KR20220169624A - Apparatus and method for driving control of vehicle - Google Patents

Abstract

The present invention relates to a driving control apparatus of a vehicle and a method thereof. The driving control apparatus of the vehicle according to one embodiment of the present invention may comprise: a sensing unit which senses a momentum amount based on a speed of the vehicle and a weight of a load on the vehicle; and a driving control unit which controls driving of the vehicle based on a predetermined driving pattern and corrects the driving pattern based on the sensed momentum amount. Provided are the driving control apparatus capable of adjusting the driving pattern of the vehicle, and the method thereof.

Description

Vehicle driving control device and method {APPARATUS AND METHOD FOR DRIVING CONTROL OF VEHICLE}

The present invention relates to a vehicle driving control apparatus and method.

In general, large cargo vehicles or dump trucks are provided with a loading box for loading cargo.

An accommodation space is formed in this loading box, and when cargo is loaded and transported in this storage space, there is no difficulty in transporting cargo with a small volume and low weight, but bulky and heavy cargo is firmly fixed to the loading box and It is designed to be transported while moving slowly so that the cargo does not tip over.

However, if such a bulky or heavy cargo is loaded and the vehicle is operated, if vibration or shock is received by inertial force due to acceleration/deceleration or cornering of the vehicle or a protruding surface of the roadway, the vehicle in motion There is a problem that the vehicle cannot overcome the weight or volume and is leaned to one side or, in severe cases, the vehicle may be overturned.

One object of the present invention is to provide a vehicle driving control device and method capable of adjusting a driving pattern of a vehicle by reflecting momentum information generated according to a state of a vehicle loaded with cargo in real time while the vehicle is driving.

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 driving control apparatus of a vehicle according to an embodiment of the present invention controls the driving of the vehicle based on a sensing unit and a predetermined driving pattern that detects an amount of momentum based on the speed of the vehicle and the weight of a load loaded on the vehicle, and the A driving controller correcting the driving pattern based on the sensed momentum may be included.

In one embodiment, the driving control unit may estimate the binding state of the load based on the sensed momentum.

In one embodiment, the travel control unit may generate a warning message according to the binding failure of the load based on the sensed momentum.

In one embodiment, the driving control unit corrects the driving pattern so that the momentum of the load is included in the predetermined reference range when the momentum of the load is out of a predetermined reference range while the vehicle is driving based on the detected momentum. can do.

In one embodiment, the driving control unit controls acceleration of the vehicle so that the momentum of the loaded object is included in a predetermined reference range when the momentum of the load is out of a predetermined reference range while the vehicle is traveling based on the detected momentum. , deceleration control or steering control can be performed.

In an embodiment, the driving control unit may perform acceleration control, deceleration control, or steering control of the vehicle by reflecting weather conditions.

In one embodiment, the driving control unit may deliver a warning message to surrounding vehicles based on the sensed momentum when the momentum of the load is out of a predetermined reference range while the vehicle is driving.

A driving control method of a vehicle according to another embodiment of the present invention includes the steps of sensing an amount of momentum based on the speed of a vehicle and the weight of a load loaded on the vehicle, controlling the driving of the vehicle based on a predetermined driving pattern, and Correcting the driving pattern based on the sensed momentum may be included.

In one embodiment, the step of detecting the momentum based on the speed of the vehicle and the weight of the load loaded on the vehicle may include estimating a binding state of the load based on the sensed momentum.

In one embodiment, the step of detecting the momentum based on the speed of the vehicle and the weight of the load loaded on the vehicle may include generating a warning message based on the detected momentum based on the poor binding of the load. there is.

In one embodiment, the correcting of the driving pattern based on the sensed momentum may include, based on the sensed momentum, when the momentum of the loaded object deviates from a predetermined reference range while the vehicle is driving, the momentum of the loaded object The method may include correcting the driving pattern so that it is within a predetermined reference range.

In one embodiment, the correcting of the driving pattern based on the sensed momentum may include, based on the sensed momentum, when the momentum of the loaded object deviates from a predetermined reference range while the vehicle is driving, the momentum of the loaded object The method may include performing acceleration control, deceleration control, or steering control of the vehicle so as to be within a predetermined reference range.

