AU2023285910B2 - Traveling control system - Google Patents
Traveling control system Download PDFInfo
- Publication number
- AU2023285910B2 AU2023285910B2 AU2023285910A AU2023285910A AU2023285910B2 AU 2023285910 B2 AU2023285910 B2 AU 2023285910B2 AU 2023285910 A AU2023285910 A AU 2023285910A AU 2023285910 A AU2023285910 A AU 2023285910A AU 2023285910 B2 AU2023285910 B2 AU 2023285910B2
- Authority
- AU
- Australia
- Prior art keywords
- movable
- traveling
- control
- movable body
- sand
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
#$%^&*AU2023285910B220250626.pdf#####
ABSTRACT
A traveling control system configured to control traveling of at least one of a first movable
body and a second movable body in a plurality of movable bodies includes a traveling
control device that controls the traveling of the at least one of the first movable body and
the second movable body based on a condition of sand dust estimated to be generated due
to traveling of the first movable body, so as to suppress an influence of the sand dust that
the second movable body is estimated to receive when the sand dust is generated.
ABSTRACT
A traveling control system configured to control traveling of at least one of a first movable
body and a second movable body in a plurality of movable bodies includes a traveling
control device that controls the traveling of the at least one of the first movable body and
the second movable body based on a condition of sand dust estimated to be generated due
to traveling of the first movable body, SO as to suppress an influence of the sand dust that
the second movable body is estimated to receive when the sand dust is generated.
20
23
28
59
10
21
D
ec
2
02
3
A
B
S
T
R
A
C
T
2
0
2
3
2
8
5
9
1
0
2
1
D
e
c
2
0
2
3
A
t
r
a
v
e
l
i
n
g
c
o
n
t
r
o
l
s
y
s
t
e
m
c
o
n
f
i
g
u
r
e
d
t
o
c
o
n
t
r
o
l
t
r
a
v
e
l
i
n
g
o
f
a
t
l
e
a
s
t
o
n
e
o
f
a
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
a
n
d
a
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
i
n
a
p
l
u
r
a
l
i
t
y
o
f
m
o
v
a
b
l
e
b
o
d
i
e
s
i
n
c
l
u
d
e
s
a
t
r
a
v
e
l
i
n
g
c
o
n
t
r
o
l
d
e
v
i
c
e
t
h
a
t
c
o
n
t
r
o
l
s
t
h
e
t
r
a
v
e
l
i
n
g
o
f
t
h
e
a
t
l
e
a
s
t
o
n
e
o
f
t
h
e
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
a
n
d
t
h
e
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
b
a
s
e
d
o
n
a
c
o
n
d
i
t
i
o
n
o
f
s
a
n
d
d
u
s
t
e
s
t
i
m
a
t
e
d
t
o
b
e
g
e
n
e
r
a
t
e
d
d
u
e
t
o
t
r
a
v
e
l
i
n
g
o
f
t
h
e
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
,
s
o
a
s
t
o
s
u
p
p
r
e
s
s
a
n
i
n
f
l
u
e
n
c
e
o
f
t
h
e
s
a
n
d
d
u
s
t
t
h
a
t
t
h
e
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
i
s
e
s
t
i
m
a
t
e
d
t
o
r
e
c
e
i
v
e
w
h
e
n
t
h
e
s
a
n
d
d
u
s
t
i
s
g
e
n
e
r
a
t
e
d
.
A
B
S
T
R
A
C
T
2
0
2
3
2
8
5
9
1
0
2
1
D
e
c
2
0
2
3
A
t
r
a
v
e
l
i
n
g
c
o
n
t
r
o
l
s
y
s
t
e
m
c
o
n
f
i
g
u
r
e
d
t
o
c
o
n
t
r
o
l
t
r
a
v
e
l
i
n
g
o
f
a
t
l
e
a
s
t
o
n
e
o
f
a
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
a
n
d
a
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
i
n
a
p
l
u
r
a
l
i
t
y
o
f
m
o
v
a
b
l
e
b
o
d
i
e
s
i
n
c
l
u
d
e
s
a
t
r
a
v
e
l
i
n
g
c
o
n
t
r
o
l
d
e
v
i
c
e
t
h
a
t
c
o
n
t
r
o
l
s
t
h
e
t
r
a
v
e
l
i
n
g
o
f
t
h
e
a
t
l
e
a
s
t
o
n
e
o
f
t
h
e
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
a
n
d
t
h
e
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
b
a
s
e
d
o
n
a
c
o
n
d
i
t
i
o
n
o
f
s
a
n
d
d
u
s
t
e
s
t
i
m
a
t
e
d
t
o
b
e
g
e
n
e
r
a
t
e
d
d
u
e
t
o
t
r
a
v
e
l
i
n
g
o
f
t
h
e
f
i
r
s
t
m
o
v
a
b
l
e
b
o
d
y
,
s
o
a
s
t
o
s
u
p
p
r
e
s
s
a
n
i
n
f
l
u
e
n
c
e
o
f
t
h
e
s
a
n
d
d
u
s
t
t
h
a
t
t
h
e
s
e
c
o
n
d
m
o
v
a
b
l
e
b
o
d
y
i
s
e
s
t
i
m
a
t
e
d
t
o
r
e
c
e
i
v
e
w
h
e
n
t
h
e
s
a
n
d
d
u
s
t
i
s
g
e
n
e
r
a
t
e
d
.
FIG.1
D
B
T
14
12 10
20
22
26
24
42
40
C
V
54
52
50
A
GPS RECEIVERMOVABLE BODY
COMMUNICATION
DEVICE
SURROUNDINGS INFORMATION
OBTAINING DEVICE
(CAMERAS, LiDAR DEVICES, etc., )
MOVABLE BODY ECU
IDENTIFICATION
INFORMATION
STORAGE PORTION
MOVABLE BODY
INFORMATION
GENERATING PORTION
TRAVELING
CONTROL
PORTION
DRIVE DEVICE
BRAKE DEVICE
STEERING
DEVICE
CENTRAL ECU
CONTROL COMMUNICATION
DEVICE
SAND DUST
CONDITION
OBTAINING
PORTION
TARGET ROUTE
DETERMINING PORTION
CENTRAL CONTROL
INFORMATION
GENERATING PORTION
1/101/10
FIG. 1
20
MOVABLE BODY ECU
12 10
MOVABLE BODY GPS RECEIVER
COMMUNICATION
IDENTIFICATION
DEVICE
INFORMATION 22
STORAGE PORTION
DRIVE DEVICE D
14 MOVABLE BODY
INFORMATION 24
SURROUNDINGS INFORMATION
GENERATING PORTION BRAKE DEVICE B
OBTAINING DEVICE
(CAMERAS, LiDAR DEVICES, etc.,)
TRAVELING STEERING T
CONTROL 26 DEVICE
V PORTION
A
40
42
CENTRAL ECUCONTROL COMMUNICATION
DEVICE
52
TARGET ROUTE
DETERMINING PORTION
SAND DUST
C CONDITION
OBTAINING 50
PORTION
54
CENTRAL CONTROL
INFORMATION
GENERATING PORTION
20
23
28
59
10
21
D
ec
2
02
3
1
/
1
0
F
I
G
.
1
2
0
2
0
2
3
2
8
5
9
1
0
2
1
D
e
c
2
0
2
3
M
O
V
A
B
L
E
B
O
D
Y
E
C
U
1
2
1
0
M
O
V
A
B
L
E
B
O
D
Y
G
P
S
R
E
C
E
I
V
E
R
C
O
M
M
U
N
I
C
A
T
I
O
N
I
D
E
N
T
I
F
I
C
A
T
I
O
N
D
E
V
I
C
E
I
N
F
O
R
M
A
T
I
O
N
2
2
S
T
O
R
A
G
E
P
O
R
T
I
O
N
D
R
I
V
E
D
E
V
I
C
E
D
1
4
M
O
V
A
B
L
E
B
O
D
Y
I
N
F
O
R
M
A
T
I
O
N
2
4
S
U
R
R
O
U
N
D
I
N
G
S
I
N
F
O
R
M
A
T
I
O
N
G
E
N
E
R
A
T
I
N
G
P
O
R
T
I
O
N
B
R
A
K
E
D
E
V
I
C
E
B
O
B
T
A
I
N
I
N
G
D
E
V
I
C
E
(
C
A
M
E
R
A
S
,
L
i
D
A
R
D
E
V
I
C
E
S
,
e
t
c
.
,
)
T
R
A
V
E
L
I
N
G
S
T
E
E
R
I
N
G
T
C
O
N
T
R
O
L
2
6
D
E
V
I
C
E
V
P
O
R
T
I
O
N
A
4
0
4
2
C
E
N
T
R
A
L
E
C
U
C
O
N
T
R
O
L
C
O
M
M
U
N
I
C
A
T
I
O
N
D
E
V
I
C
E
5
2
T
A
R
G
E
T
R
O
U
T
E
D
E
T
E
R
M
I
N
I
N
G
P
O
R
T
I
O
N
S
A
N
D
D
U
S
T
c
C
O
N
D
I
T
I
O
N
O
B
T
A
I
N
I
N
G
5
0
P
O
R
T
I
O
N
5
4
C
E
N
T
R
A
L
C
O
N
T
R
O
L
I
N
F
O
R
M
A
T
I
O
N
G
E
N
E
R
A
T
I
N
G
P
O
R
T
I
O
N
1
/
1
0
F
I
G
.
1
2
0
2
0
2
3
2
8
5
9
1
0
2
1
D
e
c
2
0
2
3
M
O
V
A
B
L
E
B
O
D
Y
E
C
U
1
2
1
0
M
O
V
A
B
L
E
B
O
D
Y
G
P
S
R
E
C
E
I
V
E
R
C
O
M
M
U
N
I
C
A
T
I
O
N
I
D
E
N
T
I
F
I
C
A
T
I
O
N
D
E
V
I
C
E
I
N
F
O
R
M
A
T
I
O
N
2
2
S
T
O
R
A
G
E
P
O
R
T
I
O
N
D
R
I
V
E
D
E
V
I
C
E
D
1
4
M
O
V
A
B
L
E
B
O
D
Y
I
N
F
O
R
M
A
T
I
O
N
2
4
S
U
R
R
O
U
N
D
I
N
G
S
I
N
F
O
R
M
A
T
I
O
N
G
E
N
E
R
A
T
I
N
G
P
O
R
T
I
O
N
B
R
A
K
E
D
E
V
I
C
E
B
O
B
T
A
I
N
I
N
G
D
E
V
I
C
E
(
C
A
M
E
R
A
S
,
L
i
D
A
R
D
E
V
I
C
E
S
,
e
t
c
.
,
)
T
R
A
V
E
L
I
N
G
S
T
E
E
R
I
N
G
T
C
O
N
T
R
O
L
2
6
D
E
V
I
C
E
V
P
O
R
T
I
O
N
A
4
0
4
2
C
E
N
T
R
A
L
E
C
U
C
O
N
T
R
O
L
C
O
M
M
U
N
I
C
A
T
I
O
N
D
E
V
I
C
E
5
2
T
A
R
G
E
T
R
O
U
T
E
D
E
T
E
R
M
I
N
I
N
G
P
O
R
T
I
O
N
S
A
N
D
D
U
S
T
c
C
O
N
D
I
T
I
O
N
O
B
T
A
I
N
I
N
G
5
0
P
O
R
T
I
O
N
5
4
C
E
N
T
R
A
L
C
O
N
T
R
O
L
I
N
F
O
R
M
A
T
I
O
N
G
E
N
E
R
A
T
I
N
G
P
O
R
T
I
O
N
Description
1/10 1/10
21 Dec 2023
FIG.1 FIG. 1 20 20
MOVABLEBODY MOVABLE BODYECU ECU 12 12 10 10
DEVICE DEVICE INFORMATION INFORMATION 22 22 STORAGEPORTION STORAGE PORTION 2023285910
14 MOVABLE BODY MOVABLE BODY 14 INFORMATION INFORMATION 24 24 GENERATING PORTION BRAKEDEVICE DEVICE B B SURROUNDINGS INFORMATION GENERATING PORTION BRAKE SURROUNDINGS INFORMATION OBTAINING DEVICE OBTAINING DEVICE
(CAMERAS, LiDAR DEVICES, etc., ) (CAMERAS, LiDAR DEVICES, etc.,)
TRAVELING TRAVELING STEERING STEERING TT CONTROL CONTROL 26 26 DEVICE DEVICE V V PORTION PORTION
40 40 42 42 CENTRAL ECU CENTRAL ECU CONTROL COMMUNICATION CONTROL COMMUNICATION DEVICE DEVICE 52 52
TARGET ROUTE TARGET ROUTE DETERMININGPORTION DETERMINING PORTION SAND DUST SAND DUST C C CONDITION CONDITION OBTAINING OBTAINING 50 50 PORTION PORTION
54 54 CENTRAL CONTROL CENTRAL CONTROL
2023285910 04 Mar 2025
BACKGROUND BACKGROUND Technical Field Technical Field
[0001]
[0001] Thepresent The presentdisclosure disclosure relates relates to atotraveling a traveling control control system system that controls that controls
travelingofofatatleast traveling leastone oneofofa aplurality pluralityofofmovable movable bodies. bodies. 2023285910
Description Description of of Related Art Related Art
[0002]
[0002] Japanese Patent Application Japanese Patent ApplicationPublication PublicationNo.No.2005-345152 2005-345152 describes describes a a route guiding route guiding device. device. WhenWhen information information on aonlocation a location where where passage passage of aofmovable a movable bodybody
is is obstructed due obstructed due to to fall fall of of rocks rocks or the or the like like is received, is received, the route the route guidingguiding device device sets a sets a travel route travel routethat thatavoids avoidsthethe location. location.
