braking parameters when additional engine power is required for the vehicle hydraulics.
  • control device does not have a direction-of-travel sensor, it is also possible that the rollback is not even recognized, which can lead to uncontrollable, accident-prone modes of operation.
  • a display device for the state of charge of a forklift is known.
  • This display device is intended to make it possible for the operator of a forklift to easily and precisely recognize the state of charge of the forklift based on the weight and the center of gravity of the loaded cargo load.
  • a calculation control circuit is provided which calculates the weight and the center of gravity of the load on the basis of a tilt pressure signal and a stroke pressure signal.
  • the display device has a plurality of display elements which are arranged in a coordinate system with at least two axes, one of which represents a first and the other a second variable.
  • the display elements are selectively activated to indicate a point of a plurality of marker points from the control of the calculation control circuit, the marker points indicating the calculated weight and the center of gravity of the load. Finally, a critical line is drawn on the display device, which indicates the risk of the forklift tipping over.
  • m represents the sum of the mass of the vehicle and the load, g the acceleration due to gravity and ⁇ the angle of inclination of the road.
  • the control device can preferably dynamically adapt the braking force to the respective situation, it being possible to achieve an adequate braking power regardless of the inclination of the road.
  • This has the advantage that not only is the transition to standstill optimized, but also a considerable advantage over conventional systems can be achieved, since predictable braking behavior can be achieved.
  • the vehicle according to the invention and the control device according to the invention it is possible to remedy the disadvantages in the control characteristic which have occurred with previous systems, which are based in particular on the fact that settings for starting uphill are generally made deviate markedly from those available for starting off on a level road or downhill road.
  • the control device When driving, the control device thus determines information about the inclination of the road from the signals of the determination device, a combination of analog and digital filtering usually being used.
  • the measured slope is preferably used directly to interpolate separate PID control parameters to control the brake and the motor.
  • the PID controllers for the brake and the motor are updated dynamically with these values determined on a real-time basis.
  • a PID control algorithm In known systems for regulating the vehicle speed, a PID control algorithm is used, which tries to correct the speed on the basis of the difference between a target and an actual speed in order to Adjust gate and brake settings.
  • PID control strategies are preferred according to the invention, other control methods and devices and thus other control strategies can also be used.
  • a higher-level PID controller being used, e.g. compares the desired acceleration with the actual acceleration and corrects the output of a first PID controller.
  • Such a configuration has the advantage that the speed control reacts much less sensitively to changes in the vehicle mass (or vehicle load) and the inclination of the road.
  • the acceleration is usually calculated on the basis of a first derivative of a wheel speed signal and then fed to a second PID controller.
  • the controller receives the dynamic acceleration information from the determination device while driving, preferably using a digital bandpass filter. This value is compared directly with the desired acceleration value, which leads to improved speed control without the disadvantages mentioned above.
  • acceleration signal is derived from a wheel speed signal and this acceleration signal is compared with the acceleration signal of the determination device, it is possible to determine the wheel slip.
