Patent · US10081367B2 · B2 · US

Steering and traction applications for determining a steering control attribute and a traction control attribute

(11) Publication number

US10081367B2

(21) Application number

15/234,168

(22) Filing date

2016-08-11

(30) Priority date

2015-08-14

(43) Publication date

2018-09-25

(45) Date of grant

2018-09-25

(51) IPC

B60W 30/02; B60W 40/10; B60W 50/00; B60W 50/02; B60W 50/04; B66F 9/06; B66F 9/075; G05D 1/02; G07C 5/08

(52) CPC

B60W Conjoint control of vehicle sub-units of different type or different function; control systems specially adapted for hybrid vehicles; road vehicle drive control systems for purposes not related to the control of a particular sub-unit: 50/0205, 2050/0037, 2050/021, 2300/121, 2510/20, 2510/244, 2520/10, 2520/26, 2520/28, 2540/10, 2540/18, 2710/20, 2710/207, 2720/24, 2720/26, 30/02, 40/10, 50/0098, 50/045, 50/06, 50/087
B66F Hoisting, lifting, hauling or pushing, not otherwise provided for, e.g. devices which apply a lifting or pushing force directly to the surface of a load: 9/06, 9/07568
G05D Systems for controlling or regulating non-electric variables: 1/0223
G07C Time or attendance registers; registering or indicating the working of machines; generating random numbers; voting or lottery apparatus; arrangements, systems or apparatus for checking not provided for elsewhere: 5/0808

(73) Assignee

Crown Equipment Corp

(72) Inventors

Stephen T. Mangette; Joe K. Hammer; Brent A. Barnhart

(54) Title

Steering and traction applications for determining a steering control attribute and a traction control attribute

(57) Abstract

Based on a steering control input, a measured value of the steering control attribute and a measured value of the traction control attribute received by a steering application, determining: a first setpoint value of the steering control attribute; a target steering angle of the steered wheel of the vehicle. Based on receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application, determining, by the traction application: a second setpoint value of the traction control attribute.

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Claims (20)

A method comprising: iteratively performing: a) receiving, by a steering application executing on a vehicle control module: a steering control input from a vehicle steering device to control a steered wheel of a vehicle; a measured value of a steering control attribute related to the steered wheel; and a measured value of a traction control attribute related to a traction wheel of the vehicle; b) based on the steering control input, the measured value of the steering control attribute and the measured value of the traction control attribute, determining, by the steering application: a first setpoint value of the steering control attribute related to the steered wheel for use in controlling a steering motor associated with the steered wheel; a target steering angle of the steered wheel of the vehicle; c) receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application; d) based on the traction speed control input and the target steering angle, determining, by the traction application: a second setpoint value of the traction control attribute.
The method of claim 1, comprising: calculating, by the steering application, a wheel angle command based on the steering control input.
The method of claim 2, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; and determining, by the steering application, whether the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit.
The method of claim 3, comprising: when the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit: setting the first set point value to equal the wheel angle command; and setting the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the steering control attribute, and b) the measured value of the steering control attribute, when the wheel angle command is less than or equal to the measured value of the steering control attribute.
The method of claim 2, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; determining, by the steering application, a wheel angle limit based on the measured value of the traction control attribute related to the traction wheel; and determining, by the steering application, whether the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.
The method of claim 5, comprising: when the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit: setting the target steering angle to equal the wheel angle command; and setting the first set point value to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the steering control attribute and the wheel angle command; b) the measured value of the steering control attribute, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the measured value of the steering control attribute than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the steering control attribute.
The method of claim 1, wherein the steering control attribute comprises a steered wheel angle.
The method of claim 1, wherein the steering control attribute comprises an angular velocity of a steering motor coupled with the steered wheel of the vehicle.
The method of claim 1, wherein the traction control attribute comprises one of: a linear speed of the vehicle; a speed of the traction wheel; and a speed of a traction motor coupled with the traction wheel of the vehicle.
A system on a vehicle comprising: a controller comprising: a first input configured to receive a steering control input from a steering device on the vehicle to control a steered wheel of the vehicle; a second input configured to receive a measured value of a steering control attribute related to the steered wheel; a third input configured to receive a measured value of a traction control attribute related to a traction wheel of the vehicle; a fourth input configured to receive a traction speed control input to control the traction wheel of the vehicle; a memory coupled with the controller and storing code executable by the controller, the executable code comprising a steering application and a traction application configured to iteratively perform: a) based on the steering control input, the measured value of the steering control attribute and the measured value of the traction control attribute, determining, by the steering application: a first setpoint value of a steering control attribute related to the steered wheel of the vehicle for use in controlling a steering motor associated with the steered wheel; a target steering angle of the steered wheel of the vehicle; b) receiving, by the traction application: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application; and c) based on the traction speed control input and the target steering angle, determining, by the traction application: a second setpoint value of the traction control attribute.
The system of claim 10, wherein the steering application is further configured to calculate a wheel angle command based on the steering control input.
The system of claim 11, wherein the steering application is further configured to: determine a traction speed limit based on the wheel angle command; and determine whether the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit.
The system of claim 12, wherein the steering application is further configured to: when the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit: set the first set point value to equal the wheel angle command; and set the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the steering control attribute, and b) the measured value of the steering control attribute, when the wheel angle command is less than or equal to the measured value of the steering control attribute.
The system of claim 11, wherein the steering application is further configured to: determine a traction speed limit based on the wheel angle command; determine a wheel angle limit based on the measured value of the traction control attribute related to the traction wheel; and determine whether the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.
The system of claim 14, wherein the steering application is further configured to: when the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit: set the target steering angle to equal the wheel angle command; and set the first set point value to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the steering control attribute and the wheel angle command; b) the measured value of the steering control attribute, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the measured value of the steering control attribute than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the steering control attribute.
The system of claim 10, wherein the steering control attribute comprises a steered wheel angle.
The system of claim 10, wherein the steering control attribute comprises an angular velocity of a steering motor coupled with the steered wheel of the vehicle.
The system of claim 10, wherein the traction control attribute comprises one of: a linear speed of the vehicle; a speed of the traction wheel; and a speed of a traction motor coupled with the traction wheel of the vehicle.
The method of claim 1, wherein the traction control attribute comprises a torque value.
The system of claim 10, wherein the traction control attribute comprises a torque value.

