Vehicle control method and system based on the detection of a falling load

Abstract

Vehicle control method based on detection of a falling load (300), wherein the method has: Determine by a vehicle (100) whether a load (300) is falling, Storing (S410) one or more environment images in response to detecting the fall of the load (300), Transmission (S420) of one or more environmental images to a server (200) by the vehicle (100) in order for the server (200) to further determine, based on the one or more environmental images, whether the load (300) is decreasing, Receiving data generated by the server (200) Vehicle control information when it is determined that the load (300) is falling, and Control (S470) of the vehicle (100) based on the vehicle control information received from the server (200).

Description

Background area

[0001] The present disclosure relates to a vehicle control method and a system based on the detection of a falling load. Discussion of related technology

[0002] In general, an autonomous vehicle is a vehicle that autonomously recognizes a driving environment and drives to a destination without driver intervention.

[0003] A general autonomous vehicle perceives its surroundings using numerous sensors installed in the vehicle, inputs a route based on the detected data, and drives along the corresponding route. Additionally, the vehicle receives information about a road or similar from an external station positioned along its route and drives based on this information.

[0004] CN 2 03 793 211 U discloses a cargo security monitoring alarm system.

[0005] DE 10 2018 213 427 A1 reveals a driver assistance system. Contents

[0006] One aspect of the present invention provides a vehicle control method and a system based on the detection of a falling or dropping load.

[0007] In detail, another aspect of the present invention provides a vehicle control method for detecting a fall or drop of a load based on information from an object in the vicinity of a vehicle, for transmitting information corresponding to the fall of the load to a central unit, and for receiving control information about the fall of the load from the central unit in order to control or regulate the vehicle.

[0008] Additional advantages, aspects, and features of the invention will be partly set forth in the following description and will partly become apparent to those skilled in the art upon review of the following explanations, or can be learned by putting the invention into practice. The features and other advantages of the invention can be realized and achieved through the structure described in particular in the following description, the accompanying claims, and the accompanying drawings.

[0009] In one aspect of the invention, a vehicle control method based on the detection of a falling load comprises: determining by a vehicle whether a load is falling, storing one or more environmental images in response to the falling load, transmitting the one or more environmental images to a central unit by the vehicle, determining by the central unit, based on the one or more environmental images, whether the load is falling, transmitting vehicle control information based on the determination that the load is falling, by the central unit, and controlling the vehicle based on the vehicle control information received from the central unit.

[0010] In some embodiments, the vehicle's determination of whether the load is falling may include: detecting an object within a preset distance from the vehicle; determining whether the difference between the vehicle's speed and the object's initial speed is within a preset speed or speed range; determining whether the object's speed is in a decelerated or steady state; determining whether the object is decelerating or stationary when the object's speed is within the preset speed or speed range; and determining whether the object has moved from top to bottom.

[0011] In some embodiments, the vehicle's determination of whether the load is falling may include: determining whether a weight variation or change in the vehicle's weight is equal to or greater than a preset value.

[0012] In some embodiments, the method may further include: steering the vehicle to stop at or on an adjacent shoulder, and receiving vehicle control information from the central unit when the vehicle weight variation is equal to or greater than the preset value.

[0013] In some embodiments, the method may further include: controlling the vehicle to move from a current lane to a slow lane or low-speed lane and driving at a low speed, and receiving vehicle control information from the central unit when the vehicle weight variation is equal to or less than the preset value.

[0014] In some embodiments, the method may further include: determining whether the load needs to be recharged and steering the vehicle to stop on or at an adjacent shoulder if the load needs to be recharged.

[0015] In some embodiments, the method may further include: checking by the central unit whether the load is falling or dropping, based on image information and vehicle information; determining whether the load needs to be recharged when the central unit determines that the load is falling or dropping or has fallen / dropped; determining by the central unit whether a destination needs to be changed, in response to a determination that the load needs to be recharged; and transmitting the vehicle control command to the vehicle by the central unit in response to a determination that the destination needs to be changed.

[0016] In some embodiments, the method may further include: determining a position at which the load falls / drops by the central unit and determining a type of falling / dropping load, for example by the central unit.

