JP6741402B2 - Information providing device, vehicle, and information providing method - Google Patents

Description

The present invention relates to an information providing device, a vehicle, and an information providing method.

In the case of vehicles that carry containers, the uneven distribution of cargo inside the containers has a significant effect on driving. For example, if the cargo in the container is largely biased to the left or right with respect to the traveling direction of the vehicle loaded with this container (hereinafter, simply "left and right" means "left and right" relative to the traveling direction. However, the position of the center of gravity of the vehicle loaded with the container is also largely biased to the left or right. In this case, the driver of the vehicle needs to carefully drive the vehicle so that the inclination angle in the left-right direction does not increase when turning to the side opposite to the side where the center of gravity is biased.

On the other hand, in general, the container is owned by the shipper, and normally, loading of the cargo in the container is not performed under the supervision of the carrier. In addition, the container is sealed by the shipper. For this reason, the carrier cannot open the container without the permission of the shipper. Therefore, it is difficult for the carrier to visually confirm the loading status of the cargo in the container.

In order to solve such a problem, for example, in a rollover warning device disclosed in Patent Document 1, an index indicating a risk of rollover is displayed based on a roll angle of a vehicle at the time of completion of loading of cargo on a cargo bed. There is. As a result, in the device of Patent Document 1, the driver can directly grasp the rollability of the vehicle prior to the start of driving.

Patent No. 5550544

By the way, in the rollover warning device disclosed in Patent Document 1, when it is necessary to reliably notify the driver of the degree of danger, when the roll angle is equal to or greater than a threshold value or exceeds the threshold value, there is a danger. It is described that a warning means for notifying that the degree is high may be provided. However, it does not detect and notify a container having a large inclination in comparison with past loading data for the container to be transported.

The present invention has been made under such a background, and an information providing device, a vehicle, and an information providing device capable of calling attention to a risk of rollover of a container having a large inclination as compared with a container that is normally carried . And to provide a method for providing information.

One aspect of the present invention is a point of view as an information providing device. The information providing device of the present invention is an information providing device that is installed in a vehicle having a cargo bed and provides information regarding the state of the vehicle, and is based on a signal output from a sensor of the vehicle when cargo is loaded on the cargo bed. If the storage processing unit that stores the numerical information indicating the horizontal inclination of the loading platform in the storage unit and the numerical information for a predetermined number of times of loading is accumulated in the storage unit, the standard deviation calculated from the accumulated numerical information. A threshold value setting unit that sets a threshold value based on a value; and a rollover risk degree notification unit that notifies the degree of rollover risk when numerical information is determined to be outside the range of the threshold value when loading cargo. Is.

The threshold setting unit of the above-mentioned information providing apparatus, until numerical information in the loading of a predetermined number of times is accumulated in the storage unit, it is preferable to set a fixed value stored in the storage unit as a threshold value.

Another aspect of the present invention is a vehicle. The vehicle of the present invention has the information providing device of the present invention.

Another aspect of the present invention is an information providing method. The information providing method of the present invention includes a storage unit, a storage processing unit, a threshold value setting unit, and a rollover risk degree notification unit, and is mounted on a vehicle having a cargo bed to provide information regarding the state of the vehicle. In the information providing method of the device, the storage processing unit stores in the storage unit numerical information indicating a lateral inclination of the loading platform based on a signal output from a sensor included in the vehicle when cargo is loaded on the loading platform. When the step and the threshold value setting unit store a predetermined amount of numerical information in a predetermined number of loadings in the storage unit, a threshold setting for setting the threshold value based on the standard deviation value calculated from the stored numerical information A step, a rollover risk notification unit, a rollover risk notification step of notifying the risk of rollover when the numerical information is determined to be outside the range of the threshold value set in the threshold setting step when loading the cargo , Is to have.

According to the present invention, it is possible to call attention to a risk of rollover of a container having a large inclination as compared with a container that is normally carried .

FIG. 1 is an overall configuration diagram of a combined vehicle having an information providing device according to a first embodiment of the present invention. FIG. 2 is a diagram showing the main configuration of the towing vehicle and towed vehicle of FIG. FIG. 3 is a block configuration diagram of an information providing apparatus according to the first embodiment of the present invention mounted on the towing vehicle of FIG. FIG. 4 is a flowchart showing the processing executed by the roll angle detection unit of FIG. FIG. 5 is a diagram for explaining the measurement timing of the roll angle detection unit. FIG. 6 is a diagram showing an example of the distribution of the left and right tilt angles when the operations are repeated. FIG. 7 is a diagram showing a display screen example displayed by the information providing apparatus shown in FIG. 3, and FIG. 7A is a display example when it is determined to be within the threshold range in step S8 of FIG. FIG. 9B is a diagram showing a display example when it is determined to be out of the threshold range in step S8 of FIG. FIG. 8 is a block configuration diagram of an information providing apparatus according to the second embodiment of the present invention. FIG. 9 is a flowchart showing a roll angle detection process executed by the roll angle detection unit of FIG. FIG. 10 is a diagram for explaining the measurement timing of the roll angle detection unit shown in FIG.