In an embodiment, correcting the driving pattern based on the sensed momentum may include performing acceleration control, deceleration control, or steering control of the vehicle by reflecting a weather condition.

In one embodiment, the correcting of the driving pattern based on the detected momentum may include a warning message to a nearby vehicle when the momentum of the load is out of a predetermined reference range while the vehicle is driving based on the detected momentum. It may include the step of delivering.

This technology adjusts the driving pattern of the vehicle by reflecting the momentum information generated according to the state of the cargo in real time while the vehicle loaded with cargo is driving, thereby preventing shock caused by the momentum of the cargo caused by rapid longitudinal/lateral control. Thus, the driving stability of the vehicle can be improved.

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

1 is a block diagram showing a driving control device for a vehicle according to an embodiment of the present invention;
2 is a block diagram showing a vehicle control unit constituting a driving control device for a vehicle according to an embodiment of the present invention;
3 is a block diagram showing an additional configuration of a driving control device for a vehicle according to an embodiment of the present invention;
4 is a view showing a vehicle equipped with a vehicle driving control device according to an embodiment of the present invention;
5 is a flow chart illustrating a method for controlling driving of a vehicle according to an embodiment of the present invention.

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that this is not intended to limit the present invention to the specific embodiments, and includes various modifications, equivalents, and/or alternatives of the embodiments of the present invention.

Various embodiments of this document and terms used therein are not intended to limit the technical features described in this document to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments.

In connection with the description of the drawings, like reference numbers may be used for like or related elements. The singular form of a noun corresponding to an item may include one item or a plurality of items, unless the relevant context clearly dictates otherwise.

In this document, "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "A Each of the phrases such as "at least one of , B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

Terms such as "first", "second", or "first" or "secondary" may simply be used to distinguish a given component from other corresponding components, and may be used to refer to a given component in another aspect (eg, importance or order) is not limited. A (e.g., first) component is said to be "coupled" or "connected" to another (e.g., second) component, with or without the terms "functionally" or "communicatively." When mentioned, it means that the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.

1 is a block diagram illustrating a driving control device for a vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle driving control apparatus 100 according to an embodiment of the present invention may include a cargo detecting unit 110 , a vehicle driving unit 120 and a driving control unit 130 .

The cargo detecting unit 110 may detect the amount of momentum generated in the vehicle and transmit it to the driving control unit 130 . For example, the cargo sensor 110 may include an inertial sensor, an acceleration sensor, a load sensor, and the like.

Momentum generated by the vehicle while the vehicle is in operation, such as when the vehicle accelerates, decelerates, or rotates, may appear in an X-axis direction, a Y-axis direction, or a Z-axis direction. Accordingly, the cargo detecting unit 110 may detect momentum in an X-axis direction, a Y-axis direction, or a Z-axis direction while the vehicle is in motion.

The momentum generated by the vehicle can be calculated as the product of the vehicle speed and the weight of the vehicle, and the momentum generated by the vehicle when the cargo is loaded in the cargo compartment may be greater than when the cargo is not loaded.

Therefore, when loads are loaded in the cargo compartment, momentum generated by the vehicle during operation may be greater in the X-axis direction, Y-axis direction, or Z-axis direction than when no load is loaded in the cargo compartment.

That is, when loads are loaded in the cargo compartment, the amount of momentum generated in the vehicle can be calculated by multiplying the speed of the vehicle and the combined weight of the vehicle and the loads.

On the other hand, the movement of loads may occur while the vehicle is in motion, and the cargo detection unit 110 detects the amount of momentum generated in the vehicle in the X-axis direction, Y-axis direction, or Z-axis direction according to the flow of the load, and the driving control unit ( 130) can be transmitted.

At this time, the cargo sensing unit 110 may separately detect the momentum of the loaded object according to the flow of the loaded object.

For example, when the load is a liquid load loaded in a storage tank, etc., the flow size and flow direction of the liquid load may be sensed through a current measurement sensor (not shown) provided inside the storage tank.

When the load is a solid load integrally bound to the vehicle, the flow size and flow direction of the solid load may be detected through a speedometer (not shown) provided in the solid load.

