Patent Application
20220185253
The present invention relates to a dump truck equipped with an emergency brake system.
An autonomous dump truck is equipped with an emergency brake system that brakes wheels in an emergency. The emergency brake system is configured to, for example, open a solenoid valve to supply a hydraulic brake device with hydraulic oil accumulated in an accumulator.
Since the emergency brake system is used infrequently, there is a possibility that a spool of the solenoid valve gets stuck due to an influence of such as contamination. As a technique for solving such a technical problem, for example, Patent Literature 1 discloses a dump truck in which a parking brake is actuated when a vehicle body is stopped so as to prevent sticking of the solenoid valve.
With this regard, however, when a timing of actuating the emergency brake system and a timing of loading such as earth and sand onto a vessel overlap, the following problems may occur. The first problem is that, if a loading operation is performed in a state where both the front and rear emergency brake systems are actuated, excessive impact is imposed on a vehicle body. The second problem is that, when both the front and rear emergency brake systems are released at the same time, the vehicle body may overrun due to impact and inertial force during the loading operation.
The present invention has been made in view of the circumstances above, and thus an object of the present invention is to provide a dump truck capable of performing an actuation test of an emergency brake system at an appropriate timing.
In order to achieve the object above, the present invention provides a dump truck comprising: a vehicle body frame that rotatably supports front wheels and rear wheels through suspensions; a vessel that is supported on the vehicle body frame so as to be able to rise and fall between a rising position and a fallen position; a strut pressure sensor that is configured to detect pressure applied to the suspensions; a hydraulic pump that transfers hydraulic oil; a front wheel emergency brake system and a rear wheel emergency brake system that are configured to brake the front wheels and the rear wheels, respectively; and a controller that is configured to control operations of the front wheel emergency brake system and the rear wheel emergency brake system, wherein the front wheel emergency brake system and the rear wheel emergency brake system include, respectively: a front wheel accumulator and a rear wheel accumulator that are configured to accumulate the hydraulic oil supplied from the hydraulic pump; a front wheel brake device and a rear wheel brake device that are configured to be actuated by the hydraulic oil supplied from the front wheel accumulator and the rear wheel accumulator, respectively; and a front wheel solenoid valve and a rear wheel solenoid valve that are configured to open and close a flow path of the hydraulic oil extending from the front wheel accumulator to the front wheel brake device and a flow path of the hydraulic oil extending from the rear wheel accumulator to the rear wheel brake device, respectively, and the controller is configured to: determine whether the dump truck is stopped; determine whether the vessel is in the fallen position; determine whether a loading operation onto the vessel is completed based on the pressure detected by the strut pressure sensor; and in a case of determining that the dump truck is stopped, the vessel is in the fallen position, and the loading operation onto the vessel is completed, execute front test processing and rear test processing alternately, the front test processing being performed to test whether the front wheel emergency brake system normally works by measuring secondary pressure of the front wheel solenoid valve associated with opening and closing operations of the front wheel solenoid valve while the rear test processing being performed to test whether the rear wheel emergency brake system normally works by measuring secondary pressure of the rear wheel solenoid valve associated with opening and closing operations of the rear wheel solenoid valve.
According to the present invention, it is possible to perform an actuation test of an emergency brake system at an appropriate timing. The problems, configurations, and advantageous effects other than those described above will be clarified by explanation of the embodiment below.
An embodiment of a dump truck according to the present invention will be described with reference to the drawings.
