KR101364087B1 - Apparatus for determining horizontal state of vehicle using laser sensor and method for determining error of tpms using the same - Google Patents

Abstract

An apparatus for detecting the horizontal level of a vehicle using a laser sensor and a method for determining TPMS error using the same are disclosed. The apparatus comprises a TPMS (Tire Pressure Monitoring System) which senses the air pressure of a vehicle tire; a laser module which senses the horizontal level of the vehicle using laser sensors respectively installed at front and rear tires of the vehicle; and a control unit which determines whether or not TPMS error occurs according to whether or not the TPMS senses the air pressure of the vehicle tire based on the horizontal level of the vehicle. The apparatus can provide the base by which whether to control the vehicle orientation is determined, determine the abnormality of air pressure in the tire, and prevent malfunction in the TPMS for drivers not to get confused. [Reference numerals] (410) Front pair module; (420) Rear pair module

Description

Vehicle level detection device using laser sensor and method for determining TPMS error using the device {APPARATUS FOR DETERMINING HORIZONTAL STATE OF VEHICLE USING LASER SENSOR AND METHOD FOR DETERMINING ERROR OF TPMS USING THE SAME}

The present invention relates to a vehicle horizontal state detection apparatus using a laser sensor and a TPMS error determination method using the apparatus.

In general, when driving a car, it is possible to find that the tire air pressure is lowered, which is caused by the natural friction of rubber, nails, trauma, In most cases, the air pressure is lowered as the air is discharged due to a valve failure or the like.

Insufficient tire air pressure may cause abnormal wear of the tire, reduce brake performance, and cause economic losses such as puncture of the tire, and also pose a threat to the safety of drivers and passengers, especially in high-speed driving.

In particular, in recent years, the interest in the safety system of the vehicle has increased, and among them, as the number of accidents caused by tires, technologies for knowing the condition of tires have been developed.

One of these technologies is the Tire Pressure Monitoring System (TPMS), which measures the air pressure in a car's tires and alerts the driver when air pressure is low.

In the United States, the law stipulates the installation of TPMS in the new model of 4536Kg or less in 2008, and Korea is also required to apply TPMS to all cars of 3.5t or less produced from January 1, 2013.

Most of the TPMS is equipped with a sensor attached to each wheel of the vehicle to detect the pressure and temperature of each tire in real time to inform the driver by using a wireless transmission technology.

However, in the conventional TPMS, there is a method of correcting a malfunction or error of a TPMS that provides a driver with incorrect information related to a tire due to a malfunction of a sensor detecting a tire pressure or a radio interference. There was no.

The technical problem to be achieved by the present invention is to provide a basis for judging the control of the vehicle of the vehicle, and to determine whether the tire pressure pressure abnormality, and also prevent the TPMS malfunction by minimizing the driver's cross-talk vehicle device and its device It is to provide a TPMS error determination method using.

Vehicle horizontal state detection apparatus according to an aspect of the present invention,

TPMS for detecting tire inflation pressure of the vehicle; A laser module for detecting a horizontal state of the vehicle by using a laser sensor installed at each of the lower front wheel side and the rear wheel side of the vehicle; And a controller for detecting a horizontal state of the vehicle through the laser module and determining whether the TPMS is in error according to whether the tire pressure of the vehicle is detected through the TPMS based on the horizontal state of the vehicle.

Here, the laser module includes a front pair module mounted on the lower front wheel side of the vehicle and a rear pair module mounted on the lower rear wheel side of the vehicle, wherein the front pair module includes a first laser transmitter and a first laser receiver. A first front module, a second front module including a second laser transmitter and a second laser receiver, the rear pair module comprising: a first rear module comprising a third laser transmitter and a third laser receiver; And a second rear module comprising a fourth laser transmitter and a fourth laser receiver.

The first laser transmitter transmits the laser to the second laser receiver, the second laser transmitter transmits the laser to the first laser receiver, and the third laser transmitter directs the laser to the fourth laser receiver. And the fourth laser transmitter transmits the laser to the third laser receiver.

In addition, each laser receiver divides an area for receiving a laser into three areas, the area A being the smallest area including the center, the area B including the area A and larger than the area A, and the area B. It is characterized in that divided into the C region which is an area including the outermost part of the laser receiver.