[0017] In some embodiments, the method may further include reporting or transmitting information about the falling / falling of the load to road management facilities or road monitoring facilities or roadway monitoring facilities by the central office. Brief description of the drawings

[0018] The accompanying drawings, which are included here to provide a further understanding of the invention and form part of this application, illustrate one or more embodiments of the invention and, together with the description, serve to explain the principle of the invention. Fig. Figure 1 is a representation illustrating a vehicle control system based on the detection of a falling load according to an embodiment of the present invention. Fig. Figure 2 is a representation showing the concept of a method for controlling a vehicle based on the detection of a falling load according to an embodiment of the present invention. Fig. Figure 3 is a flowchart showing a method for detecting a falling load according to an embodiment of the present invention. Fig. Figure 4 is a flowchart of a method for controlling a vehicle based on the falling of a load according to an embodiment of the present invention. Fig. Figure 5 is a flowchart showing a method for controlling an investigation at a central location according to an embodiment of the present invention. Detailed description of embodiments

[0019] Reference will now be made in detail to devices and numerous methods according to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The suffixes "-module" and "-unit" of elements are used here for the sake of simplicity and can therefore be used interchangeably, so that they have no distinguishing meanings or functions.

[0020] In the description of the embodiments, it will be understood that when it is stated that an element is provided “on” or “under” or “in front” or “after” another element, this means that the element may be directly adjacent to the other element or that other elements may be arranged in between.

[0021] It should be clear that although the terms "first," "second," "A," "B," "(a)," "(b)," etc., may be used here to describe numerous elements, these terms are used only to distinguish one element from another, and the essential order or sequence of the corresponding elements is not restricted by these terms. It will be understood that when it is stated that an element is "connected" to another element, or "coupled" to another element, or has "access" to another element, that one element may be "connected" to another element via another element, or may be "coupled" to another element via another element.can have "access" to this one via another element, or that one element can be directly "connected" to the other element, can be directly "coupled" to the other element, or can have direct "access" to the other element.

[0022] The terms "has," "includes," and "has," where used herein, should not be interpreted as excluding other elements, but rather as further including such elements, since the corresponding elements may be present unless otherwise specified. All terms, including technical or scientific terms, have the same meanings as they are generally understood by a person skilled in the art, to whom the present invention is directed, in the relevant technical field, unless otherwise specified. Commonly used terms, such as those defined in a dictionary, should be interpreted as having a meaning consistent with a meaning in the related technology in the given context.Unless otherwise stated in the present disclosure, such terms should not be interpreted in an idealistic or overly formal manner.

[0023] In a typical autonomous vehicle, a driver or passenger is unable to verify a problem with their vehicle, as traffic violation information reported to traffic enforcement agencies is obtained by photographing the front of the vehicle in question. Therefore, the typical autonomous vehicle is unable to verify whether a load falls during autonomous driving, such as from the vehicle itself or onto the roadway.

[0024] Accordingly, one aspect of the present invention provides a technology for detecting a falling / dropping load, thereby preventing a subsequent or secondary accident and ensuring that a vehicle is appropriately controlled or regulated when a load falls / drops from an autonomous vehicle.

[0025] Embodiments of the present invention can provide a vehicle control method based on the detection of a falling load, wherein the method: detects a falling load in order to control a vehicle, transmits a stored image, vehicle information and vehicle position information corresponding to the falling load to a central unit to determine again whether a load is falling or has fallen, and determines whether the load needs to be recharged and whether the vehicle needs to travel to a destination in order to control a vehicle journey.In one embodiment, the central unit can be a traffic control center located at a fixed position and have a server that can communicate with the vehicle, receive information or data from the vehicle, process the received information or data, generate vehicle operating instructions or vehicle driving instructions, and send the instructions to the vehicle.

[0026] Fig. Figure 1 is a representation illustrating a vehicle control system based on the detection of a falling load according to an embodiment of the present invention.

[0027] Referring to Fig. 1. The vehicle control system, which is based on the detection of a falling load, can have a vehicle (such as a truck) 100 and a central unit 200.

[0028] The vehicle 100 can include: a sensor unit 110, a control unit 120 and a driver 130.

[0029] The sensor unit 110 can include: a RADAR unit (RADAR = Radio Detection and Ranging) 111, a camera 112, a vehicle weight detection unit 113 and a GPS or a GPS module (GPS = Global Positioning System) 114.

[0030] RADAR Unit 111 can detect information about an object that is near or around Vehicle 100.