[0002a]
[0002a] It It is is an an object ofthe object of thepresent presentinvention invention to substantially to substantially overcome, overcome, or at or at least least ameliorate, ameliorate, one or more one or moreofofdisadvantages disadvantagesofofexisting existingarrangements, arrangements,or or provide provide a a
usefulalternative. useful alternative.
[0002b]
[0002b] According According totoone oneaspect aspectofofthe thepresent presentdisclosure, disclosure,therethereisis provided providedaa travelingcontrol traveling controlsystem system configured configured to control to control traveling traveling of atone of at least least of aone of movable first a first movable bodyand body andaasecond secondmovable movable body body in ainplurality a pluralityofofmovable movable bodies, bodies, comprising: comprising:
aa traveling controldevice traveling control device configured configured to control to control the traveling the traveling of theof atthe at least least one ofone the of the first first
movablebody movable body and and thethesecond second movable movable bodybody basedbased on a on a condition condition of sand of sand dust dust estimated estimated
to be to be generated generated inin aa section section of of aa travel travel path path due to traveling due to traveling of of the the first firstmovable movable body body
before the before the sand dust influences sand dust influences the the second movablebody, second movable body,sosoasastotosuppress suppressananinfluence influence of of the the sand sand dust dust that thatthethesecond secondmovable bodyis movable body is estimated estimated to to receive receive when the sand when the sand dust dust is is generated. generated.
[0002c]
[0002c] According According to to another another aspect aspect of theofpresent the present disclosure, disclosure, there isthere is provided provided
aa traveling controlsystem traveling control system configured configured to control to control traveling traveling of at least of at least one ofone of a movable a first first movable bodyand body andaa second secondmovable movable body body in in a a plurality of plurality of movable bodies,the movable bodies, the system systemcomprising: comprising: aa travelling controldevice travelling control device configured configured to: to:
determine a condition determine a condition of sand of sand dust dust to be to be generated generated in a ofsection in a section a travelofpath a travel path due to traveling due to traveling of of the the first first movable bodybefore movable body beforethethesand sand dustdust influences influences thethe second second
movablebody, movable body,the thecondition conditionofofthe thesand sanddust dustbeing beingdetermined determined based based on movable on movable body body
information information of of the the first firstmovable bodyand movable body andmeteorological meteorologicalinformation information forfor thethesection sectionofof the travel the travel path; path; generate generate atat least least one one control control command command based based on on the the condition condition of sand of sand dustdust to to
control thetraveling control the travelingofofthetheatatleast leastoneone of of thethe firstmovable first movable body body and and the the second second movable movable
2023285910 04 Mar 2025
bodysosoasastoto suppress body suppressananinfluence influenceofofthe thesand sanddust dust thatthethesecond that second movable movable bodybody is is estimated estimated to to receive receive when the sand when the sand dust dust is is generated; generated; and and
control at least control at least one oneofofa abrake brake device, device, a drive a drive device, device, a steering a steering devicedevice of the of the atone at least least one of of the the first firstmovable movable body andthe body and the second secondmovable movable bodybody based based on generated on the the generated at least at least
one controlcommand one control command to thereby to thereby controlcontrol travelling travelling ofleast of the at the atoneleast onefirst of the of the first movable movable
bodyand body andthethesecond secondmovable movable body. body. 2023285910
[0003]
[0003] Some aspectsofofthe Some aspects the present present disclosure disclosure relate relate totoensuring ensuringaagood good stream stream
of of movable bodies. movable bodies.
[0004]
[0004] The traveling The traveling control controlsystem systemaccording accordingto anto aspect an aspectof theof present the present disclosure controlstraveling disclosure controls travelingof of at at least least oneone of aoffirst a first movable movable body body and a second and a second movable movable
bodyin body in aa plurality plurality ofof movable bodiesbased movable bodies basedonona acondition conditionofofsand sanddust dustestimated estimatedtotobebe generated generated dueduetoto traveling traveling of of the the first firstmovable movable body, body, such such that thatthethesecond second movable body movable body
is is less less susceptible susceptibleto toananinfluence influence of of the thesand sand dust. Thisenables dust. This enablesa arelative relative positional positional relationship between relationship betweenthe thefirst first movable movable bodybody and and the second the second movable movable body to body be a to be a
relationshipininwhich relationship whichthethe second second movable movable body is body is less susceptible less susceptible to the of to the influence influence the of the sand dustestimated sand dust estimated to generated to be be generateddue todue the to the traveling traveling of themovable of the first first movable body. It isbody. It is consequently possibletotoprevent consequently possible preventa aspeed speedreduction reductionofofthethemovable movable bodies bodies due due to poor to poor
visibility, so visibility, so as as to to ensure ensure aagood good stream stream of the of the movable movable bodies.bodies.
[0005]
[0005] The objects, The objects, features, features, advantages, advantages, andand technical technical andandindustrial industrial significance significance ofof thepresent the present disclosure disclosure will will be better be better understood understood by the by reading reading the following following
detailed description detailed description of of embodiments, embodiments, when whenconsidered consideredin in connection connection withwith the the accompanying accompanying drawings, drawings, in in which: which:
Fig. 11 is Fig. isaaview view conceptually conceptually illustrating illustratinga awhole wholemanagement system, management system,
whichisis aatraveling which travelingcontrol controlsystem, system,according according tofirst to a a first embodiment embodiment ofpresent of the the present disclosure; disclosure;
Fig. 2 is a view conceptually illustrating a method of determining a level Fig. 2 is a view conceptually illustrating a method of determining a level
of a condition of a conditionofofsand sand dust dust in the in the traveling traveling control control system; system;
1a la
Fig. 33 is Fig. is aa flowchart flowchart representing representing aa target target route route determining program determining program
stored in a central ECU of a central control device of the traveling control system; stored in a central ECU of a central control device of the traveling control system;
Fig. 44 isis aa flowchart Fig. flowchartrepresenting representinga sand a sand dustdust condition condition obtaining obtaining
programstored program storedinin the the central central ECU; ECU;
Fig. 55 is Fig. is aa flowchart flowchart representing representinga amovable movablebodybody traveling traveling control control
programstored program storedininaa movable movablebody body ECUECU of a of a movable movable body, body, which which is a control is a control targettarget in in 2023285910
the traveling the travelingcontrol controlsystem; system; Fig. 66 is Fig. is aa view viewconceptually conceptually illustratinga acondition illustrating conditionof of sand sand dustdust
estimatedtotobebegenerated estimated generateddue due to traveling to traveling of a of a first first movable movable body body in in a plurality a plurality of movable of movable
bodies; bodies;
Fig. 77 is Fig. is aa view viewconceptually conceptuallyillustrating illustrating aatarget target route route ofof aasecond second movable bodydifferent movable body differentfrom fromthe thefirst first movable bodydetermined movable body determinedbybyexecution executionofofthe thetarget target route determining route program; determining program;
Fig. 88 is Fig. is aa view viewconceptually conceptuallyillustrating illustrating another anothertarget target route routeofofthe the secondmovable second movablebody body determined determined by execution by execution of the of the target target route route determining determining program; program;
Fig. 99 is Fig. is aa view viewconceptually conceptually illustrating illustrating another another condition condition of sandof sand dust dust
estimatedtotobebegenerated estimated generateddue due to thetotraveling the traveling of theof the movable first first movable body; body; Fig. 10 Fig. 10isisa aview view illustrating illustrating a state a state in which in which a deceleration a deceleration control control is is executedforforthethefirst executed firstmovable movable bodybody by execution by execution of the of the target target route determining route determining program; program;
Fig. 1111isisa aview Fig. view conceptually conceptually illustrating illustrating a targeta route targetof route of the first the first
movablebody movable body determined determined by by execution execution of the of the target target routedetermining route determining program; program;
Fig. 12 Fig. 12 is is aa view viewconceptually conceptuallyillustrating illustrating aawhole wholetraveling travelingcontrol control systemaccording system accordingtotoaa second secondembodiment embodiment of the of the present present disclosure;andand disclosure;
Fig. 13 Fig. 13 is is aa view viewconceptually conceptually illustratinga acondition illustrating conditionof ofsand sand dust dust
estimated to estimated to be be generated due to generated due to traveling traveling of of movable bodies. movable bodies.
[0006]
[0006] Referring to the Referring to the drawings, drawings,there therewill willbebedescribed describedbelow below a traveling a traveling
control system control accordingtoto embodiments system according embodiments of of thethepresent presentdisclosure. disclosure.
[0007]
[0007]
First Embodiment First Embodiment As illustrated in Fig. 1, the traveling control system according to the As illustrated in Fig. 1, the traveling control system according to the
present embodiment present embodiment controls controls travelingofofa aplurality traveling plurality of of movable movablebodies bodiesV V thatworks that works in in
mines, for mines, for instance. instance. The The travelingcontrol traveling controlsystem system includes: includes: a centralcontrol a central controldevice deviceC C communicable communicable with with thethe pluralityofof movable plurality movablebodies bodiesV;V;and andone oneorormore moreantennas antennasA.A.The The
plurality of plurality of movable movable bodies bodies V travels V travels a travel a travel path,path, whichwhich is a predetermined is a predetermined travel region. travel region.
2
Theplurality The plurality of of movable movablebodies bodies V and V and the the central central control control device device C perform C perform wireless wireless
communication communication directlyororvia directly viathe the antenna antennaA. A.
[0008]
[0008] Theplurality The plurality ofofmovable bodies V movable bodies includes one V includes one or or more heavymachines more heavy machines (heavy equipment) (heavy equipment)HVHV andand one one or more or more lightlight vehicles vehicles LV. LV. Inpresent In the the present embodiment, embodiment,
the heavy the heavymachine machine HV HV andlight and the the light vehiclevehicle LVbewill LV will be collectively collectively or individually or individually
referred to referred to as asthe themovable movable body body VVwhere whereappropriate. appropriate. 2023285910
[0009]
[0009] Eachheavy Each heavymachine machine HV HV is aismachine a machine usedused in heavy in heavy industries. industries. In the In the
present embodiment, present embodiment, thethe heavy heavy machine machine HV isHV is a movable a movable body thatbody thatin works works mines. in mines.
Theheavy The heavymachine machine HVHVis is operated operated or or travelsbased travels basedononcommands commands fromfrom the the central central control control
device C. device C. TheThe heavy heavy machine machine HV isHVan is an automated automated drivingdriving movablemovable body. body.
Eachlight Each light vehicle vehicle LV is aa movable LV is body movable body with with a lesserweight a lesser weight than than the the
heavymachine heavy machineHV. HV. The light The light vehicle vehicle LV usually LV usually travels travels withwith workers workers on board on board or with or with
loads necessary loads necessaryfor forthe thework work loaded loaded thereon. thereon. The vehicle The light light vehicle LVpresent LV in the in the present embodiment embodiment maymay be abemanual a manual driving driving movable movable body capable body capable of traveling of traveling by a driver’s by a driver's
driving operation driving operation or or an an automated automateddriving drivingmovable movable body body capable capable of traveling of traveling without aa without
driver’s driving driver's drivingoperation. operation.
[0010]
[0010] Themanual The manualdriving drivingmovable movablebodybody recognizes recognizes the environment the environment aroundaround
an own an ownmovable movable body body V on V based based on a driver’s a driver's sense ofsense sight,of sight, and and adriving a drive's drive’soperation driving operation is performed is basedononthe performed based therecognized recognized environment. environment. It isItthus is thus difficult difficult forfor thethe manual manual
drivingmovable driving movable bodybody to travel to travel in a situation in a situation in which in which visibility visibility is poor. is poor.