In addition, each laser transmitter is characterized in that initially aligned to transmit the laser to the A region of each of the laser receiver.

In addition, although it is determined that there is an abnormality in the air pressure of the tire by the TPMS, when the area A is detected through the laser receiver, it is determined that the error of the TPMS.

In addition, a tilt sensor for measuring the tilt of the vehicle; And a vehicle information collecting unit configured to collect information of the vehicle through a sensor installed in the vehicle, wherein the control unit receives the positional information where the laser is received from each of the laser receivers and determines an area corresponding to the position where the laser is received. An area determination unit; A TPMS determination unit that determines whether an error of the TPMS is determined by using area information determined by the area determination unit and air pressure information of the tire detected by the TPMS; An inclination determination unit that determines whether the vehicle is in a horizontal state using area information determined by the area determination unit, and determines an error of the laser module based on the area information and the inclination information of the vehicle detected by the inclination sensor. ; And a road state determination unit determining a state of a road on which the vehicle is driven by using the area information determined by the area determination unit and the vehicle information transmitted from the vehicle information collection unit.

In addition, the road state determination unit may indicate a region B for a predetermined time while the region determined by the region determination unit returns to region A, and the wheel speed of the vehicle is constant through the vehicle information collection unit while in the region B. When it is detected below the speed is characterized in that the vehicle is determined to drive on the unpaved road.

Also, when the brake signal is received from the vehicle information collecting unit and the wheel speed is rapidly reduced, and the area determined by the area determining unit indicates the area C, it is determined that the vehicle passes through the jaws. It features.

TPMS error determination method according to another aspect of the present invention,

A method of determining a TPMS error by a vehicle horizontal state detection device, the method comprising: determining an area where a laser is received at each laser receiver; Determining whether an air pressure of the tire detected through the TPMS is abnormal; And when it is determined that there is an abnormality in the air pressure, and the area in which the laser is received is the A area, determining that the error is in the TPMS.

Here, in the step of determining whether the air pressure is abnormal, if it is determined that there is an abnormality in the air pressure, and it is determined that the region in which the laser is received is not the A region, further comprising the step of determining that the TPMS is normal.

In addition, when it is determined that there is no abnormality in the air pressure in the step of determining whether the air pressure is abnormal, it is determined that the TPMS operates normally when it is determined that the region where the laser is received is the A region.

The method may further include: detecting an inclination of the vehicle through the inclination sensor when it is determined that there is no abnormality in the air pressure in the step of determining whether the air pressure is abnormal, and it is determined that the area where the laser is received is not the A area; Determining whether the vehicle is in a horizontal state by detecting an inclination of the vehicle; If it is determined that the vehicle is not in a horizontal state, determining the error of the TPMS; And if it is determined that the vehicle is in a horizontal state, determining the error of the laser module.

According to the present invention, it is possible to provide a basis for judging the vehicle's next control and to determine whether the tire pressure is abnormal.

It also prevents TPMS malfunctions, minimizing operator confusion.

1 is a block diagram of a vehicle horizontal state detection apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a state in which the laser module illustrated in FIG. 1 is mounted on a vehicle.
FIG. 3 is a diagram illustrating a laser transmission / reception alignment relationship in the front pair module illustrated in FIG. 2.
FIG. 4 is a diagram illustrating a laser transmission / reception alignment relationship in the rear pair module illustrated in FIG. 2.
FIG. 5 is a diagram illustrating a laser reception area of the laser receiver illustrated in FIG. 2.
6 is a block diagram illustrating the configuration of the MCU illustrated in FIG. 1.
7 is a flowchart of a TPMS error determination method according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

1 is a block diagram of a vehicle horizontal state detection apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the vehicle horizontal state sensing apparatus 10 according to an exemplary embodiment of the present invention may include a tire pressure monitoring system (TPMS) 100, a vehicle information collecting unit 200, a tilt sensor 300, and a laser. And a module 400 and a micro controller unit (MCU) 500.

The TPMS 100 senses air pressure and temperature of a tire of a vehicle by using a pressure sensor (not shown) and a temperature sensor (not shown). Since the TPMS 100 has a well-known configuration as it is, a detailed description thereof will be omitted here.