  • This information can be used to improve driving properties and safety by limiting the acceleration or deceleration that is fed to the second PID controller, which improves the response to varying road conditions (such as snow, ice, rain, dirt, etc.) .) enables.
  • a method according to the invention is defined in claim 9.
  • a control device is defined as an independently tradable object according to the principles of the invention.
  • Fig. 1 is a representation of a possible embodiment of a vehicle according to the invention on an inclined road
  • FIG. 2 shows a block diagram of the essential drive and control components of the vehicle according to FIG. 1.
  • FIG. 1 shows an example of a load transport vehicle 1 in the form of a forklift.
  • the invention is not limited to forklifts, but rather can be used in practically any type of load transport vehicle, such as front loaders and the like.
  • the vehicle 1 has a conventional chassis 2, which in the embodiment shown has two wheel axles 3 and 4.
  • the wheel axles have wheel pairs 6 and 7, each of which is shown with brakes not shown in FIG. 1, but which are symbolized by block 5 in FIG. 2.
  • a drive train 8 of the vehicle 1 is shown in FIG. 2.
  • the drive train 8 has a motor 9, which is simplified only schematically by way of one Coupling 11 shown is coupled to a transmission 10. Via the gear 10, the drive axle is driven with the associated brakes, which is symbolized in FIG. 2 by the block 5 already mentioned.
  • FIG. 2 represents a control device for the drive train 8.
  • the block 12 is coupled to a determination device 13 for detecting the inclination angle ⁇ of the vehicle (see FIG. 1) and for detecting an acceleration or deceleration amount of the vehicle 1.
  • driver interface is symbolized in FIG. 2 by block 14.
  • This interface gives data to the control device 2, such as, for example, setpoints for speed ranges or directions of travel, operating modes, operating control behavior, and the positions of the accelerator pedal and the brake pedal.
  • the determination device 13 supplies values about the road inclination and the acceleration and braking state of the vehicle to the control device 12. Furthermore, the control device 12 receives information about the engine speed and outputs signals to the engine 9 for controlling the engine torque.
  • the control device 12 sends signals for the clutch pressure to the transmission 10 in order to control and regulate the respective gear stages of the transmission 10, which is usually designed as an automatic transmission.
  • control device 12 applies signals about the brake pressure to the block 5, which can optionally receive signals for an emergency brake pressure from the interface 14.
  • signals about the brake pressure can optionally receive signals for an emergency brake pressure from the interface 14.
  • the output speed of the transmission can be recorded with a sensor, which makes it possible to detect the drive direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un véhicule de transport de charges (1), notamment un chariot à fourche comprenant un châssis (2) qui comporte au moins deux essieux (3, 4), des freins (S) destinés aux roues (6, 7) d'au moins un essieu (3 ou 4), et une transmission (8) qui comporte au moins un moteur (9), au moins un engrenage (10) et au moins un embrayage (11) destiné à relier le moteur (9) à l'engrenage (10). On couple un dispositif de réglage (12) destiné à la transmission (8) pour détecter, à l'aide d'un dispositif de détermination (13), l'angle d'inclinaison (a) du véhicule (1) et pour détecter la masse d'accélération ou de freinage du véhicule (1).
PCT/EP2003/007828 2002-07-18 2003-07-18 Vehicule de transport de charges, notamment chariot a fourche WO2004009396A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10232639A DE10232639A1 (de) 2002-07-18 2002-07-18 Lasttransport-Fahrzeug, insbesondere Gabelstapler
DE10232639.8 2002-07-18

