PROBLEM TO BE SOLVED: To provide a vehicle controller and a work machine that can attain increase in a spatial resolution and can suppress reduction in a running speed at the same time.SOLUTION: A vehicle controller 110 includes: a first detection target detecting section 111 that detects the relative position of a first detection target, detected by a first running direction monitoring sensor 121; a second detection target detecting section 112 that detects the relative position and the shape of a second detection target, detected by a second running direction monitoring sensor 122 which detects a region nearer to the vehicle in the running direction than the first running direction monitoring sensor 121; an interference determination section 114 that determines an interference with the first detection target and the identity of the first and second detection targets; a shape determination section 115 that determines that the second detection target has such a shape that allows passage of an autonomous travel vehicle if the first and second detection targets have been determined to be identical; a vehicle control section 117 that reduces the speed of the vehicle if an interference with the first detection target has been determined and that releases the reduction of speed and returns the speed to a preset running speed if it has been determined that the shape of the second detection target after the reduction of speed is such that the autonomous travel vehicle can pass.SELECTED DRAWING: Figure 4
【課題】高空間分解能と走行速度低下の抑制とを両立させる車両制御装置及び作業機械を提供する。【解決手段】車両用制御装置110は、第1進行方向監視センサ121が検出した第1被検知体の相対位置を検出する第1被検知体検出部111と、第1進行方向監視センサ121よりも進行方向手前側を検知する第2進行方向監視センサ122が検出した第2被検知体の相対位置及び形状を検出する第2被検知体検出部112と、第1被検知体との干渉判定及び第1被検知体及び第2被検知体の同一性を判定する干渉判定部114と、第1被検知体と第2被検知体とがと同一であると判定した場合、第2被検知体は自律走行車両が通過可能な形状であるかを判定する形状判定部115と、第1被検知体と干渉する場合は減速させ、減速後に第2被検知体の形状は通過可能と判定した場合、減速を解除して予め設定した走行速度に復帰させる車両制御部117とを備える。【選択図】図4
VEHICLE CONTROLLER AND WORK MACHINE
車両制御装置及び作業機械
2017-06-01
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
WORK MACHINE CONTROLLER, WORK MACHINE CONTROL METHOD, AND WORK MACHINE
European Patent Office | 2021
|CONTROLLER FOR WORK VEHICLE, WORK VEHICLE, AND CONTROL METHOD FOR WORK VEHICLE
European Patent Office | 2020
|