In the In the automated automateddriving drivingmovable movable body, body, the the environment environment aroundaround the the ownmovable own movable body body V isVrecognized is recognized by cameras, by cameras, light detection light detection and ranging and ranging or laseror laser
imagingdetection imaging detectionand andranging ranging(LiDAR) (LiDAR) devices, devices, etc.etc. The automated The automated drivingdriving movablemovable bodyautomatically body automaticallytravelstravels based basedononananoperation operationplanplansupplied suppliedfrom fromthethe centralcontrol central control device CC and device and the the environment environment aroundaroundthetheown ownmovable movable body body V recognized V recognized by theby the cameras cameras
and the and the LiDAR LiDAR devices. devices. It isIt thus is thus difficultfor difficult forthe the automated automateddriving drivingmovable movable body body to to
travel inin aasituation travel situationininwhich which camera’s camera's visibility visibility is poorisorpoor or thecondition the signal signal condition of the of the LiDAR LiDAR devices devices is is poor. poor.
[0011]
[0011] As illustrated As illustrated ininFig. Fig.1,1, each movable each movablebody body V V includes includes a a drive drive device device DD
for driving for driving thethe movable movable body body V, V, a brake a brake device device B forB for braking braking the movable the movable body V,body a V, a
steeringdevice steering deviceT Tforforsteering steering steerable steerable wheels wheels of movable of the the movable body V,body V, apositioning a global global positioning system (GPS) system (GPS)receiver receiver 10 10for for receiving receiving GPS GPSsignals, signals, a asurroundings surroundingsinformation information obtaining device obtaining device 14 including cameras 14 including and the cameras and the LiDAR LiDAR devices,a movable devices, a movable bodybody
communication communication device device 12 12 for for wirelessly wirelessly transmitting transmitting and and receiving receiving information, information, and and a a movablebody movable body ECU ECU 20 constituted 20 constituted mainly mainly by aby a computer. computer.
[0012]
[0012] Thedrive The drive device device DDmay mayinclude includeananelectric electric motor motorfunctioning functioningasas aa drive drive
3
source and source andconnected connectedto to a pluralityofofdrive a plurality drivewheels wheels among among a plurality a plurality of wheels of wheels 28. 28. Further,aadrive Further, drivecircuit circuit(such (suchasasanan inverter) inverter) is is provided provided SO asso toas to correspond correspond to the to the electric electric
motor.By controlling motor. By controlling the circuit, the drive drive circuit, theforce the drive driveapplied force toapplied to the plurality the plurality of drive of drive
wheelsis wheels is controlled, controlled, and and the the drive drive force forceapplied appliedto tothethemovable movable body body VVis is automatically automatically controlled. controlled.
[0013]
[0013] Thedrive The drive device deviceDDmay may include include an an engine engine in in addition addition to to ororininplace placeofof 2023285910
the electric the electric motor. motor.
[0014]
[0014] Thebrake The brake device device B may B may be configured be configured to include: to include: a plurality a plurality of friction of friction brakes each brakes eachprovided providedforfora acorresponding corresponding one one of of thethe pluralityofofwheels plurality wheels2828 to to decrease decrease
rotation of rotation of the thewheel wheel 28 28 byby pressing pressing friction frictionengagement members engagement members againsta abrake against brakerotary rotary body that is rotatable integrally with the wheel 28; and a pressing force control actuator body that is rotatable integrally with the wheel 28; and a pressing force control actuator
for controlling for controllinga apressing pressing force force of of each each friction friction brake. brake. By controlling By controlling the force the pressing pressing force control actuator, control actuator, the the pressing force of pressing force of the the friction friction brakes providedfor brakes provided forthe therespective respective wheels2828 wheels is is controlled, controlled, so that SO that the the braking braking force force appliedapplied to each to each wheel 28 wheel 28 is controlled is controlled
and the and thebraking brakingforceforce applied applied to the to the movable movable body Vbody V is automatically is automatically controlled.controlled. Regenerativebraking Regenerative brakingmay may bebe appliedtotothe applied thewheels wheels2828bybybraking brakingofofthetheelectric electric motor motorofof the drive the drive device device D.D.
[0015]
[0015] Thesteering The steering device device TTsteers steers aa right right wheel wheel andandaaleft left wheel, whichare wheel, which are steerable wheels steerable amongthe wheels among theplurality plurality of of wheels wheels28.28.TheThe steering steering device device T includes, T includes, forfor
instance,aapair instance, pairofoftietierods rodsconnecting connecting the right the right andsteerable and left left steerable wheels,wheels, a steeringa steering rod rod connecting the pair of tie rods, and a steering actuator provided for the steering rod. The connecting the pair of tie rods, and a steering actuator provided for the steering rod. The
steeringrod steering rodisismoved moved by the by the steering steering actuator actuator in theinwidth the width direction direction of the vehicle, of the vehicle, SO that so that
the right the right and andleft leftsteerable steerablewheels wheels are are steered steered automatically. automatically.
[0016]
[0016] TheGPS The GPS receiver receiver 10 10 receives receives signals signals fromfrom the (e.g., the GPS GPS (e.g., the GPSthe GPS signals). The signals). TheGPSGPS is one is one exampleexample of a global of a global navigation navigation satellitesatellite systemsystem (GNSS).(GNSS).
Basedononthe Based theGPS GPS signals,thetheposition signals, positionofofananown own movable movable bodybody V thatV isthatthe is movable the movable bodyisis obtained. body obtained. Based Based on on thethe GPSGPS signals, signals, thethe three-dimensional three-dimensional position position of of thethe ownown
movablebody movable body V represented V represented by the by latitude, the latitude, the longitude, the longitude, andaltitude and the the altitude or two- or two-
dimensionalposition dimensional positionofofthe theown own movable movable bodybody V represented V represented by the by the latitude latitude and the and the longitude may longitude maybebeobtained. obtained. Thesurroundings The surroundingsinformation information obtaining obtaining device device 14 14 includes includes a plurality a plurality
of cameras of andaaplurality cameras and plurality of of LiDAR devices.The The LiDAR devices. surroundings surroundings information information obtaining obtaining
device 14 device 14 recognizes recognizes an an object object present present in in the the surroundings surroundings of of the the own movablebody own movable body that that
is the is the movable bodyV Vandand movable body obtains obtains a relativepositional a relative positionalrelationship relationship between betweenthe theobject object and the and the own movable own movable body. body.
[0017]
[0017] The movable The movablebody bodycommunication communication device device 12 wirelessly 12 wirelessly transmits transmits
4
movablebody movable body information information generated generated by by the the movable movable body body ECU ECU 20 and 20 and receives receives centralcentral
control information control information that that is is information information wirelessly wirelessly transmitted transmittedfrom fromthethecentral centralcontrol control device C. device C.
[0018]
[0018] Thereare There are connected, connected,to to the the movable movablebodybody ECUECU 20, 20, the the drivedrive circuit circuit of of
the drive the drivedevice deviceD,D, thethe pressing pressing force force control control actuator actuator of the of the device brake brake B,device B, the steering the steering
actuator of actuator of the the steering steering device device T,T, the the GPS GPS receiver receiver 10,10,thethe surroundings surroundings information information 2023285910
obtaining obtaining device device14,14,andandthethemovable movablebody bodycommunication communication device device12. 12. The movable The movable bodyECU body ECU20 20 includes includes an an identificationinformation identification information storage storage portion22,22,a amovable portion movable body body
information information generating generating portion portion 24,a and 24, and a traveling traveling controlcontrol portion portion 26. 26.
[0019]
[0019] Theidentification The identification information information storage storage portion portion2222stores storesidentification identification information set for information set for the the own ownvehicle vehiclethatthatisisthe themovable movablebodybody V. Mutually V. Mutually different different
identification information identification information is isgiven giventotothetheheavy heavymachines machines HV HV and andthe thelight light vehicles vehicles LV. LV.
[0020]
[0020] The movable The movablebody body information information generating generating portion portion 24 generates 24 generates movablebody movable body information information including including movablemovable body positional body positional information information obtained obtained
based on based onthe the GPS GPSsignals signalsand and representing representing thethe positionofofthethemovable position movable bodybody V the V and and the identification information identification information of of thethe movable movablebody body V. Thegenerated V. The generatedmovable movable body body
information isisoutput information outputtoto thethe movable movable bodybodycommunication communicationdevice device12. 12. The movable The movable bodycommunication body communication device device 12 transmits 12 transmits thethe movable movable bodybody information. information.
[0021]
[0021] Thetraveling The traveling control control portion portion 2626 controls controls traveling travelingofofthe movable the movable body body
V by V bycontrolling controlling the the drive drive device device D,D, the the brake brakedevice deviceB,B,and andthe thesteering steeringdevice deviceT.T.In In the present embodiment, the traveling control portion 26 controls the drive device D, the the present embodiment, the traveling control portion 26 controls the drive device D, the
brake device brake device B, B, the the steering steering device device T based on T based on aa travel travel command included command included in in thethe central central
control information control information receivedreceived by by the the movable movable body body communication communicationdevice device12 12 andand
transmittedfrom transmitted from thethe central central control control device device C. C.
[0022]
[0022] In aa case In whereaaroad case where roadsurface surfacesensor sensorisisprovided providedforforthe thetire tire of of each each wheel2828ofofthethemovable wheel movablebody body V, theV, thesurface road road surface condition condition is detected is detected by the roadby surface the road surface sensor. The sensor. The roadroad surfacecondition surface condition isishumidity, humidity,for forinstance. instance. In In a a casewhere case where thethe road road
surface sensor surface sensor has has a a communication communication function functionororinina acase casewhere wherethe thetire tire is is provided provided withwith a communication a communication device device that that cancan transmit transmit a detection a detection resultofofthe result theroad roadsurface surfacesensor, sensor, the detection the detectionresult resultofofthe theroad road surface surface sensor sensor cansupplied can be be supplied to the to the vehicle vehicle body sidebody by side by
wireless communication wireless communication between between thethe tireand tire andthe thevehicle vehiclebody. body.TheThe movable movable body body ECU ECU
20 generates 20 generates the the movable bodyinformation movable body informationincluding includinginformation information thatrepresents that representsthe the road road surface condition detected by the road surface sensors. surface condition detected by the road surface sensors.
[0023]
[0023] Thecentral The central control control device deviceC Cincludes includes a central a central ECUECU 40 constituted 40 constituted
mainlybybya acomputer mainly computer andand a control a control communication communication device device 42 connected 42 connected to the to the central central
ECU40. ECU 40.The The central central ECU ECU 40 includes, 40 includes, for instance, for instance, a target a target route route determining determining portion portion
5
52 including a sand dust condition obtaining portion 50 and a central control information 52 including a sand dust condition obtaining portion 50 and a central control information
generatingportion generating portion54.54.
[0024]
[0024] Thecontrol The control communication communication device device 42 wirelessly 42 wirelessly transmits transmits the the central central
control information control generatedbybythe information generated thecentral centralcontrol controlinformation informationgenerating generatingportion portion5454 and receives and receives the the movable bodyinformation movable body informationwirelessly wirelesslytransmitted transmittedfrom fromthe themovable movablebodybody V. V. 2023285910
[0025]
[0025] Thesand The sanddustdustcondition conditionobtaining obtainingportion portion5050isisconfigured configuredtotoobtain obtainaa condition of condition of sand sand dust dustestimated estimatedtotobebegenerated generatedinina atravel travelpath. path.TheThe sandsand dustdust is ais a
phenomenon phenomenon thatthat sandsand rises rises intothetheairairand into andlooks lookslike likesmoke. smoke. The sand The sand dustbemay be dust may
referredtotoasasaacloud referred cloudofofsand, sand, cloud cloud of dust of dust or like. or the the like. In the In the present present embodiment, embodiment, the the sand dust refers to sand dust with a density that obstructs traveling of the movable body sand dust refers to sand dust with a density that obstructs traveling of the movable body
Vdue V duetotoa adeterioration deterioration in visibility in visibility (including (including humanhuman visibility visibility and camera’s and camera's visibility) visibility) that arises that arises from fromsand sand risen risen into into thethe air. air. In sand In the the sand dust defined dust defined accordingaccording to the present to the present
embodiment, embodiment, the the density density of sand of sand suspending suspending in the airin is thenotairlower is notthan lower a setthan a setand density, density, and it isisdetermined it determined thatthat poor visibility isiscaused poor visibility caused byby the the sand sand dust. dust. "In “Ina acase casewhere wherethethe
movable movable body body V isV is likely likely to stir to stir upraise up or or raise sand sand and and the thevolume wind windisvolume large",is large”, the range the range
of sand of dust is sand dust is wide. wide. "In“Ina acase casewhere where thethemovable movable bodybody V isVlikely is likely to stirupup to stir or or raise raise
sand and sand and the the wind windvolume volume is is small”oror"in small" “ina acase casewhere wherethethemovable movable bodybody V isVunlikely is unlikely to stir to stirupupor orraise raisesand”, sand",the the range rangeofofsand sanddust dustisisnarrow. narrow. Thus, Thus, thethe condition condition of of sand sand dust (the dust (the sand sand dust dust condition) condition) is isdetermined determined basedbased onon ease ease with with which whichsandsandisisstirred stirred up up or raised or raised by by the themovable movable body V, ease body V, ease of of spreading spreading of of sand, sand,etc. etc. The sanddust The sand dust condition condition is generally is represented as generally represented as aa range rangeofofthe thesand sand dust dust estimated estimated to generated. to be be generated. As As illustrated in Fig. 2, the range of the sand dust may be represented as a sand dust level illustrated in Fig. 2, the range of the sand dust may be represented as a sand dust level
whichisis higher which higher in in aa case case where the movable where the movablebody body V is V is likelytotostir likely stir up sand and up sand andsand sandisis likely to likely to spread spread than than in inaacase casewhere where the the movable bodyV Visisunlikely movable body unlikelytotostir stir up up sand sand and and
sandisis unlikely sand unlikelytotospread. spread.
