公开(公告)号：US11327505B2

公开(公告)日：2022-05-10

申请号：US16720246

申请日：2019-12-19

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Ryuu Yamamura

IPC分类号： G05D1/02 ,  B60P1/16

摘要： A control apparatus of a work vehicle includes a course data acquisition unit acquiring course data indicating a traveling condition of a work vehicle that includes a travel route, a travel range data acquisition unit acquiring travel range data indicating a travel range of the work vehicle that is defined with a preset travel width based on the travel route, a detection data acquisition unit acquiring detection data of a detection device that has detected a travel direction of the work vehicle, a prediction unit predicting, based on the detection data, a prescribed position distant from a current position of the work vehicle traveling according to the course data, a determination unit determining whether the prescribed position exists within the travel range, and a drive control unit stopping traveling of the work vehicle when it is determined that the prescribed position does not exist within the travel range.

公开(公告)号：US20180246523A1

公开(公告)日：2018-08-30

申请号：US15577498

申请日：2017-02-28

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Ryuu Yamamura

IPC分类号： G05D1/02 ,  B60P1/16

CPC分类号： G05D1/0274 ,  B60P1/16 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0202

摘要： A control apparatus of a work vehicle includes a course data acquisition unit acquiring course data indicating a traveling condition of a work vehicle that includes a travel route, a travel range data acquisition unit acquiring travel range data indicating a travel range of the work vehicle that is defined with a preset travel width based on the travel route, a detection data acquisition unit acquiring detection data of a detection device that has detected a travel direction of the work vehicle, a prediction unit predicting, based on the detection data, a prescribed position distant from a current position of the work vehicle traveling according to the course data, a determination unit determining whether the prescribed position exists within the travel range, and a drive control unit stopping traveling of the work vehicle when it is determined that the prescribed position does not exist within the travel range.

公开(公告)号：US20210001847A1

公开(公告)日：2021-01-07

申请号：US16980532

申请日：2019-02-20

申请人： Komatsu Ltd.

发明人： Akinori Baba ,  Ryuu Yamamura

IPC分类号： B60W30/14 ,  G05D1/02 ,  B60W60/00 ,  G08G1/052

摘要： An unmanned vehicle control system includes: a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle; a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; and a travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value.

公开(公告)号：US10551848B2

公开(公告)日：2020-02-04

申请号：US15577498

申请日：2017-02-28

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Ryuu Yamamura

IPC分类号： G05D1/02 ,  B60P1/16

摘要： A control apparatus of a work vehicle includes a course data acquisition unit acquiring course data indicating a traveling condition of a work vehicle that includes a travel route, a travel range data acquisition unit acquiring travel range data indicating a travel range of the work vehicle that is defined with a preset travel width based on the travel route, a detection data acquisition unit acquiring detection data of a detection device that has detected a travel direction of the work vehicle, a prediction unit predicting, based on the detection data, a prescribed position distant from a current position of the work vehicle traveling according to the course data, a determination unit determining whether the prescribed position exists within the travel range, and a drive control unit stopping traveling of the work vehicle when it is determined that the prescribed position does not exist within the travel range.

公开(公告)号：US11433887B2

公开(公告)日：2022-09-06

申请号：US16980532

申请日：2019-02-20

申请人： Komatsu Ltd.

发明人： Akinori Baba ,  Ryuu Yamamura

IPC分类号： G05D1/00 ,  B60W30/14 ,  B60W60/00 ,  G05D1/02 ,  G08G1/052

摘要： An unmanned vehicle control system includes: a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle; a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; and a travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value.

公开(公告)号：US20210009155A1

公开(公告)日：2021-01-14

申请号：US16980646

申请日：2019-02-20

申请人： Komatsu Ltd.

发明人： Ryuu Yamamura ,  Akiharu Nishijima

IPC分类号： B60W60/00 ,  B60W30/14 ,  G01C21/34

摘要： An unmanned vehicle control system includes: a travel condition data acquisition unit that acquires travel condition data specifying a travel condition of an unmanned vehicle, the travel condition data including a target travel speed and a target azimuth of the unmanned vehicle at each of a plurality of travel points; a travel condition change unit that outputs a change command to change the travel condition specified by the travel condition data based on a difference in the target azimuth among the plurality of travel points; and a travel control unit that outputs a control command to control traveling of the unmanned vehicle based on the change command.

公开(公告)号：US20220073094A1

公开(公告)日：2022-03-10

申请号：US17418015

申请日：2019-11-21

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Ryuu Yamamura

IPC分类号： B60W60/00 ,  B60W10/04 ,  B60W10/20

摘要： An unmanned vehicle control system includes: a travel command unit that outputs a travel command for controlling a travel speed of an unmanned vehicle; a steering command unit that outputs a steering command for controlling a steering device of the unmanned vehicle; a response calculation unit that calculates a steering response of the steering device based on a target value of the steering device and a detected value of the steering device detected during a travel of the unmanned vehicle; a determination unit that determines whether the steering response satisfies a restrictive condition; and a restriction command unit that outputs a restriction command for restricting the travel speed when the steering response satisfies the restrictive condition.

公开(公告)号：US11237566B2

公开(公告)日：2022-02-01

申请号：US16618502

申请日：2018-10-31

申请人： Komatsu Ltd.

发明人： Masanori Ogihara ,  Ryuu Yamamura ,  Akinori Baba

IPC分类号： F01P7/00 ,  B62D5/06 ,  F01P5/00 ,  G05D1/02 ,  B62D5/065 ,  B62D5/07 ,  B62D5/12 ,  B62D6/00

摘要： A control device for an unmanned vehicle includes a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle, and a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data.