WO2012053869A2

WO2012053869A2 - Load measuring device and method of weighing vehicle having suspension with two-stage springs

Info

Publication number: WO2012053869A2
Application number: PCT/KR2011/007910
Authority: WO
Inventors: 김종우; 조윤범
Original assignee: ㈜바이텍코리아
Priority date: 2010-10-22
Filing date: 2011-10-21
Publication date: 2012-04-26
Also published as: KR101092581B1; WO2012053869A3

Abstract

The present invention provides a load measuring device and method capable of measuring, in real time, the load of a vehicle having a suspension with two-stage springs. The invention allows: sensors to be installed in both main springs and auxiliary springs of the suspension which has two-stages; and the weight, which is applied to the vehicle, to be measured by using measurement values of the sensors installed in the main springs and measurement values of the sensors installed in the auxiliary springs, wherein the measurement values are changed as the load is applied to the vehicle. Particularly, the invention adopts; a load measuring method using sensor values of the main springs or sensor values of the auxiliary springs in each load section of the vehicle; or a method for measuring the load that is applied to the vehicle by adding up the sensor measurement values of the main springs and the sensor measurement values of the auxiliary springs such that a mathematical formula capable of changing the added measurement values into the load is modeled, thereby calculating the applied load in real time by using the measurement values of the sensors, which are changed in real time according to the load that is applied to the vehicle, and outputting the calculated load to a user. Thus, even for conventional vehicles having a suspension with two-stage springs, to which the method for measuring the load of the vehicle in real time is difficult to apply, the invention can measure the exact load of the vehicle in real time, thereby effectively preventing an overload.

Description

Load measuring device and method of vehicle with two-stage spring suspension

The present invention relates to a vehicle load measuring apparatus and method, and more particularly to a vehicle load measuring apparatus and method having a two-stage spring suspension.

The conventional structure of the leaf spring suspension of a commercial vehicle has a variety of types, such as single spring, camel spring, two-stage spring. In general, the axle of the leaf spring suspension system can be converted to the load by measuring the strain or the slope change of the leaf spring, but in the case of the two-stage spring, the load measurement is not easy because of the spring behavior.

The behavior characteristic of the two-stage spring is that the lower main spring supports the entire weight without loading the load, and the Helper spring or Auxiliary spring is supported by the upper spring when the load above the certain weight is loaded. It comes into contact with the bearing plate and acts as a suspension, after which the main and auxiliary springs are distributed to support the total weight. Figure 1 shows the structure of a conventional two-stage spring suspension.

Due to this characteristic, the two-stage spring suspension system is difficult to apply the conventional technique of measuring the strain or the slope of the leaf spring in real time to measure the celebration of the vehicle in real time, and thus it was used before the real-time measurement technique was introduced. After loading the vehicle, it is inevitable to use the method of directly measuring the load of the vehicle. Since this method is difficult to prevent overloading, the load of the two-stage spring suspension system can be measured in real time. There is an urgent need for an apparatus and method for measuring a load on a vehicle.

The problem to be solved by the present invention is to provide a vehicle load measuring device and method that can measure the (axial) load of the two-stage spring suspension in real time, in consideration of the characteristics of the two-stage spring suspension.

The vehicle load measuring apparatus of the present invention for solving the above problems is a load measuring apparatus for a vehicle having a two-stage spring suspension composed of a main spring and an auxiliary spring, the main spring sensor and the auxiliary spring installed on the main spring. A sensor module including an auxiliary spring sensor installed in the sensor; And a load output module that calculates and displays a load of the vehicle to the user by using the measured value of the main spring sensor and the measured value of the auxiliary spring sensor.

In addition, the load output module calculates the load of the vehicle using the measured value of the main spring sensor before the load is applied to the auxiliary spring, and outputs the output value of the auxiliary spring sensor from the moment the load is applied to the auxiliary spring. To calculate the load on the vehicle.

In addition, the load output module is calculated using the measured value of the main spring sensor at the time of tolerance and the main spring sensor at the time of operation of the auxiliary spring and the actual load from the time of tolerance to the time of operation of the auxiliary spring, The load is measured according to the first trend line indicating the load corresponding to the measured value of the main spring sensor, and the measured value and the actual load of the auxiliary spring sensor at the time of the auxiliary spring operation from the time of the auxiliary spring operation to the full parking point The load may be measured according to a second trend line indicating a load corresponding to the measured value of the auxiliary spring sensor, calculated using the measured value of the auxiliary spring sensor and the actual load at the time of fullness.

