Work vehicle and control method for work vehicle
A working vehicle includes an engine, a hydraulic pump, a first hydraulic motor, a vehicle speed detecting unit, a parking brake, a parking brake operating member and a control unit. The control unit is configured to determine whether the vehicle speed is equal to or greater than a predetermined threshold when the parking brake operating member is operated. The control unit is configured to execute a brake control that decreases a displacement of the first hydraulic pump and increases a displacement of the first hydraulic motor without activating the parking brake when the vehicle speed is equal to or greater than the predetermined threshold in a state when the vehicle is traveling, and to activate the parking brake when the vehicle speed falls below the predetermined threshold.
1. A working vehicle comprising:
an engine;
a hydraulic pump driven by the engine;
a first hydraulic motor driven by hydraulic fluid discharged from the hydraulic pump;
a vehicle speed detecting unit configured to detect a vehicle speed;
a parking brake;
a parking brake operating member configured to be operated to activate the parking brake; and
a control unit configured to determine whether the vehicle speed is equal to or greater than a predetermined threshold when the parking brake operating member is operated, the control unit being configured to
execute a brake control that decreases a displacement of the first hydraulic pump and increases a displacement of the first hydraulic motor without activating the parking brake when the vehicle speed is equal to or greater than the predetermined threshold in a state when the vehicle is traveling and
activate the parking brake when the vehicle speed falls below the predetermined threshold.
2. The working vehicle according to claim 1 , wherein
the control unit is configured to decrease the vehicle speed by gradually increasing a lower limit of the displacement of the first hydraulic motor from the displacement of the first hydraulic motor at a point in time when the parking brake operating member is operated to a maximum displacement.
3. A working vehicle comprising:
an engine;
a hydraulic pump driven by the engine;
a first hydraulic motor driven by hydraulic fluid discharged from the hydraulic pump;
a vehicle speed detecting unit configured to detect a vehicle speed;
a parking brake;
a parking brake operating member configured to be operated to activate the parking brake;
a drive shaft to which driving power from the first hydraulic motor is transferred;
a second hydraulic motor driven by hydraulic fluid discharged from the hydraulic pump;
a clutch configured to be switched between an engaged state in which the second hydraulic motor is coupled to the drive shaft, and a disengaged state in which the second hydraulic motor is uncoupled from the drive shaft;
a control unit configured to determine whether the vehicle speed is equal to or greater than a predetermined threshold when the parking brake operating member is operated, the control unit being configured to
execute a brake control that decreases a displacement of the first hydraulic pump and increases a displacement of the first hydraulic motor without activating the parking brake when the vehicle speed is equal to or greater than the predetermined threshold in a state when the vehicle is traveling,
set the clutch to the engaged state when the vehicle speed is less than a predetermined switching speed, and set the clutch to the disengaged state when the vehicle speed is equal to or greater than the predetermined switching speed, and
activate the parking brake when the clutch is switched to the engaged state under the brake control.
4. A control method for a work vehicle including an engine, a hydraulic pump driven by the engine, a first hydraulic motor driven by hydraulic fluid discharged from the hydraulic pump, a vehicle speed detecting unit configured to detect a vehicle speed, a parking brake, and a parking brake operating member configured to be operated for activating the parking brake, the control method comprising:
determining whether the vehicle speed is equal to or greater than a predetermined threshold when the parking brake operating member is operated;
decreasing a displacement of the hydraulic pump and increasing a displacement of the first hydraulic motor without activating the parking brake when the vehicle speed is equal to or greater than the predetermined threshold in a state when the vehicle is traveling; and
activating the parking brake when the vehicle speed falls below the predetermined threshold.
5. A control method for a working vehicle including an engine, a hydraulic pump driven by the engine, a first hydraulic motor driven by hydraulic fluid discharged from the hydraulic pump, a vehicle speed detecting unit configured to detect a vehicle speed, a parking brake, and a parking brake operating member configured to be operated for activating the parking brake, the control method comprising:
determining whether the vehicle speed is equal to or greater than a predetermined threshold when the parking brake operating member is operated;
gradually decreasing the vehicle speed by increasing a resistance force of the first hydraulic motor without activating the parking brake when the vehicle speed is equal to or greater than the predetermined threshold in a state when the vehicle is traveling; and
activating the parking brake when the vehicle speed falls below the predetermined threshold.