[0031] The camera 112 can be mounted in the vehicle 100 and can capture one or more images (a front view, a rear view, a side view, etc.) of the area surrounding the vehicle 100. The one or more images of the surroundings can include video. The camera 112 can have or include: a single camera, a 3D camera, an omnidirectional camera, a monocular camera, or the like. The camera 112 can capture or store an image of the rear of the vehicle 100, or an image of an area behind the vehicle 100, when a load 300 falls and the load 300 is detected behind the vehicle 100.

[0032] The vehicle weight detection unit 113 can detect a change in the vehicle weight using a sensor located in the vehicle 100. The vehicle weight detection unit 113 can then transmit the vehicle weight change information to a falling load detection and determination unit 121. In one implementation or embodiment, the vehicle has one or more sensors and the control unit for detecting the vehicle's weight. The control unit determines changes in the vehicle's weight based on information indicating the vehicle's weight received from the one or more sensors.

[0033] The GPS or GPS module 114 may have a GPS receiver for receiving a navigation message transmission from a satellite and may receive the current position, latitude and longitude or the like of the vehicle 100 using the navigation message (GPS information, GPS signals and satellite signals).

[0034] The control unit 120 can include: the falling load detection unit 121, a vehicle driving control unit 123 and a communication unit 122.

[0035] The Falling Load Detection Unit 121 can determine, based on the object information received from the RADAR Unit 111, whether an object is present within a preset distance around the vehicle 100.

[0036] Upon detecting an object within a preset distance, the Falling Load Detection Unit 121 can determine the speed of the detected object. For example, the Falling Load Detection Unit 121 can determine whether the speed of the vehicle 100 and the initial speed of the detected object is between 0 and 5 km / h.

[0037] The Falling Load Detection Unit 121 can then determine whether the detected object is decelerating or losing speed. The Falling Load Detection Unit 121 can determine whether the detected object's speed is steady. The Falling Load Detection Unit 121 can determine whether the detected object's position is moving from top to bottom. The Falling Load Detection Unit 121 can detect a drop of the load 300 based on a change in the vehicle's weight.

[0038] Upon detection of a falling load 300, the falling load detection unit 121 can perform such a control that the camera 112 takes or saves an image, since the RADAR unit 111 detects an object.

[0039] Communication unit 122 can transmit vehicle information, image information, vehicle weight information, and vehicle position information from vehicle 100 to control unit 200. Communication unit 122 can receive a vehicle control command from control unit 200.

[0040] If the falling load detection unit 121 detects a falling load 300 based on a change in vehicle weight, the vehicle driving control unit 123 can control the route of the vehicle 100.

[0041] For example, the vehicle driving control unit 123 can control the vehicle 100 to stop on an adjacent shoulder if the vehicle weight variation received by the falling load detection and determination unit 121 is equal to or greater than 200 kg.

[0042] For example, the vehicle driving control unit 123 can control the vehicle 100 to move to a low-speed lane and to drive at a low speed when the vehicle weight variation received by the falling load detection and determination unit 121 is equal to or less than 200 kg.

[0043] The vehicle driving control unit 123 can receive the vehicle control command from the central unit and can drive the vehicle to a destination.

[0044] For example, the vehicle driving control unit 123 can control the vehicle to drive to the original address or destination before the drop of the load 300 as the destination, based on the vehicle control command received from the central unit 200.

[0045] For example, the vehicle driving control unit 123 can control the vehicle to drive to a changed address or destination after the drop of the load 300 as the destination, based on the vehicle control command received from the central unit 200.

[0046] The driver 130 can include: a lighting driver or lamp driver 131 for controlling an external vehicle light, a longitudinal direction control unit 132 to drive or control the vehicle in such a way that it accelerates and / or decelerates, and a horizontal direction control unit 133 for driving or controlling a vehicle steering system.

[0047] The control unit 200 can receive a stored image, vehicle information, and vehicle position information from the communication unit 122. The vehicle information can include information on changes in vehicle weight.

[0048] The central unit 200 can determine whether the load 300 is actually falling / falling or has fallen / fallen, based on the stored image and the vehicle information.

[0049] Upon determining that load 300 is indeed falling or has fallen, control unit 200 can determine the load's fall position based on position information from vehicle 100. This allows control unit 200 to determine the load type. Control unit 200 can then determine whether the load needs to be recharged.