In addition, the load output module may add the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculate the load of the vehicle using the summed measured value.

In addition, the load output module obtains a trend line indicating a load corresponding to the sum of the measured values at the tolerance and the sum of the measured values at the full load and the sum of the measured values using the measured values, and the measured values summed according to the trend lines. It is possible to calculate the load of the vehicle corresponding to.

In addition, the load output module is a combined measured value of the tolerance time, the actual load and the combined measurement value of the full time, and the actual load and the combined measured value of any time corresponding to the intermediate time between the tolerance time and the full time A trend line representing a load corresponding to the sum of the measured values may be obtained using, and the load of the vehicle corresponding to the sum of the measured values may be calculated according to the trend line.

In addition, the load output module can obtain a trend line that satisfies the first-order equation using the least square method.

In addition, the load output module can obtain a trend line satisfying the quadratic equation using the least square method.

In addition, the load output module may communicate with the sensor module in a wired or wireless communication manner to receive sensor measurement values.

On the other hand, the vehicle load measuring method of the present invention for solving the above problems is a load measuring method of a vehicle having a two-stage spring suspension composed of a main spring and an auxiliary spring, (a) as a load is applied to the vehicle Outputting a measured value by a main spring sensor installed in the main spring and an auxiliary spring sensor installed in the auxiliary spring; And (b) the load output module receiving the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculating and displaying the load of the vehicle using the received measured values to the user.

In addition, in the above step (b), the load output module calculates the load of the vehicle using the measured value of the main spring sensor before the load is applied to the auxiliary spring, the instant the load is applied to the auxiliary spring The load of the vehicle can be calculated using the output value of the auxiliary spring sensor.

In addition, in the step (b), the load output module measures the measured value of the main spring sensor at the time of tolerance and the measured value and actual value of the main spring sensor at the time of the auxiliary spring from the time of tolerance to the time of operation of the auxiliary spring. The load is measured in accordance with a first trend line representing a load corresponding to the measured value of the main spring sensor calculated using the load, and the auxiliary spring sensor at the point of time when the auxiliary spring operates from the time when the auxiliary spring operates to the full load point. The load can be measured in accordance with a second trend line indicating a load corresponding to the measured value of the auxiliary spring sensor and calculated using the measured value and the actual load of the auxiliary spring sensor and the measured value and the actual load of the auxiliary spring sensor.

In addition, in the step (b), the load output module may add the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculate the load of the vehicle using the added measured value.

In addition, in the step (b), the load output module obtains a trend line indicating a load corresponding to the sum of the measured values at the tolerance, the actual load at the full load and the sum of the measured values using the summed measurement values, According to the trend line, the load of the vehicle corresponding to the sum of the measured values may be calculated.

In addition, in the step (b), the load output module may include the combined measured value of the tolerance time point, the actual load and the aggregated measured value of the full time point, and an arbitrary time point corresponding to the middle point of the tolerance time and full time point. The trend line representing the load corresponding to the sum of the measured values may be obtained using the actual load and the sum of the measured values, and the load of the vehicle corresponding to the sum of the measured values may be calculated according to the trend line.

In addition, in the step (b), the load output module can obtain a trend line satisfying the first-order equation using the least-squares method.

Further, in the step (b), the load output module can obtain a trend line satisfying the quadratic equation using the least square method.

The present invention is to install the sensor in the main spring and the auxiliary spring of the suspension consisting of two-stage spring, respectively, the measured value of the sensor installed in the main spring and the sensor installed in the auxiliary spring that changes as the load is applied to the vehicle Measure the load applied to the vehicle.

In particular, the present invention adopts a load measuring method using the sensor value of the main spring or the sensor value of the auxiliary spring for each load section of the vehicle, or by adding up the sensor measurement value of the main spring and the sensor measurement value of the auxiliary spring, By adopting a method of measuring the load applied to the vehicle by modeling an equation that can convert the measured value into a load, it is applied in real time using the measured values of the sensors that change in real time according to the load applied to the vehicle Since the calculated load can be calculated and output to the user, even the vehicle equipped with the suspension system composed of two-stage springs, which is difficult to apply the conventional method of measuring the real-time vehicle load, can accurately measure the load of the vehicle in real time. Overload can be prevented.

