# US 12,179,803 B2 · Work vehicle with manual driving mode, manned automatic driving mode, and unmanned automatic driving mode

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- Number: US 12,179,803 B2
- Document ID: US12179803B2
- Status: Granted
- Kind: B2
- Application number: 17/420,453
- Filed: 2020-02-04
- Published: 2022-03-24
- Granted: 2024-12-31
- Earliest claimed: 2019-03-26
- Assignees: Hitachi Constructions Machinery Co., Ltd.
- Applicants: Hitachi Construction Machinery Co., Ltd.
- Inventors: Shinichi Uotsu
- Web page: https://patentgrep.com/patent/US12179803B2

## CPC

- B60W 60/0053: {from vehicle to occupant}
- B60W 50/0205: {Diagnosing or detecting failures; Failure detection models}
- B60W 50/082: {Selecting or switching between different modes of propelling}
- B60W 50/10: Interpretation of driver requests or demands
- B60W 60/00: Drive control systems specially adapted for autonomous road vehicles
- B60W 2050/0063: {Manual parameter input, manual setting means, manual initialising or calibrating means}
- B60W 2050/0073: {Driver overrides controller}
- B60W 2300/125: Heavy duty trucks
- B60W 2540/10: Accelerator pedal position
- B60W 2540/12: Brake pedal position
- B60W 2540/18: Steering angle
- B60Y 2200/142: Heavy duty trucks
- 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
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

A work vehicle includes an override operation sensor that senses override operation to carry out switching between an automatic driving mode and a manual driving mode and a selection device for selecting any one of the manual driving mode, a manned automatic driving mode, and an unmanned automatic driving mode, as the driving mode of a dump truck. A controller carries out switching from the manned automatic driving mode to the manual driving mode when override operation is sensed by the override operation sensor in the case in which the manned automatic driving mode is selected by the selection device, and continues the unmanned automatic driving mode when override operation is sensed by the override operation sensor in the case in which the unmanned automatic driving mode is selected by the selection device.

## Claims

### Claim 1

A work vehicle having, as driving modes, at least two modes of an automatic driving mode in which the work vehicle autonomously travels without depending on driving operation by a riding person and a manual driving mode in which the work vehicle travels by driving operation by the riding person, in the automatic driving mode, a manned automatic driving mode in which the work vehicle autonomously travels in a state in which the riding person is present and an unmanned automatic driving mode in which the work vehicle autonomously travels in a state in which the riding person is absent being included, the work vehicle comprising:
an override operation sensor that senses override operation to carry out switching between the automatic driving mode and the manual driving mode;
a selection device for selecting any one of driving modes in the manual driving mode, the manned automatic driving mode, and the unmanned automatic driving mode as the driving mode; and
a controller that controls the work vehicle on a basis of the driving mode selected by the selection device, the controller being configured to carry out switching from the manned automatic driving mode to the manual driving mode as soon override operation is sensed by the override operation sensor in a case in which the manned automatic driving mode is selected by the selection device, and continue autonomous traveling of the work vehicle in the unmanned automatic driving mode even if override operation is sensed by the override operation sensor in a case in which the unmanned automatic driving mode is selected by the selection device;
wherein the selection device includes a first selection switch for selecting either one of the manual driving mode and the automatic driving mode and
a second selection switch for selecting either one of the manned automatic driving mode and the unmanned automatic driving mode, and
the controller is configured to
carry out switching from the manned automatic driving mode to the manual driving mode when override operation is sensed by the override operation sensor in a case in which the automatic driving mode is selected by the first selection switch and the manned automatic driving mode is selected by the second selection switch,
continue the unmanned automatic driving mode when override operation is sensed by the override operation sensor in a case in which the automatic driving mode is selected by the first selection switch and the unmanned automatic driving mode is selected by the second selection switch, and
control the work vehicle on a basis of the manual driving mode irrespective of a switching position of the second selection switch in a case in which the manual driving mode is selected by the first selection switch.