[0050] The control unit 200 can determine whether the vehicle needs to travel to a destination in response to the falling load 300. For example, the control unit 200 can determine whether the vehicle 100, from which the load 300 falls, will travel to an existing destination or to a changed destination.

[0051] Fig. Figure 2 is a representation showing the concept of a method for controlling the vehicle 100 based on a detection of a falling load according to an embodiment of the present invention.

[0052] Referring to the Fig. 2A and Fig. 2B, if the vehicle 100 is falling, the RADAR unit 111 can detect the falling of the load 300.

[0053] Accordingly, vehicle 100 can detect an object within a preset distance. Vehicle 100 can then determine whether the difference between its current speed and the initial speed of the detected object is within a preset speed or speed range. If the speed of the detected object is within the preset speed or speed range, it can determine whether the object's speed is decreasing or zero, i.e., whether the object or its speed is in a decelerating or steady state. It can then determine whether the position of the detected object has changed from top to bottom. Accordingly, vehicle 100 can determine that the load 300 is falling.

[0054] Vehicle 100 can then measure any weight variation or change and determine whether the weight variation is equal to or greater than 200 kg. If the weight variation is equal to or greater than 200 kg, vehicle 100 can pull over onto an adjacent shoulder.

[0055] Vehicle 100 can detect weight variations and can travel at a low speed if the weight change is equal to or less than 200 kg. In this case, vehicle 100 can move from its current lane to a slower lane to travel at a lower speed.

[0056] For example, if vehicle 100 detects a falling load 300 while traveling in a third lane of a five-lane roadway, it may move to a fifth lane as a lane for low-speed travel.

[0057] Fig. Figure 3 is a flowchart showing a method for detecting a falling load according to an embodiment of the present invention.

[0058] Referring to Fig. 3. If vehicle 100 is driving autonomously, it can determine whether an object is present within 1 meter of it (S310).

[0059] After the operating step S310, the falling load detection unit 121 of the vehicle 100 can determine whether the difference between the speed of the vehicle 100 and the initial speed of the object is between 0 and 5 km / h (S320).

[0060] After the operating step S320, the vehicle 100 can determine whether the speed of the object is in a continuously decelerating or a steady state (S330).

[0061] After the operating step S330, the vehicle 100 can determine whether the object's vertical position is moving from top to bottom (S340).

[0062] If the operating step S340 leads to a positive result, the vehicle 100 can detect a falling load 300 (S350).

[0063] Fig. Figure 4 is a flowchart of a method for controlling a vehicle based on the falling of a load, according to an embodiment of the present invention.

[0064] Referring to Fig. 4. If the load 300 falls, vehicle 100 can take a picture with a rear camera and save the captured image. Vehicle 100 can then transmit the captured image, vehicle information, and vehicle position information to the central unit 200 (S410 and S420).

[0065] After operating step S420, the vehicle can determine whether the vehicle weight variation is equal to or greater than 200 kg (S430).

[0066] If the operating step S430 results in a positive outcome, vehicle 100 can stop on an adjacent shoulder. The dropped load 300 can then be reloaded onto vehicle 100 (S440 and S445).

[0067] After operating step S445, vehicle 100 can determine whether a final destination is changed. If vehicle 100 changes the final destination, it can move in response to a control command received from central station 200 (S460 and S470).

[0068] After operating step S430, the vehicle can move to a slow lane and travel at a low speed if the vehicle weight variation is equal to or less than a preset value. Subsequently, the vehicle can determine whether the load needs to be recharged (S450 and S455).

[0069] After operating step S455, operating step S440 can be performed if vehicle 100 determines that load 300 needs to be recharged. After operating step S455, operating step S460 can be performed if vehicle 100 determines that load 300 does not need to be recharged.

[0070] Fig. Figure 5 is a flowchart showing a method for controlling the determination of a central location according to an embodiment of the present invention.

[0071] Referring to Fig.In step 5, the control unit 200 can receive a stored image, vehicle information, and position information 300 from vehicle 100. Subsequently, the control unit 200 can determine whether the load 300 is actually falling or has already fallen (S510). After the operating step S510, the control unit 200 can determine whether the load 300 needs to be recharged (S520).