1 is a view showing the structure of a conventional two-stage spring suspension.

2 is a view showing the overall configuration of a load measuring device for a vehicle having a two-stage spring suspension device according to an embodiment of the present invention.

3A to 3C are diagrams illustrating an arrangement in which sensors are installed according to an exemplary embodiment of the present invention, and FIGS. 3A and 3B are views illustrating sensors installed on a left wheel shaft and a right wheel shaft of a vehicle, respectively. 3C is a plan view showing the entire configuration of a sensor installed in accordance with a preferred embodiment of the present invention.

4 to 9 are graphs illustrating each load measuring method according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a view showing the overall configuration of a load measuring device (hereinafter, simply abbreviated as "load measuring device") of a vehicle having a two-stage spring suspension device according to a preferred embodiment of the present invention. 3A to 3C are diagrams illustrating an arrangement in which sensors are installed according to an exemplary embodiment of the present invention, and FIGS. 3A and 3B are views illustrating sensors installed on a left wheel shaft and a right wheel shaft of a vehicle, respectively. 3C is a plan view showing the entire configuration of a sensor installed in accordance with a preferred embodiment of the present invention. Hereinafter, a load measuring apparatus according to a preferred embodiment of the present invention will be described with reference to FIGS. 2 to 3C.

First, the load measuring apparatus according to an embodiment of the present invention, the sensor module 100 consisting of a plurality of sensors installed in the main spring and the auxiliary spring of the second stage of the suspension of the vehicle, and the sensor module 100 ) Is configured to receive a sensor measurement value from the sensor module 100 by performing a wired or wireless communication, and a load output module 200 for measuring the load of the vehicle using the measured values and displaying the measured value to the user.

First, the sensor module 100 includes a first juice spring sensor (04,06) installed on the main spring of the left wheel shaft, a first auxiliary spring sensor (08, 10) installed on the auxiliary spring of the left wheel shaft, and a main spring of the right wheel shaft. And a second auxiliary spring sensor (07, 09) installed on the auxiliary spring of the right wheel shaft and the second juice spring sensor (03, 05) installed in the.

In addition, the first and second juice spring sensors and the first and second auxiliary spring sensors may be installed in pairs as shown in FIGS. 3A and 3B, or may be individually installed in each spring.

In addition, the sensor of the present invention may be used a strain sensor for measuring the strain of the leaf spring as the load is applied, a tilt sensor for measuring the change in the slope of the leaf spring as the load is applied.

However, when the inclination sensor is used as the measurement sensor of the present invention, the reference inclination sensor 11 installed in the vehicle body is additionally included in the sensor module 100 to measure the reference inclination, which is the inclination of the vehicle, and the inclination sensor is illustrated in FIG. 3C. Shows an example installed. When the inclination sensor is used, the measurement value of the main spring sensor described later represents the difference between the inclination value measured by the sensor installed in the main spring and the inclination value measured by the reference inclination sensor, and the measurement value of the auxiliary spring sensor is the auxiliary spring The difference between the slope measured by the sensor installed at and the reference slope measured by the sensor.

In the method of measuring the load by using a strain sensor, a strain gauge is attached to a main spring or an auxiliary spring, which is a leaf spring, and the leaf spring is bent as a load is applied, and thus, a strain gauge attached to the leaf spring is measured. As a method of using a proportional change in values, a specific measurement method is disclosed in detail in Korean Patent No. 10-0455038, and thus a detailed description thereof will be omitted.

In addition, the method of measuring the load by using the inclination sensor is a method that uses the change in the inclination value of the inclination sensor attached to the leaf spring, the plate spring is bent as the load is applied, and thus the load on the vehicle The difference between the reference slope of the vehicle and the inclination of the leaf spring decreases as the leaf spring is spread as it is applied.A specific measurement method is Korean Patent No. 10-0880156 and Korean Patent Application No. 10-2008-0124882 and Since it is disclosed in detail in the corresponding PCT publication WO2009084824, the detailed description is omitted.

Therefore, hereinafter, only the concept of measuring the load by using the measured values of the sensors installed in the main spring and the sensors installed in the auxiliary spring will be described.

Each sensor of the sensor module 100 communicates with the load output module 200 in a wired or wireless manner, performs a measurement at a predetermined time period, or receives a measurement instruction signal from the load output module 200. The measurement is performed to transmit the measured values to the load output module 200.