(Overview)
The information providing device of the present invention is effective when the carrier cannot visually confirm the state of the cargo without the permission of the shipper on the carrier side. Therefore, in the following, an example of a combined vehicle whose main task is to load a container or the like in which the carrier cannot visually confirm the state of the cargo without the permission of the shipper is described. However, the information providing apparatus of the present invention can be applied to a freight vehicle other than a combined vehicle, and the scope of application of the present invention is not limited to the combined vehicle.

(First embodiment)
FIG. 1 is an overall configuration diagram of a combined vehicle having an information providing device according to a first embodiment of the present invention. FIG. 2 is a diagram showing the main configuration of the towing vehicle and towed vehicle of FIG. As shown in FIG. 1, the combination vehicle 1 includes a towing vehicle 11 and a towed vehicle 12. Further, as shown in FIGS. 1 and 2, the towing vehicle 11 includes a coupler 21, a towing vehicle front wheel 22, a towing vehicle rear wheel 23, and a towing vehicle chassis 24. Further, in the following description, for the members respectively arranged on the left and right sides, the reference character is further attached with R or L to distinguish the left side and the right side. FIG. 1 shows a state where containers are loaded on the towed vehicle chassis 43.

The towing vehicle 11 is equipped with an engine (not shown) and is connected to the towed vehicle 12 via a coupler 21. The tow vehicle 11 travels using the rear wheel 23 of the tow vehicle as a driving wheel. Further, the towing vehicle 11 is equipped with the information providing device 25. The information providing device 25 has a display screen 55 and the like. The display screen 55 is arranged on the instrument panel of the driver's seat or the like.

Further, as shown in FIG. 2, vehicle height sensors 26R and 26L are arranged near the rear wheels 23R and 23L of the towing vehicle. Further, as shown in FIG. 2, the towing vehicle 11 has air suspensions 29R and 29L. The air suspensions 29R and 29L are attached to the frame component member 27 and support the towing vehicle chassis 24 via the support portions 28R and 28L. Further, pressure sensors 30R and 30L are attached to the air suspensions 29R and 29L.

The towed vehicle 12 has towed wheels 41 and 42 and a towed vehicle chassis 43. In addition, the "load platform" in the claims corresponds to the towed vehicle chassis 43. The towed vehicle 12 has a space for loading luggage and is connected to the towed vehicle 11 via a coupler 21. The towed vehicle 12 shown in FIG. 1 is biaxial (has two sets of towed wheels 41 and 42), but may be triaxial. When the towed vehicle 12 is not connected to the towed vehicle 11, the towed vehicle 12 can be kept horizontal by a landing gear (not shown) to be self-supporting.

FIG. 3 is a block configuration diagram of the information providing device 25A shown in FIG. 25 A of information provision apparatuses have the roll angle detection part 81, the display control part 52, the input control part 53, the memory|storage part 54, and the display screen 55. The storage unit 54 stores measurement data 54A, fixed value data 54B, and threshold value data 54C. The information providing device 25A calculates a roll angle when the towing vehicle 11 loads a container on the towed vehicle chassis 43, and also sets a fixed value data 54B or a threshold value calculated by a predetermined method from the roll angle. The driver can be notified of the rollover risk level based on the comparison with the data 54C. Note that the relationship between the roll angle and the rollover is already known from, for example, paragraphs 0045 to 0052 of Patent Document 1 (Japanese Patent No. 5550544) and FIG. Omit.

The vehicle height sensors 26R and 26L are installed near the rear wheels 23R and 23L of the towing vehicle, and detect the distance between the frame constituent member 27 of the towing vehicle 11 and the towing vehicle chassis 24 (this is referred to as vehicle height).

The pressure sensors 30R and 30L detect the air pressure of the air suspensions 29R and 29L of the towing vehicle 11. The air suspensions 29R and 29L form a so-called air suspension, and air is supplied from an air tank (not shown) under the control of an air suspension control function (not shown).

The roll angle detection unit 51 can detect information about the roll angle detected at each predetermined sampling cycle, compare the detected roll angle information with a threshold value, and notify the rollover risk. As shown in FIG. 3, the roll angle detection unit 81 includes a storage processing unit 51A, a threshold value setting unit 51B, and a rollover risk degree notification unit 51C.

The storage processing unit 51A measures the roll angle data indicating the inclination of the towed vehicle chassis 43 of the connected vehicle 1 in the left-right direction, which is output from the vehicle height sensors 26R and 26L when the container is loaded on the towed vehicle chassis 43. 54A is stored in the storage unit 54. The method of acquiring roll angle information when the container is loaded on the towed vehicle chassis 43 will be described later with reference to FIG.

・・・・式（１） When the threshold value setting unit 51B sets the fixed value data 54B as a threshold value until the measurement data 54A is stored in the storage unit 54 by a predetermined amount, and the measurement data 54A is stored in the storage unit 54 by a predetermined amount. Sets threshold value data 54C set based on the average value and standard deviation (σ) of the accumulated measurement data 54A as a threshold value. The standard deviation (σ) can be calculated by the following equation (1) when, for example, N pieces of measurement data S1 to Sn exist and the average value is μ.