The vehicle information collecting unit 200 collects vehicle information through various sensors installed in the vehicle. Such vehicle information includes wheel speed information and brake signal information. Since a configuration for collecting such vehicle information is already well known, a detailed description thereof will be omitted.

Tilt sensor 300 is a sensor for measuring the tilt of the vehicle. Such a sensor includes a gravity sensor or an inclination sensor, and since the configuration is well known, a detailed description thereof will be omitted.

The laser module 400 detects the horizontal state and the inclination degree of the vehicle by using laser sensors installed at the lower front wheel side and the rear wheel side of the vehicle, respectively. Here, the inclination degree is represented by the difference in air pressure between the left and right sides of the vehicle tire. This will be explained below.

The MCU 500 is connected to the TPMS 100, the vehicle information collecting unit 200, the tilt sensor 300, and the laser module 400 to detect a horizontal state of the vehicle, and the TPMS 100 according to the horizontal state detection. It may determine whether the malfunction of the vehicle, and also detect the road surface conditions when the vehicle is driving. This will also be described in detail below. In addition, the MCU 500 operates as a control unit for controlling the modules 100, 200, 300, and 400.

Meanwhile, communication between the TPMS 100, the vehicle information collecting unit 200, the tilt sensor 300, and the laser module 400 and the MCU 500 may be performed through various methods. It is assumed that it is performed through the well known controller area network (CAN) communication.

2 is a diagram illustrating a state in which the laser module 400 illustrated in FIG. 1 is mounted on a vehicle.

Referring to FIG. 2, the laser module 400 includes a front pair module 410 mounted on the lower front wheel side of the vehicle and a rear pair module 420 mounted on the lower rear wheel side of the vehicle. It is composed.

Here, the front pair module 410 includes a first front module 411 including one laser transmitter 4111 and one laser receiver 4112, one laser transmitter 4121, and one laser receiver 4122. It consists of a second front module 412 comprising a.

In addition, the rear pair module 420 includes a first rear module 421 including one laser transmitter 4211 and one laser receiver 4212, one laser transmitter 4221, and one laser receiver 4422. It is composed of a first rear module 422 comprising a.

3 and 4, a laser transmission / reception operation between the first front module 411 and the second front module 412 of the front pair module 410 and the first rear module of the rear pair module 420. A laser transmission / reception operation between the 421 and the second rear module 422 will be described.

First, a laser transmission / reception operation of the front pair module 410 will be described with reference to FIG. 3.

3 is a diagram illustrating a laser transmission / reception alignment relationship in the front pair module 410 of FIG. 2.

Referring to FIG. 3, the laser transmitter 4111 of the first front module 411 of the front pair module 410 is aligned to transmit the laser to the laser receiver 4122 of the second front module 412. That is, the laser receiver 4122 of the second front module 412 is aligned to receive the laser transmitted from the laser transmitter 4111 of the first front module 411.

Also, the laser transmitter 4121 of the second front module 412 of the front pair module 410 is arranged to transmit the laser to the laser receiver 4112 of the first front module 411. That is, the laser receiver 4112 of the first front module 411 is aligned to receive the laser transmitted from the laser transmitter 4121 of the second front module 412.

In the exemplary embodiment of the present invention, the first front module 411 and the second front module 412 of the front pair module 410 are arranged to transmit and receive lasers to each other, thereby detecting a horizontal state of the vehicle on the front wheel side of the vehicle. It becomes possible.

Next, the laser transmission / reception operation of the rear pair module 420 will be described with reference to FIG. 4.

4 is a diagram illustrating a laser transmission and reception alignment relationship in the rear pair module 420 illustrated in FIG. 2.

Referring to FIG. 4, the laser transmitter 4211 of the first rear module 421 of the rear pair module 420 is aligned to transmit the laser to the laser receiver 4422 of the second rear module 422. That is, the laser receiver 4202 of the second rear module 422 is aligned to receive the laser transmitted from the laser transmitter 4211 of the first rear module 421.

