| 摘要 |
PROBLEM TO BE SOLVED: To perform estimation of a centroid position of a vehicle in a container yard.SOLUTION: A centroid position estimation device 11 is constituted by including a centroid position estimation part 23 which sets a roll angle of a vehicle before the start of loading to a reference point of the roll angle at the start of loading of a load to the vehicle, subtracts the roll angle to be the reference point from the roll angle of the vehicle after the end of loading at the end of loading of the load to the vehicle, subtracts the roll angle to be the reference point from an average value of the roll angle of the vehicle at a straight running state in straight running of the vehicle after setting the reference point, and when these calculation results exceed a threshold, performs display for calling attention. |