[0072] If the S520 operation results in a positive outcome, the control center 200 can report the load falling to road management facilities (road monitoring facilities or lane monitoring facilities) and can send a recharging request to them or request a recharge (S530). If the S520 operation does not result in a positive outcome, the control center 200 can report the load falling to the road management facilities and can report that a recharge is not necessary (S540).

[0073] After the operating steps S530 and S540, the central unit 200 can determine whether a destination needs to be changed (S550).

[0074] If the S550 operating step results in a positive outcome, the control unit 200 can generate a vehicle control command in response to a destination change. If the destination change is required, the vehicle control command can contain a modified address as the destination information. In this case, the load information can include information about a state in which recharging is required or a state in which the current state is to be maintained (S560).

[0075] If the S550 operating step does not result in a positive outcome, the control unit 200 can generate the vehicle control command in response to the destination change. If the destination change is not required, the vehicle control command can contain an original address as the destination information. In this case, the load information can include information about a state in which recharging is required or a state in which the current state is to be maintained (S570).

[0076] If the operating step S510 does not lead to a positive result, the operating step S570 can be carried out.

[0077] In some embodiments, a vehicle has one or more sensors and a control unit. The vehicle is loaded with a cargo. The control unit determines whether the cargo is falling or dropping, based on information received from the one or more sensors. This information may include: one or more images of the vehicle's surroundings from a camera, information indicating the vehicle's weight, information from LiDAR sensors (LiDAR = Light Detection and Ranging), and information from radar sensors. Once the control unit has detected that the cargo is falling, it stores one or more images of the surroundings in a storage device and transmits them to a server in a traffic control center for further detection of the cargo falling.

[0078] The server further determines, or again determines, whether the load is dropping or has dropped, based on one or more images of the vehicle. If the server determines that the load has dropped, it generates vehicle control information. This vehicle control information can include vehicle driving instructions, which may contain a changed destination for the vehicle. The server sends this vehicle control information to the vehicle, so that the vehicle operates or is controlled based on this information.

[0079] If the vehicle's control unit detects that the load is falling, it can, in addition to sending images to the server, control or regulate the vehicle's operation as described above. For example, the control unit can instruct the vehicle to pull over to the shoulder of the road and stop.

[0080] Logic blocks, modules, or units described in connection with embodiments disclosed herein can be implemented or executed by a computing device comprising at least one processor, at least one memory, and at least one communication interface. The elements of a method, process, or algorithm described in connection with embodiments disclosed herein can be implemented directly in hardware, in a software module executed by at least one processor, or in a combination of both. Computer-executable instructions for implementing a method, process, or algorithm described in connection with embodiments disclosed herein can be stored in a non-transitive, computer-readable storage medium.

[0081] A vehicle control method and system based on the detection of a falling load according to embodiments of the present invention may have the following advantages.

[0082] Since a falling load is automatically detected, the information is transmitted to a central station, and it is determined again whether the load has fallen, it may be possible to determine whether the load needs to be recharged and whether a corresponding vehicle needs to drive continuously to a destination, thus advantageously reducing unnecessary driving.

[0083] Since the falling load is reported to road management facilities, a subsequent or secondary accident due to the falling load can be prevented and a rapid road restoration may be possible, which is advantageous.

[0084] It should be evident to the person skilled in the art that the effects that can be achieved by the present invention are not limited to what has been explicitly described above, and that other advantages of the present invention are more clearly understood from the detailed description.

[0085] The preceding method according to one embodiment can also be implemented as computer-readable code on a computer-readable storage medium. Examples of computer-readable storage media include: read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc. The computer-readable storage medium can also be distributed over a network connected to computer systems, so that the computer-readable code is stored and executed in a distributed manner. Likewise, functional programs, codes, and code segments for executing the preceding method can be easily implemented by programmers to whom the present invention is directed.