As illustrated in
Each of the pair of front wheels 3 is a steering wheel whose steering angle changes in response to a steering operation. Each of the pair of rear wheels 4 is a drive wheel that is rotated by drive force transmitted from traveling motors 54R, 54L (see
The dump truck 1 includes suspension sensors (strut pressure sensors) 51R, 51L, 52R, 52L (see
The traveling motors 54R, 54L are equipped with vehicle speed sensors 55R, 55L (see
With a hinge pin 8 on the rear portion of the vehicle frame 2 as the center, the vessel 5 rises and falls in the vertical direction by expansion and contraction of a hoist cylinder 7. The hoist cylinder 7, whose one end is connected to the vehicle body frame 2 and the other end is connected to the vessel 5, is supplied with hydraulic oil from a hydraulic pump 11 (see
The fallen position is a position of the vessel 5 at the time when the hoist cylinder 7 is contracted. In the fallen position, the vessel 5 can be loaded with earth and sand from such as a hydraulic excavator. The rising position is a position of the vessel 5 at the time when the hoist cylinder 7 is expanded. By rotating the vessel 5 from the fallen position to the rising position, the earth and sand loaded onto the vessel 5 is discharged. The dump truck 1 includes an angle sensor 53 configured to detect an angle of the vessel 5 with respect to a reference position (for example, the fallen position), and output a detection signal indicating a detection result to the controller 40 (see
The cab 6 is arranged on the left end of a deck 9 on the front end of the vehicle frame 2. The cab 6 serves as an operator's cab to be boarded by the operator who operates the dump truck 1. Inside the cab 6, operation devices (accelerator pedal, brake pedal, hoist pedal, steering, lever, switch, etc.) used for operating the dump truck 1 are disposed. The operator in the cab 6 operates the operation devices, whereby the dump truck 1 travels (is accelerated or braked) and the vessel 5 rises.
The foot brake system 12 is configured to brake the front and rear wheels 3, 4 in accordance with a stepping-on operation of a brake pedal performed by the operator in the cab 6. The foot brake system 12 mainly includes accumulators 16, 17 and check valves 18, 19.
Each of the accumulators 16, 17 accumulates the hydraulic oil supplied from the hydraulic pump 11 through each of the check valves 18, 19. When the operator steps on the brake pedal, a front wheel brake device 21 is supplied with the hydraulic oil accumulated in the accumulator 16 through a shuttle valve 20 while a rear wheel brake device 24 is supplied with the hydraulic oil accumulated in the accumulator 17 through shuttle valves 22, 23.
Each of the front wheel brake device 21 and the rear wheel brake device 24 is supplied with the hydraulic oil, thereby braking the front wheels 3 and rear wheels 4. The braking force from the front wheel brake device 21 and the rear wheel brake device 24 increases as the stepping-on amount of the brake pedal increases. When the operator stops stepping on the brake pedal, the braking of the wheels performed by the front wheel brake device 21 and the rear wheel brake device 24 is released.
The front wheel emergency brake system 13 is configured to brake the front wheels 3 in response to control by the controller 40. The front wheel emergency brake system 13 mainly includes a front wheel accumulator 25, a check valve 26, a front wheel solenoid valve 27, and a pressure sensor 28. The front wheel emergency brake system 13 is a so-called “negative brake”, which is configured to release the braking of the front wheels 3 only while the control voltage is applied to the front wheel solenoid valve 27 by the controller 40.
The front wheel accumulator 25 accumulates the hydraulic oil supplied from the hydraulic pump 11 through the check valve 26. The front wheel solenoid valve 27 is configured to open and close a flow path of the hydraulic oil extending from the front wheel accumulator 25 to the front wheel brake device 21 in response to control of the controller 40. The pressure sensor 28 is configured to detect pressure of the hydraulic oil output from the front wheel accumulator 25 (primary pressure of the front wheel solenoid valve 27), and output a detection signal indicating a detection result to the controller 40.
When no control voltage is applied to the front wheel solenoid valve 27 by the controller 40, the front wheel solenoid valve 27 opens the flow path. Thus, the front wheel brake device 21 is supplied with the hydraulic oil from the front wheel accumulator 25 through the shuttle valve 20, whereby the front wheels 3 are braked by the front wheel emergency brake system 13. On the other hand, when the control voltage is applied to the front wheel solenoid valve 27 by the controller 40, the front wheel solenoid valve 27 closes the flow path extending from the front wheel accumulator 25 to the front wheel brake device 21 so as to communicate the front wheel brake device 21 to the hydraulic oil tank 37. Thus, the front wheel brake device 21 is not supplied with the hydraulic oil from the front wheel accumulator 25, and the hydraulic oil is refluxed from the front wheel brake device 21 to the hydraulic oil tank 37. As a result, the braking of the front wheels 3 that has been performed by the front wheel emergency brake system 13 is released.
The rear wheel emergency brake system 14 is configured to brake the rear wheels 4 in response to control by the controller 40. The rear wheel emergency brake system 14 mainly includes a rear wheel accumulator 29, a check valve 30, a rear wheel solenoid valve 31, and a pressure sensor 32. The rear wheel emergency brake system 14 is a so-called “negative brake”, which is configured to release the braking of the rear wheels 4 only while the control voltage is applied to the rear wheel solenoid valve 31 by the controller 40.
