JP7501789B2 - 車両積載異常検出方法及び装置 - Google Patents
車両積載異常検出方法及び装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
- B60K31/0083—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature responsive to centrifugal force acting on vehicle due to the path it is following
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
2 コントローラ(メモリ:自己位置検出装置)
3 車速センサ
4 舵角センサ(操舵検出センサ)
7 GPSアンテナ(自己位置検出装置)
8 ジャイロセンサ(自己位置検出装置)
12 積み荷
Claims (13)
- 車両積載異常検出方法であって、
車両の操舵制御値と前記操舵制御値に対する適正旋回半径との関係を制御マップとして予め構築し、
前記車両の自己位置検出機能を利用して前記車両の実際の実旋回半径を算出し、
前記制御マップを用いて前記適正旋回半径と前記実旋回半径との差分を算出し、
前記差分が予め定められた第一基準範囲外となった場合に前記車両に積載された積み荷に積載異常が生じたと判定する、車両積載異常検出方法。 - 前記差分が前記第一基準範囲外となった状況が所定時間継続した場合に、前記積載異常が生じたと判定する、請求項1に記載の車両積載異常検出方法。
- 前記積載異常と判定された際に、(1)前記車両を自動停止させる、(2)前記車両を上限速度が設定された低速走行モードで制御する、又は、(3)算出された前記適正旋回半径と前記実旋回半径との前記差分を解消するよう前記車両を制御する、請求項1又は2に記載の車両積載異常検出方法。
- 前記制御マップが前記車両の車速もパラメータとして構築され、検出された前記車両の車速も利用して前記差分が算出される、請求項1~3の何れか一項に記載の車両積載異常検出方法。
- 前記制御マップを前記車両の実走行時に構築する、請求項1~4の何れか一項に記載の車両積載異常検出方法。
- 前記第一基準範囲を内包する第二基準範囲を設定し、前記差分が第二基準範囲外となった場合には前記積載異常が生じたと判定すると共に前記車両のシャーシに異常があると判定する、請求項1~5の何れか一項に記載の車両積載異常検出方法。
- 車両積載異常検出装置であって、
車両の自己位置を検出する自己位置検出装置と、
前記車両の実際の操舵制御値を検出する操舵検出センサと、
前記車両の操舵制御値と前記操舵制御値に対する適正旋回半径との関係を制御マップとして記憶するメモリと、
前記車両に搭載された積み荷の積載異常を判定するコントローラと、を備えており、
前記コントローラが、前記自己位置検出装置の検出結果に基づいて前記車両の実際の実旋回半径を算出し、前記制御マップを用いて前記適正旋回半径と前記実旋回半径との差分を算出し、前記差分が予め定められた第一基準範囲外となった場合に前記積載異常が生じたと判定するように構成されている、車両積載異常検出装置。 - 前記コントローラは、前記差分が前記第一基準範囲外となった状況が所定時間継続した場合に、前記積載異常が生じたと判定するように構成されている、請求項7に記載の車両積載異常検出装置。
- 前記コントローラが、前記積載異常が生じたと判定した際に、(1)前記車両を自動停止させる、(2)前記車両を上限速度が設定された低速走行モードで制御する、又は、(3)算出された前記適正旋回半径と前記実旋回半径との前記差分を解消するよう前記車両を制御する、ように構成されている、請求項7又は8に記載の車両積載異常検出装置。
- 前記車両の車速を検出する車速センサをさらに備えており、
前記制御マップが前記車両の車速もパラメータとして構築されて前記メモリに保存されており、
前記コントローラが、前記車速センサによって検出された車速も利用して前記差分を算出するように構成されている、請求項7~9のいずれか一項に記載の車両積載異常検出装置。 - 前記コントローラが、前記車両の実走行時の前記自己位置検出装置及び前記操舵検出センサの検出結果を利用して前記制御マップを構築する、請求項7~9の何れか一項に記載の車両積載異常検出装置。
- 前記コントローラが、前記車両の実走行時の前記車速センサ、前記自己位置検出装置及び前記操舵検出センサの検出結果を利用して前記制御マップを構築する、請求項10に記載の車両積載異常検出装置。
- 前記コントローラは、前記差分が前記第一基準範囲を内包する第二基準範囲外となった場合には前記積載異常が生じたと判定すると共に前記車両のシャーシに異常があると判定するように構成されている、請求項7~12の何れか一項に記載の車両積載異常検出装置。
Applications Claiming Priority (3)
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JP2021082197 | 2021-05-14 | ||
JP2021082197 | 2021-05-14 | ||
PCT/JP2022/002267 WO2022239306A1 (ja) | 2021-05-14 | 2022-01-21 | 車両積載異常検出方法及び装置 |
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JPWO2022239306A1 JPWO2022239306A1 (ja) | 2022-11-17 |
JPWO2022239306A5 JPWO2022239306A5 (ja) | 2024-02-15 |
JP7501789B2 true JP7501789B2 (ja) | 2024-06-18 |
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JP2023520769A Active JP7501789B2 (ja) | 2021-05-14 | 2022-01-21 | 車両積載異常検出方法及び装置 |
