US 12,291,847 B2
Control device and control method for determining required braking force of work vehicle
Akira Takeno, Tokyo (JP); Ryota Enomoto, Tokyo (JP); Koshiro Kodo, Tokyo (JP); Naoki Uchida, Tokyo (JP); Shinobu Shimanaka, Tokyo (JP); and Shogo Miyazaki, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/419,544
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Mar. 31, 2020, PCT No. PCT/JP2020/014823
§ 371(c)(1), (2) Date Jun. 29, 2021,
PCT Pub. No. WO2020/204028, PCT Pub. Date Oct. 8, 2020.
Claims priority of application No. 2019-072268 (JP), filed on Apr. 4, 2019.
Prior Publication US 2022/0074169 A1, Mar. 10, 2022
Int. Cl. E02F 9/20 (2006.01); B60W 10/06 (2006.01); B60W 10/10 (2012.01); B60W 10/18 (2012.01); B60W 30/18 (2012.01)
CPC E02F 9/2083 (2013.01) [B60W 10/06 (2013.01); B60W 10/10 (2013.01); B60W 10/18 (2013.01); B60W 30/18136 (2013.01); B60W 2300/17 (2013.01); B60W 2510/1005 (2013.01); B60W 2510/104 (2013.01); B60W 2540/10 (2013.01); B60W 2540/16 (2013.01); B60W 2710/0666 (2013.01); E02F 9/2079 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A control device of a work vehicle including a drive source, a traveling device driven by a driving force of the drive source, a power transmission device having an input shaft connected to the drive source and an output shaft connected to the traveling device and transmitting the driving force input to the input shaft to the output shaft, and a traction force instruction device configured to receive a traction force instruction of instructing a strength of a traction force of the traveling device, the control device comprising:
a processor; and
a storage storing a program,
the processor executing the program to realize the following:
determining at least one of an offset and an inclination of a braking force function that defines a relationship between a rotational speed of the output shaft and a required braking force in which the rotational speed is indicated on a horizontal axis and the traction force is indicated on a vertical axis, the offset being an intercept of the braking force function with respect to a negative portion of the vertical axis, the braking force function being determined such that the stronger the traction force indicated by the traction force instruction from the traction force instruction device is, the larger an absolute value of at least one of the offset and the inclination is determined to be and such that an absolute value of the required braking force monotonically increases with respect to the rotational speed;
determining the required braking force based on the rotational speed of the output shaft and the braking force function; and
controlling the drive source based on the required braking force.