....Formula (1)

That is, the sum of the squares of the differences between the respective values S1 to Sn of the measurement data 54A and the average value (μ) of the measurement data 54A is obtained, and the standard deviation is obtained by dividing the sum by the number N of measurement data to obtain the standard deviation. (Σ) can be obtained. Thereby, the threshold value setting unit 51D can set the average value (μ)±2σ as the threshold value data 54C, for example.

The rollover risk degree notification unit 51C calculates measurement data 54A based on the current roll angle, and the measurement data 54A is outside the range of the threshold value (fixed value data 54B or threshold value data 54C) set by the threshold value setting unit 51B. When the determination is made, a display instruction corresponding to the alert is issued to the display control unit 52 described later. On the other hand, when it is determined that the rollover risk degree notification unit 51EC and the measurement data 54A are within the threshold range, the display control unit 52 is instructed to supply the information indicating the absolute value of the measurement value data 54A.

The display control unit 52 indicates the information that calls attention based on the instruction from the rollover risk notification unit 51C (for example, attention information by graphic information, image information, or character information) or the absolute value of the measured value data 54A. Numerical information based on the information is displayed on the display screen 55. An example of the display screen will be described later with reference to FIG. 7.

The input control unit 53 supplies the driver's instruction information and input information input from a touch panel (not shown) superimposed on the display screen 55 to the roll angle detection unit 81. Although the instruction information and the input information are input via the touch panel in the present embodiment, an operation unit such as an operation button is provided separately from the display screen 55 so that the instruction information and the input information from the driver can be input. May be.

The storage unit 54 stores information about the roll angle detected by the roll angle detection unit 81 at every predetermined sampling cycle. Further, in the storage unit 54, when the roll angle measurement data 54A, the fixed value data 54B used as a threshold value until the measurement data 54A is accumulated by a predetermined amount, and the measurement data 54A are accumulated by a predetermined amount, the calculation is performed by a predetermined method. Threshold value data 54C is stored.

The display screen 55 displays a numerical value based on the roll angle measurement data 54A under the control of the display controller 52, or a display that calls attention when the measurement data 54A exceeds a threshold value (for example, Display graphic information, image information, or text information). Note that a lamp and/or a speaker may be provided in addition to the display screen 55, and the alert may be called by blinking or lighting the lamp, and/or ringing the speaker, synthesized voice, or the like.

(Regarding roll angle detection processing when a container is loaded on the towed vehicle 12)
Next, a roll angle detection process when a container is loaded on the towed vehicle 12 will be described. FIG. 4 is a flowchart showing a roll angle detection process executed by the roll angle detection unit 81 of FIG.

START: When the information providing device 25A is activated by a driver's key operation or the like, the information providing device 25A proceeds to the procedure of step S1.

Step S1: The storage processing unit 51A acquires the horizontal tilt angle information when the container is loaded on the towed vehicle chassis 43, and stores the measurement data 54A in the storage unit 54. It should be noted that each time the process of step S1 is executed once, the number of times n the container is loaded on the towed vehicle chassis 43 is counted by 1 and stored in the storage unit 54. Further, how to obtain the lateral tilt angle information when the container is loaded on the towed vehicle chassis 43 will be specifically described with reference to FIG. 5 described later. The procedure proceeds to step S2.

Step S2: The threshold value setting unit 51B determines whether or not the number n of times of acquisition of the measurement data 54A stored in the storage unit 54 in Step S1 is larger than the predetermined number N of predetermined data and stored. When it is determined that the number n of times of acquisition of the measurement data 54A is less than the default number N of data (NO in step S2), the procedure proceeds to step S3, and when it is determined that the number n is greater than the default number N of data. For (YES in step S2), the process proceeds to step S4. The predetermined number of data N here indicates the number of times of acquisition of the measurement data 54A necessary to obtain the threshold data 54C, but the predetermined number of data N depends on the type and characteristics of the combined vehicle 1. And set an appropriate value.

Step S3: When the threshold value setting unit 51B determines in step S2 that the number of times n the measurement data 54A has been acquired is not greater than the predetermined number N of data, it sets the fixed value data 54B stored in the storage unit 54 in advance. To do.

Step S4: On the other hand, when the threshold value setting unit 51B determines in step S2 that the number n of acquisitions of the measurement data 54A has been accumulated from the predetermined number N of data, the threshold value setting unit 51B determines that the average value (μ) of the roll angle measurement data 54A , The standard deviation (σ) is calculated, and the threshold value data 54C is set from these values. Since the variation of the roll angle measurement data 54A follows a normal distribution, the threshold value data 54C can be set to, for example, an average value (μ)±2σ. As a result, the probability that the measurement data 54A will fall within the range of the average value (μ)+2σ to the average value (μ)−2σ is about 95%. Therefore, when compared with the variation of the past measurement data 54A, an exceptional value The rollover danger level is notified only when the roll angle measurement data 54A of 5% outside the threshold data 54C is detected.

Step S5: Whether the rollover danger degree notification unit 51C is out of the range of the fixed value data 54B set in step S3 or out of the range of the threshold value data 54C set in step S4. The rollover risk is judged based on the judgment. When it is determined that the roll angle measurement data 54A is not outside the threshold range (NO in step S5), the procedure proceeds to step S6, and when it is determined that the roll angle measurement data 54A is outside the threshold range (in step S5). If YES, the process proceeds to step S7.

Step S6: If the rollover risk degree notification unit 51C determines in the determination at Step S5 that the measurement data 54A is not outside the threshold range (NO at Step S5), the rollover risk degree notification unit 51C informs the display control unit 52. On the other hand, an instruction is issued to display the absolute value based on the measurement data 54A, and the processing is ended (END).

Step S7: On the other hand, if the rollover risk degree notification unit 51C determines in the determination in step S5 that the measurement data 54A is out of the threshold range (YES in step S5), it executes the alerting process and then executes the process. End (END). Here, the alert processing includes, for example, information (for example, graphic information, image information, or text information alert information) that issues a display instruction corresponding to the alert to the display control unit 52 to alert the display screen 55. This is a process to be displayed on.

(About the detection timing of the roll angle when the container is loaded on the towed vehicle chassis 43)
Next, at what measurement timing the roll angle detection unit 51 measures the horizontal tilt angle (that is, the initial value of the roll angle) when the container of STEP 1 of FIG. 4 described above is loaded on the towed vehicle chassis 43. Then, it will be explained whether it is saved. FIG. 5 is a diagram for explaining the measurement timing of the roll angle detection unit 51. Note that how to detect the roll angle in the tow vehicle 11 in the first place and the relationship between the roll angle and the risk of rollover are already described with reference to FIG. 4, FIG. 5, FIG. 6, FIG. Since this is a well-known technique and is the same in this embodiment, the description of the measurement timing will be omitted.

In the middle of FIG. 5, the vertical axis represents the air pressure in the air suspensions 29R and 29L obtained from the detection results of the pressure sensors 30R and 30L (the detection result of the pressure sensor 30R + the detection result of the pressure sensor 30L), and the horizontal axis represents time. Is taken. On the other hand, in the lower part of FIG. 5, the roll angle calculated based on the detection results of the vehicle height sensors 26R and 26L is plotted on the vertical axis and the horizontal axis shows the passage of time. The upper part of FIG. 5 shows the states of the towing vehicle 11 at respective timings a to d described later.

In the upper part of FIG. 5, the roll angle detection unit 51 sets the roll angle 5 seconds before the start of the initial value measurement to a zero value (the timing of “a” in FIG. 5, the time of zero value measurement). Since the roll angle detection unit 51 detects the roll angle at a predetermined sampling period and records the roll angle in the storage unit 54 for each detection, the value before the start of the initial value measurement can be obtained. Then, the roll angle detection unit 51 starts the measurement at the timing when the coupler load change becomes 0.25 ton/sec or more (timing “b” in FIG. 5, height control start). Further, the roll angle detection unit 51 ends the measurement at the timing when the change in the coupler load is less than 0.25 ton/sec (timing “c” in FIG. 5, end of height control), and 3 seconds from the end point. The measurement is ended with the subsequent roll angle as the final value (timing “d” in FIG. 5, the measurement ends), and the amount of change from the zero value to the final value is output. The roll angle detection unit 81 stores the amount of change from the zero value to the final value in the storage unit 54 as the value of the horizontal tilt angle when the container is loaded on the towed vehicle chassis 43 (that is, measurement data 54A). ..

(Regarding distribution of occurrence frequency of measurement data 54A of right and left tilt angles)
Next, the distribution of the occurrence frequency of each data when a predetermined amount of measurement data 54A is accumulated in the storage unit 54 will be described. FIG. 6 is a diagram showing an example of a normal distribution of the measurement data 54A when the combined vehicle 1 repeatedly operates. When the measurement data 54A is accumulated in the storage unit 54 by a predetermined amount, the threshold setting unit 51B calculates the average value (μ) and the standard deviation (σ) of the measurement data 54A, for example, the range included in the average value ±2σ. Can be set as the threshold value (T2) (the range of about 95% hatched in FIG. 6). As a result, it is possible to perform the alerting determination when compared with the degree of variation in the lateral tilt angle of the container that the combined vehicle 1 normally carries.

Next, a display example of the risk degree using the roll angle will be described. FIG. 7 is a diagram showing a display screen example displayed by the information providing device 25A shown in FIG. 3, and FIG. 7A is a display example when it is determined to be within the threshold range in step S5 of FIG. FIG. 6B is a diagram showing a display example when it is determined in step S5 of FIG. 4 that the value is outside the threshold range. The display screens 55A and 55B shown in (A) and (B) of FIG. 7 are indicated by image icons seen from behind the towing vehicle 11. The display screen 55A shown in FIG. 7A displays a specific roll angle (here, +3.0 degrees). On the other hand, in the display screen 55B shown in FIG. 7B, the image icon is tilted to the left, and a message called tilt caution is displayed to call attention to the rollover. However, the numerical values of the angles are not displayed on the display screens 55A and 55B, and the degree of danger is classified into two, for example, “large” and “small”. When it is out of the range, it may be displayed as "large" and the risk degree depending on the roll angle may be displayed.