The rear wheel accumulator 29 accumulates the hydraulic oil supplied from the hydraulic pump 11 through the check valve 30. The rear wheel solenoid valve 31 is configured to open and close a flow path of the hydraulic oil extending from the rear wheel accumulator 29 to the rear wheel brake device 24 in response to control of the controller 40. The pressure sensor 32 is configured to detect pressure of the hydraulic oil output from the rear wheel accumulator 29 (primary pressure of the rear wheel solenoid valve 31), and output a detection signal indicating a detection result to the controller 40.
When no control voltage is applied to the rear wheel solenoid valve 31 by the controller 40, the rear wheel solenoid valve 31 opens the flow path. Thus, the rear wheel brake device 24 is supplied with the hydraulic oil from the rear wheel accumulator 29 through the shuttle valves 22, 23, whereby the rear wheels 4 are braked by the rear wheel emergency brake system 14. On the other hand, when the control voltage is applied to the rear wheel solenoid valve 31 by the controller 40, the rear wheel solenoid valve 31 closes the flow path extending from the rear wheel accumulator 29 to the rear wheel brake device 24 so as to communicate the rear wheel brake device 24 to the hydraulic oil tank 37. Thus, the rear wheel brake device 24 is not supplied with the hydraulic oil from the rear wheel accumulator 29, and the hydraulic oil is refluxed from the rear wheel brake device 24 to the hydraulic oil tank 37. As a result, the braking of the rear wheels 4 that has been performed by the rear wheel emergency brake system 14 is released.
The load dump brake 15 is configured to lock the rear wheels 4 in response to control by the controller 40. The operator operates the load dump brake 15 so as to prevent the vehicle from moving, for example, at the time of loading earth and sand onto the vessel 5 or discharging the earth and sand of the vessel 5. The load dump brake 15 mainly includes an accumulator 33 and a load dump brake solenoid valve 34. The accumulator 33 accumulates the hydraulic oil supplied from the hydraulic pump 11. The load dump brake solenoid valve 34 is configured to open and close a flow path of the hydraulic oil extending from the accumulator 33 to the rear wheel brake device 24 in response to the control by the controller 40.
When the control voltage is applied to the load dump brake solenoid valve 34 by the controller 40, the load dump brake solenoid valve 34 opens the flow path. Thus, the rear wheel brake device 24 is supplied with the hydraulic oil from the accumulator 33 through the shuttle valve 23, whereby the rear wheels 4 are braked by the load dump brake 15. On the other hand, when no control voltage is applied to the load dump brake solenoid valve 34 by the controller 40, the load dump brake solenoid valve 34 closes the flow path extending from the accumulator 33 to the rear wheel brake device 24 so as to communicate the rear wheel brake device 24 to the hydraulic oil tank 37. Thus, the rear wheel brake device 24 is not supplied with the hydraulic oil from the accumulator 33, and the hydraulic oil is refluxed from the rear wheel brake device 24 to the hydraulic oil tank 37. As a result, the braking of the rear wheels 4 that has been performed by the load dump brake 15 is released.
The front wheel brake device 21 is commonly used in the foot brake system 12 and the front wheel emergency brake system 13. The rear wheel brake device 24 is commonly used in the foot brake system 12, the rear wheel emergency brake system 14, and the load dump brake 15. For example, the front wheel brake device 21 is a disc type brake while the rear wheel brake device 24 is a wet type multiplate brake.
The hydraulic brake system 10 further includes a pressure sensor 35 configured to detect pressure of the hydraulic oil supplied to the front wheel brake device 21, and output a detection signal indicating a detection result to the controller 40. The pressure sensor 35 detects the secondary pressure of the front wheel solenoid valve 27 while the front wheel emergency brake system 13 is in operation.
The hydraulic brake system 10 further includes a pressure sensor 36 configured to detect pressure of the hydraulic oil supplied to the rear wheel brake device 24, and output a detection signal indicating a detection result to the controller 40. The pressure sensor 36 detects the secondary pressure of the rear wheel solenoid valve 31 while the rear wheel emergency brake system 14 is in operation. In addition, the pressure sensor 36 detects the secondary pressure of the load dump brake solenoid valve 34 while the load dump brake 15 is in operation.
