Detection method of loading anomaly on vehicle, and detection apparatus thereof
AssigneeIHI Corporation
InventorsSatoru Tagawa, Yoshiharu Kaneshima
Life of this patent
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Abstract
In a detection method of a loading anomaly, relationship between a steering control value of a vehicle and a proper turning radius for the steering control value is constructed as a control map. An actual turning radius of the vehicle is calculated by using a self-location detection function of the vehicle. A difference between the proper turning radius and the actual turning radius is calculated by using the control map. It is determined that a loading anomaly of a cargo loaded on the vehicle has occurred when the difference lies outside a predetermined first reference range.
Claims11
A detection method of a loading anomaly on a vehicle, the method comprising:
- constructing relationship between a steering control value of the vehicle and a proper turning radius for the steering control value as a control map, preliminarily;
- calculating an actual turning radius of the vehicle by using a self-location detection function of the vehicle;
- calculating a difference between the proper turning radius and the actual turning radius by using the control map;
- and
- determining that a loading anomaly of a cargo loaded on the vehicle has occurred when the difference lies outside a predetermined first reference range,
- wherein a second reference range that encompasses the first reference range is set;
- and
- wherein the loading anomaly is determined to have occurred and a chassis abnormality is also determined to have occurred when the difference lies outside the second reference range.
A detection apparatus of a loading anomaly on a vehicle, the apparatus comprising:
- a self-location detector that detects a self-location of the vehicle;
- a steering detection sensor that detects an actual steering control value of the vehicle;
- a memory that stores relationship between a steering control value of the vehicle and a proper turning radius for the steering control value as a control map;
- and
- a controller that judges a loading anomaly of a cargo loaded on the vehicle,
- wherein the controller is configured to
- calculate an actual turning radius of the vehicle based on detection results of the self-location detector,
- calculate a difference between the proper turning radius and the actual turning radius by using the control map, and
- determine that the loading anomaly has occurred when the difference lies outside a predetermined first reference range, and
- wherein the controller is further configured to determine that the loading anomaly has occurred and a chassis abnormality also has occurred when the difference lies outside a second reference range that encompasses the first reference range.
Dependencies are inferred from the claim text.