Control system for hauling vehicles

A control system for hauling vehicle that causes a hauling vehicle to travel based on a control target including a target route and a target speed corresponding to the target route, the control system

• acquiring map information, which includes information on a travel path, along which the hauling vehicle travels, and information on a plurality of travel sections obtained by dividing the travel path;
• position information on the hauling vehicle;
• and speed of the hauling vehicle, and identifying the travel section, along which the hauling vehicle is traveling, and a next travel section that is the travel section, along which the hauling vehicle is traveling next;
• if the control system determines based on the map information that the next travel section includes a turning route, calculating, based on the map information, an average value of speed limits of a plurality of nodes included in the next travel section as the target speed;
• acquiring a loading quantity on the hauling vehicle and a slippage index indicating slipperiness of each of the plurality of nodes;
• dividing the next travel section into a plurality of sub-sections based on the slippage index for each node;
• calculating an entry position and entry direction of the hauling vehicle to each of the plurality of sub-sections;
• calculating a trackable turning radius, which is a radius of curvature of a travel route that the hauling vehicle can follow, for each of the sub-sections of the hauling vehicle in each of the sub-sections based on the target speed, the loading quantity, and the slippage index;
• calculating a maximum allowable turning radius, which is a maximum value of a radius of curvature of a travel route that the hauling vehicle can travel in the travel path, for each of the sub-sections for each of the sub-sections based on the entry position and entry direction;
• if the trackable turning radius is less than or equal to the maximum allowable turning radius in each of the sub-sections, setting a turning radius of a turning route included in the target route as the trackable turning radius in each of the sub-sections, whereby the turning radius of the turning route in the sub-section where the slippage index is less than a predetermined threshold is set larger than the turning radius of the turning route in the sub-section where the slippage index is equal to or greater than the predetermined threshold to an extent that the turning route does not exceed an outer boundary of a curve of the travel path;
• and control the hauling vehicle to travel along the turning route based on the set turning radius;
• and
• if the trackable turning radius is greater than the maximum allowable turning radius in each of the sub-sections, reducing the target speed until the trackable turning radius is less than or equal to the maximum allowable turning radius in all of the sub-sections;
• and control the hauling vehicle based on the reduced target speed.