Boots – shoes – and leggings
Patent
1995-03-08
1997-05-13
Chin, Gary
Boots, shoes, and leggings
364426027, 180197, B60K 2816
Patent
active
056298501
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a device for detecting a lateral slip of the front or rear wheels (hereafter referred to simply as slip) of a vehicle.
BACKGROUND ART
With dump trucks or other such vehicles, if an operator is on board and at the controls, it is possible to ensure that the vehicle does not deviate from its desired course through proper manipulation of the steering wheel, accelerator and brakes, for the operator feeling the slip of the vehicle when travelling through a curve.
However, there have been attempts in recent years at the unmanned operation of dump trucks, in which case [the vehicle] has gone off-course when it has slipped during travelling and no suitable countermeasure has been taken. Therefore, the realization of an unmanned system will require slip to be detected automatically and suitable countermeasures to be taken based on the detection results.
The present invention was devised in light of this situation, and its object is the automatic detection of vehicle slip.
DISCLOSURE OF THE INVENTION
In this invention, a vehicle is provided with a vehicle speed sensor for detecting a speed of the vehicle, a steering angle sensor for detecting a steering angle of the vehicle, and a heading angle sensor for detecting a heading angle of the vehicle, with which a theoretical turning angular velocity of the vehicle is computed based on outputs of the vehicle speed sensor and the steering angle sensor, a current turning angular velocity of the vehicle is computed based on an output of the heading angle sensor, and a slip of the vehicle is detected based on the difference between the turning angular velocities.
According to the structure of the invention, a theoretical turning velocity when the wheels or crawlers do not slip at all with respect to a road surface on which the vehicle travels is detected based on the outputs of the vehicle speed sensor and the steering angle sensor. The current turning angular velocity is computed based on the output of the heading angle sensor. Vehicle slip is thus detected based on the difference between these turning angular velocities.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram which depicts the structure of an embodiment of a vehicle slip detection device which pertains to the present invention, and FIG. 2 is a flow chart which illustrates the order of the steps implemented by the control device shown in FIG. 1.
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of a vehicle slip detection device which pertains to the present invention is described below with reference to the figures.
FIG. 1 is a block diagram depicting the structure of the device of the embodiment; a vehicle 1 is, for example, a dump truck, and has front wheels 2L (left) and 2R (right) and rear wheels 3L (left) and 3R (right). The steering angle .phi. of the front wheels 2L and 2R is changed by steering input. The vehicle 1 therefore travels over the locus CL having a turning center C and a turning radius r in accordance with the steering angle .phi.. The vehicle 1 is an unmanned vehicle, and is steered automatically. The vehicle 1 is furnished with a steering angle sensor 4, a vehicle speed sensor 5, and a gyro 6.
The steering angle sensor 4 is provided at the lower side of the vehicle body in the vicinity of the front wheels 2L and 2R, and detects the steering angle .phi. of the vehicle 1. The vehicle speed sensor 5 detects the vehicle speed v by detecting the speed of rotation of the output shaft of the engine. The gyro 6 is a so-called rate gyro which detects the current turning angular velocity .omega.r of the vehicle 1 by ascertaining the change over time of the heading angle .theta. of the vehicle with respect to the X axis direction of the road surface on which the vehicle travels. This turning angular velocity .omega.r moreover includes a component in which the angular velocity is changed by the slip of the vehicle 1. The output .phi. of the steering angle sensor 4 and the output v of the vehicle speed sensor 5 are supplied to a
REFERENCES:
patent: 5265019 (1993-11-01), Harara et al.
patent: 5341297 (1994-08-01), Zomotor et al.
Chin Gary
Kabushiki Kaisha Komatsu Seisakusho
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