Claims

[1] Vehicle control method based on detection of a falling load (300), wherein the method has: Determine by a vehicle (100) whether a load (300) is falling, Storing (S410) one or more environment images in response to detecting the fall of the load (300), Transmission (S420) of one or more environmental images to a server (200) by the vehicle (100) in order for the server (200) to further determine, based on the one or more environmental images, whether the load (300) is decreasing, Receiving data generated by the server (200) Vehicle control information when it is determined that the load (300) is falling, and Control (S470) of the vehicle (100) based on the vehicle control information received from the server (200). [2] Method according to claim 1, wherein the determination by the vehicle (100) whether the load (300) is falling comprises: Identifying (S310) an object within a preset distance from the vehicle (100), Determine (S320) whether a difference between a speed of the vehicle (100) and an initial speed of the object is within a preset speed range. Determine (S330) whether the object's velocity is in a decelerating or steady state when the object's velocity is within the preset velocity range, and Determine (S340) whether the object has moved from top to bottom. [3] Method according to claim 1 or 2, wherein the determination by the vehicle (100) whether the load (300) is falling comprises a determination (S430) whether a weight variation of the vehicle (100) is equal to or greater than a preset value. [4] Method according to claim 3, further comprising: Steering (S440) of the vehicle (100) such that it stops on an adjacent hard shoulder when the vehicle weight variation is equal to or greater than the preset value. [5] Method according to claim 3 or 4, further comprising: Steering (S450) of the vehicle (100) such that it moves from a current lane to a low-speed lane and travels at a low speed when the vehicle weight variation is equal to or less than the preset value. [6] Method according to any one of claims 1 to 5, further comprising: Determine (S455) whether the load (300) needs to be recharged, and Steering (S440) of the vehicle (100) such that it stops on an adjacent shoulder when the load (300) needs to be reloaded. [7] Method according to any one of claims 1 to 6, further comprising: Check (S510) based on image information and vehicle information by the server (200) whether the load (300) drops, Determine (S520) through the server (200) whether the load (300) needs to be recharged when the server (200) determines that the load (300) is falling, Determine (S550) by the server (200), in response to a result of the determination (S520) that the load (300) needs to be reloaded, whether a destination needs to be changed, and Transmitted (S560, S570) by the server (200) of the vehicle control command to the vehicle (100) in response to a result of determining (S550) whether the destination needs to be changed. [8] Method according to claim 7, further comprising: Determine by the server (200) a position where the load (300) falls, and Determine by the server (200) of a type of falling load (300). [9] Method according to claim 7 or 8, further comprising: Reports (S530, S540) of information about the falling load (300) to road monitoring devices by the server (200). [10] Computer-readable storage medium which contains a program for carrying out the method according to any one of claims 1 to 9. [11] Vehicle control system based on a detection of a falling load (300), wherein the system comprises: a vehicle (100) that is equipped to determine whether a load (300) is falling, to store one or more environment images in response to the drop of the load (300) and to transfer the one or more environment images to a server (200), and a server (200) configured to determine, based on one or more environment images, whether the load (300) is decreasing, and To transmit vehicle control information based on the determination of whether the load (300) is falling, the vehicle (100) is configured to operate based on the vehicle control information received from the server (200). [12] System according to claim 11, wherein the vehicle (100) is configured to identify an object within a preset distance, to determine whether a difference between a speed of the vehicle (100) and an initial speed of the object is within a preset speed, to determine whether the speed of the object is in a decelerating or stationary state when the speed of the object is within the preset speed, and to determine whether the object has moved from top to bottom. [13] System according to claim 11 or 12, wherein the vehicle (100) is configured to determine whether a weight variation of the vehicle (100) is equal to or greater than a preset value. [14] System according to claim 13, wherein the vehicle (100) is configured to be operated to stop on an adjacent shoulder and to receive the vehicle control information from the server (200) when the vehicle weight variation is equal to or greater than the preset value. [15] System according to claim 13 or 14, wherein the vehicle (100) is configured to be operated to move from a current lane to a low-speed lane, to travel at a low speed and to receive the vehicle control information from the server (200) when the vehicle weight variation is equal to or less than the preset value. [16] System according to any one of claims 11 to 15, wherein the vehicle (100) is configured to determine whether the load (300) needs to be recharged and to stop on an adjacent shoulder when the load (300) needs to be recharged. [17] System according to any one of claims 11 to 16, wherein the server (200) is configured to further determine, based on the image information and vehicle information, whether the load (300) is falling, upon determination that the load is falling, to determine whether the load needs to be recharged, in response to a result of the determination that the load needs to be recharged, to determine whether a destination needs to be changed, and in response to a result of the determination that the destination needs to be changed, to transmit the vehicle control command to the vehicle (100). [18] System according to claim 17, wherein the server (200) determines a position at which the load (300) falls and a type of falling load (300). [19] System according to claim 17 or 18, wherein the server (200) is configured to report information about the falling of the load (300) to road monitoring devices.

Images