KR102645058B1 - Apparatus for controlling a vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a vehicle control device, a system including the same, and a method thereof. The vehicle control device according to an embodiment of the present invention provides a warning based on the result of detection of cargo pushing when braking a cargo vehicle, or the result of detection of cargo sliding. and a processor that controls the amount of braking according to the situation ahead; and a storage unit that stores the braking amount obtained by the processor.

Description

Vehicle control device, system including the same, and method thereof {Apparatus for controlling a vehicle, system having the same and method thereof}

The present invention relates to a vehicle control device, a system including the same, and a method thereof, and more specifically, to a braking control technology for a freight vehicle.

The number of vehicles using highways is increasing due to the expansion of daily living areas, and the number of cargo vehicles carrying cargo is also increasing due to the development of the distribution industry.

In the case of such a cargo vehicle, the momentum of the vehicle increases as the weight of the loaded cargo increases, and when the cargo is overloaded, the braking power of the cargo vehicle decreases. Accordingly, when an overloaded cargo vehicle suddenly brakes, the braking distance increases, which can cause a major accident.

Additionally, if a cargo vehicle traveling at high speed with loaded cargo suddenly stops due to an unexpected situation ahead, the loaded cargo may be pushed and collide with the driver's seat, injuring the driver.

An embodiment of the present invention provides a vehicle control device, a system including the same, and a method for detecting the state of cargo being pushed back, warning the user, and controlling braking based on the distance to the vehicle ahead and the state of loaded cargo in the event of a risk of collision. We would like to provide

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A vehicle control device according to an embodiment of the present invention includes a processor that performs a warning based on a load slippage detection result when braking a cargo vehicle or controls a braking amount according to the load push detection result and the situation ahead; and a storage unit that stores the braking amount obtained by the processor.

In one embodiment, the cargo pushing detection result may include a pressure value caused by the cargo.

In one embodiment, when the pressure value caused by the cargo exceeds a predetermined first standard value, it may be determined to be a warning situation and control the output of a cargo backlog warning. In one embodiment, the processor may include setting a stress of a predetermined ratio of the yield stress of the deck guard of the cargo vehicle as the first reference value.

In one embodiment, the processor divides the deck guard of the vehicle into a plurality of areas, calculates a force that is a predetermined ratio of the yield stress for each of the plurality of areas, and loads the cargo corresponding to each of the plurality of areas. It may include determining that the first standard value is satisfied when the force due to the pressure value is greater than or equal to the magnitude of the force that is a predetermined ratio of the yield stress.

In one embodiment, the processor may control the warning to be issued through at least one of visual, tactile, and auditory output.

In one embodiment, when outputting the cargo backlog warning, the processor may include outputting a cargo backlog warning light or a guidance phrase inducing cargo repackage.

In one embodiment, the processor may determine a dangerous situation and determine a forward situation when the pressure value caused by the cargo exceeds a second reference value that is higher than the first reference value. In one embodiment, the processor may include setting the second reference value based on a yield condition due to Von mises stress.

In one embodiment, when there is a vehicle in front, the processor determines whether there is a collision with the vehicle in front and controls the amount of braking in conjunction with an electric brake system (EBS). It can be included.

In one embodiment, the processor may include performing low-speed braking control when there is no vehicle in front.

A vehicle system according to an embodiment of the present invention includes a cargo pushing detection device that detects cargo pushing of a cargo vehicle; and a vehicle control device that issues a warning based on the load pushing detection result or controls the amount of braking according to the load pushing detection result and the situation ahead.

In one embodiment, the cargo slip detection device may include at least one of a pressure distribution gauge, a load cell, a strain gauge, and a displacement sensor.

In one embodiment, the cargo push detection device may include one provided at a front end of the cargo loading box.

In one embodiment, the cargo push detection device may vary the mounting position and number of cargo bins depending on the size or shape of the cargo loading box.

In one embodiment, when the load pushing is detected, the vehicle control device issues a warning to the user when the load pushing degree exceeds the first standard value, and the cargo pushing degree exceeds the first standard value. If the second reference value that is greater than the reference value is exceeded, it may be judged as a dangerous situation and may include determining the situation ahead.