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Country | Link |
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US (1) | US20240066985A1 (ja) |
EP (1) | EP4339020A1 (ja) |
JP (1) | JP7501789B2 (ja) |
KR (1) | KR20230169314A (ja) |
CN (1) | CN117241965A (ja) |
WO (1) | WO2022239306A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2015055603A (ja) | 2013-09-13 | 2015-03-23 | 日立建機株式会社 | ダンプトラック |
JP2017007444A (ja) | 2015-06-18 | 2017-01-12 | 日野自動車株式会社 | 情報提供装置、車両、および情報提供方法 |
US20180194548A1 (en) | 2017-01-11 | 2018-07-12 | Biosphere Aerospace, Llc | Modular container transport systems |
EP3623216A1 (en) | 2017-12-13 | 2020-03-18 | Newkoadwind.,Co.Ltd | Device for controlling tilt of truck cargo box by using navigation system |
JP2020131865A (ja) | 2019-02-18 | 2020-08-31 | 矢崎エナジーシステム株式会社 | 安全監視装置および安全監視方法 |
WO2020205938A1 (en) | 2019-04-03 | 2020-10-08 | Waymo Llc | Detection of anomalous trailer behavior |
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JPH10175476A (ja) | 1996-12-20 | 1998-06-30 | J K C Toratsuku Brake Syst:Kk | トレーラの荷崩れ警報装置 |
JP5798363B2 (ja) | 2011-04-21 | 2015-10-21 | 矢崎エナジーシステム株式会社 | 荷崩れ予報装置 |
JP2013035399A (ja) * | 2011-08-08 | 2013-02-21 | Toshiba Alpine Automotive Technology Corp | 荷室監視装置 |
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2022
- 2022-01-21 EP EP22807013.2A patent/EP4339020A1/en active Pending
- 2022-01-21 WO PCT/JP2022/002267 patent/WO2022239306A1/ja active Application Filing
- 2022-01-21 CN CN202280032602.8A patent/CN117241965A/zh active Pending
- 2022-01-21 KR KR1020237038928A patent/KR20230169314A/ko unknown
- 2022-01-21 JP JP2023520769A patent/JP7501789B2/ja active Active
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2015055603A (ja) | 2013-09-13 | 2015-03-23 | 日立建機株式会社 | ダンプトラック |
JP2017007444A (ja) | 2015-06-18 | 2017-01-12 | 日野自動車株式会社 | 情報提供装置、車両、および情報提供方法 |
US20180194548A1 (en) | 2017-01-11 | 2018-07-12 | Biosphere Aerospace, Llc | Modular container transport systems |
EP3623216A1 (en) | 2017-12-13 | 2020-03-18 | Newkoadwind.,Co.Ltd | Device for controlling tilt of truck cargo box by using navigation system |
JP2020131865A (ja) | 2019-02-18 | 2020-08-31 | 矢崎エナジーシステム株式会社 | 安全監視装置および安全監視方法 |
WO2020205938A1 (en) | 2019-04-03 | 2020-10-08 | Waymo Llc | Detection of anomalous trailer behavior |
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Publication number | Publication date |
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CN117241965A (zh) | 2023-12-15 |
WO2022239306A1 (ja) | 2022-11-17 |
JPWO2022239306A1 (ja) | 2022-11-17 |
US20240066985A1 (en) | 2024-02-29 |
EP4339020A1 (en) | 2024-03-20 |
KR20230169314A (ko) | 2023-12-15 |
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