Publications (1)

Publication Number Publication Date
WO2004009396A1 true WO2004009396A1 (fr) 2004-01-29

Family

ID=30128152

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/007828 WO2004009396A1 (fr) 2002-07-18 2003-07-18 Vehicule de transport de charges, notamment chariot a fourche

Country Status (2)

Country Link
DE (1) DE10232639A1 (fr)
WO (1) WO2004009396A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2868765A1 (fr) * 2004-04-07 2005-10-14 Linde Ag Chariot elevateur a meilleure stabilite de basculement statique/quasi-statique et dynamique
FR2868764A1 (fr) * 2004-04-07 2005-10-14 Linde Ag Chariot elevateur a meilleure stabilite de basculement statique/quasi statique
EP1871409A2 (fr) * 2005-04-04 2008-01-02 Naomi Balaban Procédé et appareil ameliorés permettant de traiter des infections bactériennes dans des dispositifs
AU2006225159B2 (en) * 2005-09-30 2008-10-16 Kabushiki Kaisha Toyota Jidoshokki Drive control apparatus for forklift
EP2061671A1 (fr) * 2006-09-11 2009-05-27 Wooyoung Hydraulics Co., Ltd. Transmission compacte empêchant un véhicule de reculer dans une côte
EP2070863A1 (fr) 2007-12-12 2009-06-17 Liebherr-Werk Nenzing GmbH Procédé de réglage d'un véhicule utilitaire
CN101011942B (zh) * 2007-02-12 2010-05-19 无锡开普动力有限公司 一种混合动力工业车辆
CN102259816A (zh) * 2011-04-15 2011-11-30 杭叉集团股份有限公司 内燃叉车操作安全控制系统
WO2014188162A3 (fr) * 2013-05-20 2015-07-30 Sevcon Limited Système de commande de véhicule et procédé de commande de véhicule
EP2965939A1 (fr) * 2014-07-10 2016-01-13 Jungheinrich Aktiengesellschaft Chariot de manutention dote d'un entrainement alimente par batterie et procede de fonctionnement d'un chariot de manutention alimente par batterie
CN112455418A (zh) * 2020-11-27 2021-03-09 厦门理工学院 一种内燃叉车自动驾驶节能辅助系统及其控制方法
EP3689698B1 (fr) 2011-02-25 2023-06-07 STILL GmbH Remorqueur
US11945705B2 (en) 2018-09-13 2024-04-02 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008007886A1 (de) * 2008-02-04 2009-08-06 Jungheinrich Ag Flurförderzeug mit einem elektrischen Antrieb
DE102019116086A1 (de) * 2019-06-13 2020-12-17 WABCO Global GmbH Einrichtung und Verfahren zur Abbremsung eines Fahrzeugs mit einer Frontlastaufnahmevorrichtung
DE102021214500A1 (de) 2021-12-16 2023-06-22 Zf Friedrichshafen Ag Verfahren zur Beschränkung einer Hubanweisung für eine Hubeinrichtung eines motorgetriebenen Flurförderzeugs, Steuereinrichtung dafür und motorgetriebenes Flurförderzeug mit der Steuereinrichtung

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DE3203553A1 (de) * 1981-02-04 1982-10-28 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho, Kariya, Aichi Verfahren und vorrichtung zur anzeige des ladezustandes fuer einen gabelstapler
US5272630A (en) * 1992-09-15 1993-12-21 Ford Motor Company Automatic transmission control and strategy for neutral idle
EP0800951A1 (fr) * 1996-03-26 1997-10-15 Toyota Jidosha Kabushiki Kaisha Appareil pour délivrer de la puissance et méthode pour le commander
DE19930279A1 (de) * 1998-07-04 2000-01-13 Luk Getriebe Systeme Gmbh Kraftfahrzeug
EP1031487A2 (fr) * 1999-02-24 2000-08-30 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de freinage de stationnement pour véhicule industriel
WO2002008011A1 (fr) * 2000-07-26 2002-01-31 Eaton Corporation Calcul du couple d'impulsion de l'embrayage a friction automatique, sur des declivites
US6411881B1 (en) * 2001-08-10 2002-06-25 Ford Global Technologies, Inc. System and method for controlling neutral idle operation of a vehicle
DE10210680A1 (de) * 2001-03-16 2002-10-24 Boss Uk Holding Co Ltd Gaspedalverriegelung
EP1327566A1 (fr) * 2002-01-11 2003-07-16 Audi Ag Commande pour dispositif d'aide au démarrage

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3203553A1 (de) * 1981-02-04 1982-10-28 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho, Kariya, Aichi Verfahren und vorrichtung zur anzeige des ladezustandes fuer einen gabelstapler
DE3203553C2 (fr) 1981-02-04 1988-09-01 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho, Kariya, Aichi, Jp
US5272630A (en) * 1992-09-15 1993-12-21 Ford Motor Company Automatic transmission control and strategy for neutral idle
EP0800951A1 (fr) * 1996-03-26 1997-10-15 Toyota Jidosha Kabushiki Kaisha Appareil pour délivrer de la puissance et méthode pour le commander
DE19930279A1 (de) * 1998-07-04 2000-01-13 Luk Getriebe Systeme Gmbh Kraftfahrzeug
EP1031487A2 (fr) * 1999-02-24 2000-08-30 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de freinage de stationnement pour véhicule industriel
WO2002008011A1 (fr) * 2000-07-26 2002-01-31 Eaton Corporation Calcul du couple d'impulsion de l'embrayage a friction automatique, sur des declivites
DE10210680A1 (de) * 2001-03-16 2002-10-24 Boss Uk Holding Co Ltd Gaspedalverriegelung
US6411881B1 (en) * 2001-08-10 2002-06-25 Ford Global Technologies, Inc. System and method for controlling neutral idle operation of a vehicle
EP1327566A1 (fr) * 2002-01-11 2003-07-16 Audi Ag Commande pour dispositif d'aide au démarrage