In addition, the laser transmitter 4201 of the second rear module 422 of the rear pair module 420 is arranged to transmit a laser to the laser receiver 4212 of the first rear module 421. That is, the laser receiver 4212 of the first rear module 421 is aligned to receive the laser transmitted from the laser transmitter 4221 of the second rear module 422.

In the exemplary embodiment of the present invention, the first rear module 421 and the second rear module 422 of the rear pair module 420 are arranged to transmit and receive lasers to each other, thereby detecting a horizontal state of the vehicle on the rear wheel side of the vehicle. It becomes possible.

5 is a diagram illustrating a laser reception area of the laser receivers 4112, 4122, 4212, and 4222 shown in FIG.

Referring to FIG. 5, laser receivers 4112, 4122, 4212, and 4222 in the laser module 400 are divided into areas A, B, and C from the center of the receiving surface to receive the laser to the outer area. That is, the area 600 of A is the smallest area including the center, the area 700 of B is an area outside the area of A and smaller than the area 800 of C, and the area of C is outside the area of B. Represents an area.

The laser receivers 4112, 4122, 4212, and 4222 may detect a horizontal state of the vehicle based on the area where the laser is received.

For example, if the laser transmitted from the laser transmitters 4111, 4121, 4211, 4221 is detected as being received in the area A of the laser receivers 4112, 4122, 4212, 4222, this indicates that the laser alignment is a normal area and the vehicle at the same time. This is an area that can be judged to be in a horizontal state. In this area, the difference in the air pressure of the left and right tires (pair tires) on which the front pair module 410 or the rear pair module 420 is mounted may also be represented as within 10%.

In addition, if it is detected that the laser transmitted from the laser transmitters 4111, 4121, 4211, 4221 is received in the area B of the laser receivers 4112, 4122, 4212, 4222, this indicates that the laser alignment is an error area and the vehicle is horizontal. This is an area that can be judged not to be in a state. In this region, the difference in the air pressure of the left and right tires (pair tires) on which the front pair module 410 or the rear pair module 420 is mounted may be 10% or more but less than 50%. Here, the difference in air pressure may also be determined to the extent of inclination of the left and right sides of the vehicle.

In addition, if it is detected that the laser transmitted from the laser transmitters 4111, 4121, 4211, 4221 is received in the C region of the laser receiver 4112, 4122, 4212, 4222, this indicates that the laser alignment is an abnormal area and the vehicle is horizontal. This is an area that can be judged not to be in a state. In this area, the difference in the air pressure of the left and right tires (pair tires) on which the front pair module 410 or the rear pair module 420 is mounted may also be represented as 50% or more. This abnormal alignment of the C region means severe movement of the vehicle, for example, the region determined when the vehicle passes the high jaw section.

Accordingly, in the laser receivers 4112, 4122, 4212, and 4222 according to the embodiment of the present invention, the areas where the laser beams transmitted from the laser transmitters 4111, 4121, 4211, and 4221 are respectively received may be selected from the areas A, B, and C. It can be configured to determine whether it is an area and output information indicating the area. Alternatively, the laser receivers 4112, 4122, 4212, and 4222 may transmit the location information where the laser is received to the MCU 500, and determine the area where the laser is received through the location information received by the MCU 500. . In an embodiment of the present invention, the laser receivers 4112, 4122, 4212, 4222 may be configured to change the A, B, and C areas of the laser receivers 4112, 4122, 4212, and 4222 according to a vehicle. It is assumed that the location information received is transmitted to the MCU 500, and it is assumed that the area where the laser is received is determined based on the location information received by the MCU 500.

In the initial operation of the laser module 400, the laser transmitters 4111, 4121, 4211, 4221 are arranged to transmit the laser to the area A of the laser receiver 4112, 4122, 4212, 4222.

On the other hand, the difference in air pressure described above can be experimentally obtained and set when the laser module 400 is mounted on a vehicle, and the above description corresponds to one example.

FIG. 6 is a block diagram illustrating the MCU 500 illustrated in FIG. 1.

As shown in FIG. 6, the MCU 500 includes an area determiner 510, a TPMS determiner 520, a slope determiner 530, and a road state determiner 540.

