US 12,296,844 B2
Speed limiting device and method for an unmanned vehicle based on inclination data of the travel path
Kenta Osagawa, Tokyo (JP); Tomonori Ozaki, Tokyo (JP); and Yuji Kobashi, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/423,188
Filed by Komatsu Ltd., Tokyo (JP)
PCT Filed Mar. 12, 2020, PCT No. PCT/JP2020/010749
§ 371(c)(1), (2) Date Jul. 15, 2021,
PCT Pub. No. WO2020/189484, PCT Pub. Date Sep. 24, 2020.
Claims priority of application No. 2019-053886 (JP), filed on Mar. 20, 2019.
Prior Publication US 2022/0105953 A1, Apr. 7, 2022
Int. Cl. G08G 1/00 (2006.01); B60W 40/076 (2012.01); B60W 40/105 (2012.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G08G 1/09 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/076 (2013.01); B60W 40/105 (2013.01); G05D 1/0223 (2013.01); B60W 2552/15 (2020.02)] 20 Claims
OG exemplary drawing
 
1. An unmanned vehicle control system comprising:
a processor, the processor being configured to:
calculate a speed limit of an unmanned vehicle based on inclination data of a travel path in front of the unmanned vehicle;
acquire travel course data; and
cause the unmanned vehicle to travel based on the travel course data and the speed limit,
wherein the travel course data includes a plurality of target course points, which define a target travel speed and a target position of the unmanned vehicle, for which the inclination data, which is known data and includes an inclination angle of the travel path, is set,
the speed limit is calculated at a target course point in front of the unmanned vehicle and behind an inflection position which is a boundary between a flat road and a downhill road of the travel path, and
the speed limit is based on inclination data related to a calculation course point in front of the inflection position and on correlation data indicating a relationship between the inclination angle of the travel path and the speed limit of the unmanned vehicle wherein the speed limit on the downhill road is lower than the speed limit on the flat road and an uphill road and the speed limit is set to a maximum value on the flat road and the uphill road.