[0026]
[0026] Thelease The ease with whicha afirst with which first movable movablebodybodyV1 V1 among among the plurality the plurality of of
movable movable bodies bodies V stirs V stirs upraise up or or raise sandsand is determined is determined based based on on of a state a state of the the first first movable movable
bodyV1, body V1,a road a road surface surface condition, condition, meteorological meteorological information, information, etc.easeThe ease of etc. The of spreading of spreading of sand sand isis determined basedononthe determined based theroad roadsurface surfacecondition, condition,thethemeteorological meteorological information,etc. information, etc. Thestate The state of of the the first first movable bodyV1V1includes movable body includes a travelspeed a travel speed of of the the
first movable first body, aa gross movable body, gross weight weight that that is is aa sum sum of of the the weight of the weight of the first firstmovable movable body body
and aa loading and loadingweight, weight,a atire tireshape shapeofofthe thefirst first movable movablebody, body, forfor instance.The The instance. firstfirst
movable body V1 is more likely to stir up sand when the travel speed of the first movable movable body V1 is more likely to stir up sand when the travel speed of the first movable
bodyV1 body V1isishigh highthan thanwhen whenthethetravel travelspeed speedisislow. low. TheThe firstmovable first movable body body V1more V1 is is more
6
likely to stir up sand when the gross weight of the first movable body is large than when likely to stir up sand when the gross weight of the first movable body is large than when
the gross the gross weight weight isissmall. small. TheThefirst first movable movable bodybodyV1V1 isismore morelikely likelytoto stir stir up up sand sand when when
the tire the tire diameter diameter isislarge largeandand a tiretread a tire tread is is deepdeep thanthan when when thediameter the tire tire diameter is smallisand small and the tire the tire tread is shallow. tread is shallow.
[0027]
[0027] Theroad The roadsurface surface condition condition includes includes a dry a dry condition condition of the of the road road surface. surface.
Thefirst The first movable movable body body V1 isV1 is more more likely likely to stirtoupstir upand sand sand sandand is sand is more more likely to likely spread to spread 2023285910
whena adryness when drynessdegree degreeofofthetheroad roadsurface surfaceis is high high than than when whenthethedryness drynessdegree degreeisis low. low. Themeteorological The meteorologicalinformation informationincludes, includes,forfor instance, instance, humidity, humidity, aa wind wind
volume(wind volume (windspeed), speed),and anda awind winddirection. direction.TheThe sandsand dust dust is is more more likelytotospread likely spreadwhen when the humidity the humidityisis lowlowthan thanwhen when thethe humidity humidity is high. is high. The dust The sand sand isdust is likely more more likely to to spread when spread whenthe thewind windvolume volume is large is large than than when when the the wind wind volume volume is small, is small, namely, namely, the the sand dust sand dust is is more likely totospread more likely spreadwhen when the the wind speed is wind speed is high high than than when when thethe wind windspeed speed is low. is Further,the low. Further, the direction direction in in which the sand which the sand dust dust spreads spreads is is determined determined by bythe the wind wind direction. direction.
[0028]
[0028] Thetarget The target route route determining portion52 determining portion 52determines determinesa atarget targetroute route ofof at at least one least of the one of the first first movable bodyV1V1 movable body andand the the second second movable movable body V2 body (theV2 (the heavy heavy
machineHVHV machine or or thelight the lightvehicle vehicleLV)LV)based basedononthethecondition conditionofofsandsanddust dustobtained obtainedbybythethe sanddust sand dustcondition condition obtaining obtaining portion portion 50.instance, 50. For For instance, the targettheroute target route of at ofone least at least one ofof the first the firstmovable movable body body V1V1and andthe thesecond secondmovable movable bodybody V2 isV2determined is determinedsuch such that the that the
secondmovable second movable body body V2 V2 doesdoes not not enter enter sand sand dustdust determined determined based based on theoncondition the condition of of sand dust sand dust estimated estimatedto to be be generated generateddue duetototraveling travelingofof the the first first movable bodyV1. movable body V1. In In
other words, other words, the the target target route route is is determined determinedsuch suchthat thata arelative relativepositional positional relationship relationship betweenthe between thefirst first movable movablebody body V1 V1 and and the the second second movable movable body body V2 V2 deviates deviates from a from a relationship in relationship in which which the the second movablebody second movable body isisestimated estimatedtotobebeinfluenced influencedbybythe thesand sand dust estimated dust estimated to to be be generated generated dueduetoto the the traveling traveling of of the the first firstmovable movable body V1. This body V1. This meansthat means thatthethe relative relative positional positional relationship relationship between between themovable the first first movable body body V1 and theV1 and the
secondmovable second movablebody bodyV2 V2 is controlled. is controlled.
[0029]
[0029] Thetarget The target route route determined determined by bythethetarget target route route determining portion52 determining portion 52 often differs often differs from from the the target targetroute routedetermined determined based on aa work based on workplan planbefore beforedeparture departureofof the plurality the pluralityofofmovable movable bodies bodies V. Thatis, V. That is, the the target targetroute routedetermined determined beforehand beforehand based based
on the on the work planis work plan is changed changed bybythethetarget target route route determining portion 52. determining portion 52. The target route may be determined utilizing artificial intelligence (AI). The target route may be determined utilizing artificial intelligence (AI).
[0030]
[0030] If the If the movable body movable body V isVlocated is located in the in the sandsand dust,dust, the driver the driver suffers suffers from from
poorvisibility poor visibilityororthe theenvironment environment around around the movable the movable body body V is V is difficult difficult to be recognized to be recognized
by the by the cameras camerasand andthetheLiDAR LiDAR devices, devices, causing causing a reduction a reduction in thein travel the travel speedspeed of theof the movablebody movable bodyV. V. Further, Further, water water may bemay be sprinkled sprinkled to prevent to prevent the sandthedust, sandbutdust, it but is it is
7
difficult to sprinkle water over the entire travel region. In the present embodiment, the difficult to sprinkle water over the entire travel region. In the present embodiment, the
target route target routeisisdetermined determined suchsuch that that the relative the relative positional positional relationship relationship between between the first the first
movablebody movable body V1 V1 and and the the second second movablemovable body V2body V2 deviates deviates from the from the relationship relationship in in whichthe which the second secondmovable movable body body is is influenced influenced by by thethe sand sand dustdust estimated estimated to to bebe generated generated
due to due to the the traveling traveling of of the the first first movable movable bodybodyV1.V1. This This reduces reduces theofneed the need waterof water sprinklingand sprinkling and prevents prevents a reduction a reduction in theintravel the travel speed speed of the of the movable movable body. body. 2023285910
[0031]
[0031] In aa case In case where where thethe first firstmovable movable body body V1 V1 isis the theheavy heavy machine machine HVHVand and the second the secondmovable movable body body V2the V2 is is the light light vehicle vehicle LV, LV, sandsand dust dust X1 isX1 is estimated estimated to be to be
generated as generated as illustrated illustrated ininFig. Fig.6 6when when the the first firstmovable movable body body V1V1travels travelsaa section section PP of of the travel the travel path path S.S. If Ifthethesecond second movable movable body body V2 travels V2 travels along aalong targeta route targetRTroute RT indicated by indicated by the the dashed line, the dashed line, thesecond second movable bodyV2V2 movable body entersthe enters thesand sanddust dustX1. X1.
[0032]
[0032] In the In the present presentembodiment, embodiment, as illustrated as illustrated in Fig. in 7,Fig. 7, a target a target route route R1 of R1 of
the second the movable second movable body body V2 V2 is determined is determined SO assotoasavoid to avoid the sand the sand dust dust X1. InX1.otherIn other words, the words, the target target route route R1R1isisdetermined determined such such thatthat thethe relativepositional relative positionalrelationship relationship betweenthe between thefirst first movable movablebodybodyV1 V1 and and the the secondsecond movable movable body V2 body V2 deviates deviates from a from a
relationship in relationship in which the second which the movablebody second movable bodyV2 V2 is influenced is influenced by the by the sandsand dustdust X1 if X1 if
the sand the dust X1 sand dust X1isis estimated estimatedtotobebegenerated generateddue duetotothethetraveling travelingofofthe thefirst first movable movable body V1. body V1. This This enablesthe enables thesecond secondmovable movable bodybodyV2 V2to beto less be less susceptibletotothe susceptible the influence of influence of the the sand sand dust dust X1 evenwhen X1 even when thethesand sand dust dust X1 X1is is generated generated by by thethe traveling traveling
of the of the first firstmovable movablebodybody V1. Accordingly, V1. Accordingly, thethetravel travelspeed speedofofthe the second secondmovable movablebodybody V2is V2 is prevented frombeing prevented from beinglowered, lowered,ensuring ensuringaagood goodstream streamofofthe themovable movablebodies bodiesV V and and
improvingthe improving theworkability workabilityofofthe the movable movablebodies bodiesV.V.
[0033]
[0033] As illustrated As illustrated inin Fig. Fig. 8, 8, the the first firstmovable bodyV1V1 movable body maymay be stopped be stopped
before the before the first firstmovable movable body V1arrives body V1 arrives at at the the section section PP or orwhen the first when the firstmovable movable body body
V1isislocated V1 locatedatatthe thesection section P. P. In this In this case,case, sand sand dust dust is notis not generated, generated, and aroute and a target target route R2ofofthe R2 thesecond second movable movable body body V2travels V2 that that travels afterfirst after the the first movable movable body V1body is V1 is determinedasasillustrated determined illustrated ininFig. Fig.8.8. The The second secondmovable movable body body V2 V2 thatthat travels travels along along thethe
target route target routeR2R2 may overtake the may overtake the first first movable movable body V1. When body V1. When a plurality a plurality of of thethe second second
movablebodies movable bodiesV2V2 is is located located close close to to each each other, other, a targetroute a target routeR2'R2´ is isdetermined determinedforfor
another second another secondmovable movable bodybody V2. V2. Thus, Thus, the plurality the plurality of second of second movablemovable bodies V2bodies V2
precedes the precedes the first first movable movable body V1. body V1.
[0034]
[0034] Asillustrated As illustratedininFig. Fig.9,9,inina acase casewhere wheresandsand dust dust X2 is X2 is estimated estimated to be to be generateddepending generated depending onwind on the the direction, wind direction, the windthe windetc., volume, volume, etc., at the at the section section P of the P of the travel path travel path SS due due totothe thetraveling travelingofofthethe first movable first body movable bodyV1, V1,the second the secondmovable movable body body
V2possibly V2 possiblyenters enters the the sand sand dust dust X2 X2 ifif the thesecond second movable bodyV2V2 movable body travelsalong travels alonga atarget target route Ra. route Ra. InInthethepresent presentembodiment, embodiment, as illustratedininFig. as illustrated Fig.11, 11,a atarget target route route R3 R3ofofthe the
8
first movable body V1 is determined such that the first movable body V1 travels a portion first movable body V1 is determined such that the first movable body V1 travels a portion
of the of the travel travel path pathSSclose closetotoananedge edge Shthe Sh of of the travel travel path path (i.e., (i.e., an end an end portion portion of theof the travel travel
pathS). path S).In In a situation a situation in which in which a winda direction wind direction f is a direction f is a direction from thefrom the edge (leeward edge (leeward
edge)ShShofofthethe edge) travel travel pathpath S toward S toward an outside an outside of thepath of the travel travel path S, if theS, if the first first movable movable
bodyV1V1 body travels travels thethe portion portion of travel of the the travel path path S close S close to theto the leeward leeward edge Sh edge of theSh of the travel travel
path SS along path along the the target target route route R, R, the the sand sand dust dust X2 spreads mainly X2 spreads mainlyoutside outsidethe thetravel travel path path 2023285910
and is and is unlikely unlikely toto spread spread inside inside the the travel travelpath. Thus,even path. Thus, evenwhenwhenthethe second second movable movable
bodyV2V2 body travels travels along along the the target target route route Ra indicated Ra indicated by theby the dashed dashed line, theline, the movable second second movable bodyV2V2 body is is unlikely unlikely to enter to enter the the sandsand dust dust X2. X2.
