Utility vehicle and method for controlling utility vehicle
A utility vehicle includes: a plurality of wheels mounted with low-pressure tires; an output operating element that is operated by a driver and receives an increase/decrease instruction to increase or decrease a driving force; a switching operating element that receives a switching instruction for switching between travel modes; and a controller. The controller has a manual travel mode in which the driving force is controlled in accordance with an amount of operation on the output operating element, and a control travel mode in which the driving force is controlled so as to maintain a travel speed at a target speed that is set within a predetermined speed range, the control travel mode being executed in response to an input on the switching operating element.
1. A utility vehicle comprising:
a plurality of wheels mounted with low-pressure tires;
a drive source that generates a driving force for rotationally driving the plurality of wheels;
an output operating element that is operated by a driver and receives an increase/decrease instruction to increase or decrease the driving force;
a switching operating element that is operated by the driver and receives a switching instruction for switching between travel modes;
a controller that stores an upper limit value and a lower limit value of a predetermined speed range, and has a manual travel mode in which the driving force is controlled in accordance with an amount of operation on the output operating element, and a control travel mode in which the driving force is controlled so as to maintain a travel speed at a target speed that is set between the upper limit value and the lower limit value of the predetermined speed range, the control travel mode being executed in response to an input on the switching operating element; and
a power transmission mechanism that transmits the driving force generated in the drive source to the plurality of the wheels when a rotational speed of the drive source is equal to or higher than a predetermined engagement speed, wherein
the predetermined speed range is set in a low speed region relative to a peak of a travel performance curve that indicates the driving force with respect to the travel speed, and
the lower limit value of the predetermined speed range is set to a speed value equivalent to a traveling speed that can be achieved by the power transmission mechanism with the rotational speed of the drive source being equal to the predetermined engagement speed and a forward low-speed position being set in the power transmission mechanism, or a speed value higher than the traveling speed.
2. The utility vehicle according to claim 1 , wherein the upper limit value of the predetermined speed range is lower than an upper limit value of a traveling speed set in the manual travel mode, and the lower limit value of the predetermined speed range is a speed value of 1 mile per hour or greater.
3. The utility vehicle according to claim 1 , wherein the upper limit value of the predetermined speed range is set at 30 miles per hour or less, and the lower limit value of the predetermined speed range is set at 1 mile per hour or greater.
4. The utility vehicle according to claim 3 ,
wherein the controller changes the target speed within the predetermined speed range in response to an operation by the driver.
5. The utility vehicle according to claim 1 , wherein
the power transmission mechanism selectively sets one of a plurality of shift positions including a high-speed position and a low-speed position, and a speed ratio of the low-speed position is higher than a speed ratio of the high-speed position, and
the control travel mode is executed while the low-speed position is set in the power transmission mechanism.
6. The utility vehicle according to claim 1 , further comprising a continuation operating element that is operated by the driver and receives a continuation instruction to continue the control travel mode,
wherein the controller returns from the control travel mode to the manual travel mode when the input on the continuation operating element is stopped during the execution of the control travel mode.
7. The utility vehicle according to claim 6 , wherein the output operating element also serves as the continuation operating element.
8. The utility vehicle according to claim 1 , further comprising a stop operating element that is operated by the driver and receives a stop instruction to stop the control travel mode,
wherein the controller maintains the travel speed within the predetermined speed range even when the output operating element is not operated during the execution of the control travel mode, and returns from the control travel mode to the manual travel mode in response to an input from the stop operating element.
9. The utility vehicle according to claim 1 , wherein upon determining that the driver has left a driver's seat, the controller returns from the control travel mode to the manual travel mode.
10. The utility vehicle according to claim 1 , wherein the controller prohibits a transition to the control travel mode regardless of the input on the switching operating element when a predetermined mode transition condition is not satisfied.
11. The utility vehicle according to claim 10 , further comprising:
a roll over protective structure (ROPS) surrounding a boarding space;
a passenger seat for a passenger that is installed in the boarding space; and
a grip to be gripped by the passenger that is provided around the passenger seat,
wherein the utility vehicle is configured to be capable of traveling off-road.
12. The utility vehicle according to claim 1 , further comprising:
a suspension device configured to be capable of changing a suspension stroke; and
a two-wheel/four-wheel drive switching mechanism configured to be capable of switching between a two-wheel drive state and a four-wheel drive state,
wherein the control travel mode is executed in the four-wheel state or in a state where the suspension stroke is extended.
13. The utility vehicle according to claim 1 , wherein the controller changes the upper limit value of the predetermined speed range so as to be smaller as a change of a vehicle body orientation increases, or as the wheels become more likely to get stuck or slip.
14. A method for controlling a utility vehicle including
a plurality of wheels mounted with low-pressure tires,
a drive source that generates a driving force for rotationally driving the plurality of wheels,
an output operating element that is operated by a driver and receives an increase/decrease instruction to increase or decrease the driving force,
a switching operating element that is operated by the driver and receives a switching instruction for switching between travel modes,
a power transmission mechanism that transmits the driving force generated in the drive source to the plurality of the wheels when a rotational speed of the drive source is equal to or higher than a predetermined engagement speed,
the method comprising:
executing a manual travel mode in which the driving force is controlled in accordance with an amount of operation on the output operating element;
switching from the manual travel mode to a control travel mode in response to an input on the switching operating element;
controlling, in the control travel mode, the driving force so as to maintain a travel speed at a target speed that is set between an upper limit value and a lower limit value of a predetermined speed range, the upper limit value and the lower limit value being stored in a controller;
deriving a deviation between the target speed and the traveling speed; and
deriving an operation command value of the driving source in order to eliminate the deviation
wherein the predetermined speed range is set in a low speed region relative to a peak of a travel performance curve that indicates the driving force with respect to the travel speed, and
the lower limit value of the predetermined speed range is set to a speed value equivalent to a traveling speed that can be achieved by the power transmission mechanism with the rotational speed of the drive source being equal to the predetermined engagement speed and a forward low-speed position being set in the power transmission mechanism, or a speed value higher than the traveling speed.
15. The utility vehicle according to claim 1 , wherein the controller returns from the control travel mode to the manual travel mode when a switch of a differential device state has been performed, a switching between a two-wheel drive state and a four-wheel drive state has been performed, or a slip has occurred in the wheels.
16. The method according to claim 14 , further comprising changing the target speed within the predetermined speed range in response to an operation by the driver.
17. The method according to claim 14 , further comprising changing the upper limit value of the predetermined speed range so as to be smaller as a change of a vehicle body orientation increases, or as the wheels become more likely to get stuck or slip.