Vehicle having a control system that performs various functions based on payload weight and method of operating the same

Abstract

A vehicle and a method of operating a vehicle are disclosed herein. The vehicle includes a main frame, a work tool, and a control system. The work tool is supported by the main frame and is configured to carry a payload during use of the vehicle. The control system is supported by the main frame and is configured to control operation of the vehicle. The control system includes a payload measurement system configured to provide a payload input indicating a variable payload carried by the work tool during use of the vehicle and a controller connected to the payload measurement system.

Description

Technical Field

[0001] The present disclosure relates generally to a vehicle having a work tool for carrying a payload, and more particularly, to a vehicle having an apparatus and / or system for measuring a payload carried by the work tool. Background Art

[0002] During operation of a vehicle having a work implement adapted to carry a payload, such as a loader, maneuverability issues may be applicable. To address these issues, it may be necessary to determine one or more characteristics of the position and / or motion of the vehicle and perform various functions based on these determinations using a vehicle control system. Thus, providing apparatus and / or systems for determining vehicle characteristics and performing vehicle functions based on these characteristics remains an area of ​​interest. Summary of the invention

[0003] The present disclosure may include one or more or a combination of the following features.

[0004] According to one aspect of the present disclosure, a vehicle may include a main frame, a work tool, and a control system. The work tool may be supported by the main frame and configured to carry a payload during use of the vehicle. The control system may be supported by the main frame and configured to control the operation of the vehicle. The control system may include a payload measurement system and a controller, the payload measurement system being configured to provide a payload input indicating a variable payload carried by the work tool during use of the vehicle, the controller being connected to the payload measurement system. The controller may include a processor and a memory device connected to the processor, the memory device having instructions stored therein, and the instructions stored in the memory device being executable by the processor to cause the processor to: receive a payload input provided by the payload measurement system; determine a gross weight of the vehicle based at least in part on the payload input; determine a kinetic energy of the vehicle based at least in part on the determined gross weight; determine a braking capacity of at least one braking device of the vehicle; and calculate a stopping distance of the vehicle based on the determined kinetic energy of the vehicle and the determined braking capacity of the at least one braking device of the vehicle.

[0005] In some embodiments, the instructions stored in the memory device may be executed by the processor to cause the processor to: determine a gross weight of the vehicle based on the payload input and a base weight of the vehicle; receive a speed input indicating a speed of the vehicle from at least one vehicle speed sensor; receive an orientation input indicating an orientation of the vehicle from at least one vehicle orientation sensor; and determine the kinetic energy of the vehicle based on the determined gross weight, the received speed input, and the received orientation input. The orientation input may indicate a pitch of the vehicle, the pitch being defined by positional characteristics of portions of the vehicle relative to a pitch axis.

[0006] In some embodiments, the control system may include a projection system connected to the controller and configured to project light onto a surface near the vehicle in use of the vehicle, and the instructions stored in the memory device may be executed by the processor to cause the processor to: project light onto a surface near the vehicle using the projection system at a projection distance corresponding to the calculated stopping distance. The instructions stored in the memory device may be executed by the processor to cause the processor to: determine whether the gross weight of the vehicle has increased based at least in part on the payload input, and selectively adjust the projection distance at which light is projected based on the determination. The instructions stored in the memory device may be executed by the processor to cause the processor to: receive a speed input indicating a speed of the vehicle from at least one vehicle speed sensor; receive an orientation input indicating an orientation of the vehicle from at least one vehicle orientation sensor; and selectively adjust the projection distance at which light is projected based on the received speed input and the received orientation input.

[0007] In some embodiments, the control system may include an object detection system connected to the controller and configured to provide a detection input indicative of the presence of an object near the vehicle during use of the vehicle, and the instructions stored in the memory device may be executed by the processor to cause the processor to: determine the proximity of the vehicle to the object based on the detection input, and compare the determined proximity to the calculated stopping distance of the vehicle. The instructions stored in the memory device may be executed by the processor to cause the processor to: determine whether the proximity of the vehicle to the object is within the calculated stopping distance of the vehicle based on the comparison, and selectively generate an operator alert based on the determination.

[0008] In some embodiments, the instructions stored in the memory device are executable by the processor to cause the processor to: determine a vehicle kinetic energy limit based at least in part on the determined braking capacity and a target stopping distance provided to the controller by an operator; and determine a vehicle speed limit based at least in part on the determined vehicle kinetic energy limit, the payload input provided to the controller by the payload measurement system, and an orientation input indicating an orientation of the vehicle provided to the controller by at least one orientation sensor. In some embodiments, the instructions stored in the memory device are executable by the processor to cause the processor to: determine whether the gross weight of the vehicle has increased, and adjust the vehicle speed limit based on the determination.

[0009] In some embodiments, the instructions stored in the memory device may be executed by the processor to cause the processor to: determine the kinetic energy of the vehicle based at least in part on the payload input provided to the controller by the payload measurement system and the orientation input indicative of the orientation of the vehicle provided to the controller by at least one orientation sensor; and cause the processor to: determine the braking capacity and / or braking dosage of at least one braking device of the vehicle based on the determined kinetic energy of the vehicle and the calculated stopping distance of the vehicle. The instructions stored in the memory device may be executed by the processor to cause the processor to: determine whether the gross weight of the vehicle has increased; determine whether the speed of the vehicle has increased; determine whether the pitch of the vehicle has increased; and selectively adjust the braking capacity and / or braking dosage of the at least one braking device based on these determinations.

[0010] According to another aspect of the present disclosure, a method for operating a vehicle, the vehicle comprising a main frame, a work tool and a control system, the work tool being connected to the main frame and configured to carry a payload, the control system being connected to the main frame and configured to control the operation of the vehicle, the method may include: (i) receiving, by a controller of the control system, a payload input from a payload measurement system of the control system, the payload input indicating a variable payload carried by the work tool; (ii) determining, by the controller, a gross weight of the vehicle based at least in part on the payload input and a basic weight of the vehicle; (iii) determining, by the controller, a kinetic energy of the vehicle based at least in part on the determined gross weight; (iv) determining, by the controller, a braking capacity of at least one braking device of the vehicle; and (v) calculating, by the controller, a stopping distance of the vehicle based on the determined kinetic energy of the vehicle and the determined braking capacity of the at least one braking device of the vehicle.

[0011] In some embodiments, the method may include (i) receiving, by the controller, a speed input indicating a speed of the vehicle from at least one vehicle speed sensor of the control system; (ii) receiving, by the controller, an orientation input indicating a pitch of the vehicle from at least one vehicle orientation sensor of the control system, the pitch of the vehicle being defined by positional characteristics of multiple parts of the vehicle relative to a pitch axis; and (iii) determining, by the controller, the kinetic energy of the vehicle based on the determined gross weight, the received speed input, and the received orientation input. Additionally, in some embodiments, the control system may include a projection system configured to project light onto a surface near the vehicle, and the method may include: (i) the controller using the projection system to project light onto the surface near the vehicle at a projection distance corresponding to the calculated stopping distance; (ii) the controller receiving a payload input from the payload measurement system, the payload input subsequently used in the calculation of the stopping distance; (iii) the controller determining whether the gross weight of the vehicle has increased based at least in part on the payload input; (iv) the controller selectively adjusting the projection distance at which light is projected onto the surface in response to the determination associated with the gross weight; (v) the controller receiving a speed input indicating the speed of the vehicle from at least one vehicle speed sensor of the control system, the speed input subsequently used in the calculation of the stopping distance; (vi) the controller determining whether the speed of the vehicle has increased based on the speed input; and (vii) the controller selectively adjusting the projection distance at which light is projected onto the surface in response to the determination associated with the speed.

[0012] In some embodiments, the control system may include an object detection system configured to provide a detection input indicating the presence of an object near the vehicle, and the method may include: (i) determining, by the controller, a proximity of the vehicle to the object based on the detection input; (ii) comparing, by the controller, the determined proximity with a calculated stopping distance for the vehicle; (iii) determining, by the controller in response to the comparison, whether the proximity of the vehicle to the object is within the calculated stopping distance; and (iv) generating, by the controller in response to determining that the proximity of the vehicle to the object is within the calculated stopping distance, a high priority operator alert. Additionally, in some embodiments, the method may include (i) determining, by the controller, a vehicle kinetic energy limit based on a calculated stopping distance, a determined braking capacity, and a target stopping distance provided to the controller by an operator; (ii) receiving, by the controller, a payload input from a payload measurement system, which is subsequently used in calculating the stopping distance; (iii) receiving, by the controller, an orientation input indicating an orientation of the vehicle from at least one vehicle orientation sensor of the vehicle, which is subsequently used in calculating the stopping distance; (iv) determining, by the controller, a vehicle speed limit based at least in part on the determined vehicle kinetic energy limit, the received payload input, and the received orientation input; (v) determining, by the controller, whether a gross weight of the vehicle has increased based at least in part on the payload input; and (vi) reducing the vehicle speed limit in response to determining that the gross weight of the vehicle has increased.

[0013] In some embodiments, the method may include (i) determining, by the controller, a kinetic energy of the vehicle based at least in part on a payload input provided to the controller for subsequent calculation of the stopping distance and an orientation input indicative of an orientation of the vehicle provided to the controller for subsequent calculation of the stopping distance; (ii) determining, by the controller, a braking capacity and / or braking dosage of at least one braking device of the vehicle based on the determined kinetic energy and the calculated stopping distance of the vehicle; (iii) determining, by the controller, at least in part on the payload input, whether a gross weight of the vehicle has increased; (iv) determining, by the controller, at least in part on the orientation input, whether a pitch of the vehicle has increased; and (v) selectively adjusting, by the controller, the braking capacity and / or braking dosage of the at least one braking device in response to the determination associated with the gross weight of the vehicle and the pitch of the vehicle. The method may include (i) determining, by the controller, whether a speed of the vehicle has increased based on a speed input provided to the controller for subsequent calculation of the stopping distance; and (ii) selectively adjusting, by the controller, the braking capacity and / or braking dosage of the at least one braking device in response to the determination associated with the speed of the vehicle.

[0014] According to yet another aspect of the present disclosure, a vehicle may include a main frame, a work tool, and a control system. The work tool may be supported by the main frame and configured to carry a payload during use of the vehicle. The control system may be supported by the main frame and configured to control the operation of the vehicle. The control system may include: a payload measurement system configured to provide a payload input indicating a variable payload carried by the work tool during use of the vehicle; at least one vehicle speed sensor configured to provide a speed input indicating the speed of the vehicle during use of the vehicle; at least one vehicle orientation sensor configured to provide an orientation input indicating the pitch of the vehicle, the pitch being defined by positional characteristics of multiple parts of the vehicle relative to a pitch axis; and a controller connected to the payload measurement system, the at least one vehicle speed sensor, and the at least one vehicle orientation sensor. The controller may include a processor and a memory device connected to the processor, in which instructions are stored, and the instructions stored in the memory device can be executed by the processor to cause the processor to: receive the payload input, the speed input, and the orientation input; determine the total weight of the vehicle based on the payload input and the basic weight of the vehicle; determine the kinetic energy of the vehicle based on the determined total weight, speed input, and orientation input; determine the braking capacity of the at least one braking device of the vehicle; and calculate the stopping distance of the vehicle based on the determined kinetic energy of the vehicle and the determined braking capacity of the at least one braking device of the vehicle.

[0015] These and other features of the present disclosure will become more apparent from the following description of illustrative embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The invention described herein is shown in the accompanying drawings in an exemplary and non-limiting manner. For simplicity and clarity of illustration, the elements shown in the drawings are not necessarily drawn to scale. For example, for clarity, the size of some elements may be enlarged relative to other elements. In addition, where deemed appropriate, reference numerals are reused in the drawings to indicate corresponding or similar elements.

[0017] Figure 1 is a side view of a loader equipped with a dynamic payload measurement system;

[0018] Figure 2 yes Figure 1 A side view of a loader of , depicting a projection / illumination system of the loader adapted to project light onto a surface proximate to the loader;

[0019] Figure 3 yes Figure 1 a side view of a loader of the type shown in FIG. 1 , depicting an object detection system of the loader adapted to detect an object proximate to the vehicle;

[0020] Figure 4 is included in Figure 1 A schematic diagram of a control system in a loader;

[0021] Figure 5 Can be included in Figure 4 A schematic diagram of multiple modules in a controller of a control system;

[0022] Figure 6 It can be done by Figure 5 A simplified flow chart of the method performed by the first module depicted in;

[0023] Figure 7 It can be done by Figure 5 A simplified flow chart of the method performed by the second module depicted in;

[0024] Figure 8 It can be done by Figure 5 A simplified flow chart of the method performed by the third module depicted in;

[0025] Fig. 9 It can be done by Figure 5 A simplified flow chart of the method performed by the fourth module depicted in;

[0026] Fig.10 Can be included in Fig. 9 a simplified flow chart of additional blocks in the depicted method;

[0027] Fig.11 It can be done by Figure 5 A simplified flowchart of the method performed by the fifth module depicted in; and

[0028] Fig.12 Can be included in Fig.11 A simplified flow chart depicting additional blocks in the method. DETAILED DESCRIPTION

[0029] Although the concept of the present disclosure is susceptible to various modifications and alternative forms, the specific embodiments of the present disclosure have been shown in the drawings by way of example and will be described in detail herein. However, it should be understood that it is not intended to limit the concept of the present disclosure to the specific form disclosed, but rather to cover all modifications, equivalent forms and alternative forms consistent with the present disclosure and the appended claims.

[0030] References in the specification to "one embodiment," "an embodiment," "an illustrative embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but each embodiment may or may not necessarily include such a particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is considered to be within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments (whether or not explicitly described). In addition, it should be understood that items included in a list of the form "at least one of A, B, and C" may refer to (A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C). Similarly, items listed in the form "at least one of A, B, and C" may refer to (A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C).

[0031] In the accompanying drawings, some structural features or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. On the contrary, in some embodiments, these features may be arranged in a manner and / or order different from the manner and / or order shown in the illustrative drawings. In addition, the inclusion of structural features or method features in a specific figure does not mean that such features are required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.

[0032] Reference now Figure 1 , the illustrative vehicle or work machine 100 is embodied as or includes a main frame 102 that is supported for movement by wheels 104. In the illustrative embodiment, the vehicle 100 includes a work tool 106 that is supported by the main frame 102 and is configured to carry a payload during use of the vehicle 100. The illustrative work tool 106 is embodied as or includes a loader bucket 108 disposed at the front end 110 of the vehicle 100. In some embodiments, the work tool 106 may be embodied as or include a front end loader.

[0033] In the illustrated embodiment, the work tool 106 is movably connected to the main frame 102 via an articulation mechanism 112 to allow the work tool 106 to move relative to the main frame 102 during use of the vehicle 100. The articulation mechanism 112 may include one or more boom elements, arms, rockers, links, mounts, hydraulic cylinders, mounting brackets, articulation joints, rods, bars, pivot pins, etc. During use of the vehicle 100, kinematic characteristics of one or more components of the articulation mechanism 112 may be measured to evaluate the performance of the vehicle 100. In the illustrated embodiment, the vehicle 100 includes a dynamic payload measurement system 120 connected to the articulation mechanism 112 and configured to provide a payload input indicative of a variable payload carried by the work tool 106 during use of the vehicle 100.

[0034] The illustrative vehicle 100 includes a vehicle control system 400 supported by the main frame 102 and configured to control the operation of the vehicle 100 (see Figure 4 ). The illustrative control system 400 includes the payload measurement system 120 and a controller 402 connected to the payload measurement system 120. The controller 402 includes a processor 404 and a memory device 406 connected to the processor 404, and the memory device 406 has instructions stored therein. In the illustrative embodiment, as described below with reference to Figure 6 Described in more detail, the instructions stored in the memory device 406 are executable by the processor 404 to cause the processor 404 to: receive a payload input provided by the payload measurement system 120; determine a gross weight of the vehicle 100 based at least in part on the payload input; determine a kinetic energy of the vehicle 100 based at least in part on the determined gross weight; determine a braking capacity of at least one braking device (e.g., one of the braking devices 150) of the vehicle 100; and calculate a vehicle stopping distance VSD (see FIG. 1 ) of the vehicle 100 based on the determined kinetic energy of the vehicle 100 and the determined braking capacity of the at least one braking device of the vehicle 100. Figure 2 and Figure 3 ).

[0035] The illustrative control system 400 is configured to perform a variety of functions based on or in view of the calculated vehicle stopping distance VSD. In one example, as shown below with reference to Figure 2 and Figure 7 As described in more detail, the control system 400 is configured to project light onto a surface S near the vehicle 100 at a projection distance PD corresponding to the calculated vehicle stopping distance VSD, thereby alerting an operator, pedestrian, or bystander to the path of travel of the vehicle 100. In another example, as described below with reference to Figure 3 and Figure 8As described in more detail, the control system 400 is configured to determine the proximity of the vehicle 100 to an object, compare the determined proximity to the calculated vehicle stopping distance VSD, and selectively generate an alarm to notify the operator of the detected object. In yet another example, as described below with reference to Fig. 9 and Fig.10 In more detail, the control system 400 is configured to determine and implement a vehicle speed limit based on or in view of the calculated stopping distance VSD so that the vehicle 100 stops within a predetermined distance and / or a reference distance. Fig.11 and Fig.12 Described in more detail, the control system 400 is configured to control the braking capacity and braking dosage of the braking devices of the vehicle 100 based on or in view of the calculated stopping distance VSD, thereby providing adaptive braking dosage for a specific payload.

[0036] The illustrative payload measurement system 120 is implemented as or includes a device or set of devices capable of measuring the mass or weight of a payload carried by the work tool 106. In some embodiments, the payload measurement system 120 may include one or more sensing devices, such as one or more accelerometers formed as multi-axis (e.g., three-axis) gyroscopes and one or more pressure sensors. In such embodiments, the payload input provided by the sensing devices may be associated with operating characteristics of the articulated mechanism 112, the work tool 106, and the main frame 102, such as the roll, pitch, and / or yaw of the mechanism 112, the work tool 106, and the main frame 102 measured relative to an inertial reference frame. When operated by a control system (e.g., the control system 400) in a particular application, the control system may determine the mass or weight of the payload specific to the application based on the payload input provided by the payload measurement system 120. In some embodiments, the payload measurement system 120 may be substantially similar to the weighing device, associated components, and associated measurement schemes disclosed in European Patent Publication No. EP2843378A1 (hereinafter referred to as the "incorporated reference"), the disclosure of which is hereby incorporated herein by reference in its entirety.

[0037] In the illustrative embodiment, the vehicle 100 includes a drive unit 130, a powertrain 140, and a brake device 150. The drive unit 130 is illustratively implemented as or includes any device or set of devices that can provide rotational power to the powertrain 140 and other components (as the case may be, drive the operation of these components) (e.g., one or more engines, power devices, etc.). The powertrain 140 is illustratively implemented as or includes any device or set of devices that can transmit the rotational power provided by the drive unit 130 to the wheels 104 to drive the vehicle 100 to move (e.g., one or more transmissions, one or more differentials, one or more axles, etc.). Each braking device 150 is illustratively implemented as or includes any device or collection of devices (e.g., one or more friction elements, etc.) capable of braking the wheel 104 to prevent movement of the vehicle 100 (e.g., one or more friction elements, etc.).

[0038] In the illustrative embodiment, the vehicle 100 includes one or more vehicle speed sensors 160, one or more vehicle orientation sensors 162, and one or more vehicle load measurement devices 164. The one or more vehicle speed sensors 160 are each implemented as any device or set of devices capable of providing a speed input indicative of the speed of the vehicle 100 or including any device or set of devices capable of providing a speed input indicative of the speed of the vehicle 100. The one or more vehicle orientation sensors 162 are each implemented as any device or set of devices capable of providing an orientation input indicative of the orientation of the vehicle 100 or including any device or set of devices capable of providing an orientation input indicative of the orientation of the vehicle 100. The one or more vehicle load measurement devices 164 are each implemented as any device or set of devices capable of providing a load input indicative of the base weight of the vehicle 100 or including any device or set of devices capable of providing a load input indicative of the base weight of the vehicle 100, which may not take into account any payload carried by the work implement 106. In some embodiments, the one or more vehicle load measuring devices 164 may be omitted and the base weight of the vehicle 100 may be a parameter included by instructions stored in the memory device 406 of the controller 402 .

[0039] In the illustrative embodiment, the vehicle 100 includes an operator cab 114 supported by the main frame 102 and defining a cab 116 in which various operating controls for the vehicle 100 are disposed. An instrument panel 170 positioned in the cab 116 provides a control interface for one or more operators located in the cab 116. The illustrative instrument panel 170 is configured to provide alerts to the operator based on, in view of, or in association with a calculated vehicle stopping distance VSD. In addition, the operator can use the instrument panel 170 to provide user input to the control system 400.

[0040] The illustrative vehicle 100 may be implemented as or include a wheel loader. In some embodiments, the vehicle 100 may be implemented as or include any of the following vehicles manufactured by John Deere: a 204L wheel loader, a 244L wheel loader, a 304L wheel loader, a 324L wheel loader, a 344L wheel loader, a 444L wheel loader, a 524L wheel loader, a 544L wheel loader, a 624L wheel loader, a 644L wheel loader, a 644L hybrid wheel loader, a 724L wheel loader, a 744L wheel loader, an 824L wheel loader, an 844L wheel loader, or a 944K hybrid wheel loader. In addition, in some embodiments, the vehicle 100 may be implemented as or include a 210L tractor loader or a 210L EP tractor loader, each manufactured by John Deere. Of course, it should be understood that in other embodiments, the vehicle 100 may be implemented as or include other suitable vehicles or work machines.

[0041] In some embodiments, such as those in which the work tool 106 is implemented as or includes a front-end loader, the work tool 106 may be any of the following manufactured by John Deere: D120 loader, 120R loader, 220R loader, 300E loader, 300R loader, 320R loader, 400E loader, 440R loader, H310 loader, 512 NSL loader, 520M loader, 540M loader, 540R loader, 600R loader, 620R loader, 640R loader, 660R loader, 680R loader, and H480 loader. Of course, it should be understood that in other embodiments, the work tool 106 may be implemented as or include other suitable devices.

[0042] The illustrative vehicle 100 is adapted for use in one or more engineering applications. However, in some embodiments, the vehicle 100 may be adapted for use in other applications. For example, in some embodiments, the vehicle 100 may be implemented as, included in, or adapted for use with equipment used in agriculture, lawn and garden, landscaping and grounds care, golf and sports turf, forestry, or engines and drivetrains. In such an embodiment, the vehicle 100 of the present disclosure may be implemented as or adapted for use with a tractor, a scraping system, a cutter, a shredder, hay and forage equipment, planting equipment, seeding equipment, a sprayer, an applicator, a utility vehicle, a mower, a dump truck, a backhoe, a track loader, a crawler loader, a bulldozer, an excavator, a motor grader, a skid steer, a rake, an aerator, a skid loader, a tethering machine, a conveyor, a harvester, a swing machine, a clamp loader, a diesel engine, an axle, a planetary gear drive, a pump drive, a transmission, a generator or a marine engine, and other suitable equipment.

[0043] Reference now Figure 2 , the illustrative vehicle 100 includes a projection / illumination system 200 supported by the main frame 102 and connected to a controller 402. The projection / illumination system 200 may be disposed on top of the operator cabin 114 or at any other suitable location on the vehicle 100. In any case, the projection / illumination system 200 is implemented as any device or collection of devices that projects light onto a surface S near the vehicle 100 when the vehicle 100 is in use, or includes any device or collection of devices that is configured to project light onto a surface S near the vehicle 100 when the vehicle 100 is in use. More specifically, under the control of the controller 402, the projection / illumination system 200 is configured to project light onto the surface S at a projection distance PD. As Figure 2 As depicted, the projected distance PD substantially corresponds to the calculated vehicle stopping distance VSD. Figure 7 Described in more detail, the controller 402 may adjust the projected distance PD based on the calculated vehicle stopping distance VSD.

[0044] Reference now Figure 3, the illustrative vehicle 100 includes an object detection system 300 supported by the main frame 102 and connected to the controller 402. The object detection system 300 may be disposed at the rear end 118 of the vehicle 100 or at any other suitable location on the vehicle 100. In any case, the object detection system 300 is implemented as or includes any device or collection of devices configured to provide a detection input during use of the vehicle 100, indicating the presence of an object (e.g., object 310) within an object detection area DA near the vehicle 100. As described below with reference to Figure 8 As described in more detail, based on the detection input provided by the object detection system 300 and the vehicle stopping distance VSD calculated by the controller 402 , the controller 402 may alert the operator of the presence of an object within the calculated vehicle stopping distance VSD.

[0045] Reference now Figure 4 , the illustrative control system 400 includes the dynamic payload measurement system 120, the one or more vehicle speed sensors 160, the one or more vehicle orientation sensors 162, the one or more vehicle load measurement devices 164, the instrument panel 170, the projection / illumination system 200, the object detection system 300, the controller 402, one or more brake sensors 410, and one or more brake valves 412. Each of the components 120, 160, 162, 164, 170, 200, 300, 410, 412 is communicatively connected to the controller 402, such as by a direct (e.g., hard-wired) connection or a controller area network (CAN) interface. In addition, in some embodiments, the control system 400 may include a powertrain controller 414, a drive unit controller 416, and a brake controller 418, each of which may be communicatively connected to the controller 402, such as by a direct (e.g., hard-wired) connection or a controller area network (CAN) interface.

[0046] The illustrative payload measurement system 120 includes one or more cylinder pressure sensors 422, one or more implement position / motion sensors 424, and one or more inertial measurement units 426. The one or more cylinder pressure sensors 422 are each configured to provide a pressure input indicative of a hydraulic pressure on one side of a corresponding hydraulic cylinder (not shown) of the articulated mechanism 112. In some embodiments, the one or more sensors 422 can be substantially similar to the pressure sensors 36, 38, 40, 42 disclosed by the incorporated references. The one or more implement position / motion sensors 424 are each configured to provide a position input or a motion input indicative of a position (e.g., angular position or displacement) or a motion (e.g., angular velocity or acceleration) of one or more components of the work tool 106 or the articulated structure 112. In some embodiments, the one or more sensors 424 can be substantially similar to the acceleration sensors 30, 32, 34 disclosed by the incorporated references. The one or more inertial measurement units 426 are configured to measure linear acceleration of one or more components of the work tool 106 or the articulated mechanism 112, respectively, to determine various operating characteristics of the components, such as specific force, angular velocity, and angular orientation. In some embodiments, the one or more units 426 may include the one or more sensors 424. In other embodiments, the one or more units 426 may cooperate with the one or more sensors 424 to measure position characteristics and / or motion of one or more components of the work tool 106 or the articulated mechanism 112.

[0047] The one or more vehicle speed sensors 160 are illustratively configured to provide speed inputs indicative of rotational speeds of one or more components of the powertrain 140, respectively. In some embodiments, at least one vehicle speed sensor 160 may be connected to an output shaft of a transmission (not shown) included in the powertrain 140. Additionally, in some embodiments, at least one vehicle speed sensor 160 may be connected to an input shaft of a transmission of the powertrain 140. Furthermore, in some embodiments, at least one vehicle speed sensor 160 may be connected to components of axles and / or differentials included in the powertrain 140. In any case, based on the speed inputs provided by the one or more speed sensors 160, the controller 402 may determine the speed of the vehicle 100, as described above.

[0048] The one or more vehicle orientation sensors 162 are illustratively each configured to measure an operational characteristic of the vehicle 100, such as roll, pitch, and / or yaw, which may be defined relative to one or more reference frames, reference axes, or coordinate systems. In some embodiments, the one or more vehicle orientation sensors 162 may each be implemented as or include an accelerometer that is configured, for example, to measure the motion of the vehicle 100 based on an inertial reference frame or the like. Additionally, in some embodiments, the orientation input provided by each of the one or more vehicle orientation sensors 162 may indicate the pitch of the vehicle 100, which is determined by the pitch of multiple portions of the vehicle 100 relative to a pitch axis PA extending into the page (see FIG. 1 ). Figure 2 and Figure 3 ) can be defined by positional characteristics (e.g., angular position or displacement) and / or motion (e.g., angular velocity or acceleration) of the vehicle 100. For example, in such an embodiment, the directional input can indicate the angular position of the front end 112 of the vehicle 100 about the pitch axis PA relative to the rear end 118 of the vehicle 100, and during a braking event, etc., the relative angular positions of the front end 112 and the rear end 118 can define the pitch of the vehicle 100 about the pitch axis PA. Of course, it should be understood that in other embodiments, the directional input can indicate the relative angular positions of other portions of the vehicle 100 (e.g., the main frame 102, the articulated mechanism 112, and the work implement 106) about the pitch axis PA defined during other vehicle operating conditions.

[0049] The one or more vehicle load measuring devices 164 are illustratively configured to provide a load input indicative of a base weight of the vehicle 100, independent of any payload carried by the work tool 106. Of course, it should be appreciated that in some embodiments, the load input may be indicative of a base weight of the vehicle 100 and the weight of one or more operators. The one or more vehicle load measuring devices 164 may, for example, each be implemented as or include a load cell connected to the main frame 102. Of course, it should be appreciated that in other embodiments, the one or more devices 164 may each be implemented as or include other suitable devices connected to other suitable locations of the vehicle 100.

[0050] Dashboard 170 illustratively includes display 472 and user interface 474. Display 472 is configured to output or display various indications, messages, alarms and / or prompts that may be generated by control system 400 (i.e., controller 402) to the operator. User interface 474 is configured to provide various inputs to control system 400 based on various actions, which may include actions performed by the operator. To this end, user interface 474 includes one or more input devices 476.

[0051] The projection / illumination system 200 illustratively includes one or more projectors 430 having one or more illumination sources 432. Each projector 430 is configured to project light provided by one illumination source 432 onto a surface S near the vehicle 100 when operated by the control system 400, as described above. In some embodiments, each illumination source 432 may be implemented as or include a light source such as a laser. Additionally, in some embodiments, each illumination source 432 may be used in conjunction with an optical element such as a lens, a reflector, or the like.

[0052] The object detection system 300 is illustratively implemented as or includes any one or more of the following: a camera detection unit 440, a radar detection unit 450, a lidar detection unit 460, and an ultrasonic detection unit 470. Of course, in other embodiments, it should be understood that the object detection system 300 may include other suitable devices and / or systems.

[0053] The illustrative camera detection unit 440 is implemented as or includes any device or set of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100. The illustrative unit 440 includes one or more cameras 442 and one or more light sources 444, and the unit 440 is communicatively connected to the controller 402. Each camera 442 is configured to capture and / or store images of objects within a predetermined proximity or reference proximity of the vehicle 100. In some embodiments, each camera 442 may be implemented as or include, for example, a digital camera, a panoramic camera, etc. In addition, in some embodiments, each camera 442 may be included in a vision system, connected to a vision system, or adapted for use with a vision system. It should also be understood that each camera 442 has a visual area associated therewith, which may be illuminated by means of the one or more light sources 444. Each light source 444 may be implemented as or include any device capable of generating light to facilitate capturing and / or identifying objects that may be encountered by the vehicle 100. It should be understood that in some embodiments, the detection unit 440 may include other suitable components in addition to or as an alternative to the above devices.

[0054] The illustrative radar detection unit 450 is implemented as any device or collection of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100 based on radio waves or includes any device or collection of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100 based on radio waves. The illustrative unit 450 includes one or more transmitters 452, one or more antennas 454, and one or more signal processors 456 that are communicatively connected to the controller 402. Each transmitter 452 is implemented as any device or collection of devices that transmits radio waves or radar signals in a predetermined direction toward objects near the vehicle 100 or includes any device or collection of devices capable of transmitting radio waves or radar signals in a predetermined direction toward objects near the vehicle 100. Each antenna or receiver 454 is implemented as any device or collection of devices capable of receiving radar signals transmitted by one or more transmitters 452, reflected and / or scattered by an object or includes any device or collection of devices capable of receiving radar signals transmitted by one or more transmitters 452, reflected and / or scattered by an object. Each signal processor 456 is implemented as or includes any device or set of devices (e.g., one or more processors) capable of amplifying, processing, and / or modulating radar signals received by one or more antennas 454, thereby recovering useful radar signals. It should be understood that in some embodiments, in addition to or as an alternative to the above-mentioned devices, the detection unit 450 may include other suitable components.

[0055] The illustrative lidar detection unit 460 is implemented as or includes any device or collection of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100 using ultraviolet light, visible light, or near infrared light. The illustrative detection unit 460 includes one or more lasers 462 and one or more image capture devices 464 that are communicatively connected to the controller 402. Each laser 462 may be implemented as or includes any device or collection of devices capable of emitting ultraviolet light, visible light, or near infrared light toward objects in the vicinity of the vehicle 100. Each image capture device 464 may be implemented as or includes any device or collection of devices capable of illuminating a visible area near the vehicle 100, sensing light reflected thereon by an object, and processing the signal reflected by the object to form a three-dimensional representation of the object. In some embodiments, each image capture device 464 may be implemented as or includes a flash lidar camera having a light source, a sensor, and a controller. In addition, it should be understood that in some embodiments, in addition to or as an alternative to the above-mentioned devices, the detection unit 460 may include other suitable components, such as one or more phased arrays, one or more micro-electromechanical devices, one or more scanners, and one or more photodetectors.

[0056] The illustrative ultrasonic detection unit 470 is implemented as any device or collection of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100 based on ultrasonic waves or includes any device or collection of devices capable of detecting and / or imaging objects that may be encountered by the vehicle 100 during use of the vehicle 100 based on ultrasonic waves. The illustrative detection unit 470 includes one or more signal generators 472 and one or more receivers 474 that are communicatively connected to the controller 402. Each signal generator 472 can be implemented as any device or collection of devices capable of generating and emitting ultrasonic waves toward objects near the vehicle 100 or includes any device or collection of devices capable of generating and emitting ultrasonic waves toward objects near the vehicle 100. Each receiver 474 can be implemented as any device or collection of devices capable of receiving sound waves provided thereto from an object and converting the sound waves into measurable electrical signals or includes any device or collection of devices capable of receiving sound waves provided thereto from an object and converting the sound waves into measurable electrical signals. It should be understood that in some embodiments, in addition to or as a substitute for the above-mentioned devices, the detection unit 470 may include other suitable components, such as one or more signal processors.

[0057] The processor 404 of the illustrative controller 402 may be implemented as or include any type of processor, controller, or other computing circuit capable of performing various tasks, such as computing functions and / or controlling the functions of the vehicle 100. For example, the processor 404 may be implemented as a single-core or multi-core processor, microcontroller, or other processor or processing / control circuit. In some embodiments, the processor 404 may be implemented as or include or be connected to an FPGA, an application-specific integrated circuit (ASIC), a reconfigurable hardware or hardware circuit, or other dedicated hardware, thereby facilitating the execution of the functions described herein. Additionally, in some embodiments, the processor 404 may be implemented as or include a high-power processor, an accelerator coprocessor, or a storage controller. In other embodiments, the processor 404 may include more than one processor, controller, or computing circuit.

[0058] The memory device 406 of the illustrative controller 402 may be implemented as any type of volatile (e.g., dynamic random access memory (DRAM), etc.) or non-volatile memory capable of storing data therein. Volatile memory may be implemented as a storage medium that requires power to maintain the state of the data stored by the medium. Non-limiting examples of volatile memory may include various types of random access memory (RAM), such as dynamic random access memory (DRAM) or static random access memory (SRAM). One specific type of DRAM that may be used in a memory module is synchronous dynamic random access memory (SDRAM). In a particular embodiment, the DRAM of the memory component may conform to a standard promulgated by JEDEC, such as JESD79F for DDR SDRAM, JESD79-2F for DDR2 SDRAM, JESD79-3F for DDR3 SDRAM, JESD79-4A for DDR4 SDRAM, JESD209 for Low Power DDR (LPDDR), JESD209-2 for LPDDR2, JESD209-3 for LPDDR3, and JESD209-4 for LPDDR4 (these standards are available from www.jedec.org). Such standards (and similar standards) may be referred to as DDR-based standards, and a communication interface of a storage device that implements such a standard may be referred to as a DDR-based interface.

[0059] In some embodiments, memory device 406 may be implemented as a block-addressable memory, such as those based on NAND or NOR technology. Memory device 406 may also include next generation non-volatile devices, such as three-dimensional cross-point memory devices (e.g., Intel 3D XPoint TMMemory) or other byte-addressable write-in-place non-volatile storage devices. In some embodiments, the memory device 406 may be implemented as or may include: chalcogenide glass, multi-threshold level NAND flash memory, NOR flash memory, single-level or multi-level phase change memory (PCM), resistive memory, nanowire memory, ferroelectric transistor random access memory (FeTRAM), antiferroelectric memory, magnetoresistive random access memory (MRAM) using memristor technology, resistive memory including metal oxide-based, oxygen vacancy-based and conductive bridge random access memory (CB-RAM) or spin transfer torque (STT)-MRAM, devices based on spin electronic magnetic junction memory, devices based on magnetic tunnel junction (MTJ), devices based on DW (domain wall) and SOT (spin orbit transfer), thyristor-based memory devices, or any combination of the above, or other memory. The memory device may refer to the die itself and / or the packaged memory product. In some embodiments, a 3D cross point memory (e.g., Intel 3D XPoint™ memory) may include a transistor-free, stackable cross point architecture in which memory cells are located at the intersections of word lines and bit lines and are individually addressable, and in which bit storage is based on changes in bulk resistance.

[0060] The one or more brake sensors 410 are illustratively implemented as or include any device or set of devices capable of providing a brake input that indicates an activation state (e.g., an engaged / activated state or a disengaged / deactivated state) of one of the actuating devices 150. In some embodiments, each brake sensor 410 may provide an input indicating a state (e.g., a stroked state or a de-stroked state) of a corresponding brake valve 412. It should be understood that in some embodiments, the brake input provided by each sensor 410 may indicate a frictional resistance and / or pressure applied by one of the brake devices 150 to one of the wheels 104.

[0061] The one or more brake device valves 412 are illustratively implemented as any device or a collection of devices that can selectively provide hydraulic fluid pressure to one of the brake devices 150 in response to a control input provided by the controller 402 or include any device or a collection of devices that can selectively provide hydraulic fluid pressure to one of the brake devices 150 in response to a control input provided by the controller 402, thereby achieving activation / engagement and deactivation / disengagement of the one brake device 150. In some embodiments, each brake device valve 412 can be implemented as a solenoid valve, a proportional control valve, etc. or include a solenoid valve, a proportional control valve, etc. In any case, under the control of the controller 402, the one or more brake device valves 412 can be operated to adjust the braking capacity of the brake device 150 and / or perform brake dosing on the brake device 150.

[0062] In some embodiments, the control system 400 may include the powertrain controller 414 described above. The powertrain controller 414 may be implemented as or include one or more devices capable of controlling the operation of the powertrain 140 during use of the vehicle 100. The powertrain controller 414 may include a memory device (not shown) and a processor (not shown) capable of executing instructions stored in the memory device to perform various functions associated with the control of the powertrain 140. In some embodiments, the powertrain controller 414 may be provided separately from the controller 402. In other embodiments, the powertrain controller 414 may be incorporated into the controller 402 or form a part of the controller 402, thereby avoiding the need to provide a separate powertrain controller.

[0063] In some embodiments, the control system 400 may include the drive unit controller 416 described above. The drive unit controller 416 may be implemented as or include one or more devices capable of controlling the operation of the drive unit 130 in use of the vehicle 100. The drive unit controller 416 may include a memory device (not shown) and a processor (not shown) capable of executing instructions stored in the memory device to perform various functions accompanying the control of the drive unit 130. In some embodiments, the drive unit controller 416 may be provided separately from the controller 402. In other embodiments, the drive unit controller 416 may be incorporated into the controller 402 or form a part of the controller 402, thereby avoiding the need to provide a separate drive unit controller.

[0064] In some embodiments, the control system 400 may include the above-mentioned brake controller 418. The brake controller 418 may be implemented as or include one or more devices capable of controlling the operation of the brake device 150 during use of the vehicle 100. The brake controller 418 may include a memory device (not shown) and a processor (not shown) capable of executing instructions stored in the memory device to perform various functions associated with the control of the brake device 150. In some embodiments, the brake controller 418 may be provided separately from the controller 402. In other embodiments, the brake controller 418 may be incorporated into the controller 402 or form a part of the controller 402, so that the provision of a separate brake controller may be avoided.

[0065] Reference now Figure 5 In the illustrative embodiment, the controller 402 establishes an environment 500 during operation. The illustrative environment 500 includes a vehicle stopping distance calculation module 502, a vehicle stopping distance projection module 504, an object detection and alert generation module 506, a vehicle speed limit calculation module 508, and an adaptive braking control module 510.

[0066] Each module, logic system and other components of environment 500 can be implemented as hardware, firmware, software or a combination thereof. Thus, in some embodiments, one or more modules of environment 500 can be implemented as a collection of circuits or electrical devices. In such embodiments, one or more of vehicle stopping distance calculation module 502, vehicle stopping distance projection module 504, object detection and alarm generation module 506, vehicle speed limit calculation module 508 and adaptive braking control module 510 can form a part of other components of controller 402 and / or one or more processors 404. In addition, in some embodiments, one or more illustrative modules can form a part of another module, and / or one or more illustrative modules can be independent of each other. In addition, in some embodiments, one or more modules of environment 500 can be implemented as virtualized hardware components or simulation architectures that can be established and maintained by other components of controller 402 or one or more processors 404.

[0067] The vehicle stopping distance calculation module 502 is configured to calculate the vehicle stopping distance VSD of the vehicle 100 during use of the vehicle 100. As discussed above, the vehicle stopping distance calculation module 502 may be implemented as hardware, firmware, software, virtualized hardware, simulation architecture, and / or a combination thereof. To this end, in an illustrative embodiment, the vehicle stopping distance calculation module 502 may execute the following reference Figure 6 The method described.

[0068] The vehicle stopping distance projection module 504 is configured to project (i.e., directly project) light onto the surface S at a projection distance PD corresponding to the vehicle stopping distance VSD using the projection system 200 during use of the vehicle 100. As discussed above, the vehicle stopping distance projection module 504 may be implemented as hardware, firmware, software, virtualized hardware, simulation architecture, and / or a combination thereof. To this end, in an illustrative embodiment, the vehicle stopping distance projection module 504 may execute the following reference Figure 7 The method described.

[0069] The object detection and alert generation module 506 is configured to determine the proximity of the vehicle 100 to the object using the object detection system 300 and to selectively generate an operator alert based on a determination of whether the determined proximity of the object is within the calculated vehicle stopping distance VSD of the vehicle 100. As discussed above, the object detection and alert generation module 506 may be implemented as hardware, firmware, software, virtualized hardware, simulation architecture, and / or a combination thereof. To this end, in an illustrative embodiment, the object detection and alert generation module 506 may perform the following reference to Figure 8 The method described.

[0070] The vehicle speed limit calculation module 508 is configured to calculate a vehicle speed limit and apply the vehicle speed limit to the vehicle 100, thereby effectively ensuring that the vehicle 100 stops within a predetermined distance or a reference distance. As discussed above, the vehicle speed limit calculation module 508 can be implemented as hardware, firmware, software, virtualized hardware, simulation architecture, and / or a combination thereof. To this end, in an illustrative embodiment, the vehicle speed limit calculation module 508 can perform the following reference Fig. 9 and Fig.10 The method described.

[0071] The adaptive brake control module 510 is configured to control the braking capacity and / or brake dosage of the brake device 150 during use of the vehicle 100. As discussed above, the adaptive brake control module 510 may be implemented as hardware, firmware, software, virtualized hardware, simulation architecture, and / or a combination thereof. To this end, in an illustrative embodiment, the adaptive brake control module 510 may execute the following reference Fig.11 and Fig.12 The method described.

[0072] Reference now Figure 6 , the illustrative method 600 of operating the vehicle 100 may be implemented as or includes a set of instructions that may be executed by the control system 400 (i.e., the vehicle stopping distance calculation module 502). The method 600 is similar to the following method. Figure 6However, it should be understood that the method 600 can be performed in one or more orders different from the illustrative order.

[0073] The illustrative method 600 begins at block 602. In block 602, the controller 402 determines the gross weight of the vehicle 100. To perform block 602, in the illustrative embodiment, the controller 402 performs blocks 604 and 606. In block 604, the controller 402 receives a load input from the one or more vehicle load measurement devices 164, which may indicate a base weight of the vehicle 100 and a weight of one or more operators. Of course, it should be understood that in embodiments where the base weight of the vehicle 100 is a parameter stored in instructions of the memory device 406, block 604 may be omitted from the method 600. In block 606, the controller 402 receives a payload input from the payload measurement system 120. After performing blocks 604 and 606, the method 600 then proceeds to block 608.

[0074] In block 608 of the illustrative method 600, the controller 402 receives a speed input from the one or more vehicle speed sensors 160. The method 600 then proceeds from block 608 to block 610.

[0075] In block 610 of the illustrative method 600, the controller 402 receives orientation input from the one or more vehicle orientation sensors 162. In the illustrative embodiment, the orientation input indicates the pitch of the vehicle 100 about the pitch axis PA. The method 600 then proceeds from block 610 to block 612.

[0076] In block 612 of the illustrative method 600, the controller 402 determines the kinetic energy of the vehicle 100 based on the gross weight determined in block 602, the speed input received in block 608, and the orientation input received in block 610. The method 600 then proceeds from block 612 to block 614.

[0077] In block 614 of the illustrative method 600, the controller 402 determines the braking capacity of the brake device 150 of the vehicle 100. In some embodiments, to perform block 614, the controller 402 may receive a braking input provided by the one or more brake device sensors 410. The method 600 then proceeds from block 614 to block 616.

[0078] In block 616 of the illustrative method 600, the controller 402 calculates the vehicle stopping distance VSD based on the kinetic energy determined in block 612 and the braking capacity determined in block 614. In some embodiments, execution of block 616 may be associated with or correspond to execution of one iteration of the method 600 while the vehicle 100 is in use.

[0079] Reference now Figure 7 , an illustrative method 700 for operating the vehicle 100 may be implemented as or include a set of instructions that may be executed by the control system 400 (i.e., the vehicle stopping distance projection module 504). The method 700 is similar to the following method described below. Figure 7 However, it should be understood that the method 700 can be performed in one or more orders different from the illustrative order.

[0080] The illustrative method 700 begins at block 702. In block 702, the controller 402 obtains the calculated vehicle stopping distance VSD. In some embodiments, to perform block 702, after performing the method 600 described above, the controller 402 may retrieve the calculated vehicle stopping distance VSD from the memory device 406. In any case, after performing block 702, the method 700 then proceeds to block 704.

[0081] In block 704 of the illustrative method 700, the controller 402 uses the projection / illumination system 200 to project light onto the surface S at a projection distance PD corresponding to the calculated vehicle stopping distance VSD obtained in block 702. Thus, after executing block 704, a visual indication of the calculated vehicle stopping distance VSD is projected onto the surface S to alert the operator to the vehicle stopping distance VSD. The method 700 then proceeds from block 704 to block 706.

[0082] In block 706 of the illustrative method 700, the controller 402 receives a load input provided by the one or more vehicle load measurement devices 164 and a payload input provided by the payload measurement system 120. It should be appreciated that the controller 402 may determine the gross weight of the vehicle 100 based on the load input and the payload input provided in block 706 in a manner similar to the manner in which the gross weight is determined as discussed above with reference to block 602 of the method 600. Of course, in embodiments where the base weight of the vehicle 100 is stored as a parameter in the memory device 406 so that the one or more devices 164 may be omitted, the controller 402 may only receive the payload input provided by the payload measurement system 120 in block 706. In any event, the method 700 then proceeds from block 706 to block 708.

[0083] In block 708 of the illustrative method 700, the controller 402 determines whether the gross weight of the vehicle 100 has increased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 708, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 706 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 708 is based at least in part on the payload input received in block 706. If the controller 402 determines in block 708 that the gross weight of the vehicle 100 has increased, the method 700 then proceeds to block 710.

[0084] In block 710 of the illustrative method 700, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S using the projection / illumination system 200 based on the determination made in block 708. It should be understood that the determination to increase the vehicle stopping distance VSD is associated, corresponding to, or concomitant with the determination in block 708 that the gross weight of the vehicle 100 has increased. Therefore, in block 710, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S based on the increased vehicle stopping distance VSD associated with the determination made in block 708. The method 700 then returns from block 710 to block 704.

[0085] Returning to block 708 of the illustrative method 700, if the controller 402 determines in block 708 that the gross weight of the vehicle 100 has not increased, the illustrative method 700 proceeds to block 712. In block 712, the controller 402 determines whether the gross weight of the vehicle 100 has decreased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 712, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 706 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 712 is based at least in part on the payload input received in block 706. If the controller 402 determines in block 712 that the gross weight of the vehicle 100 has decreased, the method 700 then proceeds to block 714.

[0086] In block 714 of the illustrative method 700, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S using the projection / illumination system 200 based on the determination made in block 712. It should be understood that the determination to reduce the vehicle stopping distance VSD is associated, corresponding to, or concomitant with the determination in block 712 that the gross weight of the vehicle 100 has been reduced. Therefore, in block 714, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S based on the reduced vehicle stopping distance VSD associated with the determination made in block 712. The method 700 then returns from block 714 to block 704.

[0087] Returning to block 712 of the illustrative method 700, if the controller 402 determines in block 712 that the gross weight of the vehicle 100 has not decreased, the illustrative method 700 then proceeds to block 716. In block 716, the controller 402 receives a speed input from the one or more vehicle speed sensors 160. The method 700 then proceeds from block 716 to block 718.

[0088] In block 718 of the illustrative method 700, the controller 402 receives orientation input from the one or more vehicle orientation sensors 162. In the illustrative embodiment, the orientation input indicates the pitch of the vehicle 100 about the pitch axis PA. The method 700 then proceeds from block 718 to block 720.

[0089] In block 720 of the illustrative method 700, the controller 402 determines whether the pitch or speed of the vehicle 100 has increased since an initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 720, the controller 402 may compare the pitch of the vehicle 100 associated with the directional input received in block 718 and the speed of the vehicle 100 associated with the speed input received in block 716 to the directional input and speed input received in respective blocks 610, 608 of the method 600. If the controller 402 determines in block 720 that the pitch of the vehicle 100 or the speed of the vehicle 100 has increased, the method 700 then proceeds to block 722.

[0090] In block 722 of the illustrative method 700, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S using the projection / illumination system 200 based on the determination made in block 720. It should be understood that the determination to increase the vehicle stopping distance VSD is associated, corresponding to, or concomitant with the determination in block 720 that the pitch of the vehicle 100 or the speed of the vehicle 100 has increased. Therefore, in block 722, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S based on the increased vehicle stopping distance VSD associated with the determination made in block 720. The method 700 then returns from block 722 to block 704.

[0091] Returning to block 720 of the illustrative method 700, if the controller 402 determines in block 720 that the pitch of the vehicle 100 or the speed of the vehicle 100 has not increased, the illustrative method 700 proceeds to block 724. In block 724, the controller 402 determines whether the pitch or speed of the vehicle 100 has decreased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 724, the controller 402 may compare the pitch of the vehicle 100 associated with the directional input received in block 718 and the speed of the vehicle 100 associated with the speed input received in block 716 to the directional input and speed input received in respective blocks 610, 608 of the method 600. If the controller 402 determines in block 724 that the pitch of the vehicle 100 or the speed of the vehicle 100 has decreased, the method 700 then proceeds to block 726.

[0092] In block 726 of the illustrative method 700, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S using the projection / illumination system 200 based on the determination made in block 724. It should be understood that the determination to reduce the vehicle stopping distance VSD is associated, corresponding, or concomitant with the determination in block 724 that the pitch of the vehicle 100 or the speed of the vehicle 100 has decreased. Therefore, in block 726, the controller 402 adjusts the projection distance PD at which light is projected onto the surface S based on the reduced vehicle stopping distance VSD associated with the determination made in block 726. The method 700 then returns from block 726 to block 704.

[0093] Returning to block 724 of the illustrative method 700, if the controller 402 determines in block 724 that the pitch of the vehicle 100 or the speed of the vehicle 100 has not decreased, the method 700 then returns to block 704. In some embodiments, execution of block 724 may be associated with or correspond to execution of one iteration of the method 700 while the vehicle 100 is in use.

[0094] Reference now Figure 8 , an illustrative method 800 of operating the vehicle 100 may be implemented as or include a set of instructions that may be executed by the control system 400 (i.e., the object detection and alert generation module 506). The method 800 is similar to the following method described below. Figure 8 However, it should be understood that the method 800 can be performed in one or more orders different from the illustrative order.

[0095] The illustrative method 800 begins at block 802. In block 802, the controller 402 obtains the calculated vehicle stopping distance VSD. In some embodiments, to perform block 802, after performing the above-described method 600, the controller 402 may retrieve the calculated vehicle stopping distance VSD from the memory device 406. In any case, after performing block 802, the method 800 then proceeds to block 804.

[0096] In block 804 of the illustrative method 800, the controller 402 receives detection input provided by the object detection system 300. The method 800 then proceeds from block 804 to block 806.

[0097] In block 806 of the illustrative method 800, the controller 402 determines whether an object is detected within the object detection area DA based on the detection input received in block 804. It should be appreciated that the proximity of the detected object to the vehicle 100 may be determined in association with, corresponding to, or concomitant with the controller 402 determining in block 806 that an object is detected within the object detection area DA. If the controller 402 determines in block 806 that an object is detected within the object detection area DA, the method 800 then proceeds to block 808.

[0098] In block 808 of the illustrative method 800 , the controller 402 compares the proximity of the detected object to the vehicle 100 determined in block 806 to the calculated vehicle stopping distance VSD. The method 800 then proceeds from block 808 to block 810 .

[0099] In block 810 of the illustrative method 800, the controller 402 determines whether the detected object is within the calculated vehicle stopping distance VSD to the vehicle 100 based on the comparison made in block 808. If the controller 402 determines in block 810 that the detected object is within the calculated vehicle stopping distance VSD to the vehicle 100, the method 800 then proceeds to block 812.

[0100] In block 812 of the illustrative method 800, the controller 402 generates a high priority alarm that can be displayed on the display 472 of the instrument panel 170. The high priority alarm can notify the operator that the detected object is within the calculated vehicle stopping distance VSD to prompt an appropriate response. In any case, the method 800 then returns from block 812 to block 802.

[0101] Returning to block 810 of the illustrative method 800, if the controller 402 determines in block 810 that the detected object is not within the calculated vehicle stopping distance VSD, the illustrative method 800 proceeds to block 814. In block 814, the controller 402 does not generate an operator alert or generates a low priority operator alert. The low priority alert may notify the operator that the detected object is not within the calculated vehicle stopping distance VSD. In any case, the method 800 then returns from block 814 to block 802.

[0102] Returning to block 806 of the illustrative method 800 , if the controller 402 determines in block 806 that an object is not detected based on the detection input received in block 804 (or in the absence of such detection input), the method 800 then returns to block 804 .

[0103] Reference now Fig. 9 and Fig.10 , the illustrative method 900 of operating the vehicle 100 may be implemented as or includes a set of instructions that may be executed by the control system 400 (i.e., the vehicle speed limit calculation module 508). The method 900 is similar to the following method. Fig. 9 and Fig.10 However, it should be understood that the method 900 may be performed in one or more orders different from the illustrative order. For clarity, the following reference is made to Fig. 9 The boxes having 900 series reference numbers are described below with reference to Fig.10 Boxes with 1000 series reference numbers are described.

[0104] The illustrative method 900 begins at block 902. In block 902, the controller 402 obtains the calculated vehicle stopping distance VSD. In some embodiments, to perform block 902, after performing the method 600 described above, the controller 402 may retrieve the calculated vehicle stopping distance VSD from the memory device 406. In any case, after performing block 902, the method 900 then proceeds to block 904.

[0105] In block 904 of the illustrative method 900, the controller 402 determines the braking capacity of the braking device 150 of the vehicle 100. In some embodiments, to perform block 904, the controller 402 may receive a braking input provided by the one or more braking device sensors 410. The method 900 then proceeds from block 904 to block 906.

[0106] In block 906 of the illustrative method 900, the controller 402 receives a target stopping distance provided by an operator using the instrument panel 170 (e.g., one or more input devices 476). In some embodiments, the target stopping distance may be substantially equal to the calculated vehicle stopping distance VSD. In other embodiments, the target stopping distance may be less than the calculated vehicle stopping distance VSD. In any case, the method 900 then proceeds from block 906 to block 908.

[0107] In block 908 of the illustrative method 900, the controller 402 determines a vehicle kinetic energy limit based on the vehicle stopping distance VSD obtained in block 902, the braking capacity determined in block 904, and the target stopping distance received in block 906. The method 900 then proceeds from block 908 to block 910.

[0108] In block 910 of the illustrative method 900, the controller 402 receives a load input provided by the one or more vehicle load measurement devices 164 and a payload input provided by the payload measurement system 120. Of course, in embodiments where the base weight of the vehicle 100 is stored as a parameter in the memory device 406 so that the one or more devices 164 may be omitted, the controller 402 may only receive a payload input provided by the payload measurement system 120 in block 910. In any case, the method 900 then proceeds from block 910 to block 912.

[0109] In block 912 of the illustrative method 900, the controller 402 receives orientation input from the one or more vehicle orientation sensors 162. In the illustrative embodiment, the orientation input indicates the pitch of the vehicle 100 about the pitch axis PA. The method 900 then proceeds from block 912 to block 914.

[0110] In block 914 of the illustrative method 900, the controller 402 determines a vehicle speed limit based on the kinetic energy limit determined in block 908, the load input and the payload input received in block 910, and the orientation input provided in block 912. In at least some embodiments, the method 900 then proceeds from block 914 to block 1016.

[0111] In some embodiments, controller 402 may communicate the vehicle speed limit determined in block 914 to powertrain controller 414 in block 1016. In such embodiments, control of powertrain 140 may be performed by powertrain controller 414 independent of control provided by controller 402. Of course, in embodiments where control of powertrain 140 is performed by controller 402 so that provision of powertrain controller 414 may be avoided, block 1016 may be omitted from method 900. Method 900 then proceeds from block 1016 to block 1018.

[0112] In block 1018 of the illustrative method 900, the controller 402 (or the powertrain controller 414 in embodiments where block 1016 is applicable) controls the powertrain 140 based on the vehicle speed limit determined in block 914. In this manner, the controller 402 (or the powertrain controller 414) can substantially prevent the speed of the vehicle 100 from exceeding the vehicle speed limit. In any event, the method 900 then proceeds from block 1018 to block 1020.

[0113] In block 1020 of the illustrative method 900, the controller 402 determines whether the gross weight of the vehicle 100 has increased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1020, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 910 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 1020 is based at least in part on the payload input received in block 910. If the controller 402 determines in block 1020 that the gross weight of the vehicle 100 has increased, the method 900 then proceeds to block 1022.

[0114] In block 1022 of the illustrative method 900, the controller 402 reduces the vehicle speed limit based on the value determined in block 914. It should be understood that the determination to increase the vehicle stopping distance VSD is associated with, corresponding to, or concomitant with the determination in block 1020 that the gross weight of the vehicle 100 has increased. Therefore, in response to the increased vehicle stopping distance VSD, the controller 402 reduces the vehicle speed limit in block 1022. The method 900 then returns from block 1022 to block 1016 (i.e., in embodiments where block 1016 is applicable).

[0115] Returning to block 1020, if the controller 402 determines in block 1020 that the gross vehicle weight has not increased, the illustrative method 900 then proceeds to block 1024. In block 1024, the controller 402 determines whether the gross weight of the vehicle 100 has decreased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1024, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 914 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 1024 is based at least in part on the payload input received in block 914. If the controller 402 determines in block 1024 that the gross weight of the vehicle 100 has decreased, the method 900 then proceeds to block 1026.

[0116] In block 1026 of the illustrative method 900, the controller 402 increases the vehicle speed limit based on the value determined in block 914. It should be understood that the determination to reduce the vehicle stopping distance VSD is associated with, corresponding to, or concomitant with the determination in block 1024 that the gross weight of the vehicle 100 has been reduced. Therefore, in response to the reduced vehicle stopping distance VSD, the controller 402 increases the vehicle speed limit in block 1026. The method 900 then returns from block 1026 to block 1016 (i.e., in embodiments where block 1016 is applicable).

[0117] Returning to block 1024 of the illustrative method 900 , if the controller 402 determines in block 1024 that the gross weight of the vehicle 100 has not decreased, the illustrative method 900 then returns to block 1016 (ie, in embodiments where block 1016 is applicable).

[0118] Reference now Fig.11 and Fig.12 , an illustrative method 1100 of operating the vehicle 100 may be implemented as or include a set of instructions that may be executed by the control system 400 (ie, the adaptive brake control module 510). The method 1100 is similar to the following method. Fig.11 and Fig.12 However, it should be understood that the method 1100 may be performed in one or more orders different from the illustrative order. For clarity, the following references to Fig.11 Descriptions of boxes having 1100 series reference numbers and referenced below Fig.12 Boxes with 1200 series reference numbers are described.

[0119] The illustrative method 1100 begins at block 1102. In block 1102, the controller 402 obtains the calculated vehicle stopping distance VSD. In some embodiments, to perform block 1102, after performing the method 600 described above, the controller 402 may retrieve the calculated vehicle stopping distance VSD from the memory device 406. In any case, after performing block 1102, the method 1100 then proceeds to block 1104.

[0120] In block 1104 of the illustrative method 1100, the controller 402 receives a load input provided by the one or more vehicle load measurement devices 164 and a payload input provided by the payload measurement system 120. Of course, in embodiments where the base weight of the vehicle 100 is stored as a parameter in the memory device 406 so that the one or more devices 164 may be omitted, the controller 402 may only receive a payload input provided by the payload measurement system 120 in block 1104. In any case, the method 1100 then proceeds from block 1104 to block 1106.

[0121] In block 1106 of the illustrative method 1100, the controller 402 receives orientation input from the one or more vehicle orientation sensors 162. In the illustrative embodiment, the orientation input indicates a pitch of the vehicle 100 about the axis PA. The method 1100 then proceeds from block 1106 to block 1108.

[0122] In block 1108 of the illustrative method 1000, the controller 402 determines the kinetic energy of the vehicle 100 based on the load input and the payload input received in block 1104 and the orientation input received in block 1106. In some embodiments, the kinetic energy determination made by the controller 402 in block 1108 may be based on or take into account the vehicle stopping distance VSD obtained in block 1102. In any case, the method 1100 then proceeds from block 1108 to block 1110.

[0123] In frame 1110 of the illustrative method 1100, the controller 402 determines the braking capacity and / or braking dosing of the one or more brake devices 150 based on the kinetic energy determined in frame 1108 and the calculated vehicle stopping distance VSD obtained in frame 1102. To this end, in some embodiments, the controller 402 may receive a braking input provided by one or more brake device sensors 410 and / or determine adjustments to the one or more brake device valves 412 to control the fluid pressure applied to the brake device 150. In such embodiments, the one or more brake device valves 412 may be implemented as or include one or more dosing valves, proportional valves, etc. In any case, at least in some embodiments, the method 1100 then proceeds from frame 1110 to frame 1212.

[0124] In some embodiments, in block 1212, the controller 402 may communicate the braking capacity and / or braking dosing determined in block 1110 to the brake controller 418. In such embodiments, control of the brake device 150 may be performed by the brake controller 418 independently of the control provided by the controller 402. Of course, in embodiments where control of the brake device 150 is performed by the controller 402 so that provision of the brake controller 418 may be avoided, block 1212 may be omitted from the method 1100. The method 1100 then proceeds from block 1212 to block 1214.

[0125] In block 1214 of the illustrative method 1100, the controller 402 (or the brake controller 418 in embodiments where block 1212 is applicable) controls the brake device 150 based on the braking capacity and / or braking dosage determined in block 1110. To this end, in some embodiments, the controller 402 (or the brake controller 418) may selectively adjust the fluid pressure applied to the one or more brake devices 150 via the one or more brake device valves 412 based on a predetermined or reference schedule for facilitating balanced braking of the vehicle 100. In any case, the method 1100 then proceeds from block 1214 to block 1216.

[0126] In block 1216 of the illustrative method 1100, the controller 402 monitors inputs provided by the one or more vehicle load measurement devices 164, the payload measurement system 120, the one or more vehicle speed sensors 160, and the one or more vehicle orientation sensors 162. To perform block 1216, in some embodiments, the controller 402 may receive a payload input from the system 120, a load input from the one or more devices 164, a speed input from the one or more sensors 160, and an orientation input from the one or more sensors 162. Regardless, the method 1100 then proceeds from block 1216 to block 1218.

[0127] In block 1218 of the illustrative method 1100, the controller 402 determines whether the gross weight of the vehicle 100 has increased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1218, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 1216 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 1218 is based at least in part on the payload input received in block 1216. If the controller 402 determines in block 1218 that the gross weight of the vehicle 100 has increased, the method 1100 then proceeds to block 1220.

[0128] In block 1220 of the illustrative method 1100, the controller 402 increases the braking capacity and / or brake dosing curves of one or more braking devices 150 in response to the increased gross vehicle weight determined in block 1218. To perform block 1220, in some embodiments, the controller 402 may access braking capacity and / or brake dosing curves, graphs, and / or reference tables stored in the memory device 406 and modify / enhance those curves, graphs, and / or reference tables based on the increased gross vehicle weight determined in block 1218. Additionally, in such embodiments, the controller 402 may store the enhanced / modified curves, graphs, and / or reference tables in the memory device 406 to perform block 1220. In any event, the method 1100 then returns from block 1220 to block 1216.

[0129] Returning to block 1218 of the illustrative method 1100, if the controller 402 determines in block 1218 that the gross weight of the vehicle 100 has not increased, the method 1100 then proceeds to block 1222. In block 1222, the controller 402 determines whether the gross weight of the vehicle 100 has decreased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1222, the controller 402 may compare the gross weight of the vehicle 100 associated with the load input and the payload input received in block 1216 to the gross weight of the vehicle 100 determined in block 602 of the method 600. In any case, the determination made by the controller 402 in block 1222 is based at least in part on the payload input received in block 1216. If the controller 402 determines in block 1222 that the gross weight of the vehicle 100 has decreased, the method 1100 then proceeds to block 1224.

[0130] In block 1224 of the illustrative method 1100, the controller 402 reduces the braking capacity and / or brake dosing curves of one or more braking devices 150 in response to the reduced gross vehicle weight determined in block 1222. To perform block 1224, in some embodiments, the controller 402 may retrieve braking capacity and / or brake dosing curves, graphs, and / or reference tables stored in the memory device 406 and modify / reduce those curves, graphs, and / or reference tables based on the reduced gross vehicle weight determined in block 1222. Additionally, in such embodiments, the controller 402 may store the reduced / modified curves, graphs, and / or reference tables in the memory device 406 to perform block 1224. In any event, the method 1100 then returns from block 1224 to block 1216.

