| 摘要 |
This utility vehicle is equipped with a boom, an arm, a bucket, an arm operating member, a velocity limit calculating unit, a velocity determination unit, an adjustment unit, and a boom velocity determination unit. The velocity limit calculation unit calculates a velocity limit for controlling the blade tip velocity of the bucket on the basis of the correlation with the distance between the blade tip of the bucket and the design topography. The velocity determination unit determines whether the boom lifting velocity is falling, when the control variable of the arm operating member is less than a predetermined value. If the velocity determination unit deems that the boom lifting velocity has started falling, the adjustment unit delays the change in velocity to the velocity limit, compared to the case in which the boom lifting velocity is deemed not to have started falling. The boom velocity determination unit determines a target velocity for the boom on the basis of a velocity limit after a delay imposed by the adjustment unit, if the boom lifting velocity is deemed to have started falling, and if the boom lifting velocity is not deemed to have started falling, the target velocity for the boom is determined on the basis of the velocity limit calculated by the velocity limit calculation unit. |
