Detection method of loading anomaly on vehicle, and detection apparatus thereof
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.
1. 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.
2. The detection method of a loading anomaly on a vehicle according to claim 1 ,
wherein the loading anomaly is determined to have occurred when a state in which the difference lies outside the first reference range continues for a predetermined time.
3. The detection method of a loading anomaly on a vehicle according to claim 1 , further comprising:
controlling the vehicle, when the loading anomaly is determined to have occurred, so as to (1) stop the vehicle automatically, (2) control the vehicle in a low-speed mode where an upper speed limit is set, or (3) control the vehicle to eliminate the difference between the proper turning radius and the actual turning radius.
4. The detection method of a loading anomaly on a vehicle according to claim 1 ,
wherein the control map is constructed while treating a running speed of the vehicle as a parameter, and
wherein the difference is calculated by using also the running speed of the vehicle that is detected.
5. The detection method of a loading anomaly on a vehicle according to claim 1 ,
wherein the control map is constructed during actual running of the vehicle.
6. 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.
7. The detection apparatus of a loading anomaly on a vehicle according to claim 6 ,
wherein the controller is configured to determine that the loading anomaly has occurred when a state in which the difference lies outside the first reference range continues for a predetermined time.
8. The detection apparatus of a loading anomaly on a vehicle according to claim 6 ,
wherein the controller is further configured to control the vehicle, when the loading anomaly is determined to have occurred, so as to (1) stop the vehicle automatically, (2) control the vehicle in a low-speed mode where an upper speed limit is set, or (3) control the vehicle to eliminate the difference between the proper turning radius and the actual turning radius.
9. The detection apparatus of a loading anomaly on a vehicle according to claim 6 , further comprising:
a speed sensor that detects a running speed of the vehicle,
wherein the control map is constructed while treating a running speed of the vehicle as a parameter and then stored in the memory, and
wherein the controller is configured to calculate the difference by using also the running speed detected by the speed sensor.
10. The detection apparatus of a loading anomaly on a vehicle according to claim 6 ,
wherein the controller constructs the control map by using detection results of the self-location detector and the steering detection sensor during actual running of the vehicle.
11. The detection apparatus of a loading anomaly on a vehicle according to claim 10 ,
wherein the controller constructs the control map by using detection results of the speed sensor, the self-location detector and the steering detection sensor during actual running of the vehicle.