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2868765A1 (fr) * 2004-04-07 2005-10-14 Linde Ag Chariot elevateur a meilleure stabilite de basculement statique/quasi-statique et dynamique
FR2868764A1 (fr) * 2004-04-07 2005-10-14 Linde Ag Chariot elevateur a meilleure stabilite de basculement statique/quasi statique
GB2413547A (en) * 2004-04-07 2005-11-02 Linde Ag Industrial truck having a static and dynamic tipping stability control device
US7165643B2 (en) 2004-04-07 2007-01-23 Linde Aktiengesellchaft Industrial truck having increased static/quasi-static and dynamic tipping stability
GB2413547B (en) * 2004-04-07 2007-06-06 Linde Ag Industrial truck having increased static/quasi-static and dynamic tipping stability
EP1871409A2 (fr) * 2005-04-04 2008-01-02 Naomi Balaban Procédé et appareil ameliorés permettant de traiter des infections bactériennes dans des dispositifs
EP1871409A4 (fr) * 2005-04-04 2012-01-04 Naomi Balaban Procédé et appareil ameliorés permettant de traiter des infections bactériennes dans des dispositifs
AU2006225159B2 (en) * 2005-09-30 2008-10-16 Kabushiki Kaisha Toyota Jidoshokki Drive control apparatus for forklift
EP2061671A1 (fr) * 2006-09-11 2009-05-27 Wooyoung Hydraulics Co., Ltd. Transmission compacte empêchant un véhicule de reculer dans une côte
EP2061671A4 (fr) * 2006-09-11 2013-06-19 Jungheinrich Ag Transmission compacte empêchant un véhicule de reculer dans une côte
CN101011942B (zh) * 2007-02-12 2010-05-19 无锡开普动力有限公司 一种混合动力工业车辆
EP2070863A1 (fr) 2007-12-12 2009-06-17 Liebherr-Werk Nenzing GmbH Procédé de réglage d'un véhicule utilitaire
US8275523B2 (en) 2007-12-12 2012-09-25 Liebherr-Werk Nenzing Gmbh Commercial vehicle with control means and method for controlling commercial vehicle
EP3689698B1 (fr) 2011-02-25 2023-06-07 STILL GmbH Remorqueur
CN102259816A (zh) * 2011-04-15 2011-11-30 杭叉集团股份有限公司 内燃叉车操作安全控制系统
US9527387B2 (en) 2013-05-20 2016-12-27 Sevcon Limited Vehicle controller and method of controlling a vehicle
US9919606B2 (en) 2013-05-20 2018-03-20 Sevcon Limited Vehicle controller and method of controlling a vehicle
WO2014188162A3 (fr) * 2013-05-20 2015-07-30 Sevcon Limited Système de commande de véhicule et procédé de commande de véhicule
EP2965939A1 (fr) * 2014-07-10 2016-01-13 Jungheinrich Aktiengesellschaft Chariot de manutention dote d'un entrainement alimente par batterie et procede de fonctionnement d'un chariot de manutention alimente par batterie
US11945705B2 (en) 2018-09-13 2024-04-02 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load
CN112455418A (zh) * 2020-11-27 2021-03-09 厦门理工学院 一种内燃叉车自动驾驶节能辅助系统及其控制方法

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