In one embodiment, the vehicle control device divides the deck guard of the vehicle into a plurality of regions, calculates a force that is a predetermined ratio of the yield stress for each of the plurality of regions, and calculates a force corresponding to each of the plurality of regions. It may include determining that the first standard value is satisfied when the force due to the pressure value due to the cargo is greater than or equal to the magnitude of the force that is a predetermined ratio of the yield stress.

A vehicle control method according to an embodiment of the present invention includes detecting the backlog of a cargo vehicle; And it may include performing a warning based on the cargo pushing detection result or controlling the amount of braking according to the cargo pushing detection result and the situation ahead.

In one embodiment, the step of detecting the cargo being pushed away by the cargo vehicle may include detecting the cargo being pushed away when the cargo vehicle is braking or suddenly braking.

In one embodiment, the controlling of the amount of braking may include, when the weight pushing is detected, issuing a warning to the user when the weight of the weight exceeds a first reference value; determining a dangerous situation and determining a forward situation when the degree of cargo pushing exceeds a second standard value that is greater than the first standard value; And it may include performing a warning based on the cargo pushing detection result or controlling the amount of braking according to the cargo pushing detection result and the situation ahead.

This technology can help safe driving of cargo trucks by detecting the state of cargo being pushed back, warning the user, and controlling optimal braking based on the distance to the vehicle ahead and the state of loaded cargo in case of a risk of collision.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a vehicle control device according to an embodiment of the present invention.
Figure 2 is a diagram for explaining an exemplary warning operation of a vehicle control device according to an embodiment of the present invention.
Figure 3 is a diagram for explaining an exemplary braking operation of a vehicle control device according to an embodiment of the present invention.
Figure 4 is a diagram for explaining a braking process of a vehicle control device according to an embodiment of the present invention.
Figure 5 is a diagram for explaining a warning operation according to the pressure value of cargo when braking a vehicle according to an embodiment of the present invention.
Figure 6 is a diagram for explaining warning and braking control according to the pressure value of cargo when a vehicle suddenly brakes according to an embodiment of the present invention.
Figure 7 is a flowchart for explaining a vehicle control method according to an embodiment of the present invention.
Figure 8 is an exemplary diagram of pressure at each location of a pressure distribution measuring device according to an embodiment of the present invention.
Figure 9 is an exemplary diagram of a horizontal load according to an embodiment of the present invention.
Figure 10 is a diagram for explaining a method of setting a warning standard according to an embodiment of the present invention.
Figure 11 is an exemplary diagram showing stress during analysis according to an embodiment of the present invention.
Figure 12 shows a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

The present invention discloses a technology that enables optimal braking control by detecting the backlog of a cargo truck, notifying the user, and controlling the amount of braking according to the backlog and braking situation.

In addition, the present invention is an automatic emergency braking system (AEBS; Advanced Emergency Braking System) and electronic brake that detects vehicles or objects ahead using a camera and radar and sends a signal in case of a risk of collision to brake the vehicle without the driver's pedal operation. It can be applied to systems (EBS; Electric Brake System), etc.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 8.

1 is a block diagram showing the configuration of a vehicle system including a vehicle control device according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle system according to an embodiment of the present invention includes a vehicle control device 100, a sensing module 200, a display device 300, a steering control device 300, a braking control device 400, It may include an engine control device 500.

The vehicle control device 100 may issue a warning based on the cargo pushing detection result or control the amount of braking according to the cargo pushing detection result and the situation ahead.

The vehicle control device 100 may include a communication unit 110, a storage unit 120, and a process 130.

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through wireless or wired connections. In the present invention, in-vehicle communication is performed through CAN communication, LIN communication, etc. And, communication can be performed with the sensing module 200, display device 300, steering control device 400, braking control device 500, engine control device 600, etc.