The load output module 200 may be implemented in various forms such as a portable electronic device, an electronic device installed in a vehicle, or a vehicle navigation system. The load output module 200 may include a communication unit 210, a main control unit 250, a display unit 230, and an input unit. 240, and a database (DB) 220.

The communication unit 210 may be connected to the sensor module 100 by wire to perform communication, or may perform communication with the sensor module 100 by wireless. In the case where the communication unit 210 performs wireless communication, the

main spring sensors

04, 06, 03, and the like in a predetermined frequency band (the preferred embodiment of the present invention uses the 2.4 GHz band but other frequency bands are also available). 05), by wireless communication with the auxiliary spring sensors (08, 10, 07, 09) and the reference tilt sensor (11), to wirelessly transmit the load measurement control command to a plurality of sensors, and to measure from the plurality of sensors The value and sensor identification information are received and output to the main controller 250.

The display unit 230 is implemented as an LCD display device to display a vehicle management menu and a load measurement result input from the main controller 250 to the user.

The input unit 240 is implemented as a keypad or a touch screen, and receives selection information and control commands for menus displayed on the display unit 230 from the user and outputs them to the main controller 250.

The database 220 stores in advance the measured values measured by each sensor in the tolerance state and the full state, and a weightless conversion coefficient used for real-time load measurement. In addition, the database 220 records, as actual data, load measurement time, sensor measurement values input from the sensors, and finally calculated load measurement results (axial load and overall vehicle load, etc.) during actual load measurement. Save it.

Meanwhile, when the load measuring device of the present invention is driven, the main controller 250 outputs basic menus related to vehicle management to the display unit 230. When the load measuring command is input from the input unit 240, the main communication unit 250 transmits a load measuring command to the wireless communication unit. And transmits the load applied to each axle of the vehicle and the load of the entire vehicle using the measured values received from the sensors and identification information of each sensor through the 210. Is output to the display unit 230.

The process of calculating the vehicle load in the main controller 250 will be described in detail with reference to FIGS. 4 to 9.

4 is a diagram showing the sensor measurement characteristics of the two-stage spring suspension. Referring to FIG. 4, the measurement signals of the sensors installed in the main spring and the auxiliary spring in the two-stage spring suspension device are different from the sensor measurement values of the main spring and the sensor measurement values of the auxiliary spring, respectively. Appears as a graph of.

The auxiliary spring measurement is measured from the moment when the auxiliary spring comes into contact with the spring support according to the step of loading the load, and the main spring value is measured relatively linearly until the auxiliary spring is operated. From the step, it changes in the form of a quadratic curve.

Therefore, in consideration of such characteristics, the main controller 250 of the present invention can measure the load by selectively applying any one of the following four methods.

In the first load measurement method, the load from the unloaded vehicle to the operation of the auxiliary spring is measured using the measured values of the sensors installed in the main spring, and the load after the auxiliary spring starts to operate The load is measured using the measured values of the sensors installed in the auxiliary spring.

This first measuring method is shown in FIG. 5, and the measured value of the sensor at the tolerance is displayed on the graph as zero. Referring to FIG. 5, the first load measuring method will be described by Equation 1 below.

Equation 1

The first equation in Equation 1 represents the load (y11) applied to the vehicle from the tolerance to the operation of the auxiliary spring, a1 is the weight conversion factor of the main spring, b1 is the tolerance load applied at the tolerance Represent each. Substituting the measured value of the main spring sensor at the time of tolerance and the actual load at that time, and the measured value of the main spring sensor at the time of auxiliary spring operation and the actual load at the first equation, the weight conversion factor (a1) and the tolerance load (b1) can be obtained.

The second equation represents the load (y12) applied to the vehicle from the auxiliary spring operation to full load, c1 is the weight conversion factor of the auxiliary spring, and d1 is the auxiliary spring operating load applied when the auxiliary spring is operated. Represent each. Further, if the sensor measurement value of the main spring and the actual load at that time, the auxiliary spring sensor measurement value and the actual load at the time of the auxiliary spring operation are substituted into the second equation, the weight conversion factor a1 and Tolerance load b1 can be calculated | required. The weight conversion factors a1 and c1, the tolerance load b1, and the auxiliary spring operating load d1 measured here are stored in the database 220.

When the main control unit 250 adopts the first measurement method, the main control unit 250 outputs the y11 value as a load in real time until y11 = d, and outputs the y12 value from the moment y11≥d. Output as a load value.

On the other hand, the second to fourth load measuring method to be described later is a method of summing the signal value of the main spring sensor and the signal value of the auxiliary spring sensor, and the load is measured using the combined measurement value.

FIG. 6 is a graph showing a sum of a main spring sensor value and an auxiliary spring sensor value illustrated in FIG. 4. Also in FIGS. 6-9, the sensor measurement value at the time of tolerance was set to 0, and the graph was displayed. As shown in FIG. 6, the summed measurement value increases linearly until the load on which the auxiliary spring operates is applied, showing a measurement value similar to the linear function graph, and from the time when the auxiliary spring starts to operate, A curve similar to the quadratic function curve is shown. Therefore, it is necessary to derive an equation that approximates this measurement, and this modeling method is described in the second to fourth load measurement methods below.

7 is a view for explaining a second load measurement method. It should be noted that the measured values below are the sum of the measured values of the sensors shown in the drawings.

As shown in FIG. 7, the second load measuring method is a method of measuring a load by obtaining a linear equation that connects a load and a measured value at a tolerance and a load and a measured value at a full load. The second load measurement method is summarized as in Equation 2 below.

Equation 2

In Equation 2, y2 represents the converted load value, the slope a2 represents the load conversion coefficient, represents the sensor measurement value, b2 represents the tolerance load. Substituting the load and measured value at tolerance and the load and measured value at full load into Equation 2, the load conversion factor (a2) and the tolerance load (b2) can be obtained, and these values are stored in the database 220. do.

The second load measurement method described above is easy to measure, but depending on the load being measured, significant errors may occur with the actual load. That is, when the load on the lighter than the full load due to the characteristics of the secondary curve, the error tends to increase. Accordingly, the third load measuring method of the present invention is a method for increasing the accuracy of the load measurement by reducing the error while reducing the measurement. The error was reduced by substituting the actual load and the measured values, substituting the linear equations, and using the least-squares method.

Equation 3

In Equation 3, y3 represents the calculated load value, a3 represents the load conversion factor, represents the measured value of the sensor, and b3 represents the tolerance load, respectively.

The trend line represented by the first equation obtained according to the third load measurement method is shown in FIG. 8, and compared with the second method shown in FIG. 7, it can be seen that an error is present at full load but the error is reduced overall.

On the other hand, the fourth load measurement method of the present invention is a method of obtaining a secondary trend line as shown in Figure 9, for a more accurate load measurement than the second and third load measurement method described above. The fourth load measurement method is the same as the third method, using the load and sensor measured values at tolerance and full load points, and the load and sensor measured values at the midpoint, by the least square method, It is a method of obtaining the second-order trend line equation.

Equation 4

In Equation 4, y represents a converted load value, a represents a first load conversion coefficient, b represents a second load conversion coefficient, and c represents a tolerance load, respectively.

Referring back to FIG. 2, the main controller 250 is configured to measure load using only one of the four load measuring methods described above, or selectively applies one of four methods according to a user's setting. You may.

The invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, which are also implemented in the form of a carrier wave (for example, transmission over the Internet). It also includes. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

So far I looked at the center of the preferred embodiment for the present invention. Those skilled in the art will appreciate that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope will be construed as being included in the present invention.

Claims

A load measuring device for a vehicle having a two-stage spring suspension composed of a main spring and an auxiliary spring,

A sensor module including a main spring sensor installed in the main spring and an auxiliary spring sensor installed in the auxiliary spring; And

And a load output module configured to calculate and display a load of the vehicle by using the measured value of the main spring sensor and the measured value of the auxiliary spring sensor.
The method of claim 1,

The load output module calculates the load of the vehicle using the measured value of the main spring sensor before the load is applied to the auxiliary spring, and uses the output value of the auxiliary spring sensor from the moment the load is applied to the auxiliary spring. Vehicle load measuring apparatus, characterized in that for calculating the load of the vehicle.
The method of claim 2, wherein the load output module

From the tolerance point to the point where the auxiliary spring operates, the measured value of the main spring sensor calculated using the measured value of the main spring sensor at the tolerance point and the measured value of the main spring sensor at the time of the auxiliary spring operation and the actual load The load is measured according to a first trend line representing the corresponding load,

