Abstract: Provided is a dump truck capable of performing an actuation test of an emergency brake system at an appropriate timing. The dump truck comprises: front wheel and rear wheel emergency brake systems, each system including an accumulator that accumulates hydraulic oil supplied from a hydraulic pump, a brake device that is actuated by the hydraulic oil supplied from the accumulator, and a solenoid valve that opens and closes a flow path of the hydraulic oil extending from the accumulator to the brake device; and a controller configured to execute front test processing and rear test processing alternately (step S16/step S18) in the case of determining that the dump truck is stopped (step S11: Yes), a vessel is in a fallen position (step S12: YES), and a loading operation onto the vessel is completed (step S15: Yes/step S17: Yes).

Abstract: Provided is a dump truck capable of performing an actuation test of an emergency brake system at an appropriate timing. The dump truck comprises: front wheel and rear wheel emergency brake systems, each system including an accumulator that accumulates hydraulic oil supplied from a hydraulic pump, a brake device that is actuated by the hydraulic oil supplied from the accumulator, and a solenoid valve that opens and closes a flow path of the hydraulic oil extending from the accumulator to the brake device; and a controller configured to execute front test processing and rear test processing alternately (step S16/step S18) in the case of determining that the dump truck is stopped (step S11: Yes), a vessel is in a fallen position (step S12: YES), and a loading operation onto the vessel is completed (step S15: Yes/step S17: Yes).

Abstract: A haulage vehicle comprises: a position calculating system (220) calculating an estimated position of its own vehicle; a position range calculating unit (201b) calculating a position range which is centered around the estimated position and in which the haulage vehicle is present with a predetermined expected probability; a maximum deviation amount calculating unit (602) calculating a maximum deviation amount indicating a highest value among the amounts of deviations between a target route of the haulage vehicle and each of points included in the position range; a target vehicle-speed decision unit (603) setting a target vehicle speed of the haulage vehicle to be relatively low when the maximum deviation amount is relatively large; and a target route-tracing unit (201g) performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.

Abstract: A steering control device (20) for a working vehicle includes an electric motor device (34) that generates an assistance torque to a steering column (33), and an inverter (43). The steering control device (20) includes a load torque sensor (39) that is attached between the electric motor device (34) and a load portion of a steering mechanism unit (21) to detect a load torque applied on a steering system, a steering load torque calculating section (41) that calculates a steering load torque based upon an output value of the load torque sensor (39), and an assistance torque calculating section (42) that adds the steering load torque outputted from the steering load torque calculating section (41) and a target steering torque input from an exterior to calculate an assistance torque to command the electric motor device (34) and command the inverter (43).

Abstract: The travel control system includes: a travel zone holding unit configured to hold a travel zone which is set in a particular travel area set beforehand and over which a dump truck is to autonomously travel; a target position setting unit configured to set, on an outer side of the particular travel area, a target position that the dump truck is to reach; a distance measurement unit configured to measure a traveling distance of the dump truck from a position of the dump truck as acquired using a position acquisition device provided in the dump truck to the target position set by the target position setting unit; and an autonomous travel control unit configured to control the dump truck so that the dump truck moves to an outer side of a travel zone held by the travel zone holding unit and autonomously travels the traveling distance.

Abstract: A vehicle motion control device includes curve shape acquisition means for acquiring a shape of a curve present in front of a currently traveling vehicle, vehicle position acquisition means for acquiring a position of the vehicle, and vehicle motion control arithmetic means for computing, on the basis of the shape of the curve and the position of the vehicle, a command value relating to longitudinal acceleration to be caused to the vehicle. During a time interval from before the vehicle reaches a near end of the curve, until the vehicle has approached the curve and traveled to a site having a constant or maximum curvature of the curve, the vehicle motion control arithmetic means computes a plurality of different negative longitudinal acceleration command values. Thus, even when there is no lateral motion, the vehicle motion control device accelerates/decelerates the vehicle while improving a driver's feeling of slowdown.

Abstract: A braking distance control device employed for an electrically driven work vehicle includes a safety vehicle speed calculation unit that calculates a safety vehicle speed at which a braking distance provided by use of an electric brake device becomes less than or equal to a threshold value, based on gradient information, payload information, road surface friction information, vehicle speed information, and a braking torque characteristic of electric motors: a critical vehicle speed for deceleration calculation unit that calculates a critical vehicle speed for deceleration at which deceleration provided by use of the electric brake device becomes less than or equal to a threshold value; and an operation judgment unit 14 that judges a setting of notification, based on pedal operation amounts.

Abstract: A steering control device (20) for a working vehicle includes an electric motor device (34) that generates an assistance torque to a steering column (33), and an inverter (43). The steering control device (20) includes a load torque sensor (39) that is attached between the electric motor device (34) and a load portion of a steering mechanism unit (21) to detect a load torque applied on a steering system, a steering load torque calculating section (41) that calculates a steering load torque based upon an output value of the load torque sensor (39), and an assistance torque calculating section (42) that adds the steering load torque outputted from the steering load torque calculating section (41) and a target steering torque input from an exterior to calculate an assistance torque to command the electric motor device (34) and command the inverter (43).

