Title:
走行制御装置及び走行制御方法
Document Type and Number:
Japanese Patent JP6809238
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To realize intended operation of an operator by following up a gradually changing travel state.SOLUTION: A travel control device 2A of a crawler type vehicle 4 of constituting left-right travel parts of crawlers 42L and 42R, comprises an oil machine balance compensation part 10 for generating an operation quantity for eliminating a deviation between a crawler speed command value and a crawler speed measured value and a slip control part 2A for controlling a slip of the crawlers 42L and 42R, and the slip control part 2A comprises a curvature radius estimation part 16 for estimating a slip curvature radius of the crawlers 42L and 42R by inputting a present position signal and an attitude signal from a GNSS/IMU device 46 for measuring a position and an attitude of the crawler type vehicle 4 and a control curvature radius arithmetic operation part 18 for correcting the operation quantity by model prediction of using the estimated slip curvature radius.SELECTED DRAWING: Figure 1
Inventors:
Watanabe Masaaki
Application Number:
JP2017004239A
Publication Date:
January 06, 2021
Filing Date:
January 13, 2017
Export Citation:
Assignee:
Ihi Co., Ltd.
International Classes:
B62D11/04; E02F9/22
Domestic Patent References:
| JP2003303021A | ||||
| JP2008099346A | ||||
| JP5221337A | ||||
| JP2155879A |
Attorney, Agent or Firm:
Hidekazu Miyoshi
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu