{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9771078","patent":{"patent_number":"US-9771078","title":"Haulage vehicle","assignee":null,"inventors":[],"filing_date":"2014-09-30T00:00:00.000Z","publication_date":"2017-09-26T00:00:00.000Z","cpc_codes":["B60W","G05D","B60W","B60W","B60W","B60W","B60W","G05D","B60W","B60W","B60W","B60W","B60W","B60W","B60W","B60W","B60W","B60W","B60W","B60W"],"num_claims":6,"abstract":"An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (θ) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB)."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Haulage vehicle","description":"An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9771078","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9771078","citation_suggestion":"Patentable. \"Haulage vehicle\" (US-9771078). https://patentable.app/patents/US-9771078","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9771078","json":"https://patentable.app/api/llm-context/US-9771078","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T04:15:11.238Z"}