The area determiner 510 receives location information from the laser receivers 4112, 4122, 4212, and 4222 of the laser module 400 to determine areas corresponding to the location from which the laser is received. That is, it is determined whether the position where the laser is received is included in the area A, the area B, or the area C shown in FIG. 5. At this time, when a laser is received at the boundary line of each area, a small area is selected. For example, when the laser is received at the boundary line between the area A and the area B, it is determined that the laser is received in the area A, which is a small area. This area determination is performed for each of the laser receivers 4112, 4122, 4212, 4222.

The TPMS determination unit 520 uses the area information of the laser receivers 4112, 4122, 4212, and 4222 determined by the area determination unit 510 and tire related information detected from the TPMS 100, that is, tire air pressure information. A malfunction of 100, i.e. an error is determined.

For example, the air pressure of the tire detected from the TPMS 100 indicates an abnormal state, but the area determined by the area determining unit 510 is determined as the A area and is detected as a horizontal state of the vehicle, thereby determining that there is no tire problem. Therefore, in this case, it is determined that the TPMS 100 is malfunctioning and may output information about it. At this time, the output of the information is possible through a user interface (not shown) connected to the MCU (500).

In addition, the air pressure of the tire detected from the TPMS (100) indicates an abnormal state, the area determined by the area determining unit 510 is determined to be a B area or a C area is detected that the vehicle is not in a horizontal state, the tire is abnormal In this case, it is determined that the TPMS 100 operates normally, and thus information about the TPMS 100 may be output.

The tilt determination unit 530 determines whether the vehicle is in a horizontal state by using area information of the laser receivers 4112, 4122, 4212, and 4222 that are determined by the area determination unit 510. In addition, the tilt determination unit 530 may generate the laser based on the area information of the laser receivers 4112, 4122, 4212, and 4222 determined by the area determination unit 510 and the vehicle tilt information detected by the tilt sensor 300. The malfunction of the module 400 is determined.

For example, when it is detected that the vehicle is not in a horizontal state by the tilt determination unit 530 while the vehicle is stopped on a road in a flat state, it is determined that there is an abnormality in the air pressure of the tire of the vehicle and outputs information on it. Can be. Therefore, it is possible to check the air pressure of the tire with only the laser module 400 without the TPMS 100 for detecting the air pressure of the tire.

In addition, the area information of the laser receivers 4112, 4122, 4212, and 4222 determined by the area determination unit 510 indicates a B area or a C area, and it is determined that the vehicle is not in a horizontal state, and is detected by the tilt sensor 300. When it is determined that the vehicle is in a horizontal state with the inclination of the vehicle being 0, it may be determined that the laser module 400 is malfunctioning and information about the same may be output.

The road condition determiner 540 may drive the vehicle by using the area information of the laser receivers 4112, 4122, 4212, and 4222 determined by the area determiner 510 and the vehicle information transmitted from the vehicle information collector 200. Determine the condition of the road you are on.

In the case of an unpaved road, the road condition is severely curved, which may cause an alignment error between the laser transmitters 4111, 4121, 4211, and 4221 of the laser module 400 and the laser receivers 4112, 4122, 4212, and 4222.

In this case, when the area information of the laser receivers 4112, 4122, 4212, and 4222 determined by the area determining unit 510 indicates the area B for a predetermined time, the wheel speed of the vehicle while in the area B is returned to the area A. If the vehicle is detected at a low to medium speed, for example, 60 km / h or less, it is determined that the state of the vehicle is driving on the unpaved road without being determined as an error of the laser module 400.

In addition, the road condition determination unit 540 is received from the vehicle information collection unit 200 as the brake signal is activated, the wheel speed is also received as a sudden decrease in speed, the laser receiver determined by the area determination unit 510 When it is determined that the area information of the 4211, 4122, 4212, and 4222 indicates the C region, and the alignment of the laser module 400 is suddenly distorted, the driving state is determined as the vehicle passes through the jaws.

Hereinafter, a method of determining a TPMS error among various operations using the laser model 400 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

7 is a flowchart of a TPMS error determination method according to an embodiment of the present invention.