Each of the traveling motors 54R, 54L drives the pair of left and right rear wheels 4, respectively. More particularly, the traveling motors 54R, 54L are driven and rotated by power generated by a generator (not illustrated) to which the drive force of the engine has transmitted, whereby the dump truck 1 travels (is accelerated).
An operation mode of the controller 40 is switchable between a manual operation mode and an autonomous operation mode. The manual operation mode is used for operating the dump truck 1 in accordance with an operation by the operator in the cab 6. The autonomous operation mode is used for operating the dump truck 1 in accordance with an instruction received from an external device through the communication I/F 44. The manual operation mode and the autonomous operation mode are switched, for example, in accordance with an operation which is input by the operator to an operation device installed in the cab 6.
During the manual operation mode, the controller 40 causes the dump truck 1 to be operated in accordance with the operation input by the operator with respect to the operation device while causing the accumulators 16, 17 to accumulate the hydraulic oil. On the other hand, during the autonomous operation mode, the controller 40 causes the dump truck 1 to be operated in accordance with an instruction received through the communication I/F 44 while causing the accumulators 25, 29, 33 to accumulate the hydraulic oil, respectively.
The instruction received through the communication I/F 44 may be, for example, a traveling instruction for causing the dump truck 1 to travel toward a destination, a loading instruction which actuates the load dump brake 15 when earth and sand is loaded onto the vessel 5 by such as a hydraulic excavator, and a discharging instruction for discharging the earth and sand loaded onto the vessel 5.
Upon receiving the traveling instruction, the controller 40 causes the dump truck 1 to travel toward a destination, and causes the dump truck 1 to stop at the destination. At the time of braking the dump truck 1 at a scheduled timing, the controller 40 actuates the traveling motors 54R, 54L as electric braking. On the other hand, at the time of braking the dump truck 1 in an unexpected event (for example, the case where the dump truck 1 deviates from a predetermined path by a predetermined distance, or the case where a risk of collision is detected), the controller 40 actuates the front wheel emergency brake system 13 and the rear wheel emergency brake system 14.
Upon receiving the loading instruction, the controller 40 executes a brake test, which will be described later with reference to
The controller 40 includes a Central Processing Unit (CPU) 41, a Read Only Memory (ROM) 42, and a Random Access Memory (RAM) 43. In the controller 40, the CPU 41 reads a program code stored in the ROM 42 and execute a program, thereby realizing processing which will be described later. The RAM 43 is used as a work area at the time when the CPU 41 executes the program.
Meanwhile, a specific configuration of the controller 40 is not limited thereto, and may be realized by hardware such as Application Specific Integrated Circuit (ASIC) or Field-Programmable Gate Array (FPGA).
The loading processing is processing of, for example, loading earth and sand by a hydraulic excavator four times. While an operation of loading the earth and sand is performed by the hydraulic excavator, the controller 40 confirms whether the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 can normally work. The controller 40 makes the loading processing start, for example, at the time when receiving the loading instruction through the communication I/F 44.
Firstly, the controller 40 determines whether the dump truck 1 is stopped based on the vehicle speed signals output from the vehicle speed sensors 55R, 55L (step S11). In addition, the controller 40 determines whether the vessel 5 is in the fallen position based on the detection signals output from the angle sensor 53 (step S12).
Then, in the case of determining that the dump truck is stopped and the vessel 5 is in the fallen position (step S11: Yes and step S12: Yes), the controller 40 actuates the load dump brake 15 (step S13). That is, the controller 40 applies the control voltage to the load dump brake solenoid valve 34, whereby the rear wheels 4 are braked.
Next, the controller 40 delays execution of processes after step S15 until the first operation of loading earth and sand onto the vessel 5 is performed by the hydraulic excavator (step S14: No). The operation of loading earth and sand onto the vessel 5 is detected, for example, based on the detection signals output from the suspension sensors 51R, 51L, 52R, 52L. For example, as illustrated in
In the case of determining that the first loading operation is completed (step S14: Yes), the controller 40 delays processes after step S16 until the second operation of loading earth and sand onto the vessel 5 is performed by the hydraulic excavator (step S15: No). For example, as illustrated in
In the case of determining that the second loading operation is completed (step S15: Yes), the controller 40 executes the front test processing illustrated in
Firstly, the controller 40 stops applying the control voltage to the front wheel solenoid valve 27 so as to open the front wheel solenoid valve 27 (step S31). Next, the controller 40 delays subsequent processes until the secondary pressure of the front wheel solenoid valve 27 becomes equal to or more than a first threshold (for example, 18 MPa), the controller 40 receives a traveling instruction through the communication I/F 44, or a threshold time has elapsed after the front wheel solenoid valve 27 is opened (step S32 to step S34).
