US 12,071,138 B2
Work machine and method for controlling work machine
Yuita Takenaka, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/420,162
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Mar. 6, 2020, PCT No. PCT/JP2020/009839
§ 371(c)(1), (2) Date Jul. 1, 2021,
PCT Pub. No. WO2020/195727, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 2019-062993 (JP), filed on Mar. 28, 2019.
Prior Publication US 2022/0063624 A1, Mar. 3, 2022
Int. Cl. B60W 30/188 (2012.01); B60W 10/04 (2006.01); B60W 10/06 (2006.01); B60W 10/101 (2012.01); E02F 9/20 (2006.01); E02F 9/22 (2006.01); F02D 41/02 (2006.01); F16H 59/04 (2006.01); F16H 59/18 (2006.01); F16H 59/44 (2006.01); F16H 59/48 (2006.01); F16H 59/70 (2006.01); F16H 61/66 (2006.01); E02F 9/08 (2006.01)
CPC B60W 30/188 (2013.01) [B60W 10/06 (2013.01); B60W 10/101 (2013.01); E02F 9/202 (2013.01); E02F 9/2253 (2013.01); F02D 41/0215 (2013.01); F16H 59/18 (2013.01); F16H 59/44 (2013.01); F16H 59/48 (2013.01); F16H 59/70 (2013.01); F16H 61/66 (2013.01); B60W 2520/105 (2013.01); B60W 2540/10 (2013.01); B60W 2710/06 (2013.01); B60W 2710/1005 (2013.01); E02F 9/0841 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A work machine comprising:
an engine;
a transmission connected to the engine, the transmission being configured to change a transmission gear ratio continuously;
a travel device connected to the transmission, the travel device causing the work machine to travel;
a sensor arranged and configured to detect an acceleration of the work machine; and
a controller configured to
selectively execute a first mode and a second mode that limits a target tractive force of the machine in comparison to the first mode,
weaken limitation of the target tractive force and determine the target tractive force when the acceleration of the machine in the second mode is less than a predetermined acceleration threshold,
determine a target transmission gear ratio in accordance with the target tractive force, and
control the transmission based on the target transmission gear ratio.