[0035]
[0035] Further,asasillustrated Further, illustratedininFig. Fig.10,10, thethe travel travel speedspeed offirst of the the first movable movable
body V1 body V1may maybebeslowed slowed down. down. This narrows This narrows a rangea range of sandofdust sandX2' dust X2´ estimated estimated to be to be generated. Thus, generated. Thus, thethe second second movable movable body body V2 is V2 is unlikely unlikely to enter to enter the sandthe dust sand X2' dust X2´ evenifif itit travels even alongthe travels along thetarget targetroute routeRa.Ra.
[0036]
[0036] In estimating In estimating thethe range range of of the the sand dust, buildings sand dust, buildings and other shielding and other shielding
maybebeconsidered. may considered. In aa case In case where there is where there is aa movable body movable body V among V among the plurality the plurality of the of the
movablebodies movable bodiesV V thatthat travelsbased travels based on on thethe control control command command fromcentral from the the central control control
device CC without device without using using information information such such as as images imagestaken takenbybythe thecameras camerasofofthethe surroundingsinformation surroundings informationobtaining obtainingdevice device1414 andand thethe signals signals of of thetheLiDAR LiDAR devices devices of of the surroundings the surroundingsinformation information obtaining obtaining device device 14 of14the of own the movable own movable body V, the body V, the
movable body movable bodyV V cancan travel travel through through thethe sand sand dustdust without without reducing reducing the speed. the speed. Accordingly, the need to determine the target route based on the condition of sand dust is Accordingly, the need to determine the target route based on the condition of sand dust is
low for low for such such a a movable movable bodybodyV.V.
[0037]
[0037] Thecentral The central control controlinformation informationgenerating generating portion portion 54 54 generates generates the the
central control central control information. information. The Thegenerated generated centralcontrol central controlinformation information isisoutput outputtotoandand transmitted by transmitted by the the control control communication communication device device 42.42. The central The central control control information information
includes the includes the target target route route set set based based ononthe thesand sanddust dust condition, condition, thethe control control command command
indicatingthe indicating thetravel travelspeed, speed, etc., etc., andand the the identification identification information information of the of the movable movable body, body, whichisisa acontrol which control target. target.
[0038]
[0038] A target A target route route determining programrepresented determining program representedbyby a flowchart a flowchart of of Fig. Fig.
3 is 3 is executed executed inin thetarget the targetroute route determining determining portion portion 52 time 52 every every time a set a set time time elapses. elapses.
At Step At Step 1, 1, the the first firstmovable bodyV1 movable body V1and andthethesecond second movable movable bodybody
V2are V2 are identified identified and and the the positions positions of ofthe thefirst movable first movablebody bodyV1 V1 and and the the second movable second movable
bodyV2V2are body areobtained, obtained,based based on on thethe movable movable bodybody information information received received by theby the control control
communication communication device device 42. 42. (Hereinafter, (Hereinafter, Step Step 1 be 1 will willabbreviated be abbreviated as “S1”. as "S1". Other Other steps will steps willbebesimilarly similarlyabbreviated.) abbreviated.) At S2,At S2,isthere there is obtained obtained the condition the condition of sand dust of sand dust
9
estimated to estimated to be be generated whenthe generated when thefirst first movable bodyV1V1 movable body travelsa asection travels sectionofofthe thetravel travel path located path located ahead of the ahead of the first firstmovable movable body V1.At At body V1. S3,S3, thethe targetroute target routeofofatatleast least one one of the of the first firstmovable movablebody body V1 V1 and and the the second second movable bodyV2V2 movable body isisgenerated, generated,aadeceleration deceleration command command or or a stopcommand a stop commandfor for the the firstmovable first movable body body V1 V1 is generated, is generated, or or an an overtaking overtaking
command command forfor thesecond the second movable movable bodybody V2generated, V2 is is generated, for for instance. instance. At the At S4, S4, central the central control information control informationisisgenerated generatedandand transmitted. transmitted. The central The central controlcontrol information information 2023285910
includes: the identification information of at least one of the first movable body V1 and includes: the identification information of at least one of the first movable body V1 and
the second the movable second movable body body V2,V2, which which is the is the control control target; target; thethe information information indicative indicative of of
the target the target route; route;and andthe thecontrol controlcommand suchasasthe command such thedeceleration deceleration command command or the or the stopstop command. command.
[0039]
[0039] Further, aa time Further, time required required forfor the the sand sanddust, dust,which which is is estimated estimated to tobe be
generated when generated whenthethefirst first movable movable bodybodyV1V1 travelsthe travels thesection sectionP,P, to to spread spread over over the the range range of the of the section sectionPPisis estimated estimatedbasedbasedononthe thewind windvolume, volume, etc. Accordingly,when etc. Accordingly, whenthe thefirst first movable movable body body V1 travels V1 travels the section the section P and P and the sandthe sand dust dust is estimated is estimated to be generated, to be generated, the the central control central control information information is is supplied supplied to to at atleast leastoneoneofofthe thefirst firstmovable movablebody body V1 and V1 and
the second the movablebody second movable bodyV2V2 at at timingdetermined timing determined based based on on thethe time time required required forthe for thesand sand dust to dust to spread spreadover over thethe range range of the of the section section P. P.
[0040]
[0040] Thesand The sanddustdustcondition conditionisisobtained obtainedatat S2 S2bybyexecution executionofofa asand sanddustdust conditionobtaining condition obtaining program program of a flowchart of a flowchart of Fig. of Fig. 4 in the4 sand in the sand dust dust condition condition obtaining obtaining
portion 50. portion 50. InInthethecentral centralcontrol controldevice device C, C, thetheroadroad surface surface condition condition of each of each of a of a
plurality of sections of the travel region and the state of each movable body V are obtained plurality of sections of the travel region and the state of each movable body V are obtained
beforehand, and beforehand, andthe themeteorological meteorological information information is obtained is obtained eacheach time time the program the program is is executed. executed.
AtS11, At S11,thetheroad road surface surface condition condition of theofsection the section P located P located ahead ofahead the of the first movable first bodyV1V1 movable body in inthethe travel travel region region is is obtained. obtained. At S12, At S12, the meteorological the meteorological
information at information at the the section section PP located located ahead ahead ofof the thefirst movable first movablebody body V1 is obtained. V1 is obtained. At At S13, the state S13, the state of of the the first first movable movable bodybodyV1V1 is is obtained. obtained. At S14, At S14, based based on theon the thus thus
obtainedinformation, obtained information, the the condition condition of dust of sand sandestimated dust estimated to be generated to be generated when the first when the first
movablebody movable body V1V1 travelsthethesection travels sectionP Pisis obtained. obtained.
[0041]
[0041] Themovable The movablebody body ECU ECU 20 of20each of each movable movable body body V executes V executes a movable a movable
bodytraveling body traveling control control program program of a flowchart of a flowchart of Fig. of 5. Fig. 5.
At S31, At S31,itit isis determined determinedwhether whether the the central central control control information information is is
received. When received. When an affirmative an affirmative determination determination (YES)(YES) is made, is made, it is determined it is determined at S32 at S32
whetherthe whether the own ownidentification identification information informationcoincides coincideswith withthe theidentification identification information information
included in included in the the central central control control information. When information. When an an affirmative affirmative determination determination (YES) (YES)
is made, is the details made, the details of of the the control control command areobtained. command are obtained.ThatThat is, is, it isdetermined it is determinedat at
10
S33 whether S33 whetherthe thecentral central control control information information includes includes the the stop stop command, command, ititis is determined determined at S34 at whetherthe S34 whether thecentral central control control information informationincludes includesthe the deceleration deceleration command, command,it it isis
determinedatatS35 determined S35 whether whether the central the central control control information information includes includes the overtaking the overtaking
command, command, or or ititis is determined determinedatat S36 S36whether whetherthe thecentral centralcontrol control information informationincludes includesthe the target route. target route.
[0042]
[0042] Whenanan When affirmative affirmative determination determination (YES) (YES) is madeis made at S33,atthe S33, the stop stop 2023285910
control is control is executed at S37. executed at S37. TheThe movable movable body body V is stopped V is stopped by controlling by controlling the brake the brake
device B. device B. When When an affirmative an affirmative determination determination (YES)(YES) is madeis at made S34,atthe S34, the deceleration deceleration
control is control is executed at S38. executed at S38. TheThe travel travel speed speed of of thethe firstmovable first movablebodybody V1 isV1slowed is slowed downbybycontrolling down controllingthe thebrake brakedevice deviceB B andand thethe drive drive device device D. D. When When an affirmative an affirmative
determination(YES) determination (YES)isismade madeat at S35,thethedrive S35, drivedevice deviceD D and and thethe steeringdevice steering deviceT Tofofthe the secondmovable second movable body body V2 V2 are are controlled controlled at S39 at S39 so to SO as as to overtake overtake thethe firstmovable first movable body body
V1. When V1. When an affirmative an affirmative determination determination (YES)(YES) is made is made at the at S36, S36,drive the drive devicedevice D, theD, the steering device steering device T,T, and and the the brake brake device device B of the B of the second movablebody second movable body V2V2areare controlled controlled
at S40 at to cause S40 to cause the the second movablebody second movable bodyV2V2 to to travelalong travel alongthe thedetermined determined targetroute. target route.
[0043]
[0043] In the In the present present embodiment, embodiment, the thecondition conditionofofsand sanddust dustestimated estimated to to bebe
generatedduedue generated to to thethe traveling traveling of the of the first first movable movable body body V1 is estimated V1 is estimated before before the secondthe second
movablebody movable bodyV2V2 enters enters thethe sand sand dust, dust, inin otherwords, other words,before before thesecond the second movable movable bodybody
V2suffers V2 suffersfrom from poorpoor visibility. visibility. If theIf the relative relative positional positional relationship relationship between between the first the first
movablebody movable bodyV1V1andandthethe second second movable movable body body V2 is V2 is controlled controlled whenvisibility when poor poor visibility is is detected in detected in the the second movablebody second movable bodyV2 V2 or or when when the the density density of sand of sand in the in the airair detected detected
by a dust sensor provided at the rear of the first movable body V1 or at the front of the by a dust sensor provided at the rear of the first movable body V1 or at the front of the
secondmovable second movable body body V2not V2 is is not lessless thanthan a set a set density, density, thethe travel travel speed speed of of thethe second second
movablebody movable body V2V2 maymay be undesirably be undesirably reduced. reduced. In other In other words,words, if theif relative the relative positional positional
relationship is relationship iscontrolled controlledafter afterthe second the secondmovable bodyV2 movable body V2enters enterssand sanddust, dust,the thetravel travel speed of speed of the the second second movable body V2 movable body V2maymaybebeundesirably undesirablyreduced. reduced. InInthethepresent present embodiment, embodiment, in contrast, in contrast, the relative the relative positional positional relationship relationship starts starts to be controlled to be controlled before before
the second the movablebody second movable bodyV2 V2 enters enters the the sandsand dust. dust. Consequently, Consequently, the second the second movablemovable bodyV2V2isisprevented body preventedfrom from entering entering thethe sand sand dust dust X. X. This This prevents prevents a reduction a reduction in thein the travel speed travel speedofofthe thesecond second movable movable body body V2 due V2 due visibility to poor to poor visibility andappropriate and enables enables appropriate traveling of traveling of the themovable bodies V, movable bodies V, resulting resulting in inimproved workability. improved workability.
[0044]
[0044] Further, the Further, the sand sand dust dust level levelmay may be be lowered by slowing lowered by slowingdown downthethetravel travel speed of speed of the the first firstmovable movable body V1. body V1.
[0045]
[0045] In the In the present present embodiment, though the embodiment, though the condition condition ofof sand sand dust dust is is obtained every obtained every time time S2S2ofof the the sand sand dust dust condition condition obtaining obtaining program programisisexecuted executedandandthe the target route target routeisis set, set, the the work planmaymay work plan be generated be generated in consideration in consideration of the condition of the condition of the of the
11
sand dust estimated to be generated. sand dust estimated to be generated.