(Second embodiment)
Next, the information providing device 25B according to the second embodiment of the present invention will be described. Since the structure of the combined vehicle 1 is the same, illustration and description thereof will be omitted. FIG. 8 is a block configuration diagram of an information providing device 25B according to the second embodiment of the present invention. In the information providing device 25B, the same functions (display controller 52, input controller 53, and display screen 55) as those of the information providing device 25A shown in FIG. Omit it. The information providing device 25B includes a roll angle detection unit 81 and a storage unit 84. The storage unit 84 stores measurement data 84A, change amount data 84B, fixed value data 84C, and threshold value data 84D. Unlike the information providing device 25A, the information providing device 25B is configured to be able to determine the rollover risk level even after the combined vehicle 1 is running.

As shown in FIG. 8, the roll angle detection unit 81 includes a vehicle state determination unit 81A, a first storage processing unit 81B, a second storage processing unit 81C, a threshold value setting unit 81D, and a rollover risk degree notification unit. 81E and.

It is determined whether the vehicle state determination unit 81A and the roll angle measurement data 84A have valid values. The vehicle state determination unit 81A determines, for example, the roll angle measurement data 84A measured when the vehicle is temporarily stopped or traveling at a constant speed on a level ground as an effective value. On the other hand, the vehicle state determination unit 81A determines that the measurement data 84A of the roll angle measured during traveling other than the above case, for example, traveling on a sloped road such as a sharp curve or a slope is an invalid value. .. It should be noted that the criterion for determining whether or not the vehicle state determination unit 81A is effective is not limited to the above-described temporary stop of the vehicle and the constant speed traveling on the level ground, and the risk of a load collapse may occur. It is preferable to determine that the value is effective in running high. However, it is not preferable to always determine the roll angle measurement data 84A as a valid value. This is because the accuracy of information provision may decrease depending on the traveling state of the vehicle and the environment of the road on which the vehicle travels. For example, when it is assumed that the external environment, such as when entering a road having an extremely high or low difference in height, running on a steep slope, or when turning a sharp curve, has a great influence on the roll angle measurement data 84A. Although the risk of collapse of the load is not so high actually, the abnormal measurement data 84A is detected and the driver is frequently notified of the caution.

The first storage processing unit 81B is a roll angle indicating the inclination in the left-right direction of the towed vehicle chassis 43 of the combined vehicle 1 output from the vehicle height sensors 26R and 26L when a container is loaded on the towed vehicle chassis 43. The measurement data 84A of is stored in the storage unit 84. A method of acquiring the roll angle (.degree..degree.) change amount information when the container is loaded on the towed vehicle chassis 43 will be described later with reference to FIG.

The second storage processing unit 81C stores the roll angle measurement data 84A, which is stored in the storage unit 84 by the first storage processing unit 81B and indicates the tilt of the towed vehicle chassis 43 of the combined vehicle 1 in the left-right direction, and then In the moved vehicle, the difference between the change amount information of the roll angle indicating the inclination of the towed vehicle chassis 43 of the combined vehicle 1 in the left-right direction when the predetermined vehicle condition is satisfied, and the change amount data serving as the difference information are calculated. 84B is stored in the storage unit 84. Note that the second storage processing unit 81C calculates the difference a between the detection result of the vehicle height sensor 26R and the detection result of the vehicle height sensor 26L for each of the predetermined sampling cycles for the current roll angle, and calculates the vehicle height. It can be obtained by detecting the roll angle (=tan ^{−1 (a/b)} ) of the towing vehicle 11 from the distance b between the sensor 26R and the vehicle height sensor 26L.

・・・・式（２） The threshold value setting unit 81D sets the fixed value data 84C as a threshold value until the change amount data 84B stored by the second storage processing unit 81C is accumulated in the storage unit 84 by a predetermined amount, and the change amount data 84B is set. When a predetermined amount is stored in the storage unit 84, the threshold value data 84D set based on the standard deviation (σ) of the accumulated change amount data 84B is set as the threshold value. The standard deviation (σ) can be calculated by the following equation (2), for example, when N pieces of variation data C1 to Cn exist and the average value is μ.

.... Formula (2)

That is, the sum of the squares of the differences between the respective values C1 to Cn of the change amount data 84B and the average value (μ) of the change amount data 84B is obtained, and the sum is divided by the change amount data number N to obtain the square root. The standard deviation (σ) can be calculated by Thereby, the threshold value setting unit 81D can set the average value (μ)±2σ as the threshold value data 84D, for example.

The rollover risk degree notification unit 81E calculates change amount data 84B based on the current roll angle, and will be described later when it is determined that the change amount data 84B is outside the threshold range set by the threshold setting unit 81D. A display instruction corresponding to the alert is issued to the display control unit 52. On the other hand, when the rollover risk notification unit 81E determines that the rollover angle is within the threshold range, the rollover risk notification unit 81E indicates the absolute value of the difference between the roll angles calculated by the second storage processing unit 81C (the absolute value of the change amount data 84B). ) Is supplied to the display control unit 52.

