Processing

Please wait...

Settings

Settings

Goto Application

1. WO2019117094 - SLIP DETERMINATION SYSTEM, TRAVEL PATH GENERATION SYSTEM, AND FIELD WORK VEHICLE

Publication Number WO/2019/117094
Publication Date 20.06.2019
International Application No. PCT/JP2018/045355
International Filing Date 10.12.2018
IPC
B60W 40/064 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
064Degree of grip
A01B 69/00 2006.1
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
B60W 30/02 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
02Control of vehicle driving stability
B60W 30/045 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
02Control of vehicle driving stability
045Improving turning performance
B60W 30/10 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
10Path keeping
G05D 1/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
A01B 69/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
A01B 69/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
007Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
008automatic
A01B 76/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
76Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
A01D 75/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
75Accessories for harvesters or mowers
B60W 2300/152
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2300Indexing codes relating to the type of vehicle
15Agricultural vehicles
152Tractors
B60W 2520/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
Applicants
  • 株式会社クボタ KUBOTA CORPORATION [JP]/[JP]
Inventors
  • 阪口和央 SAKAGUCHI Kazuo
  • 佐野友彦 SANO Tomohiko
  • 吉田脩 YOSHIDA Osamu
  • 仲島鉄弥 NAKAJIMA Tetsuya
  • 中林隆志 NAKABAYASHI Takashi
  • 丸尾賢 MARUO Satoshi
  • 高原一浩 TAKAHARA Kazuhiro
Agents
  • 特許業務法人R&C R&C IP LAW FIRM
Priority Data
2017-24063815.12.2017JP
2017-24063915.12.2017JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) SLIP DETERMINATION SYSTEM, TRAVEL PATH GENERATION SYSTEM, AND FIELD WORK VEHICLE
(FR) SYSTÈME DE DÉTERMINATION DE DÉRAPAGE, SYSTÈME DE GÉNÉRATION DE TRAJET DE DÉPLACEMENT, ET VÉHICULE DE TRAVAUX DE TERRAIN
(JA) スリップ判定システム、走行経路生成システム及び圃場作業車
Abstract
(EN) A slip determination system is provided with which it is possible to provide appropriate control information to a travel vehicle when the travel vehicle has entered a region during autonomous travel in which slips occur easily. The present invention comprises: a host vehicle position detection module that detects the host vehicle position; an autonomous travel control unit that executes autonomous travel on the basis of the host vehicle position and a set travel route; a slip amount calculation unit that calculates the slip amount of the travel vehicle body based on an estimated movement distance of the travel vehicle body calculated on the basis of the number of rotations of the drive axle of the travel vehicle body, and the actual movement distance of the travel vehicle body calculated on the basis of the host vehicle position; a suitability determination unit that performs a suitability determination of whether the state of a travel surface is suitable for autonomous travel, on the basis of the slip amount; and an autonomous travel stop unit that stops autonomous travel on the basis of the determination results.
(FR) L'invention concerne un système de détermination de dérapage au moyen duquel il est possible de fournir des informations de commande appropriées à un véhicule de déplacement lorsque le véhicule de déplacement, au cours d'un trajet autonome, est entré dans une région dans laquelle des dérapages se produisent facilement. La présente invention comprend : un module de détection de position de véhicule hôte qui détecte la position du véhicule hôte ; une unité de commande de déplacement autonome qui exécute un déplacement autonome sur la base de la position du véhicule hôte et d'un itinéraire de déplacement défini ; une unité de calcul de degré de dérapage qui calcule le degré de dérapage de la carrosserie de véhicule de déplacement sur la base d'une distance de déplacement estimée de la carrosserie de véhicule de déplacement calculée sur la base du nombre de rotations de l'essieu d'entraînement de la carrosserie de véhicule de déplacement, et de la distance de déplacement réelle de la carrosserie de véhicule de déplacement calculée sur la base de la position de véhicule hôte ; une unité de détermination d'adéquation qui effectue une détermination d'adéquation permettant de déterminer si l'état d'une surface de déplacement est approprié pour un déplacement autonome, sur la base du degré de dérapage ; et une unité d'arrêt de déplacement autonome qui arrête le déplacement autonome sur la base des résultats de détermination.
(JA) 自動走行時にスリップの生じやすい領域に走行車両が進入した際、走行車両に適切な制御情報を与えることができるスリップ判定システムを提供する。自車位置を検出する自車位置検出モジュールと、自車位置と設定された走行経路とに基づいて自動走行を実行する自動走行制御部と、走行車体の駆動車軸の回転数に基づいて算出される前記走行車体の推定移動距離と前記自車位置に基づいて算出される前記走行車体の実移動距離とから前記走行車体のスリップ量を算出するスリップ量算出部と、スリップ量に基づいて走行地面の状態が自動走行に適するかどうかの適否判定を行う適否判定部と、判定結果に基づいて自動走行を停止する自動走行停止部とが備えられている。
Related patent documents
TH2001002910This application is not viewable in PATENTSCOPE because the national phase entry has not been published yet or the national entry is issued from a country that does not share data with WIPO or there is a formatting issue or an unavailability of the application.
Latest bibliographic data on file with the International Bureau