In addition, the load sensor 110 may determine a normal range of a preset load value according to a vehicle type through a load sensor, and transmit an overload or error message to the driving control unit 130 when an abnormal load value is output.

For example, a typical cargo vehicle can load about 1.5 to 2 times more than the weight of the vehicle. Accordingly, if the weight of the vehicle is 2 to 2.5 tons, the weight of the load may correspond to 3 to 3.5 tons. If the weight of the vehicle is 3.5 to 4 tons, the load weight may correspond to 5 to 8 tons.

Therefore, the cargo detection unit 110 determines whether the weight of the load exceeds 3.5 tons when the weight of the vehicle is 2 to 2.5 tons, or the weight of the load exceeds 8 tons when the weight of the vehicle is 3.5 to 4 tons. If it exceeds, an overload or error message may be transmitted to the driving controller 130 .

The cargo detection unit 110 may be provided between a driver's seat and a cargo compartment (loading box) of the vehicle.

2 is a block diagram illustrating a vehicle control unit constituting a driving control apparatus for a vehicle according to an embodiment of the present invention.

Referring to FIG. 2 , the vehicle driving unit 120 may drive the vehicle in a predetermined driving pattern. The vehicle driving unit 120 may include an engine driving unit 151 , a braking driving unit 152 and a steering driving unit 153 .

The driving pattern may be preset so that predetermined acceleration control, deceleration control, or steering control is performed based on the amount of momentum generated in the vehicle. That is, the control amount of acceleration control, deceleration control, or steering control may be adjusted based on the momentum generated in the vehicle.

The engine driving unit 151 may be configured to control engine driving of the vehicle and may include a controller that controls the speed of the vehicle.

The braking driving unit 152 may be configured to control braking of the vehicle and may include a controller controlling the brakes.

The steering driver 153 may be configured to control the steering angle of the vehicle, and may include a steering wheel, an actuator interlocked with the steering wheel, and a controller controlling the actuator.

The driving controller 130 may control the vehicle driving unit 120 so that the vehicle travels in a predetermined driving pattern based on the momentum of the load transmitted from the cargo sensor 110 while the vehicle is driving.

The driving control unit 130 includes an engine driving unit 151, a braking driving unit 152, or a steering driving unit ( 153) may be controlled so that the momentum of the loaded object does not deviate from a predetermined reference range while the vehicle is driving.

The predetermined momentum reference range may be set as the product of the weight of the vehicle and the load and the vehicle speed.

The driving control unit 130 limits the driving of the engine driving unit 150 so that the vehicle speed does not increase when the vehicle speed increases and the amount of momentum generated in the vehicle exceeds a predetermined reference range, and the braking driving unit reduces the vehicle speed. 152) may be controlled so that the momentum generated by the vehicle does not exceed a predetermined reference range.

For example, if there is another vehicle in front while the vehicle is driving at a speed of 50 km/h, in a state in which the driving pattern is set to decelerate from the point where the distance between the vehicle and the vehicle in front is 50 m, the vehicle accelerates and the amount of momentum generated by the vehicle is predetermined. If it exceeds the reference range, the driving of the engine driving unit 150 is restricted so that the vehicle speed does not increase, and the braking driving unit 152 is controlled so that the speed of the vehicle is reduced so that the momentum generated by the vehicle does not exceed a predetermined reference range. can make it not

Meanwhile, the movement of loads may occur while the vehicle is in motion, and the cargo sensor 110 may detect the amount of momentum of the loads according to the flow of the loads and transmit the motion to the driving control unit 130 .

If the load is a liquid load loaded in a storage tank, etc., and the load moves when the vehicle accelerates, decelerates, or rotates in a state where the momentum is set to a predetermined reference range based on the speed of the vehicle and the weight of the load, the momentum of the load is determined. may occur differently from the standard range of

For example, when the vehicle accelerates while driving, the momentum may increase. At this time, the momentum of the loaded object may increase due to inertia while maintaining a predetermined reference range. Conversely, when the vehicle decelerates while driving, the momentum may decrease. At this time, the momentum of the load may increase due to inertia while maintaining a predetermined reference range.