Forinstance, For instance,the theroad road surface surface condition, condition, the meteorological the meteorological information, information,
etc., in etc., in each sectionofofthe each section thetravel travelpath path S may S may be obtained be obtained before before the plurality the plurality of movable of movable
bodies VVstarts bodies starts to to work, work,and andthethework workplanplan maymay be generated be generated in consideration in consideration of theof the
condition of condition of sand sand dust dust estimated estimated to to be be generated. generated. ForFor instance,based instance, based on on thethe condition condition
of sand of dust estimated sand dust estimated to to bebe generated generatedwhen wheneach each movable movable bodybody V travels V travels each each section section 2023285910
of the of the travel travel path pathSSandandthetherelative relativepositional positional relationship relationship between between the first the first movablemovable body body V1and V1 andthe thesecond secondmovable movable body body V2, V2, an optimum an optimum solution solution of the oftravel the travel route, route, the the travel travel
speed, the speed, the gross gross weight, etc., ofofeach weight, etc., each movable bodyV Visisobtained movable body obtainedandand thethework work planplan is is
generated ononcondition generated conditionthat thata apredetermined predetermined amount amount of theofwork the iswork is performed performed in a in a predeterminedtime. predetermined time.
[0046]
[0046] In aa case In case where wherethetheworkwork plan plan is generated is generated based based on the onsand the dust sand dust condition before condition before the the plurality plurality ofof movable movablebodies bodies V startsto towork, V starts work,thethe meteorological meteorological
information and information andthe thecondition conditionofofsand sanddust dustmaymaybe be suitably suitably modified modified after after thethe movable movable
bodies VVhave bodies havestarted started to to work, and the work, and the target target route route may be modified. may be modified.
[0047]
[0047] In the In the present present embodiment, embodiment, a atraveling travelingcontrol control device deviceis is constituted constituted byby
portionsofofthe portions thecentral centralECUECU 40 of40 theofcentral the central controlcontrol device Cdevice C that that store and store and execute theexecute the
target route target routedetermining determining program. program. TheThe traveling traveling control control device device may may include include portions portions of of
the movable the movablebody body ECU ECU 20 that 20 store that store and execute and execute S33-S40 S33-S40 of the traveling of the traveling control control program. program. The traveling The traveling control control device device functions functions also as aalso as a relative relative positionalpositional relationship relationship
control device. In the traveling control device, the sand dust condition obtaining portion control device. In the traveling control device, the sand dust condition obtaining portion
is constituted is constituted bybyportions portions of of thethe central central ECU ECU 40 that40 thatand store store and S2 execute execute S2 dust (the sand (the sand dust condition obtaining condition obtaining program), program),and andthethetarget target route route determining determiningportion portionisis constituted constituted by by portionsofofthe portions thecentral centralECUECU 40 that 40 that storestore and execute and execute S3. S3.
[0048]
[0048] Thoughthe Though thefirst first movable bodyisis the movable body the heavy machineHVHV heavy machine andand thethe second second
movablebody movable body is isthe thelight light vehicle vehicle LV LVininthe the present present embodiment, embodiment, bothboth thethe firstmovable first movable bodyand body andthe the second secondmovable movable body body maymay be the be the lightvehicle light vehicleorormay maybebethetheheavy heavymachine. machine.
[0049]
[0049] In aa case In case where where thethe movable movablebody body V V includes includes thethe road road surface surface sensors, sensors,
the information the information representing representingthe thedetection detectionresults resultsofofthetheroad roadsurface surfacesensors sensorsmaymaybe be
included in included in the the movable movable bodybody information information SO so as as to to be be transmitted transmitted to to thethe centralcontrol central control device C. device C. InInthis thiscase, case, the the road road surface surface condition condition input input beforehand beforehandmay may bebe modified modified in in
the central the central control control device C based device C basedononthe thedetection detectionresults resultsofofthe theroad roadsurface surfacesensors sensors included inin the included themovable movable body body information, information, andcondition and the the condition of sandofdust sandmaydust be may be modified.ThisThis modified. enables enables thesurface the road road surface condition condition of each of each section of section of the the travel path travel S to path S to
be finely be finelyobtained, obtained,SO so that that thethe sand sand dustdust condition condition is obtained is obtained more accurately. more accurately.
[0050]
[0050] Thepresent The present embodiment embodiment is is applicablebefore applicable beforethe thesecond second movable movable body body
12
V2 is influenced by the sand dust after generation of the sand dust due to the traveling of V2 is influenced by the sand dust after generation of the sand dust due to the traveling of
the first the firstmovable movable body V1. TheThe body V1. second second movable movable body body V2 can V2travel can travel while while avoiding avoiding the the sand dust sand dust before beforethe thesecond second movable movable body body V2 is V2 is influenced influenced by the by the sand dustsand dust after after
generationofofthethesand generation sand dustdust due due to traveling to the the traveling of theoffirst the first movable movable body V1.body V1.
[0051]
[0051]
Second Embodiment Second Embodiment 2023285910
Thepresent The presentdisclosure disclosureisisapplicable applicabletotoa casea case where where a plurality a plurality of of
movable movable bodies bodies Vc travels Vc travels an unpaved an unpaved travel travel path, as path, as illustrated illustrated in Figs. in 12 Figs. 12 and 13. and 13.
As illustrated As illustrated ininFig. Fig.12, each 12, eachmovable movable body body Vc includes aa drive Vc includes drive device device
Dc, aabrake Dc, brakedevice device Bc,Bc, a steering a steering device device Tc, aTc,GPS areceiver GPS receiver 10c, a surroundings 10c, a surroundings
information obtaining information obtainingdevice device14c, 14c,a movable a movable bodybody communication communication device device 12c, and12c, a and a movable body movable bodyECUECU 20c.20c. The movable The movable body ECUbody20cECU 20c includes includes an identification an identification
information storage information storage portion portion 22c, 22c, aa movable movablebodybody information information generating generating portion portion 24c,24c, a a traveling control traveling control portion portion 26c, 26c, a a sand dust condition sand dust condition obtaining obtaining portion portion 72c, 72c, and anda atarget target route determining route portion74c. determining portion 74c.TheThe drive drive device device Dc, Dc, the the brake brake device device Bc, Bc, the the steering steering
device Tc, device Tc, the the GPS GPS receiver receiver 10c, 10c, the the movable movable body body communication communication device 12c,device the 12c, the
surroundingsinformation surroundings informationobtaining obtaining device device 14c,14c, the the identification identification information information storage storage
portion 22c, portion 22c, the the movable movable body body information information generating generating portion portion 24c, 24c, and theandtraveling the traveling controlportion control portion26c26c areare the the samesame as those as those in the in the embodiment, first first embodiment, a detaileda description detailed description of which of which isis dispensed with. dispensed with.
[0052]
[0052] Anexternal An external information informationtransmission transmissiondevice device80c80ctransmits transmitsinformation information suchasasa aroad such roadsurface surface condition condition and meteorological and meteorological information information in each of in each of aofplurality of a plurality
sections of sections of aa travel travel path path (travel (travel region) region) where where thethe plurality plurality of of the the movable bodiesVcVc movable bodies
travels. The travels. Theinformation informationtransmitted transmittedfrom fromthethe externalinformation external information transmission transmission device device
80c is 80c is received received by the movable by the movablebodybody communication communication device device 12c of12c of each each movable movable body body Vc. Vc.
[0053]
[0053] Thesand The sanddust dustcondition conditionobtaining obtainingportion portion72c72c obtains obtains a condition a condition of of
sand dust sand dust estimated estimated to to be be generated generated when whenthetheown own movable movable bodybody Vc travels Vc travels a section a section of of
the travel the travel path path located locatedahead ahead of of the theown own movable movable bodybodyVc.Vc. The The condition condition of sand of sand dust dust
is obtained is basedononthetheroad obtained based road surface surface condition condition information information andmeteorological and the the meteorological information, which information, which areare transmitted transmitted from the external from the external information information transmission transmission device 80c, device 80c,
and the and the state state of ofthe theown own movable bodyVc. movable body Vc.
[0054]
[0054] The movable The movablebodybody information information generatingportion generating portion24c24c generates generates movablebody movable body information information that that includes includes thethe position position of of thethe ownown movable movable body body Vc andVc and
sand dust sand dust condition condition information informationindicative indicative of of the the condition condition of of sand sand dust dust estimated estimated toto be be generated when generated whenthe theown own movable movable bodybody Vc travels Vc travels the section the section located located aheadahead of own of the the own
13
movablebody movable bodyVc.Vc. The generated The generated movable movable body information body information is wirelessly is wirelessly transmitted transmitted
from the from the movable movablebody body communication communication device device 12c. 12c.
[0055]
[0055] Basedononthe Based themovable movable body body information information andand the the condition condition of sand of sand dust dust
estimatedtotobebegenerated, estimated generated, the the target target route route determining determining portionportion 74 generates 74 generates a target route a target route
such that such that the the own movablebody own movable bodyVc Vc avoids avoids entry entry into into thesand the sand dust. dust.
Thetraveling The travelingcontrol control portion portion 26c 26c controls controls the drive the drive devicedevice Dc, theDc, the brake brake 2023285910
device Bc, device Bc, and andthethe steering steering device device TcTc such suchthat that the the own movable own movable body body travels travels along along thethe
target route target routegenerated generated by by the the target target route route determining determining portionportion 74c. 74c.
[0056]
[0056] As illustrated As illustrated ininFig. Fig.13, 13,for forinstance, instance, a movable a movablebody body Vcx obtains the Vcx obtains the condition of condition of sand sand dust dust estimated estimated to to be begenerated generated when the own when the movablebody own movable bodyVcxVcx travels travels
a section a section Px Px located located ahead aheadofofthe theown own movable movable body body Vcx, based Vcx, based on the on thesurface road road surface condition of condition of the the section section Px, Px, the the meteorological meteorologicalinformation, information,andand thethe state state of of thethe ownown
movablebody movable body Vcx. Vcx. The movable The movable body body Vcx Vcx generates generates and transmits and transmits the movable the movable body body information including information includingthethepositional positionalinformation informationindicative indicativeofofthe theposition positionofofthe theown own movablebody movable bodyVcxVcx and and information information indicative indicative of the of the condition condition of sand of sand dust dust (such(such as a as a
range of range of sand sand dust) dust) estimated estimated toto be be generated generatedwhenwhen thetheownown movable movable body body Vcx travels Vcx travels
the section the section PxPx of of the the travel travelpath pathlocated locatedahead aheadofofthe theown ownmovable bodyVcx. movable body Vcx.
[0057]
[0057] A movable A movablebodybodyVcyVcy different different from from thethe movable movable bodybody Vcx obtains Vcx obtains the the
condition of condition of sand dust (such sand dust as aa range (such as range of of sand sand dust dust Ax) Ax) estimated estimated toto be be generated when generated when
the movable the movablebody bodyVcxVcx travels travels the the section section Px ofPxthe of travel the travelpath path located located aheadahead of theof the
movablebody movable bodyVcx, Vcx, based based onon themovable the movable body body information information transmitted transmitted from from the the movable movable
body Vcx body Vcxand andreceived receivedbybythe themovable movablebody body Vcy Vcy itself. TheThe itself. movable movable bodybody Vcy Vcy generatesa atarget generates targetroute route SO so as avoid as to to avoid entryentry intosand into the thedust sandAx dust Ax andalong and travels travels the along the
generated target generated target route. route. Thus,Thus,thethemovable movablebodybody Vcy Vcy is unlikely is unlikely to enter to enter the the sandsand dustdust
Ax. Ax.
[0058]
[0058] Themovable The movablebodybody VcyVcy obtains obtains a condition a condition of of sand sand dust dust AyAy estimated estimated to to
be generated be generatedwhen when thetheownown movable movable body body Vcy travels Vcy travels a section a section Py of Py the of the target target route route
located ahead located ahead of of the the own ownmovable movable bodybody Vcy Vcy and generates and generates and transmits and transmits the movable the movable
bodyinformation body informationthatthatincludes includesinformation informationindicating indicatingthe thecondition conditionofofthethesand sanddust dustAyAy and information and informationindicating indicating the the position position of of the the own movablebody own movable bodyVcy. Vcy.
[0059]
[0059] As described As describedabove, above,eacheachofofthe the plurality plurality ofof movable bodies Vc movable bodies Vcobtains obtains the condition the condition of of sand sand dust dust estimated estimated to to be begenerated generated by by other other movable bodies Vc movable bodies Vcthrough through communication among communication amongthe themovable movablebodies bodiesand andcommunication communication between between thethe movable movable
bodies Vc bodies Vcand andthetheexternal external information information transmission transmission device device 80c, 80c, so each SO that that each of theof the plurality of plurality of movable bodiesVcVcisisprevented movable bodies prevented from from entering entering the the sand sand dustdust based based on the on the
obtained condition obtained condition of of sand sand dust. dust. Thus, Thus, thethe movable movable bodies bodies appropriately appropriately travel travel SO so that that
14
a smooth a streamofofthe smooth stream the movable movablebodies bodiesisisensured. ensured.
