US 11,052,906 B2
Dynamic roll over control system for machines
Stephen P. Schueth, Peoria, IL (US); Joel L. Skalet, Chillicothe, IL (US); Rodney L. Menold, Hanna City, IL (US); and Anthony J. Weltzer, Chillicothe, IL (US)
Assigned to Caterpillar Inc., Peoria, IL (US)
Filed by Caterpillar Inc., Deerfield, IL (US)
Filed on Apr. 26, 2019, as Appl. No. 16/395,983.
Prior Publication US 2020/0339106 A1, Oct. 29, 2020
Int. Cl. B60W 30/04 (2006.01); B60W 40/13 (2012.01); B60W 40/11 (2012.01); B60W 40/112 (2012.01); B60W 40/114 (2012.01); B60W 40/105 (2012.01)
CPC B60W 30/04 (2013.01) [B60W 40/105 (2013.01); B60W 40/11 (2013.01); B60W 40/112 (2013.01); B60W 40/114 (2013.01); B60W 40/13 (2013.01); B60W 2040/133 (2013.01); B60W 2040/1338 (2013.01); B60W 2040/1346 (2013.01); B60W 2300/12 (2013.01); B60W 2520/28 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A dynamic roll over control system for a machine, comprising:
a prime mover;
a ground engaging drive mechanism operatively connected to the prime mover;
a bed configured to carry a payload;
a cab operatively connected to the bed;
a cab yaw rate sensor on the cab configured to generate cab yaw rate signals indicative of a yaw rate of the cab;
a lift angle sensor associated with the bed, the lift angle sensor configured to generate lift angle signals indicative of a lift angle of the bed;
a payload sensor configured to generate payload signals indicative of the payload of the bed;
a yaw rate sensor configured to generate yaw rate signals indicative of a yaw rate of the bed;
a pitch rate sensor configured to generate pitch rate signals indicative of a pitch rate of the bed;
a roll angle sensor configured to generate roll angle signals indicative of a roll angle of the bed;
a ground speed sensor configured to generate ground speed signals indicative of a current speed of the machine; and
a controller programmed and operating to:
access machine characteristics of the machine;
determine when a lift angle of the bed is changing based upon the lift angle signals;
determine the yaw rate of the cab based upon the cab yaw rate signals;
determine the payload of the bed based upon the payload signals;
determine the yaw rate of the bed based upon the yaw rate signals;
determine the pitch rate of the bed based upon the pitch rate signals;
determine the roll angle of the bed based upon the roll angle signals;
determine a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed, wherein determining the desired speed is based upon the yaw rate of the cab without using the yaw rate of the bed while the lift angle of the bed is changing;
determine a current speed of the machine based upon the ground speed signals; and
when the current speed of the machine exceeds the desired speed, generate prime mover control signals to control operation of the prime mover to slow the machine so the current speed does not exceed the desired speed.
 
15. A method of controlling stability of a machine, the machine including a prime mover, a ground engaging drive mechanism operatively connected to the prime mover, a bed configured to carry a payload, and a cab connected to the bed, the method comprising:
accessing machine characteristics of the machine;
determining a yaw rate change of the cab based upon cab yaw rate signals from a cab yaw rate sensor;
determining a lift angle of the bed based upon lift angle signals from a lift angle sensor associated with the bed;
determining a payload of the bed based upon payload signals from a payload sensor;
determining a yaw rate of the bed based upon yaw rate signals from a bed yaw rate sensor;
determining a pitch rate of the bed based upon pitch rate signals from a pitch rate sensor;
determining a roll angle of the bed based upon roll angle signals from a roll angle sensor;
determining a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed, wherein determining the desired speed is based upon the yaw rate of the cab without using the yaw rate of the bed when the lift angle signals indicate that the lift angle of the bed is changing;
determining a current speed of the machine based upon ground speed signals from a ground speed sensor; and
when the current speed of the machine exceeds the desired speed, generating prime mover control signals to control operation of a prime mover of the machine to slow the machine so the current speed does not exceed the desired speed.
 
19. A machine comprising:
a front frame portion including a front ground engaging drive mechanism;
a rear frame portion including a rear ground engaging drive mechanism, the rear frame portion being operatively connected to the front frame portion such that the front and rear frame portions can pitch, yaw and roll relative to one another;
a prime mover operatively connected to at least one of the front ground engaging drive mechanism and the rear ground engaging drive mechanism;
a bed operatively connected to the rear frame portion and configured to carry a payload;
a cab disposed on the front frame portion;
a cab yaw rate sensor configured to generate cab yaw rate signals indicative of a yaw rate of the cab and the front frame portion;
a lift angle sensor associated with the bed, the lift angle sensor configured to generate lift angle signals indicative of a lift angle of the bed;
a payload sensor configured to generate payload signals indicative of the payload of the bed;
a yaw rate sensor configured to generate yaw rate signals indicative of a yaw rate of the bed;
a pitch rate sensor configured to generate pitch rate signals indicative of a pitch rate of the bed;
a roll angle sensor configured to generate roll angle signals indicative of a roll angle of the bed;
a ground speed sensor configured to generate ground speed signals indicative of a current speed of the machine; and
a controller programmed and operating to:
access machine characteristics of the machine;
determine when a lift angle of the bed is changing based upon the lift angle signals;
determine the yaw rate of the cab based on the cab yaw rate signals;
determine the payload of the bed based upon the payload signals;
determine the yaw rate of the bed based upon the yaw rate signals;
determine the pitch rate of the bed based upon the pitch rate signals;
determine the roll angle of the bed based upon the roll angle signals;
determine a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed, wherein determining the desired speed is based upon the yaw rate of the cab without using the yaw rate of the bed while the lift angle of the bed is changing;
determine a current speed of the machine based upon the ground speed signals; and
when the current speed of the machine exceeds the desired speed, generate prime mover control signals to control operation of the prime mover to slow the machine so the current speed does not exceed the desired speed.