When the vehicle rotates while driving, the momentum of the loaded object may increase in a direction different from the rotational direction of the vehicle due to inertia while maintaining a predetermined reference range.

That is, when the vehicle accelerates, decelerates, or rotates, a load may flow and a momentum different from a momentum within a predetermined reference range based on the speed of the vehicle and the weight of the load may be generated.

For reference, the driving control unit 130 may receive input of the type of the load through the driver of the vehicle or determine that the load is a liquid load due to the installation of the tank lorry.

Even if the load is a solid load integrally bound to the vehicle, when the vehicle accelerates, decelerates, or rotates when the solid load is poorly bound in a state where the momentum is set to a predetermined standard range based on the vehicle speed and the weight of the load While the load is flowing, the momentum of the load may be different from a predetermined reference range.

The driving control unit 130 includes an engine driving unit 151, a braking driving unit 152, or a steering driving unit 153 so that a control amount of acceleration control, deceleration control, or steering control is limited when the momentum of a load is outside a predetermined reference range while the vehicle is driving. ) may be controlled to adjust the driving pattern so that the momentum of the load generated in the vehicle does not deviate from a predetermined reference range.

For example, the driving of the engine driving unit 151 or the braking driving unit 152 is controlled so that the acceleration does not exceed a predetermined standard by slowly accelerating the vehicle or decelerating the vehicle slowly even when the vehicle is decelerating, and turning radius when the vehicle rotates. By widening the driving pattern by controlling the driving of the steering drive unit 153 so that the lateral acceleration does not exceed a predetermined standard, the momentum of the load generated while driving the vehicle can be adjusted so that it is included in a predetermined standard range.

3 is a block diagram showing an additional configuration of a vehicle driving control device according to an embodiment of the present invention, and FIG. 4 is a diagram showing a vehicle equipped with the vehicle driving control device according to an embodiment of the present invention.

Referring to FIGS. 3 and 4 , the vehicle driving control device 100 according to an embodiment of the present invention may further include a camera 120, a radar sensor 130, a display 140, and a communication unit 180. can

The camera 120 or the radar sensor 130 detects the presence and location of external objects such as other vehicles, pedestrians, bicycles, motorcycles, etc. in front or rear of the vehicle and transmits them to the driving control unit 130.

The display 140 may generate and display a warning message in response to the movement of loads while the vehicle is driving, and display an overload or error message when an abnormal load value is output.

The display 140 includes a touch screen including a touch panel and may be used as an input device as well as an output device. For example, the display 140 may include a head-up display (HUD), a cluster, audio video navigation (AVN), and the like.

The communication unit 180 may transmit and receive signals through a wireless or wired connection. The communication unit 180 may perform communication with other external vehicles using V2V (Vehicle to Vehicle) technology, V2I (Vehicle to Infrastructure) technology, V2P (Vehicle to Pedestrian) technology, and the like.

If the load is a solid load and the momentum of the load is out of a predetermined standard range while the vehicle is driving, the driving control unit 130 may estimate that the load is in a poor binding state, and through the display 140 the load is bound. A warning message according to the defect can be generated and displayed.

When the momentum of the load is outside the predetermined reference range while the vehicle is driving, the driving control unit 130 performs acceleration control, deceleration control, or steering control by reflecting weather conditions so that the momentum generated in the vehicle does not exceed the predetermined reference range. You can adjust your driving pattern to avoid it.

For example, the driving control unit 130 may receive weather information through the communication unit 180 or may grasp the weather condition through an operating state of a wiper or an image obtained through the camera 120 .

In a raining situation, when the momentum of the load is out of a predetermined reference range while the vehicle is driving, the acceleration or deceleration control can be controlled to accelerate or decelerate slowly while reducing the acceleration or deceleration range compared to when the weather is good. . Even when controlling the steering, the driving pattern can be adjusted so that the vehicle steers more slowly than in good weather conditions.

When the momentum of the loaded object is out of a predetermined reference range while the vehicle is driving, the driving control unit 130 determines whether there is another vehicle nearby through the camera 120 or the radar sensor 130 and the like, and if there is another vehicle A warning message may be transmitted to surrounding vehicles through the communication unit 180 . Accordingly, since the load binding state of the corresponding vehicle is in a poor state, surrounding vehicles may be requested to perform defensive driving.

