Electrically Driven Hauling Vehicle and Operation Control System Therefor

An electrically driven hauling vehicle comprising:

• a plurality of driving wheels and a plurality of driven wheels;
• a wheel speed sensor that senses each of rotational speeds of the plurality of driving wheels and the plurality of driven wheels;
• an electric motor that drives the plurality of driving wheels;
• and
• a controller that controls the electric motor, wherein
• the electrically driven hauling vehicle includes a wheel load sensor that senses each of pieces of information on wheel loads as loads applied in a vertical direction to the plurality of driving wheels and the plurality of driven wheels,
• the controller has functional sections including
• a wheel load computing section configured to compute the wheel load based on the information sensed by the wheel load sensor,
• a tire force computing section configured to compute a tire force as a frictional force that occurs against at least one of the plurality of driving wheels and the plurality of driven wheels on a road surface,
• a slip index computing section configured to compute a slip index indicating a degree of slipping that occurs at at least one of the plurality of driving wheels and the plurality of driven wheels,
• a friction coefficient computing section configured to compute a friction coefficient by dividing the tire force as a result of the computation of the tire force computing section by the wheel load as a result of the computation of the wheel load computing section, and
• a friction coefficient ratio computing section configured to compute a friction coefficient ratio by dividing the friction coefficient as a result of the computation of the friction coefficient computing section by the slip index as a result of the computation of the slip index computing section, and
• the controller controls the driving of the electric motor based on the friction coefficient ratio as a result of the computation of the friction coefficient ratio computing section.