The storage unit 120 contains the sensing results of the sensing module 200, the braking amount information obtained by the process 130, a table mapping the pressure load and yield stress, and a table mapping the yield condition due to the pressure load and Bonmis stress. You can save tables, etc. The storage unit 120 has a flash memory type, a hard disk type, a micro type, and a card type (e.g., a Secure Digital Card (SD Card) or an eXtream Digital Card (XD Card). Memory such as RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), and magnetic memory (MRAM) , Magnetic RAM, magnetic disk, and optical disk type memory.

The process 130 may be electrically connected to the communication unit 110, the storage unit 120, etc., may electrically control each component, and may be an electrical circuit that executes software commands, thereby providing various functions as described later. Can perform data processing and calculations.

The process 130 may perform a warning based on the cargo pushing detection result when braking a cargo vehicle or control the amount of braking according to the cargo pushing detection result and the situation ahead. At this time, the cargo pushing detection result may include the pressure value due to the cargo pushing.

The process 130 may determine a warning situation when the pressure value caused by the cargo exceeds a predetermined first standard value (warning standard value) and control the output of the cargo backlog warning. That is, the process 130 checks the pressure caused by cargo pushing due to the inertia of the cargo being pushed forward (to the driver's seat) during braking, and when the pressure value due to cargo pushing exceeds the warning standard value, it notifies the user and reloads the cargo. You can encourage safe driving by restraining yourself.

To this end, the process 130 can be controlled to issue a warning through at least one output among visual, tactile, and auditory senses. Under the control of the process 130, visual and auditory warnings may be performed through the display device 300, and tactile warnings may be performed using separate seat vibration, handle vibration, etc. devices.

In addition, when the cargo slipping warning is output, the process 130 outputs a cargo slipping warning light or a guidance phrase inducing cargo re-packing, allowing the user to drive after re-tying the cargo, thereby preventing cargo overturning, cargo slipping, etc. Accidents can be prevented in advance.

If the pressure value due to the cargo exceeds the second standard value (danger standard value) that is higher than the first standard value (warning standard value), the process 130 determines a dangerous situation and determines the situation ahead in conjunction with the sensing module 200. .

Process 130 sets the stress of 2/3 of the yield stress of the deck guard of the cargo vehicle as the first reference value, and sets the second reference value based on the yield condition by Von mises stress. .

That is, the process 130 performs a warning when the pressure load of the cargo applied to the deck guard of the cargo vehicle is more than 2/3 of the yield stress, induces the cargo to be re-packed, and If the pressure load of the cargo is above the yield condition due to Bonmis stress, which is the risk standard, optimal braking control can be performed through the EBS pressure control valve.

In addition, the processor 230 uses a table mapping pre-stored pressure load and yield stress, a table mapping yield conditions due to pressure load and Bonmis stress, etc. to set a warning standard value (first standard value) or a risk standard value (second standard value). It can be determined whether the standard value is exceeded.

The processor 230 divides the deck guard of the vehicle into a plurality of regions and calculates a force that is a predetermined ratio of the yield stress for each of the plurality of regions,

If the force caused by the pressure value of the cargo corresponding to each of the plurality of areas is greater than or equal to the magnitude of the force that is a predetermined ratio of the yield stress, it can be determined that the first standard value is satisfied.

If there is a vehicle in front, the process 130 determines whether there is a collision with the vehicle in front, and if there is a possibility of a collision, increases the amount of braking in conjunction with the electric brake system (EBS) and causes a collision. In cases where the possibility of occurrence is low, the amount of braking can be controlled considering the degree of cargo pushing. Additionally, when there is no vehicle ahead, the process 130 may perform low-speed braking control in consideration of the degree of cargo pushing.

In this way, the present invention eliminates situations in which users are in danger due to cargo being pushed back even during sudden braking, allowing users to brake without fear and preventing accidents such as the user's death due to cargo being pushed back.

By constantly monitoring cargo pushback during AEBS operation, in situations where cargo is safely tied up, braking can be performed at the highest performance when AEBS is in operation, and when there is cargo pushback, the amount of deceleration can be adjusted to enable safe braking.