In addition, although not shown in the drawings, according to embodiments, the vehicle driving control device may further include a storage unit (not shown).

The storage unit may store a command for controlling a driving control device of a vehicle, a control command code, control data, or user data. For example, the storage unit may include at least one of an application program, an operating system (OS), middleware, or a device driver.

The storage unit may include one or more of volatile memory and non-volatile memory.

Volatile memory includes dynamic random access memory (DRAM), static RAM (SRAM), synchronous DRAM (SDRAM), phase-change RAM (PRAM), magnetic RAM (MRAM), resistive RAM (RRAM), and ferroelectric RAM (FeRAM). can include

The nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, and the like.

The storage unit may further include a nonvolatile medium such as a hard disk drive (HDD), a solid state disk (SSD), an embedded multimedia card (eMMC), and a universal flash storage (UFS). there is.

Hereinafter, a driving control method of a vehicle according to another embodiment of the present invention will be described in detail with reference to FIG. 5 .

5 is a flow chart illustrating a method for controlling driving of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the vehicle driving control device of FIG. 1 performs the process of FIG. 5 .

First, the driving control unit 130 may receive load information, such as the presence or absence of a load detected through the load detecting unit 110, weight information of the load, liquid load or solid load (S101).

For example, the driving control unit 190 may receive information on whether the load is a liquid load or a solid load when the vehicle driver directly inputs the information into the input device.

Next, the driving control unit 130 may estimate a reference value of an amount of exercise that may be set to the weight of the vehicle or the weight of the vehicle and the weight of the load (S102).

Subsequently, while the vehicle is driving, the momentum information of the load transmitted from the cargo sensor 110 is compared with the reference value, and if the momentum of the load while driving does not deviate from the reference value (S103), the vehicle maintains a predetermined driving pattern. The engine driving unit 1450, the braking driving unit 152, or the steering driving unit 153 may be controlled to drive (S104).

However, if the momentum of the load during driving deviates from the reference value and the vehicle is loaded with liquid load (S105), the engine drive unit 1450 and the brake drive unit 152 limit the control amount of acceleration control, deceleration control, or steering control. ) or the driving of the steering drive unit 153 can be controlled (S106).

Then, by performing acceleration control, deceleration control, or steering control reflecting the weather conditions (S107), the driving pattern may be adjusted so that the momentum of the loaded object does not deviate from a predetermined reference range while the vehicle is driving (S108).

On the other hand, if the momentum of the load during driving deviates from the reference value and the vehicle is loaded with solid loads (S105), the bound state of the load is estimated (S109), and if it is determined that the bound state is abnormal (S110), the display ( 140), it is possible to generate and display a warning message according to the poor binding of the load.

Subsequently, the driving of the engine driving unit 1450, the braking driving unit 152, or the steering driving unit 153 may be controlled so that the control amount of acceleration control, deceleration control or steering control is limited (S106).

Then, by performing acceleration control, deceleration control, or steering control reflecting the weather conditions (S107), the driving pattern may be adjusted so that the momentum of the loaded object does not deviate from a predetermined reference range while the vehicle is driving (S108).

Various embodiments of the present document may be implemented as software (eg, a program) including one or more instructions stored in a storage medium (eg, internal memory or external memory) readable by a machine. For example, the device may call at least one command among one or more commands stored from a storage medium and execute it. This enables the device to be operated to perform at least one function according to the at least one command invoked. The one or more instructions may include code generated by a compiler or code executable by an interpreter.

The device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-temporary' only means that the storage medium is a tangible device and does not contain a signal (e.g. electromagnetic wave), and this term refers to the case where data is stored semi-permanently in the storage medium. It does not discriminate when it is temporarily stored.

According to one embodiment, the method according to various embodiments disclosed in this document may be included and provided in a computer program product. Computer program products may be traded between sellers and buyers as commodities. A computer program product is distributed in the form of a machine-readable storage medium (e.g. compact disc read only memory (CD-ROM)), or distributed online (e.g. via an application store or directly between two user devices). : can be downloaded or uploaded). In the case of online distribution, at least part of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium such as a manufacturer's server, an application store server, or a relay server's memory.