Description

The present invention relates generally to diagnostics of a materials handling vehicle, and, more particularly, to utilizing a traction model to perform diagnostics.

Forklifts and other types of industrial vehicles are expected to operate under a variety of different conditions. Further, such vehicles typically include a number of different functional systems such as a traction system to control a travelling speed of the vehicle and a steering system to control a direction in which the vehicle travels.

For diagnostic purposes, it may be beneficial to monitor different attributes of one or more of the different functional systems while the vehicle is being operated.

One aspect of the present invention relates to a method that includes receiving, by a traction application executing on a vehicle control module of a vehicle, a traction speed control input to control a traction wheel of the vehicle; and based on the traction speed control input, determining, by the traction application, a first setpoint value of a control attribute related to the traction wheel. The method also includes receiving, by a first diagnostic supervisor: a) a measured value of the control attribute related to the traction wheel, and b) the first setpoint value from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle.

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Record as JSON

{
  "publication_number": "US10081367B2",
  "country": "US",
  "kind": "B2",
  "title": "Steering and traction applications for determining a steering control attribute and a traction control attribute",
  "abstract": "Based on a steering control input, a measured value of the steering control attribute and a measured value of the traction control attribute received by a steering application, determining: a first setpoint value of the steering control attribute; a target steering angle of the steered wheel of the vehicle. Based on receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application, determining, by the traction application: a second setpoint value of the traction control attribute.",
  "claims": [
    "1. A method comprising: iteratively performing: a) receiving, by a steering application executing on a vehicle control module: a steering control input from a vehicle steering device to control a steered wheel of a vehicle; a measured value of a steering control attribute related to the steered wheel; and a measured value of a traction control attribute related to a traction wheel of the vehicle; b) based on the steering control input, the measured value of the steering control attribute and the measured value of the traction control attribute, determining, by the steering application: a first setpoint value of the steering control attribute related to the steered wheel for use in controlling a steering motor associated with the steered wheel; a target steering angle of the steered wheel of the vehicle; c) receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application; d) based on the traction speed control input and the target steering angle, determining, by the traction application: a second setpoint value of the traction control attribute.",
    "2. The method of claim 1, comprising: calculating, by the steering application, a wheel angle command based on the steering control input.",
    "3. The method of claim 2, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; and determining, by the steering application, whether the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit.",
    "4. The method of claim 3, comprising: when the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit: setting the first set point value to equal the wheel angle command; and setting the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the steering control attribute, and b) the measured value of the steering control attribute, when the wheel angle command is less than or equal to the measured value of the steering control attribute.",
    "5. The method of claim 2, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; determining, by the steering application, a wheel angle limit based on the measured value of the traction control attribute related to the traction wheel; and determining, by the steering application, whether the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.",
    "6. The method of claim 5, comprising: when the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit: setting the target steering angle to equal the wheel angle command; and setting the first set point value to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the steering control attribute and the wheel angle command; b) the measured value of the steering control attribute, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the measured value of the steering control attribute than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the steering control attribute.",
    "7. The method of claim 1, wherein the steering control attribute comprises a steered wheel angle.",
    "8. The method of claim 1, wherein the steering control attribute comprises an angular velocity of a steering motor coupled with the steered wheel of the vehicle.",
    "9. The method of claim 1, wherein the traction control attribute comprises one of: a linear speed of the vehicle; a speed of the traction wheel; and a speed of a traction motor coupled with the traction wheel of the vehicle.",