The sensing module 200 may be equipped with a plurality of sensors to detect objects external to the vehicle, and may detect the location of the external object, the speed of the external object, the direction of movement of the external object, and/or the type of external object (e.g., vehicle, pedestrian). , bicycle or motorcycle, etc.). For this purpose, the sensing module 200 is equipped with a camera 210, a lidar 220, etc., and includes an ultrasonic sensor, a radar, a laser scanner and/or a corner radar, an acceleration sensor, a yaw rate sensor, a torque measurement sensor and/or a wheel. It may further include a speed sensor, a steering angle sensor, etc. In the present invention, the presence of a vehicle in front of a cargo truck, the position of the vehicle in front, and relative speed are detected through the camera 210 and lidar 220, and are provided to the vehicle control device 100.

The cargo pushing detection unit 230 is provided between the driver's seat and the cargo compartment (loading box) and can detect the pushing of cargo. To this end, the cargo push detection unit 230 may include a pressure distribution gauge, a load cell, a strain gauge, a displacement sensor, etc. A pressure distribution meter measures pressure, which is the force applied per unit area, and a load cell is a load gauge, load sensor, or force sensor that is a transducer that measures load or force. A strain gauge is a device that measures the length increased or decreased relative to the original length when an object is tensioned or compressed. Displacement sensors can measure the distance or location an object has moved.

The cargo push detection unit 230 can be applied to various sizes and positions depending on the size and shape of the cargo loading box. Additionally, a method of providing not only a large area pressure distribution gauge but also several small pressure distribution gauges may be considered. The cargo pushing detection unit 230 periodically transmits a signal detecting cargo pushing to the vehicle control device 100. The cargo pushing detection unit 230 can detect cargo pushing when the vehicle is braking and can periodically detect cargo pushing.

For example, when applying LiDAR, which can detect objects on both the front, front, left, and right sides of a vehicle, cargo pushing can be additionally detected through LiDAR, and a sensor that can be attached to the cargo is installed at the back of the cargo box and attached to the cargo. When falling from the cargo, a signal can be transmitted to the processor 130. In addition, the load can be measured using a load cell, the amount of cargo pushing can be measured using a displacement meter, and all conventional methods can be used to measure the cargo pushing. In addition, a separate switch may be provided to turn on and off the operation of the cargo sliding detection unit 230 so that the user can select whether to detect cargo sliding.

The display device 300 may display a warning screen for cargo backlog situations. The display device 300 may be implemented as a head-up display (HUD), cluster, AVN (Audio Video Navigation), etc. In addition, the display device 300 includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), a light emitting diode (LED), and an organic light emitting diode (OLED). LED), active OLED (AMOLED, Active Matrix OLED), flexible display, bent display, and 3D display. Some of these displays may be implemented as transparent displays that are transparent or optically transparent so that the outside can be viewed. Additionally, the display device 300 is provided as a touchscreen including a touch panel and can be used as an input device in addition to an output device.

The steering control device 400 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller that controls the actuator.

The braking control device 500 may be configured to control braking of a vehicle and may include a controller that controls the brakes.

The engine control device 600 may be configured to control engine operation of the vehicle and may include a controller that controls the speed of the vehicle.

In this way, the present invention can prevent accidents caused by braking or sudden braking of a cargo vehicle by detecting cargo pushing when a cargo vehicle is braking or suddenly braking, warning the user of the cargo pushing, and enabling safe braking of the cargo vehicle.

FIG. 2 is a diagram illustrating an exemplary warning operation of a vehicle control device according to an embodiment of the present invention, and FIG. 3 is a diagram illustrating an exemplary braking operation of a vehicle control device according to an embodiment of the present invention. am.

The cargo push detection unit 230 is mounted between the driver's seat and the cargo compartment, and detects when the cargo 10 is pushed toward the driver's seat from the cargo compartment and the pressure increases. That is, the cargo push detection unit 230 is mounted on the front end (deck guard) of the cargo box where the cargo 10 is loaded.