The storage unit 84 stores information about the roll angle detected by the roll angle detection unit 81 at every predetermined sampling cycle. Further, in the storage unit 84, the roll angle measurement data 84A, the roll angle change amount data 84B, the fixed value data 84C stored in advance to determine the rollover risk, and the change amount data 84B are predetermined amounts. The threshold value data 84D calculated by a predetermined method when accumulated is stored.

(Regarding roll angle detection processing during running)
Next, a roll angle detection process during traveling will be described. FIG. 9 is a flowchart showing the roll angle detection processing executed by the roll angle detection unit 81 of FIG.

START: When the information providing device 25 is activated by the driver's key operation or the like, the information providing device 25 proceeds to the procedure of step S11.

Step S11: The first storage processing unit 81B acquires the horizontal tilt angle information (that is, the initial value) when the container is loaded on the towed vehicle chassis 43 and stores it in the storage unit 84. It should be noted that how to obtain the lateral tilt angle information when the container is loaded on the towed vehicle chassis 43 will be described later with reference to FIG. 10. The procedure proceeds to step S12.

Step S12: The vehicle state determination unit 81A determines whether or not the measurement of the lateral tilt angle is valid. The vehicle state determination unit 81A proceeds to step S13 when it is valid (YES in step S12), and repeats this determination when it is invalid (No in step S12). It should be noted that whether the measurement of the horizontal tilt angle is effective or not can be determined, for example, when the vehicle is temporarily stopped or traveling at a constant speed, when the measurement of the horizontal tilt angle is effective. preferable.

Step S13: The second storage processing unit 81C acquires information indicating the current left-right inclination angle (that is, the measurement data 84A described above).

Step S14: The second storage processing unit 81C calculates change amount data 84B from the horizontal tilt angle (initial value) when the container is loaded on the towed vehicle chassis 43 and the current horizontal tilt angle information, and stores it. It is stored in the section 84. Each time the process of step S14 is performed once, the number of times m of detection of change amount data is counted by 1 and stored in the storage unit 84. The procedure proceeds to step S15.

Step S15: The threshold value setting unit 81D determines whether or not the detection count m of the change amount data 84B stored in the storage unit 84 in Step S14 is accumulated and stored in excess of a predetermined default data number M. When it is determined that the number of times m of detection of the change amount data 84B is less than the predetermined number of data M (NO in step S15), the procedure proceeds to step S16, and it is determined that the number of times m is greater than the default data number M. In that case (YES in step S15), the process proceeds to step S17. The predetermined data number M here indicates the number of times the change amount data 84B necessary to obtain the threshold data 84D is detected. The predetermined data number M depends on the type and characteristics of the combined vehicle 1. An appropriate value may be set accordingly.

Step S16: When the threshold value setting unit 81D determines in step S15 that the number of times m of detection of the change amount data 84B has not been accumulated more than the predetermined number of data M, the fixed value data 84C stored in the storage unit 84 in advance is used. Set.

Step S17: When the threshold value setting unit 81D determines in step S15 that the number of detections m of the change amount data 84B has been accumulated from the predetermined number of data M, the average value (μ) of the change amount data 84B and the standard deviation. (Σ) is calculated, and the threshold data 84D is set from these values. For example, since the variation of the roll angle change amount data 84B follows a normal distribution, the threshold value data 84D can be set to, for example, the average value (μ)±2σ. As a result, the probability that the change amount data 84B will fall within the range of the average value (μ)+2σ to the average value (μ)−2σ is about 95%, and thus it is exceptional when compared with the variation of the past change amount data 84B. The rollover risk degree is notified only when the roll angle variation data 84B of 5%, which is outside the range of the threshold value data 84D having the above value, is detected.

Step S18: The rollover danger degree notification unit 81E acquires the roll angle change amount data 84B when the vehicle state is valid, and determines whether or not the roll angle change amount data 84B is outside the fixed value data 84C set in Step S16, or The rollover risk is determined based on whether or not it is outside the range of the threshold value data 84D set in step S17. If the roll angle change amount data 84B is determined to be within the threshold range, the procedure proceeds to step S19, and if it is determined to be outside the threshold range, the procedure proceeds to step S20.

Step S19: If the rollover risk degree notification unit 81E determines in step S18 that the change amount data 84B is not outside the threshold range, the rollover risk degree notification unit 81E currently measures the display control unit 52. An instruction is issued to display the change amount data 84B based on the measured roll angle, and the process ends (END).

Step S20: On the other hand, if the rollover risk degree notification unit 81E determines in step S18 that the change amount data 84B is out of the threshold range, the rollover risk degree notification unit 81E executes the alerting process and then ends the process (END). .. Here, the alert processing includes, for example, information (for example, graphic information, image information, or text information alert information) that issues a display instruction corresponding to the alert to the display control unit 52 to alert the display screen 55. This is a process to be displayed on.