According to various embodiments, each component (eg, module or program) of the above-described components may include a single object or a plurality of entities, and some of the plurality of entities may be separately disposed in other components. there is.

According to various embodiments, one or more components or operations among the aforementioned corresponding components may be omitted, or one or more other components or operations may be added.

Alternatively or additionally, a plurality of components (eg modules or programs) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by a corresponding component of the plurality of components prior to the integration. .

According to various embodiments, the actions performed by a module, program, or other component are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the actions are executed in a different order, or omitted. or one or more other actions may be added.

As described above, according to the present invention, the driving pattern of the vehicle is adjusted by reflecting the momentum information generated according to the state of the cargo during driving of the vehicle loaded with cargo in real time, thereby reducing the amount of cargo generated by rapid longitudinal/lateral control. It is possible to improve the driving stability of the vehicle by preventing shock caused by movement.

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

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (14)

a sensing unit that senses an amount of momentum based on the speed of the vehicle and the weight of the load on the vehicle; and
A driving control unit that controls driving of the vehicle based on a predetermined driving pattern and corrects the driving pattern based on the sensed momentum
Vehicle driving control device comprising a. The method of claim 1,
The driving control unit,
The driving control device of a vehicle, characterized in that for estimating the binding state of the load based on the sensed momentum. The method of claim 2,
The driving control unit,
The driving control device of a vehicle, characterized in that generating a warning message according to the binding failure of the load based on the sensed momentum. The method of claim 1,
The driving control unit,
Based on the sensed momentum, when the momentum of the load exceeds a predetermined reference range while the vehicle is driving, the driving control device corrects the driving pattern so that the momentum of the load is included in the predetermined reference range. . The method of claim 3,
The driving control unit,
Based on the sensed momentum, when the momentum of the load is out of a predetermined reference range while the vehicle is driving, performing acceleration control, deceleration control, or steering control of the vehicle so that the momentum of the load is included in the predetermined reference range. Characterized by a driving control device for a vehicle. The method of claim 5,
The driving control unit,
A driving control device for a vehicle, characterized in that performing acceleration control, deceleration control, or steering control of the vehicle by reflecting weather conditions. The method of claim 1,
The driving control unit,
Based on the sensed momentum, if the momentum of the loaded object is out of a predetermined reference range while the vehicle is driving, a warning message is transmitted to surrounding vehicles. Sensing a momentum based on the speed of the vehicle and the weight of the load on the vehicle;
controlling driving of the vehicle based on a predetermined driving pattern; and
Correcting the driving pattern based on the sensed momentum
Vehicle driving control method comprising a. The method of claim 8,
The step of detecting the momentum based on the speed of the vehicle and the weight of the load on the vehicle,
and estimating a binding state of the load based on the sensed momentum. The method of claim 9,
The step of detecting the momentum based on the speed of the vehicle and the weight of the load on the vehicle,
and generating a warning message according to poor binding of the load based on the sensed momentum. The method of claim 8,
The step of correcting the driving pattern based on the sensed momentum,
and correcting the driving pattern so that the momentum of the loaded object is included in the predetermined reference range when the momentum of the loaded object is outside a predetermined reference range while the vehicle is driving based on the detected momentum. driving control method. The method of claim 10,
The step of correcting the driving pattern based on the sensed momentum,
Performing acceleration control, deceleration control, or steering control of the vehicle so that the momentum of the load is included in the predetermined reference range when the momentum of the load is out of a predetermined reference range while the vehicle is driving based on the detected momentum. A driving control method of a vehicle comprising a. The method of claim 12,
The step of correcting the driving pattern based on the sensed momentum,
and performing acceleration control, deceleration control, or steering control of the vehicle by reflecting weather conditions. The method of claim 8,
The step of correcting the driving pattern based on the sensed momentum,
and transmitting a warning message to surrounding vehicles when the momentum of the loaded object is out of a predetermined reference range while the vehicle is driving based on the sensed momentum.

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