At this time, the vehicle control device 100 of the cargo truck detects when cargo pushing occurs due to braking in conjunction with the cargo pushing detection unit 230, and when the pressure due to cargo pushing is greater than a predetermined warning standard, the cargo is sent to the cluster 310. Displays a jungle warning screen or turns on a warning light.

Referring to FIG. 3, the vehicle control device 100 of a cargo truck detects that when the pressure due to cargo pushing during sudden braking of a cargo truck is greater than a predetermined risk standard, the deck guard is broken due to cargo pushing or the cargo pushes the loading box and enters the driver's seat. If the situation is judged to be dangerous, emergency braking is turned off.

Subsequently, the vehicle control device 100 can detect an object in front through the camera 210 and the radar 220, determine the risk of collision with the object in front, and adjust the amount of braking. In other words, if there is no object in front, the amount of braking can be increased, and if there is an object in front, the amount of braking can be reduced to avoid a collision and apply minimal braking. At this time, the vehicle control device 100 can control braking in conjunction with the existing AEBS 410, etc.

Figure 4 is a diagram for explaining a braking process of a vehicle control device according to an embodiment of the present invention. Referring to FIG. 4, the EBS ECU controls the chamber or cylinder pressure in conjunction with the wheel speed sensor to enable braking desired by the driver, and can control the amount of braking by adjusting the pressure control valve.

Figure 5 is a diagram for explaining a warning operation according to the pressure value of the cargo when braking a vehicle according to an embodiment of the present invention, and Figure 6 is a diagram for explaining the warning operation according to the pressure value of the cargo when the vehicle suddenly brakes according to an embodiment of the present invention. This is a diagram to explain warning and braking control.

Referring to FIG. 5, the vehicle control device 100 may output a pop-up warning light on the screen of the cluster 320, etc. when the pressure value of the cargo detected by the cargo push detection unit 230 is greater than a predetermined warning standard value. . Accordingly, the vehicle control device 100 may guide the user to re-package the cargo after checking the warning light screen of the cluster 320. At this time, FIG. 5 shows an example in which the vehicle control device 100 is implemented as an EBS ECU.

Additionally, the vehicle control device 100 may provide not only visual warnings but also auditory and tactile warnings. For example, the vehicle control device 100 may provide a visual warning by displaying a large pop-up warning light in the center of the electronic cluster along with an auditory sound.

When the warning level is set to multiple levels, the vehicle control device 100 determines it to be warning level 1 when the pressure (load) detected when braking the cargo vehicle is above the warning standard, and displays a warning light on the cluster 320 like a fuel warning light. A cargo capture warning light can be displayed to encourage cargo capture.

If the pressure (load) detected when braking a cargo vehicle exceeds the warning standard by more than 20%, it is judged to be warning level 2, and a large pop-up warning light can be displayed in the center of the electronic cluster along with an audible sound.

Referring to FIG. 6, when the cargo vehicle suddenly brakes, the vehicle control device 100 outputs a pop-up warning light signal to the cluster 320 when the pressure detected by the cargo push detection unit 230 is greater than a predetermined risk standard, and the radar and By judging the situation ahead based on the camera, braking can be controlled taking into account both forward collision and cargo pushing.

At this time, when AEBS intervenes, the vehicle control device 100 performs deceleration control beyond the pre-collision braking amount required by AEBS laws and then detects the pressure again from the cargo push detection unit 230 if it exceeds the predetermined risk standard. If it is not exceeded, deceleration control is performed through AEBS logic. On the other hand, if the pressure again detected by the cargo push detection unit 230 exceeds a predetermined risk standard, the braking pressure is lowered and controlled. After this, the vehicle control device 100 performs maximum braking.

On the other hand, when AEBS is not intervened, the vehicle control device 100 first performs braking with the braking force requested by the user and determines whether the pressure again detected by the cargo push detection unit 230 during braking exceeds a predetermined risk standard value. , if it exceeds, braking is performed by lowering the braking pressure, and then maximum braking is performed.

