Patent ID: 7853388
Filing Date: 2010-12-14
Classification: B60T

Abstract:
1. A method comprising a plurality of activities, comprising: for a mining haulage vehicle comprising a wheel drive system driven by an electric motor capable of applying a propel torque to at least one wheel coupled thereto, obtaining a rotational speed for each wheel; via an inclinometer, obtaining an incline of a terrain being traversed by said mining haulage vehicle; determining a desired velocity, including direction of travel, for said mining haulage vehicle; automatically determining that at least one wheel of said mining haulage vehicle is rotating in an undesired direction; automatically determining that said mining haulage vehicle is traveling in an opposing direction to said desired direction of travel at a translational velocity that is less than a predetermined translational velocity threshold; automatically setting a service brake of said mining haulage vehicle responsive to said determination that said at least one wheel comprising said wheel motor is rotating in said undesired direction at a rotational speed that is above a predetermined rotational speed threshold and said determination that said mining haulage vehicle is traveling in said opposing direction to said desired direction of travel at said translational velocity that is less than said predetermined translational velocity threshold; obtaining a gross vehicle weight for said mining haulage vehicle; obtaining a gear ratio associated with said mining haulage vehicle; estimating a rolling resistance of said mining haulage vehicle; obtaining a rolling radius of a tire of said mining haulage vehicle; automatically determining a threshold propel torque for said mining haulage vehicle, said threshold propel torque determined based upon said gross vehicle weight, said terrain incline, said rolling resistance, said rolling radius, and said gear ratio; automatically monitoring a throttle position of said mining haulage vehicle; automatically determining an actual propel torque for said mining haulage vehicle based upon said throttle position; automatically causing the electric motor to apply additional propel torque to the wheel in order to exceed the threshold propel torque; and automatically releasing said service brake responsive to a determination that said actual propel torque of said mining haulage vehicle exceeds said threshold propel torque.