From the point of time when the auxiliary spring operates to the point of full parking, the auxiliary spring sensor calculated using the measured value and actual load of the auxiliary spring sensor at the time of the auxiliary spring operation, and the measured value and actual load of the auxiliary spring sensor at the full parking point. A vehicle load measuring apparatus, characterized in that the load is measured in accordance with a second trend line indicating a load corresponding to the measured value of.
The method of claim 1,

The load output module adds the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculates the load of the vehicle using the summed measured value.
The method of claim 4, wherein the load output module

A trend line representing a load corresponding to the sum of the measured values at the tolerance, the actual load at the full load, and the sum of the measured values is calculated, and the load of the vehicle corresponding to the measured values summed according to the trend lines is obtained. Vehicle load measuring apparatus, characterized in that the calculation.
The method of claim 4, wherein the load output module

The sum of the measured values at the time of tolerance, the actual load and the sum of the measured values at the full time, and the sum of the measured values and the actual load and the summed values at any time between the tolerance and the full time. And obtaining a trend line indicating a load corresponding to, and calculating a load of the vehicle corresponding to the measured value summed up according to the trend line.
The method of claim 6, wherein the load output module

A vehicle load measuring apparatus for obtaining a trend line satisfying a linear equation using a least square method.
The method of claim 6, wherein the load output module

A vehicle load measuring apparatus for obtaining a trend line satisfying a quadratic equation using a least square method.
The method according to any one of claims 1 to 8,

The load output module communicates with the sensor module in a wired or wireless communication manner to receive a sensor measurement value.
A load measuring method of a vehicle having a two-stage spring suspension composed of a main spring and an auxiliary spring,

(a) outputting a measured value by a main spring sensor installed in the main spring and an auxiliary spring sensor installed in the auxiliary spring as a load is applied to the vehicle; And

(b) receiving, by the load output module, the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculating and displaying the load of the vehicle using the received measured values to the user; Vehicle load measurement method.
The method of claim 10,

In the step (b), the load output module calculates the load of the vehicle using the measured value of the main spring sensor before the load is applied to the auxiliary spring, and from the moment the load is applied to the auxiliary spring Vehicle load measuring method, characterized in that for calculating the load of the vehicle using the output value of the spring sensor.
The method of claim 11, wherein in the step (b) the load output module

From the tolerance point to the point where the auxiliary spring operates, the measured value of the main spring sensor calculated using the measured value of the main spring sensor at the tolerance point and the measured value of the main spring sensor at the time of the auxiliary spring operation and the actual load The load is measured according to a first trend line representing the corresponding load,

From the point of time when the auxiliary spring operates to the point of full parking, the auxiliary spring sensor calculated using the measured value and actual load of the auxiliary spring sensor at the time of the auxiliary spring operation, and the measured value and actual load of the auxiliary spring sensor at the full parking point. The load measurement method according to claim 2, wherein the load is measured in accordance with a second trend line indicating a load corresponding to the measured value of.
The method of claim 10, wherein in step (b)

The load output module adds the measured value of the main spring sensor and the measured value of the auxiliary spring sensor, and calculates the load of the vehicle using the summed measured value.
The method of claim 13, wherein in step (b)

The load output module obtains a trend line indicating a load corresponding to the sum of the measured values at tolerance and the sum of the measured values at full load and the sum of the measured values using the sum of the measured values, and corresponds to the sum of the measured values according to the trend lines. Vehicle load measuring method, characterized in that for calculating the load of the vehicle.
The method of claim 13, wherein in step (b)

The load output module uses the summed measurement value of the tolerance time point, the actual load and the summed measurement value of the full time point, and the actual load and the summed measurement value of the arbitrary time point corresponding to the middle point of the tolerance time and the full time point. Obtaining a trend line representing loads corresponding to the summed measurement values, and calculating a load of the vehicle corresponding to the summed measurement values according to the trend lines.
The method of claim 15, wherein in step (b)

The load output module is a vehicle load measuring method, characterized in that for obtaining a trend line satisfying the first-order equation using the least square method.
The method of claim 15, wherein in step (b)

And the load output module obtains a trend line satisfying a quadratic equation using a least square method.
The method according to any one of claims 10 to 17,

The load output module communicates with the sensor module in a wired or wireless communication manner to receive a sensor measurement value.
A recording medium in which the load measuring method according to any one of claims 10 to 17 is readable by a computer and recorded by executable program code.