Hereinafter, a vehicle control method according to an embodiment of the present invention will be described in detail with reference to FIG. 7. Figure 7 is a flowchart for explaining a vehicle control method according to an embodiment of the present invention. Hereinafter, it is assumed that the vehicle control device 100 of FIG. 1 performs the process of FIG. 7. Additionally, in the description of FIG. 7, operations described as being performed by the device may be understood as being controlled by the processor 130 of the vehicle control device 100.

Referring to FIG. 7, the vehicle control device 100 determines whether braking or sudden braking occurs while the cargo vehicle is driving (S101).

At this time, braking of a cargo vehicle refers to a state of general braking rather than sudden braking, and sudden braking may refer to a case where the amount of braking within a given time is greater than a predetermined standard value. In other words, the vehicle control device 100 can determine whether braking is (normal braking) or sudden braking by determining the amount of braking during a certain period of time.

Subsequently, the vehicle control device 100 determines whether the pressure (load) of the cargo applied to the driver's seat detected by the cargo pushing detection unit 230 exceeds a predetermined warning standard value (S102), and the cargo pushing detection unit 230 ), if the pressure (load) of the cargo applied to the driver's seat detected by exceeds the predetermined warning standard value, a warning light screen pops up on the display device 300 to guide the driver to re-pack the cargo (S103) .

Meanwhile, if it is determined that the cargo vehicle has suddenly braked in the above process S101, it is determined whether the pressure (load) of the cargo applied to the driver's seat detected by the cargo push detection unit 230 exceeds a predetermined risk standard (S104) , When the pressure (load) of the cargo applied to the driver's seat detected by the cargo push detection unit 230 exceeds a predetermined risk standard, it is determined whether there is an object in front (S105). At this time, the vehicle control device 100 can detect an object in front through the camera and radar of the sensing module 200, and determine whether there is a collision by detecting the position and speed of the object in front.

At this time, if the pressure (load) of the cargo applied to the driver's seat exceeds a predetermined risk standard but there is no object in front, the vehicle control device 100 changes high deceleration braking to low deceleration braking (S106).

Meanwhile, if the pressure (load) of the cargo applied to the driver's seat exceeds the predetermined risk standard, but a front object exists, the vehicle control device 100 calculates whether or not there is a collision with the front object, and determines whether or not there is a collision with the front object. The amount of braking is determined by considering the pressure value measured by the cargo push detection unit (e.g., pressure distribution measuring device 230) (S107), and optimal braking is controlled by adjusting the EBS pressure control valve according to the determined amount of braking (S108). .

In this way, the present invention detects the pushing of cargo when braking, warns the user, and controls the braking according to the degree of pushing of the cargo and the presence of a vehicle in front, thereby preventing accidents caused by cargo and keeping the driver safe from the pushing of cargo. It can be protected. Additionally, the present invention enables optimal braking control by controlling braking in conjunction with existing EBS and AEBS.

Hereinafter, with reference to FIGS. 8 to 11, the process of setting the warning standard value and the risk standard value of the pressure load of FIG. 7 will be described in detail.

Figure 8 is an exemplary diagram of pressure at each position of a pressure distribution measuring device according to an embodiment of the present invention, and Figure 9 is an exemplary diagram of a horizontal load according to an embodiment of the present invention.

Referring to Figure 8, it can be seen that the pressure load is different depending on the location of the area. Accordingly, the cargo push detection unit 230 can calculate the pressure load by integrating the pressure applied to the deck guard into the area. Referring to Figure 9, it can be seen that if the cargo is not properly secured, the cargo is pushed during braking, thereby applying a horizontal load (force) to the vehicle deck.

FIG. 10 is a diagram for explaining a method of setting a warning standard according to an embodiment of the present invention, and FIG. 11 is an exemplary diagram showing stress during analysis according to an embodiment of the present invention.

Referring to FIG. 10, the vehicle control device 100 sets the vehicle deck guard at coordinates 1 to 8, and when a vertical force is applied to coordinates 1 to 8, the stress on the deck guard and subframe is analytically calculated. It can be calculated by calculating. At this time, the decision can be made based on the coordinate closest to the center of force.