[0060]
[0060] In the In the present present embodiment, embodiment, thethe pluralityof of plurality movable movable bodies bodies Vc, the Vc, the
externalinformation external information transmission transmission device device 80c, constitute 80c, etc., etc., constitute the traveling the traveling controlcontrol system. system.
Thesand The sanddust dustcondition conditionobtaining obtainingportion portion72c, 72c,the the target target route route determining portion 74c, determining portion 74c, the traveling the traveling control control portion portion 26c, 26c, etc., etc.,ofofthe themovable movable body ECU body ECU 20c20c of of each each movable movable
bodyVcVc body constitute constitute the the traveling traveling control control device. device. 2023285910
[0061]
[0061] In aa case In case where eachmovable where each movable body body Vc includes Vc includes roadroad surface surface sensors, sensors,
information on information onthe theroad roadsurface surfacecondition conditiondetected detectedbybythetheroad roadsurface surfacesensors sensorsmaymay be be
included in included in the the movable movable bodybodyinformation, information,and and each each movable movable bodybody Vctransmit Vc may may transmit the the movablebody movable body information information in which in which the information the information on theon thesurface road road surface condition condition is is included. InInthe included. thepresent presentembodiment, embodiment,thethe external external information information transmission transmission device device 80c80c
is not essential. is not essential.
[0062]
[0062] Thecameras The camerasandand thethe LiDAR LiDAR devices devices of surroundings of the the surroundings information information
obtaining device obtaining device 14c 14cmay may obtain obtain thethe road road surface surface condition condition indicating indicating thethe condition condition of of
sandororthe sand thelike likeononthetheroad road surface. surface.
The road The road surface surface condition conditionahead aheadofofthethe ownownmovable movable body body may be may be
obtained based obtained based onon thethe information information around around the the own movablebody own movable bodyobtained obtainedbybythethe surroundingsinformation surroundings informationobtaining obtainingdevice device14c14candand thethe meteorological meteorological information. information. In In this instance, this instance,the theownown movable bodymay movable body may obtain obtain thethe condition condition of of sand sand dust dust estimated estimated to to
be generated, be generated, based basedononthe theroad roadsurface surfacecondition conditionahead aheadof of thetheownown movable movable body body and and
the state the stateof ofthe theown own movable body. movable body.
[0063]
[0063] It isistotobebeunderstood It understoodthat thatthethe present disclosure present may disclosure maybebeembodied embodied with with
variouschanges various changesand and modifications, modifications, which which may may occur occurskilled to those to those skilled in the art. in the art.
[0064]
[0064]
ClaimableInvention Claimable Invention There will be hereinafter described forms of a claimable invention. There will be hereinafter described forms of a claimable invention.
[0065]
[0065] (1) A A (1) travelingcontrol traveling controlsystem system configured configured to control to control traveling traveling of at of at
least one least one of of aa first firstmovable movable body and aa second body and secondmovable movable body body in ainplurality a plurality of of movable movable
bodies,comprising bodies, comprising a traveling a traveling control control device device that controls that controls the traveling the traveling of least of the at the atoneleast one of the of the first firstmovable movable body body and and the the second second movable bodybased movable body basedonon a conditionofofsand a condition sanddust dust estimatedtotobebegenerated estimated generated due due to traveling to traveling of theof the first first movable movable body, SObody, as to so as to an suppress suppress an influence of influence of the the sand sand dust dust that thatthe thesecond secondmovable bodyis movable body is estimated to receive estimated to receive when the when the
sand dust is generated. sand dust is generated.
[0066]
[0066] Controllingthethe Controlling traveling traveling of the of the at least at least one one of theof the movable first first movable body body and the and the second secondmovable movable body body includes includes controlling controlling thethe travelspeed travel speedofof theatatleast the least one one ofof the first the firstmovable movable body andthe body and thesecond secondmovable movable body, body, controlling controlling thethe travelroute travel routeofofthe the
15
at least at least one of the one of the first first movable movablebody body and and the the second second movable movable body, body, for for instance. instance.
Controlling the travel speed includes stopping the at least one of the first movable body Controlling the travel speed includes stopping the at least one of the first movable body
and the and the second secondmovable movable body. body. The relative The relative positional positional relationship relationship betweenbetween the firstthe first movablebody movable body and and thethe second second movable movable bodybody is controlled is controlled by controlling by controlling the the traveling traveling of of
the at the at least leastone oneofofthe first the movable first movable body bodyand andthe thesecond secondmovable body. movable body.
[0067]
[0067] (2) The (2) traveling control The traveling control system system according according to to the the form (1), wherein form (1), wherein thethe 2023285910
travelingcontrol traveling controldevice device controls controls the the traveling traveling of at of the theleast at least onetheoffirst one of the first movable movable body body and the and the second movablebody second movable body based based on on thethe condition condition of of thethe sand sand dust dust such such thata arelative that relative positional relationship positional relationship between between thethefirst first movable movable body body andand the the second second movable movable body body
deviatesfrom deviates from a relationship a relationship in which in which the second the second movablemovable body is estimated body is estimated to receive the to receive the
influence of the sand dust. influence of the sand dust.
[0068]
[0068] (3) (3) The traveling control The traveling control system system according according to to the the form (2), wherein form (2), wherein the the
travelingcontrol traveling controldevice device determines determines a target a target routeroute of at of at least least one one of theof the first first movable movable body body and the and the second movablebody. second movable body.
[0069]
[0069] Therelative The relative positional positional relationship relationshipbetween between the the first firstmovable movablebody body and and
the second the secondmovable movable body body is determined is determined basedbased on theontravel the travel routeroute of of of each eachtheoffirst the first movablebody movable bodyandandthethesecond second movable movable body. body.
[0070]
[0070] (4) The (4) traveling control The traveling control system system according according to to the the form (3), wherein form (3), the wherein the
travelingcontrol traveling controldevice device determines determines the target the target routeroute of theoffirst the first movable movable body to body to be a route be a route
that allows that allowsthethefirst firstmovable movable bodybody to travel to travel an endan end portion portion of apath of a travel travel path the on which on which the plurality of movable bodies travels. plurality of movable bodies travels.
[0071]
[0071] Forinstance, For instance,based based on on the the windwind direction direction and and the the direction direction of extension of extension
of the of the travel travel path, path,the thetarget targetroute routeofofthethefirst firstmovable movable bodybody may may be be determined determined to a routeto a route
that allows that allowsthethefirst firstmovable movablebody body to travel to travel the endthe end of portion portion of the the travel path,travel i.e., path, the i.e., the portion close portion close to to the the edge edge ofof the thetravel travelpath.path. This This causes the sand causes the dust to sand dust to spread spread mainly mainly
outsidethe outside thetravel travelpath pathandand makesmakes it difficult it difficult forsand for the the dust sandtodust to spread spread inside the inside the travel travel
path. path.
[0072]
[0072] (5) The (5) traveling control The traveling control system system according according to to any any oneone ofof the the forms (2)- forms (2)-
(4), wherein (4), the wherein the traveling traveling control control device device controls controls the traveling the traveling of the at ofleast the atoneleast one of the of the
first movable first movable body andthe body and the second secondmovable movable body body SO so as as toto causethe cause thefirst first movable bodytoto movable body
temporarily stop temporarily stop and and cause causethe the second secondmovable movable body body to to overtake overtake thethe firstmovable first movable body. body.
[0073]
[0073] When When a plurality a plurality of of thethe second second movable movable bodies bodies is is located located in a set in a set range, range,
it isis desirable it that the desirable that the plurality pluralityofofthe thesecond second movable movable bodiesbodies overtakeovertake the firstthe first movable movable
body. body.
[0074]
[0074] (6) The (6) traveling control The traveling control system system according according toto any one of any one of the the forms (2)- forms (2)-
(5), wherein (5), the traveling wherein the traveling control control device device slows slows down down a atravel travel speed speedof of the the first first movable movable
16
body. body.
[0075]
[0075] Byslowing By slowingdowndown thethetravel travelspeed speedofofthe the first first movable body, the movable body, the amount amount
of sand of sandstirred stirredupupororraised raisedby by the the first first movable movable body body is is decreased. decreased. That That is, the is, the density density
of sand of sandincluded included in in thethe sand sand dustdust is lowered, is lowered, and theand the of range range of the the sand sand dust dust is narrowed. is narrowed.
In the In the traveling travelingcontrol control system system according according to thistoform, this the form, theofrange range the of the sand dust sand dust isis narrowed narrowedsuch such that that thethe relative relative positionalrelationship positional relationshipbetween between the the firstfirst 2023285910
movablebody movable body and and thethe second second movable movable bodybody deviates deviates from from the relationship the relationship in which in which the the
secondmovable second movable bodybody is estimated is estimated to receive to receive the influence the influence of theofsandthe dust sandthatdustis that is estimatedtotobebegenerated estimated generated due due totraveling to the the traveling of theof the movable first first movable body. body. It may It may bebeconsidered consideredthat thatthe therelative relative positional positional relationship relationship between between
the first the firstmovable bodyand movable body andthe thesecond second movable movable bodybody is changed is changed by slowing by slowing down down the the travel speed travel speedofofthethefirst firstmovable movablebodybody relative relative to theto the travel travel speed speed of of themovable the second second movable body. body.
[0076]
[0076] (7) (7) The travelingcontrol The traveling control system system according according to any to oneany oneforms of the of the forms (1)- (1)-
(6), wherein (6), thetraveling wherein the traveling control control device device obtainsobtains the condition the condition of the of the sand dustsand baseddust on based on
at least at least one one of of ease ease with with which sandisisstirred which sand stirred upup due duetoto traveling traveling ofof the the first first movable movable
bodyand body andease easeofofspreading spreadingofofthethe sand sand dust. dust.
[0077]
[0077] (8) The (8) Thetraveling travelingcontrol control system system according according to any to oneany oneforms of the of the forms (1)- (1)-
(7), wherein (7), thetraveling wherein the traveling control control device device obtainsobtains the condition the condition of the of the sand dustsand baseddust on based on
at least at least one ofaaroad one of roadsurface surface condition condition of a of a travel travel region region where where the plurality the plurality of movableof movable bodies travels, a state of the first movable body, and meteorological information. bodies travels, a state of the first movable body, and meteorological information.
[0078]
[0078] (9) The (9) traveling control The traveling control system system according according to to any one of any one of the the forms (1)- forms (1)-
(8), wherein (8), thetraveling wherein the traveling control control device device startsstarts to control to control the traveling the traveling of the of the atone at least least one of the of the first firstmovable movable body body and the second and the movablebody second movable body before before thethe second second movable movable bodybody
is influenced is influenced byby the the sand sand dust.dust.
[0079]
[0079] Beforethe Before thesecond second movable movable body body is is actually actually influenced influenced by the by the sand sand dust, dust,
the condition the conditionof of sand sand dustdust is estimated, is estimated, and theand the target target route isroute is determined determined such that the such that the
secondmovable second movable body body doesdoesnot not enter enter the the sandsand dust, dust, namely, namely, the second the second movablemovable body body doesnot does notenter enterthe therange rangein in which which the the second second movable movable body is body is influenced influenced by the sandby the sand dust. dust.
In the In the traveling travelingcontrol control system system according according to thistoform, this the form, the traveling traveling of of the at the at least leastone one of ofthethefirst first movable movablebody body and and the the second movablebody second movable body maymay start start to to be be
controlled before the sand dust is generated due to the traveling of the first movable body. controlled before the sand dust is generated due to the traveling of the first movable body.
Alternatively,the Alternatively, thetraveling travelingof of the the at least at least one one of theoffirst the first movable movable body andbody and the second the second
movablebody movable bodymaymay start start to to bebe controlledbefore controlled before thesecond the second movable movable bodybody is influenced is influenced
bythe by thesand sanddust dust after after generation generation of sand of the the sand dust. dust.
[0080]
[0080] (10) AAtraveling (10) travelingcontrol control system system configured configured to control to control traveling traveling of at least of at least
17
one of one of aa first firstmovable movable body and aa second body and movablebody second movable body in in a a pluralityof plurality of movable movablebodies, bodies, comprisinga arelative comprising relativepositional positionalrelationship relationshipcontrol controldevice device thatthat controls controls a relative a relative
positional relationship positional relationship between thefirst between the first movable body movable body andand the the second second movable movable body body basedonona condition based a condition of sand of sand dust estimated dust estimated to be generated to be generated due tooftraveling due to traveling the first of the first
movablebody, movable body,SOsoasastotosuppress suppressananinfluence influenceofofthethesand sanddust dustthat thatthethesecond second movable movable
bodyisisestimated body estimated to to receive receive whenwhen thedust the sand sandisdust is estimated estimated to be generated. to be generated. 2023285910
[0081]
[0081] Thetraveling The traveling control control system systemaccording according to to thisform this formmaymay employ employ the the
technical features technical features of of any any one of the one of the forms (1)-(9). The forms (1)-(9). Therelative relativepositional positionalrelationship relationship controldevice control deviceisisoneone example example oftraveling of the the traveling control control device.device.