(About roll angle detection timing)
Next, at what measurement timing the roll angle detection unit 81 measures the horizontal tilt angle (that is, the initial value of the roll angle) when the container of STEP 11 of FIG. 9 described above is loaded on the towed vehicle chassis 43. Then, it will be explained whether it is saved. FIG. 10 is a diagram for explaining the measurement timing of the roll angle detection unit 81 shown in FIG. Note that how to detect the roll angle in the towing vehicle 11 in the first place and the relationship between the roll angle and the risk of rollover have already been described with reference to FIG. 4, FIG. 5, FIG. 6, FIG. Since this is a well-known technique and is the same in this embodiment, the description of the measurement timing will be omitted.

In the middle of FIG. 10, the vertical axis represents the air pressure in the air suspensions 29R and 29L obtained from the detection results of the pressure sensors 30R and 30L (the detection result of the pressure sensor 30R+the detection result of the pressure sensor 30L), and the horizontal axis represents time. Is taken. On the other hand, in the lower part of FIG. 10, the roll angle calculated based on the detection results of the vehicle height sensors 26R and 26L is plotted on the vertical axis and the horizontal axis shows the passage of time. The upper part of FIG. 10 shows the states of the towing vehicle 11 at respective timings a to d described later.

(About the detection timing of the roll angle when the container is loaded on the towed vehicle chassis 43)
In the upper part of FIG. 10, the roll angle detection unit 81 sets the roll angle 5 seconds before the start of the initial value measurement to a zero value (timing of “a” in FIG. 10, time of zero value measurement). Since the roll angle detection unit 81 detects the roll angle at a predetermined sampling cycle and records it in the storage unit 54 for each detection, it is possible to obtain the value before the start of the initial value measurement. Then, the roll angle detection unit 81 starts the measurement when the coupler load change is 0.25 tons/sec or more (timing “b” in FIG. 10, height control start). Further, the roll angle detection unit 81 finishes the measurement when the coupler load change is less than 0.25 tons/sec (timing “c” in FIG. 10, end of height control), and rolls 3 seconds after the end point. The measurement is ended with the angle as the final value ((timing “d” in FIG. 10, the measurement ends), and the amount of change from the zero value to the final value is output. Is stored in the storage unit 84 as the initial value of the horizontal tilt angle when the container is loaded on the towed vehicle chassis 43. Then, the roll angle detection unit 81, for example, after the timing of d. Therefore, the roll angle at the timing of T1 or the roll angle at the timing of T2 during the traveling of the towing vehicle 11 is acquired, and the difference from the roll angle (initial value) at the timing of d is the fixed value described above. It outputs a display or a measured value that calls attention depending on whether or not it is outside the range of the data 84C or the threshold value data 84D. The vehicle state determination unit 81A determines that the timing of T1 or T2 is valid. It's time.

The distribution of the change amount data 84B in the information providing device 25B having the roll angle detection unit 81 according to the second embodiment of the present invention is an example of the normal distribution of the measurement data 54A in the first embodiment shown in FIG. Since the display screen is the same as the display screen example in the first embodiment shown in FIG. 7, its illustration is omitted.

(About effect)
As described above, the roll angle information output from the vehicle height sensors 26R and 26L (sensors) when the container is loaded on the towed vehicle chassis 43 (load platform) is stored in the storage units 54 and 84 (see FIG. 4). In step S1 and step S11 in FIG. 9, until the predetermined amount is stored in the storage units 54 and 84 (NO in step S5 of FIG. 4, NO in step S15 of FIG. 9), the fixed value data 54B and 84C are set as threshold values. (Step S6 of FIG. 4, step S16 of FIG. 9), and when a predetermined amount is stored in the storage units 54 and 84 (YES in step S5 of FIG. 4, YES in step S15 of FIG. 9), The average value (μ) and standard deviation (σ) of the accumulated information (measurement data 54A, change amount data 84B) are calculated, and a threshold value based on the calculated average value (μ) and standard deviation (σ) is set. (Step S7 of FIG. 4, step S17 of FIG. 9), and then, when it is determined to be outside the range of the threshold value (YES in step S8 of FIG. 4, YES in step S18 of FIG. 9), the risk of rollover is set. Since the notification is made (step S10 in FIG. 4, step S20 in FIG. 9), the current degree of rollover risk is compared to the normal variation degree as compared with the variation degree derived from the past predetermined amount of roll angle information. It is possible to notify that the risk of rollover is high only when the value of the rollover value is greatly exceeded. That is, even if it is originally not necessary to give a warning of rollover, even if it is determined that there is a risk of rollover, by the determination of the threshold value based on the degree of variation in the past roll angle, Since it is determined that the risk of rollover is low, the driver is warned of a more appropriate rollover risk. Therefore, the driver can realize safe operation of the combined vehicle 1.

The input control unit 53 (threshold value control unit) allows the driver to input a change instruction or an invalid instruction regarding the threshold value so that the threshold value set by the threshold value setting unit 81D can be changed or invalidated. May be. With this, in principle, it is possible to grasp the risk of rollover when comparing the risk of rollover with the amount of change in the past roll angle, but the driver intentionally sets the threshold value to another value. If you want to change to, or if you want to temporarily disable the function itself, it is possible to support.