First, the vehicle control device 100 calculates the magnitude of the force for each coordinate that causes a stress of 2/3 or more of the yield stress to be applied to the vehicle deck guard. At this time, the stress of 2/3 or more of the yield stress is only an example and is not limited thereto. That is, through experiments, if cargo is pushed during braking and continuously and repeatedly applies stress exceeding 2/3 of the deck guard yield stress, the deck guard may be damaged due to deck guard fatigue. In the present invention, the warning standard is set to the vehicle deck. It is explained as an example of 2/3 of the yield stress of the guard material, but is not limited to this. When stress is applied to an object to deform it, if the stress is small, it deforms (elastic deformation) in proportion to the stress and returns to its original state when the stress is removed. However, when the stress exceeds a certain limit, deformation may increase rapidly. This phenomenon is called yielding, and the limiting stress is called the yield stress of the material.

Next, the vehicle control device 100 can configure the force that creates the 2/3 yield stress for each coordinate in a table or map.

The vehicle control device 100 can calculate the horizontal load, which is the force applied vertically to the deck guard, by integrating the pressure applied to the pressure distribution measuring device by area.

Accordingly, the vehicle control device 100 measures the pressure load caused by the cargo applied to the vehicle deck guard with a pressure distribution measuring device, and when the force at the measured coordinate exceeds the force recorded on the table, a warning light is turned on to issue a warning. It can be displayed.

In this way, the present invention measures the position and size of the force with a pressure distribution meter when the cargo applies a force in the vertical direction to the deck guard, and when the force creates a stress of more than 2/3 of the yield stress through an analysis table, the cargo is properly secured. It can be assumed that it has not been done, and in this case, the user can be warned and encouraged to re-secure the cargo.

Meanwhile, a method for setting the risk standard value of the pressure load in FIG. 7 will be described. The warning level for fatigue failure is more than 2/3 of the yield stress, but the risk level for failure due to external forces other than fatigue failure is considered to be achieved when a force exceeding the yield condition due to Von mises stress acts.

When an object receives an external force or moment, it can withstand to a certain extent, but when it grows beyond a certain size, it cannot support the external force and is destroyed. The condition that serves as a standard for predicting such destruction is called the yield criterion, and the Bomis yield condition is a representative example.

Accordingly, when the force (cargo pushing force) “F” acting horizontally on the deck guard (cargo pushing force) “F” is given at each coordinate position of the vehicle deck guard in Figure 10, it is determined through analysis whether the force applied to the deck guard is greater than the Bonmis yield condition. A table in which the horizontal load (F)-Bon Mises stress is mapped can be created, and when the pressure load is measured later, the vehicle control device 100 applies the measured pressure load to the table on which the Bon Mises stress is mapped, and the Von Mises stress is mapped. It can be determined whether a force exceeding the yield condition due to stress was applied. Equation 1 below is an example of setting a risk standard.

[ math equation One]

Risk threshold = 0.9*F

Equation 1 above means that the deck guard begins to be damaged when it receives a force equal to F at the corresponding coordinates of the deck. In other words, if it receives a force of 90% or more of F, it can be judged that there is a sufficient risk of damage.

As such, in the present invention, the warning standard value of the pressure load in FIG. 7 is set to 2/3 of the yield stress of the vehicle deck guard, and the risk standard value of the pressure load can be set to a force greater than the yield condition due to Von mises stress. .

That is, the vehicle control device 100 issues a warning when the pressure load of the cargo applied to the deck guard of the cargo vehicle is more than 2/3 of the yield stress, induces the cargo to be re-packed, and attaches to the deck guard of the cargo vehicle. If the pressure load of the applied cargo is greater than the yield condition due to Bonmis stress, which is the risk standard, optimal braking control is performed through the EBS pressure control valve.

Figure 8 shows a computing system according to one embodiment of the present invention.

Referring to FIG. 8, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. It may include (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, steps of a method or algorithm described in connection with the embodiments disclosed herein may be implemented directly in hardware, software modules, or a combination of the two executed by processor 1100. Software modules reside in a storage medium (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or CD-ROM. You may.