In the case of determining that the secondary pressure of the front wheel solenoid valve 27 becomes equal to or more than the first threshold based on the detection signal output from the pressure sensor 35 (step S32: Yes), the controller 40 determines that the front wheel solenoid valve 27 is properly opened. Next, the controller 40 applies the control voltage to the front wheel solenoid valve 27 so as to close the front wheel solenoid valve 27 (step S35). In the case of determining that the secondary pressure of the front wheel solenoid valve 27 becomes less than a second threshold (for example, 1.5 MPa) based on the detection signal output from the pressure sensor 35 (step S36: Yes), the controller 40 terminates the front test processing. Then, the controller 40 executes the processes after step S17 illustrated in
In the case of receiving the traveling instruction before the secondary pressure of the front wheel solenoid valve 27 becomes equal to or more than the first threshold (step S32: No and step S33: Yes), the controller 40 applies the control voltage to the front wheel solenoid valve 27 so as to close the front wheel solenoid valve 27 (step S37). Next, in the case of determining that the secondary pressure of the front wheel solenoid valve 27 becomes less than the second threshold based on the detection signal output from the pressure sensor 35 (step S38: Yes), the controller 40 causes the dump truck 1 to travel in accordance with the received traveling instruction (step S39).
Note that the case where the controller 40 receives the traveling instruction in step S33 corresponds to a case where an instruction for making the dump truck 1 travel is provided before the loading operations of a predetermined number of times (for example, four times) are performed. Accordingly, the controller 40 terminates the loading processing without executing the processes after step S17 illustrated in
In the case where the threshold time has elapsed before the secondary pressure of the front wheel solenoid valve 27 becomes equal to or more than the first threshold and before the controller 40 receives the traveling instruction (step S32: No, step S33: No, and step S34: Yes), the controller 40 notifies the abnormality in the front wheel emergency brake system 13 (step S40). The abnormality may be notified, for example, to a management server through the communication I/F 44, or by displaying information on a display (not illustrated) installed in the cab 6.
Note that the case where the threshold time has elapsed in step S34 corresponds to a case where, even when the application of the control voltage to the front wheel solenoid valve 27 is stopped, the front wheel solenoid valve 27 cannot open the flow path (that is, the front wheel emergency brake system 13 does not work). Accordingly, the controller 40 terminates the loading processing without executing the processes after step S17 illustrated in
In the case of determining that the third loading operation is completed (step S17: Yes), the controller 40 executes the rear test processing illustrated in
Firstly, the controller 40 stops applying the control voltage to the front wheel solenoid valve 27 so as to brake the front wheels 3 (step S51). When the secondary pressure of the front wheel solenoid valve 27 detected by the pressure sensor 35 is the first threshold or more, braking of the front wheels 3 can be confirmed. Next, the controller 40 stops applying the control voltage to the load dump brake solenoid valve 34 so as to release the braking of the rear wheels 4 by the load dump brake 15 (step S52). When the secondary pressure of the load dump brake solenoid valve 34 detected by the pressure sensor 36 is less than the second threshold, the releasing of the braking of the rear wheels 4 can be confirmed.
Then, the controller 40 executes, for the rear wheel emergency brake system 14, the same processes as those in steps S31 to S40 illustrated in
Firstly, the controller 40 stops applying the control voltage to the rear wheel solenoid valve 31 so as to open the rear wheel solenoid valve 31 in step S31. Furthermore, the controller 40 compares the secondary pressure of the rear wheel solenoid valve 31, which is based on the detection signal output from the pressure sensor 36, to the first threshold or the second threshold in steps S32, S36, and S38. Still further, the controller 40 applies the control voltage to the rear wheel solenoid valve 31 so as to close the rear wheel solenoid valve 31 in steps S35 and S37.
In the case where the processes of steps S31 to S40 in the rear test processing are normally completed (step S36: Yes), the controller 40 applies the control voltage to the load dump brake solenoid valve 34 so as to actuate the load dump brake 15 (step S53). When the secondary pressure of the load dump brake solenoid valve 34 detected by the pressure sensor 36 is the first threshold or more, it can be confirmed that the load dump brake 15 is actuated.