(Regarding the embodiment using a program)
Further, each unit of the information providing devices 25A and 25B (roll angle detection units 51 and 81, display control unit 52, storage unit 54, etc.) may be configured by a general-purpose information processing device that operates according to a predetermined program. For example, a general-purpose information processing device has a memory, a CPU (Central Processing Unit), an input/output port, and the like. The CPU of the general-purpose information processing device reads and executes the control program as a predetermined program from the memory or the like. As a result, the functions of the respective units of the information providing devices 25A and 25B are realized in the general-purpose information processing device. Further, other functions that can be realized by software can be realized by a general-purpose information processing device and a program. Note that an ASIC (Application Specific Integrated Circuit), a microprocessor (microcomputer), a DSP (Digital Signal Processor), or the like may be used instead of the CPU described above.

Even if the control program executed by the general-purpose information processing device is stored in the memory of the general-purpose information processing device before shipment of the information providing devices 25A and 25B, after the shipping of the information providing device 25. It may be stored in a memory of a general-purpose information processing device. Further, a part of the control program may be stored in a memory of a general-purpose information processing device after the information providing devices 25A and 25B are shipped. The control program stored in the memory or the like of the general-purpose information processing device after the information providing devices 25A and 25B are shipped is, for example, one installed on a computer-readable recording medium such as a CD-ROM. Alternatively, it may be downloaded from a transmission medium such as the Internet and installed.

Further, the control program includes not only a program that can be directly executed by a general-purpose information processing device but also a program that can be executed by being installed in a hard disk or the like. It also includes those that are compressed or encrypted. As described above, by realizing the functions of the information providing devices 25A and 25B by the general-purpose information processing device and the program, it is possible to flexibly cope with mass production and specification changes (or design changes).

(Other embodiments)
Although the engine has been described as an internal combustion engine, it may be a heat engine including an external combustion engine. It should be noted that the program executed by the computer may be a program in which processing is performed in time series in the order described in this specification, or in parallel or at a necessary timing such as when a call is made. It may be a program in which processing is performed.

Further, when the roll angle is out of the threshold range in step S5 of FIG. 4 or step S18 of FIG. 9, it is necessary to reliably notify the driver of the degree of danger. Therefore, in such a case, in addition to the display of the degree of danger described with reference to FIG. 7, an alarm means for informing the driver that the degree of danger is high may be provided. The warning means can be in various forms such as blinking a lamp, ringing a buzzer, and making a notification with a synthetic voice. Alternatively, an alarm lamp or an alarm display section may be provided in the display example of FIG.

The embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1... Connection vehicle, 11... Towing vehicle, 12... Towed vehicle, 25A, 25B... Information providing device, 43... Towed vehicle chassis (packing bed), 51... Roll angle detection part, 51A... Storage processing part, 51B... Threshold value Setting unit, 51C... Overturn risk leaving unit, 52... Display control unit, 54... Storage unit, 54A... Measurement data, 54B... Fixed value data, 54C... Threshold data, 55, 55A, 55B... Display screen (display unit) , 81... Roll angle detection unit, 81A... Vehicle state determination unit, 81B... First storage processing unit, 81C... Second storage processing unit, 81D... Threshold setting unit, 81E... Rollover risk degree notification unit, 84A... Measurement Data, 84B... Change amount data, 84C... Fixed value data, 84D... Threshold data,

Claims (4)

An information providing device which is mounted on a vehicle having a cargo bed and provides information about the state of the vehicle,
A storage processing unit that stores, in a storage unit, numerical information indicating a lateral inclination of the cargo bed based on a signal output from a sensor included in the vehicle when cargo is loaded on the cargo bed,
When the numerical information in a predetermined number of times of loading is accumulated in the storage unit, a threshold setting unit that sets a threshold value based on a standard deviation value calculated from the accumulated numerical information,
When loading cargo, a rollover risk notification unit that notifies the risk of rollover when the numerical information is determined to be outside the range of the threshold value,
An information providing device comprising: The information providing apparatus according to claim 1, wherein
The threshold setting unit,
Until the numerical information in the loading of a predetermined number of times is accumulated in the storage unit, the information providing apparatus characterized by setting a fixed value stored in the storage unit as the threshold value. A vehicle comprising the information providing device according to claim 1. A storage unit, a storage processing unit, a threshold setting unit, and a rollover risk degree notification unit, mounted in a vehicle having a luggage platform, in the information providing method of the information providing apparatus for providing information about the state of the vehicle,
A storage step in which the storage processing unit stores, in the storage unit, numerical information indicating a lateral inclination of the cargo bed based on a signal output from a sensor included in the vehicle when cargo is loaded on the cargo bed;
When the threshold value setting unit stores a predetermined amount of the numerical value information in a predetermined number of loadings , the threshold value setting unit sets a threshold value based on a standard deviation value calculated from the accumulated numerical value information. Steps,
The rollover risk notification unit, a rollover risk notification step for notifying the risk of rollover when the numerical information is determined to be outside the range of the threshold value set in the threshold value setting step when loading cargo ,
An information providing method comprising:

Images