An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (20)

A processor that performs a warning based on the cargo pushing detection result when braking a cargo vehicle or controls the amount of braking according to the cargo pushing detection result and the situation ahead; and
a storage unit that stores the braking amount obtained by the processor;
Including,
The cargo pushing detection result includes the pressure value caused by the cargo,
The processor,
If the pressure value caused by the cargo exceeds a predetermined first standard value, it is determined to be a warning situation and the output of the cargo push warning is controlled,
When the pressure value due to the cargo exceeds a second standard value that is higher than the first standard value, a vehicle control device is characterized in that it determines a dangerous situation and determines the situation ahead. delete delete In claim 1,
The processor,
A vehicle control device, characterized in that setting a stress of a predetermined ratio of the yield stress of the deck guard of the cargo vehicle as the first reference value. In claim 1,
The processor,
Divide the vehicle's deck guard into a plurality of areas and calculate the force that is a predetermined ratio of the yield stress for each of the plurality of areas,
A vehicle control device characterized in that it is determined that the first standard value is satisfied when the force caused by the pressure value of the cargo corresponding to each of the plurality of areas is greater than or equal to the magnitude of the force that is a predetermined ratio of the yield stress. In claim 1,
The processor,
A vehicle control device characterized in that it controls to perform the warning through at least one output of vision, tactile, and hearing. In claim 1,
The processor,
A vehicle control device characterized in that, when outputting the cargo backlog warning, it outputs a cargo backlog warning light or a guidance phrase encouraging repackaging of the load. delete In claim 1,
The processor,
A vehicle control device characterized in that the second reference value is set based on a yield condition due to Von mises stress. In claim 1,
The processor,
When a vehicle exists in front, a vehicle control device determines whether there is a collision with the vehicle in front and controls the amount of braking in conjunction with an electronic brake system (EBS). In claim 1,
The processor,
A vehicle control device characterized in that it performs low-speed braking control when there is no vehicle in front. A cargo push detection device that detects cargo push back in a cargo vehicle; and
a vehicle control device that issues a warning based on the cargo pushing detection result or controls a braking amount according to the cargo pushing detection result and the situation ahead;
Including,
The vehicle control device,
When the cargo pushing is detected, if the degree of cargo pushing exceeds a first standard value, a warning is issued to the user,
A vehicle system characterized in that, when the degree of the cargo being pushed around exceeds a second standard value that is greater than the first standard value, it is determined to be a dangerous situation and the situation ahead is determined. In claim 12,
The cargo slippage detection device,
A vehicle system comprising at least one of a pressure distribution meter, a load cell, a strain gauge, and a displacement sensor. In claim 12,
The cargo slippage detection device,
A vehicle system characterized in that it is provided at the front end of the cargo loading box. In claim 12,
The cargo slippage detection device,
A vehicle system characterized in that the location and number of cargo boxes are applied differently depending on the size or shape of the cargo compartment. delete In claim 12,
The vehicle control device,
Divide the vehicle's deck guard into a plurality of areas and calculate the force that is a predetermined ratio of the yield stress for each of the plurality of areas,
A vehicle system, characterized in that it is determined that the first standard value is satisfied when the force caused by the pressure value of the cargo corresponding to each of the plurality of areas is greater than or equal to the magnitude of the force that is a predetermined ratio of the yield stress. Detecting cargo backlog of a freight vehicle; and
Performing a warning based on the cargo pushing detection result or controlling the amount of braking according to the cargo pushing detection result and the situation ahead.
Including,
The step of controlling the braking amount is,
When the cargo backing is detected, issuing a warning to the user when the degree of the cargo backing exceeds a first standard value; and
A vehicle control method comprising the step of determining a dangerous situation and determining a situation ahead when the degree of the cargo being pushed around exceeds a second reference value that is greater than the first reference value. In claim 18,
The step of detecting the cargo pushing of the cargo vehicle is,
A vehicle control method, characterized in that detecting the cargo being pushed away when the cargo vehicle is braking or during sudden braking. delete

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