Abstract: An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (?) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB).

Abstract: The travel control system includes: a travel zone holding unit configured to hold a travel zone which is set in a particular travel area set beforehand and over which a dump truck is to autonomously travel; a target position setting unit configured to set, on an outer side of the particular travel area, a target position that the dump truck is to reach; a distance measurement unit configured to measure a traveling distance of the dump truck from a position of the dump truck as acquired using a position acquisition device provided in the dump truck to the target position set by the target position setting unit; and an autonomous travel control unit configured to control the dump truck so that the dump truck moves to an outer side of a travel zone held by the travel zone holding unit and autonomously travels the traveling distance.

Abstract: A position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state. The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calculating unit calculates a position of the haulage vehicle by using the velocity vector.

Abstract: A braking distance control device employed for an electrically driven work vehicle includes a safety vehicle speed calculation unit 9 that calculates a safety vehicle speed at which a braking distance provided by use of an electric brake device becomes less than or equal to a threshold value, based on gradient information, payload information, road surface friction information, vehicle speed information, and a braking torque characteristic of electric motors.

Abstract: To make a transport vehicle stop close to a bund in dependence on the shape of the bund. A stop position determining device for a transport vehicle includes: a bund identification module (520) that identifies the shape of a bund (400) provided on a traveling surface based on information from an external sensor (231) provided on the transport vehicle; and a target stop position calculation module (530) that calculates a target stop position (SP) for the transport vehicle based on the shape of the bund identified by the bund identification module.

Abstract: Disclosed is a dumping work determination system for a haulage vehicle provided with a body frame, a vessel and a drive mechanism for selective raising or lowering of the vessel. The system is applicable to the vehicle to determine a state of loading in the vessel in dumping work, and includes a body frame speed detector, a tilted state detector, a shake detector, and a payload-stuck state determination unit. Based on signals from the detectors, the unit determines whether or not the state of loading is a payload-stuck state. Specifically, the unit determines the payload-stuck state when the speed of the body frame is detected to have reached lower than a predetermined speed, the vessel is detected to have tilted to a predetermined position, and a state where the vessel can be considered to have no longer produced shakes is detected by the shake detector.

Abstract: An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (?) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB).

Abstract: A haulage vehicle comprises: a position calculating system (220) calculating an estimated position of its own vehicle; a position range calculating unit (201b) calculating a position range which is centered around the estimated position and in which the haulage vehicle is present with a predetermined expected probability; a maximum deviation amount calculating unit (602) calculating a maximum deviation amount indicating a highest value among the amounts of deviations between a target route of the haulage vehicle and each of points included in the position range; a target vehicle-speed decision unit (603) setting a target vehicle speed of the haulage vehicle to be relatively low when the maximum deviation amount is relatively large; and a target route-tracing unit (201g) performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.

Abstract: A traveling stop control device for a transport vehicle includes: a torque command value setting module that sets a torque command value for the transport vehicle based on a target speed and an actual speed of the transport vehicle; a threshold value setting module that sets an upper limit threshold value for the torque command value based on information regarding the state of the transport vehicle; and a traveling stop determination module that determines the traveling stop of the transport vehicle. The traveling stop determination module determines the traveling stop of the transfer vehicle on condition that the torque command value exceeds the upper limit threshold value and that the actual speed of the transport vehicle is zero or close to zero.

Abstract: An operation management system obviates such a situation that a power substation would trip and a supply of power to overhead wires would stop. The operation management system controls operation of electric drive vehicles, each of which is provided with a trolley mode, in which the electric drive vehicle runs by power supplied to the overhead wires, and a diesel mode, in which the electric drive vehicle runs by an output from an engine. A supply margin detection unit detects a current supply margin of power and a running position detecting unit detects a current running position of the electric drive vehicle. A running mode detection unit detects a current running mode of the electric drive vehicle and a running mode determination unit determines a next running mode based on the detection results of the supply margin detection unit, running position detecting unit, and running mode detection unit.

Abstract: Disclosed is a dumping work determination system for a haulage vehicle provided with a body frame, a vessel and a drive mechanism for selective raising or lowering of the vessel. The system is applicable to the vehicle to determine a state of loading in the vessel in dumping work, and includes a body frame speed detector, a tilted state detector, a shake detector, and a payload-stuck state determination unit. Based on signals from the detectors, the unit determines whether or not the state of loading is a payload-stuck state. Specifically, the unit determines the payload-stuck state when the speed of the body frame is detected to have reached lower than a predetermined speed, the vessel is detected to have tilted to a predetermined position, and a state where the vessel can be considered to have no longer produced shakes is detected by the shake detector.

Abstract: A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device that executes control to give a yaw moment to a vehicle 1 so as to make the vehicle 1 travel while meandering around the center of trolley wires 3R and 3L based on image information acquired by a camera 15. The control device converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle 1 and at least one target point situated on the trolley wire 3R/3L based on the coordinate information, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicle 1 so that the representative point approaches the fluctuating point. With this configuration, uneven wear of the sliders can be prevented and the operating load on the driver during the trolley traveling can be lightened considerably.