Title:
AUTONOMOUS TRAVEL CONTROL METHOD OF CRAWLER VEHICLE, CONTROLLER OF CRAWLER VEHICLE, AND CRAWLER VEHICLE
Document Type and Number:
Japanese Patent JP2022013134
Kind Code:
A
Abstract:
To provide an autonomous travel control method of a crawler vehicle capable of correctly calculating a predicted slipping amount when a crawler vehicle travels on a sloped face and enabling an autonomous travel control based on a predicted slipping amount.SOLUTION: An autonomous travel control method of a crawler vehicle includes: a step of setting a target track of the crawler vehicle; and a step of calculating a predicted slipping amount of the crawler vehicle at a time when the crawler vehicle travels on a sloped face based on the target track, by using a gravity center position of the crawler vehicle, an angle of the sloped face, and a travel direction of the crawler vehicle on the sloped face.SELECTED DRAWING: Figure 3
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Inventors:
ANDO HIROAKI
SADAMOTO TAKAHIRO
SADAMOTO TAKAHIRO
Application Number:
JP2020115495A
Publication Date:
January 18, 2022
Filing Date:
July 03, 2020
Export Citation:
Assignee:
CATERPILLAR SARL
International Classes:
E02F9/20; G05D1/02
Attorney, Agent or Firm:
Naozumi Ono
Okunuki Sachiko
Tsuyoshi Tsukano
Yoshifumi Kaneko
Okunuki Sachiko
Tsuyoshi Tsukano
Yoshifumi Kaneko