Furthermore, the controller 40 applies the control voltage to the front wheel solenoid valve 27 so as to release the braking of the front wheels 3 by the front wheel emergency brake system 13 (step S54). When the secondary pressure of the front wheel solenoid valve 27 detected by the pressure sensor 35 is less than the second threshold, it can be confirmed that the braking of the front wheels 3 is released. Then, the controller 40 terminates the rear test processing, and executes the processes after step S19 illustrated in
In the case of determining that the fourth operation of loading onto the vessel 5 is completed (step S19: Yes), the controller 40 releases the load dump brake 15 and waits until receiving the traveling instruction (step S20).
According to the embodiment above, for example, the following advantageous effects can be obtained.
According to the embodiment above, in the intervals of the loading operations which are repeatedly performed by the hydraulic excavator, the front test processing (step S16) and the rear test processing (step S18) are executed. Since the operation of loading onto the vessel 5 is not performed in a state where both the front wheels 3 and the rear wheels 4 are braked, it is possible to prevent excessive impact from being imposed on the vehicle frame 2.
Furthermore, according to the embodiment above, the actuation test of the front wheel emergency brake system 13 is performed by opening and closing the front wheel solenoid valve 27 in a state where the load dump brake 15 is actuated. Furthermore, the actuation test of the rear wheel emergency brake system 14 is performed by opening and closing the rear wheel solenoid valve 31 in a state where the front wheel emergency brake system 13 actuated. Since the braking of the front wheels 3 and the rear wheels 4 is not released at the same time, overrunning of the dump truck 1 due to impact and inertial force during the loading can be prevented.
The first loading operation by the hydraulic excavator may be started before the dump truck 1 is completely stopped. In addition, the dump truck 1 may move to the next destination immediately after the fourth loading operation by the hydraulic excavator is completed.
With this regard, in the embodiment described above, among the four loading operations, the front test processing is executed in the interval between the second loading operation and the third loading operation while the rear test processing is executed in the interval of the third loading operation and the fourth loading operation. As a result, the front test processing and the rear test processing can be executed while the vehicle body frame 2 is in a stable state.
Furthermore, in the embodiment above, upon receiving a traveling instruction during execution of the front test processing and the rear test processing (step S33: Yes), that is, while at least either the front wheel solenoid valve 27 or the rear wheel solenoid valve 31 is opened, the controller 40 immediately closes at least either the front wheel solenoid valve 27 or the rear wheel solenoid valve 31 which has been opened (step S37), and terminates the loading processing. As a result, even in the case of receiving the traveling instruction before the loading operations of the specified number of times are completed, the dump truck 1 can smoothly start traveling.
Still further, in the embodiment above, in the case where the secondary pressure does reach the first threshold even when the application of the control voltage to the front wheel solenoid valve 27 and the rear wheel solenoid valve 31 is stopped (step S34: Yes), the controller 40 notifies the abnormality in the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 (step S40), and stops the loading processing. As a result, it is possible to prevent the dump truck 1 from autonomously traveling in a state where the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 do not work normally.
Note that the criterion used to determine completion of the loading operations in steps S14, S15, S17, and S19 is one of the examples, and thus is not limited thereto. In steps S14, S15, S17, and S19, completion of the loading operations may be determined based on the strut pressure detected by a part of the four suspension sensors 51R, 51L, 52R, 52L, or based on an average value of the strut pressure detected by the four suspension sensors 51R, 51L, 52R, 52L. Using the average value enables appropriate determination of completion of the loading operations even in the case where earth and sand is loaded at a position deviated from the center of the vessel 5.
In the embodiment above, an example in which the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 are actuated only during an autonomous traveling mode has been described, meanwhile, an actuation condition of the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 is not limited thereto. For example, the controller 40 may be configured to actuate the front wheel emergency brake system 13 and the rear wheel emergency brake system 14 to assist the foot brake system 12 when detecting a risk of collision during a manual traveling mode.
It should be noted that the embodiment described above is an example which is provided to explain the present invention, and thus the present invention is not limited thereto. A person skilled in the art can make various modifications within the scope of the technical concept of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-173442 | Sep 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/034911 | 9/15/2020 | WO | 00 |
