# US 2021/0240193 A1 · Construction-vehicle autonomous travel control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0240193 A1 - Document ID: US20210240193A1 - Status: Published application - Kind: A1 - Application number: 17/270,854 - Filed: 2019-07-16 - Published: 2021-08-05 - Earliest claimed: 2018-08-23 - Assignees: Sakai Heavy Industries, Ltd. - Applicants: Sakai Heavy Industries, Ltd. - Inventors: Ryohei ENDO; Shigeki KUSHIDA - Web page: https://patentgrep.com/patent/US20210240193A1 ## CPC - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - B62D 12/00: Steering specially adapted for vehicles operating in tandem or having pivotally connected frames (steering endless tracks or the like B62D11/00; steering specially adapted for trailers B62D13/00) - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - E01C 19/004: {Devices for guiding or controlling the machines along a predetermined path (for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045)} - E01C 19/288: {adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements} - E02F 9/0841: {Articulated frame, i.e. having at least one pivot point between two travelling gear units (tractor-trailer combinations B62D53/00)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/2087: {Control of vehicle steering (for steering with hydraulic or pneumatic drives E02F9/225)} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - E01C: CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR (forming roads or like surfaces by compacting or grading snow or ice E01H) - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A construction-vehicle autonomous travel control device to correct a steering angle so as to direct to a target point set on a target track includes: an expected arrival point calculator to calculate an expected arrival point of a vehicle to arrive after a predetermined time based on a vehicle speed and a steering angle; and a corrected steering angle calculator to calculate a corrected steering angle so as to direct the expected arrival point to the target point. ## Claims ### Claim 1 A construction-vehicle autonomous travel control device to correct a steering angle so as to direct a target point set on a target track comprising: an expected arrival point calculator to calculate an expected arrival point of a vehicle to arrive after a predetermined time based on a vehicle speed and a steering angle; and a corrected steering angle calculator to calculate a corrected steering angle so as to direct the expected arrival point to the target point. ### Claim 2 (depends on 1) The construction-vehicle autonomous travel control device as claimed in claim 1, wherein the corrected steering angle calculator calculates the corrected steering angle so as to direct the expected arrival point to a next target point when the expected arrival point has approached within a predetermined distance from the target point. ### Claim 3 (depends on 1) The construction-vehicle autonomous travel control device as claimed in claim 1, wherein a target circle is set about the expected arrival point; and the corrected steering angle calculator calculates the corrected steering angle so as to direct the expected arrival point to a target point outside the target circle. ### Claim 4 (depends on 3) The construction-vehicle autonomous travel control device as claimed in claim 3, wherein a radius of the target circle is variably set to be large when the target track is a straight track or a curved track having a large radius of curvature, and to be small when the target track is a curved track having a small radius of curvature. ### Claim 5 (depends on 1) The construction-vehicle autonomous travel control device as claimed in claim 1, wherein the construction-vehicle is a compactor to compact a ground with a drum, and the expected arrival point is calculated based on a center point of the drum. ### Claim 6 (depends on 1) The construction-vehicle autonomous travel control device as claimed in claim 1, comprising a link storage storing coordinate data of the target point linked with construction data. ### Claim 7 A construction-vehicle autonomous travel control device to correct a steering angle so as to direct to a target point set on a target track, comprising: a link storage storing coordinate data of the target point linked with construction data. ### Claim 8 (depends on 7) The construction-vehicle autonomous travel control device as claimed in claim 7, wherein the construction data includes track data of the target track. ### Claim 9 (depends on 8) The construction-vehicle autonomous travel control device as claimed in claim 8, wherein a vibrator to vibrate a rolling pressure wheel to compact a ground and a degree of compaction detector to detect degree of compaction of the ground are provided in a vehicle, and the construction data includes vibration condition data of the vibrator and degree of compaction data detected by the degree of compaction detector. ### Claim 10 (depends on 9) The construction-vehicle autonomous travel control device as claimed in claim 9, wherein, when the vehicle reciprocates on the target track, the vibration condition data is changed for a next traveling based on a degree of compaction for every target point stored at a previous traveling. ### Claim 11 (depends on 9) The construction-vehicle autonomous travel control device as claimed in claim 9, wherein, when the vehicle reciprocates on the target track, a vehicle speed is changed for a next traveling based on a degree of compaction for every target point stored at a previous traveling. ### Claim 12 (depends on 2) The construction-vehicle autonomous travel control device as claimed in claim 2, wherein a target circle is set about the expected arrival point; and the corrected steering angle calculator calculates the corrected steering angle so as to direct the expected arrival point to a target point outside the target circle.