PROBLEM TO BE SOLVED: To provide an automotive vehicle capable of preventing a slip down toward a valley side on an inclined plane.SOLUTION: There is provided an automotive vehicle traveling by a remote operation, the automotive vehicle including: a steering angle calculation part 12 for calculating a steering angle of steering wheels which correspond to the remote operation; a traveling direction determination part 14 for determining a traveling direction corresponding to the remote operation; a detection part 13 for detecting an inclined angle and an inclined direction of a vehicle body; a movable range setting part 15 for setting a movable range of the steering wheels on the basis of the inclined angle; and a steering angle control part 19 for controlling the steering angle of the steering wheels to a calculated steering angle if the steering angle calculated by the steering angle calculation part 12 is included in the movable range, and on the basis of the traveling direction and the inclined direction, if the traveling direction is determined at least directing a valley side direction of a work place, and if the steering angle calculated by the steering angle calculation part 12 is not included in the movable range, the steering angle of the steering wheels is controlled to an upper limit steering angle within the movable range.SELECTED DRAWING: Figure 3
【課題】斜面における谷側へのずり落ちを防止することが可能な自走車両を提供する。【解決手段】遠隔操作により走行する自走車両は、遠隔操作に応じた、操向輪の舵角を演算する舵角演算部12と、遠隔操作に応じた、進行方向を判定する進行方向判定部14と、車体の傾斜角度及び傾斜方向を検出する検出部13と、傾斜角度に基づいて操向輪の可動範囲を設定する可動範囲設定部15と、舵角演算部12により演算された舵角が可動範囲に含まれる場合には操向輪の舵角を演算された舵角に制御し、進行方向と傾斜方向とに基づいて進行方向が少なくとも作業地の谷側方向を向いていると判定された場合であって、舵角演算部12により演算された舵角が可動範囲に含まれない場合には操向輪の舵角を可動範囲の上限値の舵角に制御する舵角制御部19と、を備える。【選択図】図3
AUTOMOTIVE VEHICLE
自走車両
04.11.2016
Patent
Elektronische Ressource
Japanisch