US 12,339,121 B2
Heavy goods vehicle
Hideki Hirayama, Sapporo (JP); Yusuke Kaneta, Sapporo (JP); Shigeki Kumagai, Kawanishi (JP); Shinji Nanba, Tokyo (JP); Toshiyuki Kohara, Tokyo (JP); Shuei Tanaka, Tokyo (JP); and Haruhisa Sakai, Tokyo (JP)
Assigned to JFE STEEL CORPORATION, Tokyo (JP)
Appl. No. 17/996,665
Filed by JFE STEEL CORPORATION, Tokyo (JP)
PCT Filed Apr. 21, 2021, PCT No. PCT/JP2021/016217
§ 371(c)(1), (2) Date Oct. 20, 2022,
PCT Pub. No. WO2021/215481, PCT Pub. Date Oct. 28, 2021.
Claims priority of application No. 2020-075843 (JP), filed on Apr. 22, 2020.
Prior Publication US 2023/0221121 A1, Jul. 13, 2023
Int. Cl. G01C 21/16 (2006.01); B60P 3/00 (2006.01); B60W 40/10 (2012.01); G01C 21/28 (2006.01); G01C 22/00 (2006.01); G01G 19/08 (2006.01); G01S 19/45 (2010.01)
CPC G01C 21/188 (2020.08) [G01C 21/165 (2013.01); G01C 21/166 (2020.08); G01C 21/28 (2013.01); G01C 22/00 (2013.01); G01S 19/45 (2013.01); B60P 3/00 (2013.01); B60W 40/10 (2013.01); B60W 2300/12 (2013.01); G01G 19/08 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A heavy goods vehicle comprising a cargo bed and a plurality of tires supporting the cargo bed, the heavy goods vehicle traveling by using the plurality of tires while a heavy object is loaded on the cargo bed, the heavy goods vehicle further comprising:
at least one rotation angle detector configured to detect a first physical quantity corresponding to a rotation angle of at least one specified tire in the plurality of tires;
a displacement calculator configured to calculate a displacement by multiplying the first physical quantity detected by the rotation angle detector by an arc length per unit rotation angle corresponding to one unit of the first physical quantity at an outer circumference of the specified tire;
a vehicle position estimator configured to estimate a vehicle position using the displacement calculated by the displacement calculator;
a load detector configured to detect a second physical quantity corresponding to a loading weight of a heavy object loaded on the cargo bed; and
a memory configured to store a correlation between the second physical quantity detected by the load detector and an arc length per predetermined rotation angle at the outer circumference of the specified tire, wherein
the displacement calculator is configured to
refer to the correlation in the memory and calculate a current arc length per unit rotation angle at the outer circumference of the specified tire from the second physical quantity detected by the load detector, and
calculate the displacement by multiplying the first physical quantity detected by the rotation angle detector by the current arc length per unit rotation angle, and
the load detector is a pressure sensor configured to detect a pressure of a lifting cylinder supporting the cargo bed from below.