| CPC B60Q 1/26 (2013.01) [B60Q 5/006 (2013.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G05D 1/0242 (2013.01); G05D 1/0246 (2013.01); G05D 1/0255 (2013.01); G05D 1/0278 (2013.01); G05D 1/028 (2013.01)] | 4 Claims |
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1. An engine-type industrial vehicle, comprising:
a vehicle body;
an engine;
a power transmission comprising a torque converter, a transmission, and one or more valves and configured to transmit a driving force of the engine to a driving wheel;
one or more processors configured to adjust the driving force to be transmitted to the driving wheel; and
a sensor configured to detect a position of an object that exists in a traveling direction of the vehicle body, wherein
the one or more processors are configured to:
derive a predicted trajectory that is a trajectory derived from a steering angle of a steered wheel and predicted to be followed by the vehicle body, the predicted trajectory being a region between a left edge corresponding to a left end of the vehicle body and a right edge corresponding to a right end of the vehicle body,
impose a vehicle speed limitation on the vehicle body by setting a vehicle-speed upper-limit value when the object detected by the sensor is positioned in the predicted trajectory and the traveling direction of the vehicle body is a direction toward the object, and
prevent a vehicle speed of the vehicle body from exceeding the vehicle-speed upper-limit value by performing a control so that the driving force to the driving wheel is cut off,
wherein the sensor is configured to perform detection within a detection range, the detection range being an entire area in which the sensor can detect objects,
wherein when the vehicle turns toward a right direction, the one or more processors are configured to extend the right edge of the predicted trajectory in the right direction to align with a rightmost edge of the detection region so as to increase a width and an area of the predicted trajectory and cover an entirety of the detection region extending in the right direction,
wherein when the vehicle turns toward a left direction, the one or more processors are configured to extend the left edge of the predicted trajectory in the left direction to align with a leftmost edge of the detection region so as to increase the width and the area of the predicted trajectory and cover the entirety of the detection region extending in the left direction.
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