US 12,427,861 B2
Detection method of loading anomaly on vehicle, and detection apparatus thereof
Satoru Tagawa, Tokyo (JP); and Yoshiharu Kaneshima, Tokyo (JP)
Assigned to IHI CORPORATION, Tokyo (JP)
Filed by IHI CORPORATION, Tokyo (JP)
Filed on Oct. 25, 2023, as Appl. No. 18/383,553.
Application 18/383,553 is a continuation of application No. PCT/JP2022/002267, filed on Jan. 21, 2022.
Claims priority of application No. 2021-082197 (JP), filed on May 14, 2021.
Prior Publication US 2024/0066985 A1, Feb. 29, 2024
Int. Cl. B60K 31/12 (2006.01); B60K 31/00 (2006.01); B62D 6/00 (2006.01)
CPC B60K 31/12 (2013.01) [B60K 31/0066 (2013.01); B62D 6/002 (2013.01)] 11 Claims
OG exemplary drawing
 
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.