    "10. A system on a vehicle comprising: a controller comprising: a first input configured to receive a steering control input from a steering device on the vehicle to control a steered wheel of the vehicle; a second input configured to receive a measured value of a steering control attribute related to the steered wheel; a third input configured to receive a measured value of a traction control attribute related to a traction wheel of the vehicle; a fourth input configured to receive a traction speed control input to control the traction wheel of the vehicle; a memory coupled with the controller and storing code executable by the controller, the executable code comprising a steering application and a traction application configured to iteratively perform: a) based on the steering control input, the measured value of the steering control attribute and the measured value of the traction control attribute, determining, by the steering application: a first setpoint value of a steering control attribute related to the steered wheel of the vehicle for use in controlling a steering motor associated with the steered wheel; a target steering angle of the steered wheel of the vehicle; b) receiving, by the traction application: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application; and c) based on the traction speed control input and the target steering angle, determining, by the traction application: a second setpoint value of the traction control attribute.",
    "11. The system of claim 10, wherein the steering application is further configured to calculate a wheel angle command based on the steering control input.",
    "12. The system of claim 11, wherein the steering application is further configured to: determine a traction speed limit based on the wheel angle command; and determine whether the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit.",
    "13. The system of claim 12, wherein the steering application is further configured to: when the measured value of the traction control attribute related to the traction wheel of the vehicle is less than the traction speed limit: set the first set point value to equal the wheel angle command; and set the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the steering control attribute, and b) the measured value of the steering control attribute, when the wheel angle command is less than or equal to the measured value of the steering control attribute.",
    "14. The system of claim 11, wherein the steering application is further configured to: determine a traction speed limit based on the wheel angle command; determine a wheel angle limit based on the measured value of the traction control attribute related to the traction wheel; and determine whether the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.",
    "15. The system of claim 14, wherein the steering application is further configured to: when the measured value of the traction control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit: set the target steering angle to equal the wheel angle command; and set the first set point value to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the steering control attribute and the wheel angle command; b) the measured value of the steering control attribute, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the measured value of the steering control attribute than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the steering control attribute and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the steering control attribute.",
    "16. The system of claim 10, wherein the steering control attribute comprises a steered wheel angle.",
    "17. The system of claim 10, wherein the steering control attribute comprises an angular velocity of a steering motor coupled with the steered wheel of the vehicle.",
    "18. The system of claim 10, wherein the traction control attribute comprises one of: a linear speed of the vehicle; a speed of the traction wheel; and a speed of a traction motor coupled with the traction wheel of the vehicle.",
    "19. The method of claim 1, wherein the traction control attribute comprises a torque value.",
    "20. The system of claim 10, wherein the traction control attribute comprises a torque value."
  ],
  "description_excerpt": "The present invention relates generally to diagnostics of a materials handling vehicle, and, more particularly, to utilizing a traction model to perform diagnostics.\n\nForklifts and other types of industrial vehicles are expected to operate under a variety of different conditions. Further, such vehicles typically include a number of different functional systems such as a traction system to control a travelling speed of the vehicle and a steering system to control a direction in which the vehicle travels.\n\nFor diagnostic purposes, it may be beneficial to monitor different attributes of one or more of the different functional systems while the vehicle is being operated.\n\nOne aspect of the present invention relates to a method that includes receiving, by a traction application executing on a vehicle control module of a vehicle, a traction speed control input to control a traction wheel of the vehicle; and based on the traction speed control input, determining, by the traction application, a first setpoint value of a control attribute related to the traction wheel. The method also includes receiving, by a first diagnostic supervisor: a) a measured value of the control attribute related to the traction wheel, and b) the first setpoint value from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle.",
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  "assignees": [
    "Crown Equipment Corp"
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  "inventors": [
    "Stephen T. Mangette",
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  "filing_date": "2016-08-11",
  "publication_date": "2018-09-25",
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  "priority_date": "2015-08-14",
  "application_number": "US-201615234168-A",
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Record 3,277 of 8,000 in Patents full text (MLC-0201). Request the full dataset.