# US 2017/0285658 A1 · Work vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0285658 A1 - Document ID: US20170285658A1 - Status: Published application - Kind: A1 - Application number: 15/311,226 - Filed: 2016-03-31 - Published: 2017-10-05 - Earliest claimed: 2016-03-31 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Atsushi Sakai; Tatsuya Shiga; Ryuuen Kou - Web page: https://patentgrep.com/patent/US20170285658A1 ## CPC - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B60T 7/00: Brake-action initiating means - B60T 7/18: operated by wayside apparatus - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - G01C 21/12: executed aboard the object being navigated; Dead reckoning - G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR} - G01C 21/26: specially adapted for navigation in a road network - G01S 13/931: of land vehicles - G01S 17/931: of land vehicles - G01S 19/14: specially adapted for specific applications - G01S 19/396: {Determining accuracy or reliability of position or pseudorange measurements} - G01S 19/48: by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system - B60T 2201/02: Active or adaptive cruise control system; Distance control - B60T 2201/022: Collision avoidance systems - B60T 2210/36: Global Positioning System [GPS] - B60Y 2200/41: Construction vehicles, e.g. graders, excavators - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A work vehicle control system controls a work vehicle having a braking device. The work vehicle control system includes a location information generating unit that obtains and outputs a location of the work vehicle, and a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit. The control unit determines braking force that controls the braking device based on first accuracy that is accuracy of the location information of the work vehicle obtained from the location information generating unit. ## Claims ### Claim 1 A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising: a location information generating unit that obtains and outputs a location of the work vehicle; and a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit, wherein the control unit determines braking force that controls the braking device based on first accuracy that is accuracy of the location information of the work vehicle obtained from the location information generating unit. ### Claim 2 (depends on 1) The work vehicle control system according to claim 1, wherein the location information generating unit has at least a GNSS location information generating unit and a scan matching navigation location information generating unit, and the first accuracy of the location information of the work vehicle obtained from the GNSS location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the scan matching navigation location information generating unit. ### Claim 3 (depends on 1) The work vehicle control system according to claim 1, wherein the location information generating unit has at least a GNSS location information generating unit and a dead reckoning navigation location information generating unit, and the first accuracy of the location information of the work vehicle obtained from the GNSS location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the dead reckoning navigation location information generating unit. ### Claim 4 (depends on 1) The work vehicle control system according to claim 1, wherein the location information generating unit has at least a scan matching navigation location information generating unit and a dead reckoning navigation location information generating unit, and the first accuracy of the location information of the work vehicle obtained from the scan matching navigation location information generating unit is higher than the first accuracy of the location information of the work vehicle obtained from the dead reckoning navigation location information generating unit. ### Claim 5 (depends on 1) The work vehicle control system according to claim 1, wherein the control unit determines the braking force such that an impact that occurs on the work vehicle is reduced as the first accuracy becomes high. ### Claim 6 (depends on 5) The work vehicle control system according to claim 5, wherein the control unit controls the braking device using first control that causes the braking device to generate the braking force and second control that is executed after the first control and has the braking force equal to or larger than the braking force of the first control, and the control unit determines the braking force such that the braking force at a time of the first control is increased as the first accuracy becomes high. ### Claim 7 (depends on 5) The work vehicle control system according to claim 5, wherein the control unit controls the braking device using only first control that causes the braking device to generate the braking force, and the control unit determines the braking force such that the braking force is reduced as the first accuracy becomes high. ### Claim 8 (depends on 1) The work vehicle control system according to claim 1, wherein the braking force that controls the braking device is determined by second accuracy that is location accuracy required when the work vehicle stops at a target stop location. ### Claim 9 A work vehicle control system that controls a work vehicle having a braking device, the work vehicle control system comprising: a location information generating unit that obtains and outputs a location of the work vehicle; and a control unit that controls the braking device based on location information of the work vehicle obtained from the location information generating unit, wherein the control unit determines braking force that controls the braking device by using second accuracy that is location accuracy required when the work vehicle stops at a target stop location. ### Claim 10 (depends on 9) The work vehicle control system according to claim 9, wherein the stop location has at least a discharging location for a crusher and a stop location on a haul lane, and the second accuracy at the discharging location for the crusher is higher than the second accuracy at the stop location on the haul lane. ### Claim 11 (depends on 9) The work vehicle control system according to claim 9, wherein the stop location has at least a discharging location for a cliff bottom and a stop location on a haul lane, and the second accuracy at the discharging location for the cliff bottom is higher than the second accuracy at the stop location on the haul lane. ### Claim 12 (depends on 9) The work vehicle control system according to claim 9, wherein the stop location has at least a loading location and a stop location on a haul lane, and the second accuracy at the loading location is higher than the second accuracy at the stop location on the haul lane. ### Claim 13 (depends on 9) The work vehicle control system according to claim 9, wherein the control unit determines the braking force such that an impact that occurs on the work vehicle is reduced as the second accuracy becomes low. ### Claim 14 (depends on 13) The work vehicle control system according to claim 13, wherein the control unit controls the braking device using first control that causes the braking device to generate the braking force and second control that is executed after the first control and has the braking force equal to or larger than the braking force of the first control, and the control unit determines the braking force such that the braking force at a time of the first control is increased as the second accuracy becomes low. ### Claim 15 (depends on 13) The work vehicle control system according to claim 13, wherein the control unit controls the braking device using only first control that causes the braking device to generate the braking force, and the control unit determines the braking force such that the braking force is reduced as the second accuracy becomes low.