ARTICULATED VEHICLE

WIPO Patent Application WO/2023/181861

A1

An articulated vehicle comprises a front frame and a rear frame that are rotatably connected in the left-right direction, wherein the articulated vehicle comprises a control device for controlling the actions of the articulated vehicle, the control device sets a reference point for the articulated vehicle on a straight line passing through the left-right center of the axle of the wheels of the frame that between the front frame and the rear frame is on the forward-raveling direction side, the straight line being perpendicular to the axle and extending in the front-rear direction, and the reference point being set on the axle or to the forward-traveling direction side of the axle, the control device calculates the position of the reference point in a work site, and on the basis of a target trajectory predetermined as the travel trajectory of the articulated vehicle and the position of the reference point in the work site, the control device computes a steering control amount, which is the bending amount of the front frame relative to the rear frame. As a result, it is possible to minimize meandering while improving the accuracy of following a target route.

KASAI SHINYA (JP)
MORIKI HIDEKAZU (JP)
SEKINE KAZUYA (JP)
NAKANO HISAMI (JP)
ICHINOSE MASANORI (JP)
TSUKADA YOUKO (JP)

PCT/JP2023/008140

September 28, 2023

March 03, 2023

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HITACHI CONSTRUCTION MACH CO (JP)

B62D12/00; G05D1/02

JP2017204089A	2017-11-16
JP2020030625A	2020-02-27
JPH06298374A	1994-10-25

KAICHI IP (JP)

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