[0082]
[0082] (11) A (11) A management system management system configured configured to to manage manage a plurality a plurality ofof movable movable
bodies, comprising bodies, comprising aa work workplan plangenerating generatingdevice deviceconfigured configuredtotogenerate generatea awork workplan planfor for the plurality of movable bodies based on a relative positional relationship between a first the plurality of movable bodies based on a relative positional relationship between a first
movablebody movable body andand a second a second movable movable body inbody in the plurality the plurality of movable of movable bodies andbodies a and a conditionofofsand condition sand dust dust estimated estimated togenerated to be be generated due todue to traveling traveling of the of themovable first first movable body, body, so as SO as to to suppress suppressanan influence influence of the of the sandsand dust dust thatsecond that the the second movablemovable body is estimated body is estimated
to receive. to receive.
[0083]
[0083] The management The management system system according according to tothisthisform formmaymay employ employ the the technicalfeatures technical featuresofofanyany oneone of the of the formsforms (1)-(10). (1)-(10).
In the In the management management system system according according to this to thisthe form, form, the relative relative positional positional
relationship between relationship between the the first first movable bodyand movable body andthethesecond secondmovable movable body body is determined is determined
and the and the work workplan planisis generated, generated,such suchthat that the the influence influence of of the the sand sand dust dust that that the the second second
movablebody movable body is is estimated estimated to to receive receive is issuppressed, suppressed,onon condition condition that that a predetermined a predetermined
amountofofthe amount thework workisisperformed performedby by thethe pluralityofofmovable plurality movable bodies bodies in in a predetermined a predetermined
time. time.
18
Claims (15)
1. 1. A travelingcontrol A traveling controlsystem system configured configured to control to control traveling traveling of at one of at least least of one of a first a first
movablebody movable body and and a second a second movable movable body body in a plurality in a plurality of movable of movable bodies,bodies, the system the system
comprising: comprising:
aa travelling controldevice travelling control device configured configured to: to: 2023285910
determine a condition determine a condition of sand of sand dust dust to be to be generated generated in a ofsection in a section a travelofpath a travel path due to traveling due to traveling of of the the first first movable bodybefore movable body beforethethesand sanddustdust influences influences thethe second second
movablebody, movable body,the thecondition conditionofofthe thesand sanddustdustbeing beingdetermined determined based based on movable on movable body body
information information of of the the first first movable bodyand movable body andmeteorological meteorologicalinformation information forfor thethesection sectionofof the travel the travel path; path; generate generate at at least least oneone control control command command based based on on the the condition condition of sand of sand dustdust to to
control thetraveling control the travelingofofthetheatatleast leastoneone of of thethe firstmovable first movable body body and theand the second second movable movable
bodysosoasastoto suppress body suppressananinfluence influenceofofthe thesand sanddustdust thatthethesecond that second movable movable bodybody is is estimated estimated to to receive receive when the sand when the sand dust dust is is generated; generated; and and
control at least control at least one oneofofa abrake brake device, device, a drive a drive device, device, a steering a steering device device of the atof the at least least one one of of the thefirst firstmovable movablebody body and and the the second second movable bodybased movable body basedononthethe generated generated
at at least least one controlcommand one control command to thereby to thereby control control travelling travelling of the atof the one least at least of theone of the first first
movablebody movable bodyandand thethesecond second movable movable body. body.
2. 2. The travelingcontrol The traveling control system system according according to claimto 1, claim 1, wherein wherein the traveling the traveling control control device isfurther device is furtherconfigured configured to control to control the the traveling traveling of theofat theleast at least onetheoffirst one of the first movable movable
bodyand body andthe thesecond secondmovable movablebodybody based based on condition on the the conditionof theof sand the sand dust dust such such that that a a relative positional relative positionalrelationship relationshipbetween between the the first first movable movable body and the body and the second secondmovable movable bodydeviates body deviatesfrom froma relationship a relationshipininwhich which thethe second second movable movable body body is is estimated estimated to to receive the influence of the sand dust. receive the influence of the sand dust.
3. 3. The traveling The traveling control control system systemaccording accordingtotoclaim claim 1 or 1 or 2, 2, wherein wherein thethe traveling traveling
control deviceisisconfigured control device configured to determine to determine a target a target route route of at of at least least one ofone theof the movable first first movable bodyand body andthe thesecond secondmovable movable body. body.
4. 4. The traveling The traveling control control system systemaccording accordingtotoanyany oneoneof of claims claims 1-3, 1-3, wherein wherein the the
travelingcontrol traveling controldevice device is configured is configured to determine to determine theroute the target targetof route of the the first first movable movable
bodytotobebea route body a route that that allows allows the first the first movable movable body tobody toantravel travel an endofportion end portion a travelof a travel
path on which the plurality of movable bodies travels. path on which the plurality of movable bodies travels.
19
2023285910 28 May 2025
5. 5. The traveling The traveling control control system systemaccording accordingtotoanyany oneone of of claims claims 1-4,1-4, wherein wherein the the
traveling control traveling control device device is is configured configured to to slow downa atravel slow down travelspeed speedofofthe thefirst first movable movable body. body.
6. 6. The traveling The traveling control control system systemaccording accordingtotoanyanyoneone of of claims claims 1-5,1-5, wherein wherein the the
travelingcontrol traveling controldevice deviceis is configured configured to obtain to obtain a road a road surface surface condition, condition, wherein wherein the road the road 2023285910
surface surface condition condition isis received received from from aa road road surface surface sensor sensor provided providedforfor at at least least one one wheel wheel
of at least of at least one ofthe one of theplurality pluralityofofmovable movable bodies. bodies.
7. 7. The traveling The traveling control control system accordingtotoclaim system according claim6,6, wherein whereinthethecondition conditionofofthe the sand dust sand dust is is estimated estimated based based on on the the movable bodyinformation, movable body information,thethe road road surface surface condition condition and the meteorological and the information. meteorological information.
8. 8. The traveling The traveling control control system systemaccording accordingtotoanyany oneone of of claims claims 1-7,1-7, wherein wherein the the
travelingcontrol traveling controldevice device is is configured configured to obtain to obtain the condition the condition of the of thedust sand sand dust based on based at on at least least one ofease one of easewith with which which sand sand is stirred is stirred uptodue up due to traveling traveling of themovable of the first first movable body body and easeofofspreading and ease spreading of the of the sandsand dust.dust.
9. 9. The traveling The traveling control control system according to system according to claim claim 88 when ultimatelydependent when ultimately dependentonon claim 6, wherein claim 6, whereinthetheease easewith with which which sandsand is stirred is stirred up due up due to traveling to traveling of first of the the first movablebody movable body is is determined determined based based on the on the movable movable body information, body information, thesurface the road road surface condition and condition and the the meteorological information. meteorological information.
10. 10. The traveling The traveling control control system systemaccording accordingtotoclaim claim9 or 9 orclaim claim 8 when 8 when ultimately ultimately
dependentononclaim dependent claim6,6,wherein whereinthe theease easeof of spreading spreadingofof the the sand dust is sand dust is determined determined based based
on the road on the road surface surface condition condition and the meteorological and the information. meteorological information.
11. 11. The traveling The traveling control control system systemaccording accordingtotoany anyone oneofofclaims claims1-10, 1-10,wherein wherein thethe
traveling control traveling control device devicecomprises comprisesan an engine engine controlling controlling unit unit (ECU)(ECU) and a control and a control
communication device communication device connected connected to the to the ECU. ECU.
12. 12. The traveling The traveling control control system systemaccording accordingtotoclaim claim11, 11,wherein whereinthetheatatleast least one oneof of the brake the brake device, device, the the drive drivedevice deviceand andthethesteering steeringdevice deviceis is controlled controlled based based on the on the
generated at least generated at least one one control control command command transmitted transmitted fromfrom the control the control communication communication
device. device.
20
2023285910 28 May 2025
13. 13. The traveling The travelingcontrol controlsystem system according according to claim to claim 11 or11 12 or 12 ultimately when when ultimately dependent onclaim dependent on claim6,6, wherein whereinthe thecontrol control communication communication device device is is configured configured totoreceive receive the movable the bodyinformation movable body information and and thethe road road surfacecondition. surface condition.
14. 14. The traveling control The traveling control system systemaccording accordingtotoany any oneone of of claims claims 1-13, 1-13, wherein wherein at at
least least one one of ofthe thefirst movable first movablebody bodyand and the thesecond second movable bodyisis an movable body an automated automateddriving driving 2023285910
movable body. movable body.
15. 15. The traveling control The traveling controlsystem systemaccording according to any to any one one of claims of claims 1-14, 1-14, whereinwherein determining determining thethecondition conditionofofsand sanddust dustcomprises comprises receiving receiving thethe condition condition of sand of sand dustdust
estimated estimated toto bebe generated generated due due to traveling to traveling of theof the first first movable movable body body before thebefore the sand dust sand dust
influences influences the the second movablebody. second movable body.
Komatsu Ltd. and Komatsu Ltd. and Toyota Toyota Jidosha Jidosha Kabushiki KabushikiKaisha Kaisha Patent Attorneysfor Patent Attorneys forthe theApplicant/Nominated Applicant/Nominated Person Person SPRUSON & FERGUSON SPRUSON & FERGUSON
21
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2023002347A JP2024098710A (en) | 2023-01-11 | 2023-01-11 | Cruise control system |
| JP2023-002347 | 2023-01-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2023285910A1 AU2023285910A1 (en) | 2024-07-25 |
| AU2023285910B2 true AU2023285910B2 (en) | 2025-06-26 |
Family
ID=91957230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2023285910A Active AU2023285910B2 (en) | 2023-01-11 | 2023-12-21 | Traveling control system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2024098710A (en) |
| AU (1) | AU2023285910B2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2555775A (en) * | 2016-08-22 | 2018-05-16 | Reginald Hallas Bell Malcolm | System for city traffic management |
| US11383580B2 (en) * | 2019-08-08 | 2022-07-12 | Lg Electronics Inc. | Apparatus and method for controlling vehicle |
-
2023
- 2023-01-11 JP JP2023002347A patent/JP2024098710A/en active Pending
- 2023-12-21 AU AU2023285910A patent/AU2023285910B2/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2555775A (en) * | 2016-08-22 | 2018-05-16 | Reginald Hallas Bell Malcolm | System for city traffic management |
| US11383580B2 (en) * | 2019-08-08 | 2022-07-12 | Lg Electronics Inc. | Apparatus and method for controlling vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2023285910A1 (en) | 2024-07-25 |
| JP2024098710A (en) | 2024-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6021375A (en) | Vehicle safety running control system | |
| US6294987B1 (en) | Vehicle safety running control system | |
| US7916006B2 (en) | Judgment line calculations for a vehicle safety system | |
| CN1315677C (en) | Method and device for stabilizing a vehicle | |
| US5332057A (en) | Contact preventive apparatus for vehicles | |
| CN111376905B (en) | Parking control method, device and system for transport tool, transport tool and vehicle | |
| JP6764170B2 (en) | Backward parking support device for connected vehicles | |
| JPS63314618A (en) | Controller for self-traveling vehicle | |
| JPH10506861A (en) | System for controlling the running stability of a car | |
| US12005955B2 (en) | Method of reducing or preventing lateral oscillations of connected vehicle unit, control system, steering system, leading vehicle unit, and vehicle combination | |
| JP3363869B2 (en) | Measurement and control system and method for controlling the lateral direction of a vehicle running continuously back and forth | |
| SE543136C2 (en) | Method and control device for operating a modular vehicle | |
| JP2005271721A (en) | Vehicle control apparatus and program | |
| WO2023284982A1 (en) | A method for controlling a maximum allowed speed of an autonomous vehicle | |
| KR20210135526A (en) | How to estimate the motion state of a vehicle during vehicle maneuvering | |
| AU2023285910B2 (en) | Traveling control system | |
| US20040236490A1 (en) | Motion control apparatus for vehicle | |
| AU2024200931B2 (en) | Road surface condition obtaining system | |
| US10955849B2 (en) | Automatic driving system | |
| Gülden et al. | Investigation of different communication topologies for cooperative adaptive cruise control systems | |
| AU2024200530B2 (en) | Traveling control system | |
| JP3365064B2 (en) | Travel control device for vehicles | |
| KR102526079B1 (en) | Vehicle and control method for the same | |
| KR20120067759A (en) | The collision avoiding method according to method collision risk degree at low-speed and short distance in vehicle | |
| AU2023282238B2 (en) | Management system and traveling state control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGA | Letters patent sealed or granted (standard patent) |