[0131] Returning to block 1222 of the illustrative method 1100, if the controller 402 determines in block 1222 that the gross weight of the vehicle 100 has not decreased, the method 1100 then proceeds to block 1226. In block 1226, the controller 402 determines whether the pitch or speed of the vehicle 100 has increased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1226, the controller 402 may compare the pitch of the vehicle 100 associated with the directional input received in block 1216 and the speed of the vehicle 100 associated with the speed input received in block 1216 to the directional input and speed input received in respective blocks 610, 608 of the method 600. If the controller 402 determines in block 1226 that the pitch of the vehicle 100 or the speed of the vehicle 100 has increased, the method 1100 then proceeds to block 1228.

[0132] In block 1228 of the illustrative method 1100, similar to block 1220, the controller 402 increases the braking capacity and / or brake dosing curves of one or more braking devices 150 in response to determining that the vehicle pitch or vehicle speed increased in block 1226. To perform block 1228, in some embodiments, the controller 402 may retrieve braking capacity and / or brake dosing curves, graphs, and / or reference tables stored in the memory device 406 and modify / enhance those curves, graphs, and / or reference tables based on the increased vehicle pitch or vehicle speed determined in block 1226. Additionally, in such embodiments, the controller 402 may store the enhanced / modified curves, graphs, and / or reference tables in the memory device 406 to perform block 1228. In any event, the method 1100 then returns from block 1228 to block 1216.

[0133] Returning to block 1226 of the illustrative method 1100, if the controller 402 determines in block 1226 that the pitch or speed of the vehicle 100 has not increased, the method 1100 then proceeds to block 1230. In block 1230, the controller 402 determines whether the pitch or speed of the vehicle 100 has decreased since the initial or previous calculation of the vehicle stopping distance VSD (e.g., by the method 600). In some embodiments, to perform block 1230, the controller 402 may compare the pitch of the vehicle 100 associated with the directional input received in block 1216 and the speed of the vehicle 100 associated with the speed input received in block 1216 to the directional input and speed input received in respective blocks 610, 608 of the method 600. If the controller 402 determines in block 1230 that the pitch of the vehicle 100 or the speed of the vehicle 100 has decreased, the method 1100 then proceeds to block 1232.

[0134] In block 1232 of the illustrative method 1100, similar to block 1224, the controller 402 reduces the braking capacity and / or brake dosing curves of one or more braking devices 150 in response to determining that the vehicle pitch or vehicle speed has decreased in block 1230. To perform block 1232, in some embodiments, the controller 402 may retrieve braking capacity and / or brake dosing curves, graphs, and / or reference tables stored in the memory device 406 and modify / reduce those curves, graphs, and / or reference tables based on the decreased vehicle pitch or vehicle speed determined in block 1230. Additionally, in such embodiments, the controller 402 may store the reduced / modified curves, graphs, and / or reference tables in the memory device 406 to perform block 1232. In any case, the method 1100 then returns from block 1232 to block 1216.

[0135] Returning to block 1230 of the illustrative method 1100 , if the controller 402 determines in block 1230 that the vehicle speed or vehicle pitch has not decreased, the method 1100 then returns to block 1216 .

[0136] Although the present disclosure has been shown and described in detail in the foregoing drawings and description, such illustration and description should be considered illustrative rather than limiting, and it should be understood that the illustrative embodiments of the present disclosure that have been shown and described and all changes and modifications that fall within the spirit of the present disclosure are desired to be protected.

Claims

1. A vehicle comprising: Main frame; a work implement supported by the main frame and configured to carry a payload during use of the vehicle; as well as a control system supported by the main frame and configured to control operation of the vehicle, wherein the control system includes a payload measurement system and a controller, the payload measurement system being configured to provide a payload input indicative of a variable payload carried by the work implement during use of the vehicle, the controller being connected to the payload measurement system, wherein the controller includes a processor and a memory device, the memory device being connected to the processor, the memory device having instructions stored therein, and wherein the instructions stored in the memory device are executable by the processor to cause the processor to: receive the payload input provided by the payload measurement system; determine a gross weight of the vehicle based at least in part on the payload input; determine a kinetic energy of the vehicle based at least in part on the determined gross weight; determine a braking capacity of at least one braking device of the vehicle; and calculate a stopping distance of the vehicle based on the determined kinetic energy of the vehicle and the determined braking capacity of the at least one braking device of the vehicle, wherein the control system includes a projection system connected to the controller and configured to project light onto a surface near the vehicle during use of the vehicle, and wherein the instructions stored in the memory device are executable by the processor to cause the processor to: use the projection system to project light onto a surface near the vehicle at a projection distance corresponding to the calculated stopping distance.

2. The vehicle according to claim 1, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine a gross weight of the vehicle based on the payload input and a base weight of the vehicle; receive a speed input indicative of a speed of the vehicle from at least one vehicle speed sensor; receive an orientation input indicative of an orientation of the vehicle from at least one vehicle orientation sensor; and determining the kinetic energy of the vehicle based on the determined gross weight, the received speed input, and the received orientation input.

3. The vehicle according to claim 2, wherein: The directional input is indicative of a pitch of the vehicle, the pitch being defined by positional characteristics of portions of the vehicle relative to a pitch axis.

4. The vehicle according to claim 1, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine whether the total weight of the vehicle has increased based at least in part on the payload input, and selectively adjust the projection distance at which light is projected based on the determination.

5. The vehicle according to claim 4, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: receive a speed input indicative of a speed of the vehicle from at least one vehicle speed sensor; receiving an orientation input from at least one vehicle orientation sensor indicating an orientation of the vehicle; and selectively adjusting the projection distance at which light is projected based on the received speed input and the received directional input.

6. The vehicle according to claim 1, wherein: The control system includes an object detection system connected to the controller and configured to provide a detection input indicating the presence of an object near the vehicle during use of the vehicle, and wherein the instructions stored in the memory device are executable by the processor to cause the processor to: determine a proximity of the vehicle to an object based on the detection input, and compare the determined proximity to the calculated stopping distance of the vehicle.

7. The vehicle according to claim 6, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine whether the proximity of the vehicle to the object is within the calculated stopping distance of the vehicle based on the comparison, and selectively generate an operator alert based on the determination.

8. The vehicle of claim 1, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine a vehicle kinetic energy limit based at least in part on the determined braking capacity and a target stopping distance provided to the controller by an operator; and determining a vehicle speed limit based at least in part on the determined vehicle kinetic energy limit, the payload input provided to the controller by the payload measurement system, and an orientation input indicative of an orientation of the vehicle provided to the controller by at least one orientation sensor.

9. The vehicle according to claim 8, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine whether the gross weight of the vehicle has increased, and adjust the vehicle speed limit based on the determination associated with the gross weight.

10. The vehicle of claim 1, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine the kinetic energy of the vehicle based at least in part on the payload input provided to the controller by the payload measurement system and an orientation input indicative of an orientation of the vehicle provided to the controller by at least one orientation sensor; and causing the processor to determine a braking capacity and / or a braking dosage of at least one braking device of the vehicle based on the determined kinetic energy of the vehicle and the calculated stopping distance of the vehicle.

11. The vehicle according to claim 10, wherein: The instructions stored in the memory device are executable by the processor to cause the processor to: determine whether the gross weight of the vehicle has increased; determine whether the speed of the vehicle has increased; determine whether the pitch of the vehicle has increased; And based on these determinations, a braking capacity and / or a braking metering of the at least one braking device is selectively adjusted.

12. A method of operating a vehicle, the vehicle comprising a main frame, a work tool connected to the main frame and configured to carry a payload, and a control system connected to the main frame and configured to control operation of the vehicle, the method comprising: receiving, by a controller of the control system, a payload input from a payload measurement system of the control system, the payload input being indicative of a variable payload carried by the work implement; determining, by the controller, a gross weight of the vehicle based at least in part on the payload input and a base weight of the vehicle; determining, by the controller, a kinetic energy of the vehicle based at least in part on the determined gross weight; determining, by the controller, a braking capacity of at least one braking device of the vehicle; as well as calculating, by the controller, a stopping distance of the vehicle based on the determined kinetic energy of the vehicle and the determined braking capacity of the at least one braking device of the vehicle, Wherein the control system includes a projection system configured to project light onto a surface near the vehicle, the method further comprising: The projection system is used by the controller to project light onto a surface proximate the vehicle at a projection distance corresponding to the calculated stopping distance.

13. The method according to claim 12, further comprising: receiving, by the controller, a speed input indicative of a speed of the vehicle from at least one vehicle speed sensor of the control system; receiving, by the controller, an orientation input indicative of a pitch of the vehicle from at least one vehicle orientation sensor of the control system, the pitch of the vehicle being defined by positional characteristics of a plurality of portions of the vehicle relative to a pitch axis; as well as The kinetic energy of the vehicle is determined by the controller based on the determined gross weight, the received speed input, and the received orientation input.

14. The method according to claim 12, wherein: The method further comprises: receiving, by the controller, a payload input from the payload measurement system, the payload input subsequently used in calculating the stopping distance; determining, by the controller, based at least in part on the payload input, whether the gross weight of the vehicle has increased; selectively adjusting, by the controller, the projection distance at which light is projected onto the surface in response to the determination associated with the total weight; receiving, by the controller, a speed input indicative of a speed of the vehicle from at least one vehicle speed sensor of the control system, the speed input being subsequently used in the calculation of the stopping distance; determining, by the controller, whether a speed of the vehicle has increased based on the speed input; and The projection distance at which light is projected onto the surface is selectively adjusted by the controller in response to the determination associated with speed.

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