US 12,077,947 B2
Method of controlling working machine, control system and working machine
Björn Brattberg, Torshälla (SE); Mikael Lindberg, Köping (SE); Lars Arkeborn, Eskilstuna (SE); Jan Dersjö, Eskilstuna (SE); and Erik Ljungars, Eskilstuna (SE)
Assigned to VOLVO CONSTRUCTION EQUIPMENT AB, Eskilstuna (SE)
Filed by VOLVO CONSTRUCTION EQUIPMENT AB, Eskilstuna (SE)
Filed on Dec. 7, 2021, as Appl. No. 17/544,624.
Claims priority of application No. 20212366 (EP), filed on Dec. 8, 2020.
Prior Publication US 2022/0178112 A1, Jun. 9, 2022
Int. Cl. E02F 9/26 (2006.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); E02F 9/24 (2006.01)
CPC E02F 9/261 (2013.01) [B60W 30/09 (2013.01); B60W 30/18036 (2013.01); E02F 9/24 (2013.01); E02F 9/264 (2013.01); B60W 2300/12 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method of controlling a working machine, the method comprising:
monitoring a detection region behind the working machine by means of a rear detection device;
determining whether the working machine is traveling forward or in reverse;
disregarding an object in the detection region detected by the rear detection device when the working machine is traveling forward;
traveling with the working machine in reverse towards or onto a base surface from an inclined surface, inclined relative to the base surface;
detecting the base surface by means of the rear detection device when traveling in reverse towards or onto the base surface;
disregarding the detection of the base surface when traveling in reverse towards or onto the base surface;
traveling with the working machine forward from the base surface and onto the inclined surface, such that the base surface is detected by the rear detection device as first detection information;
traveling with the working machine in reverse from the inclined surface towards or onto the base surface, such that the base surface is detected by the rear detection device as second detection information; and
determining whether the first detection information corresponds to the second detection information.