Referring to FIG. 7, when the vehicle is started and powered on, the laser module 400 is operated to perform laser transmission and reception (S100). That is, the laser transmitters 4111 and 4121 of the front pair module 410 of the laser module 410 and the laser transmitters 4211 and 4221 of the rear pair module 420 transmit the laser, and the front pair module 410 The laser receivers 4212 and 4122 and the laser receivers 4212 and 4222 of the rear pair module 420 receive the laser and transmit the position information where the laser is received to the MCU 500 through a controller area network (CAN) communication. .

Next, the MCU 500 determines an area in which the laser is received (S120). That is, the area determiner 510 of the MCU 500 receives the position information received by the laser from each of the laser receivers 4112, 4122, 4212, and 4222 of the laser module 400, and corresponds to the position where the laser is received. It is determined whether the area is an A area, a B area, or a C area.

After that, the MCU 500 detects the tire air pressure through the TPMS 100 (S120) and determines whether the tire air pressure is abnormal (S130).

If it is determined that the tire inflation pressure is abnormal through the detection of the TPMS 100 (S140), the difference in the inflation pressure of the tire is within 10% while the laser reception area determined in the step S120 indicates the horizontal state of the vehicle. It is determined whether the area A is indicated (S150).

If it is determined in step S150 that the laser reception area is an area A, it is determined that the TPMS 100 indicating an abnormal tire air pressure is malfunctioning and is determined as a TPMS error (S160). At this time, the information on the TPMS error determination may be output to the outside through the user interface so that the error of the TPMS 100 may be corrected.

However, if it is determined in the step S150 that the laser reception area is not the A area but the B area or the C area indicating that the vehicle is not in a horizontal state, the TPMS 100 indicating abnormal tire pressure is operating normally. It is determined (S170). And information on this can also be output to the outside.

On the other hand, if it is determined that there is no abnormality in the tire air pressure through the detection of the TPMS 100 in the step (S140), it is determined whether the laser reception area determined in the step (S120) is A region (S180).

If it is determined in step S180 that the laser reception area is an area A, it is determined that the TPMS 100 indicating the normal tire pressure is operating normally (S190). And information on this can also be output to the outside.

However, when it is determined in step S180 that the laser reception area is not the A area but the B area or the C area, the tilt sensor 300 detects the inclination of the vehicle (S200).

Then, it is determined whether the vehicle is in the horizontal state by detecting the tilt of the vehicle (S210). If it is determined that the vehicle is in the horizontal state, the tire pressure is normal through the TPMS 100 and the vehicle is inclined through the inclination sensor 300. While it is determined that the vehicle is in a horizontal state, it is determined that the state of the vehicle through the laser module 400 is not horizontal.

As described above, in the embodiment of the present invention, by detecting the horizontal state of the vehicle through laser alignment using the laser module 400, the error of the TPMS 100 can be determined and corrected.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (13)

A Tire Pressure Monitoring System (TPMS) for detecting tire air pressure of a vehicle;
A laser module for detecting a horizontal state of the vehicle by using a laser sensor installed at each of the lower front wheel side and the rear wheel side of the vehicle; And
The controller detects a horizontal state of the vehicle through the laser module, and determines whether the TPMS is in error according to whether the tire pressure of the vehicle is detected through the TPMS based on the horizontal state of the vehicle.
Vehicle horizontal state sensing device comprising a. The method of claim 1,
The laser module includes a front pair module mounted on the lower front wheel side of the vehicle and a rear pair module mounted on the lower rear wheel side of the vehicle,
The front pair module includes a first front module including a first laser transmitter and a first laser receiver, and a second front module including a second laser transmitter and a second laser receiver,
The rear pair module includes a first rear module including a third laser transmitter and a third laser receiver, and a second rear module including a fourth laser transmitter and a fourth laser receiver.
Vehicle horizontal state detection device, characterized in that. 3. The method of claim 2,
The first laser transmitter transmits a laser to the second laser receiver,
The second laser transmitter transmits a laser to the first laser receiver,
The third laser transmitter transmits a laser to the fourth laser receiver,
The fourth laser transmitter transmits a laser to the third laser receiver.
Vehicle horizontal state detection device, characterized in that. The method according to claim 2 or 3,
Each laser receiver divides an area for receiving a laser into three areas, the area A being the smallest area including the center, the area B including the area A, and the area B larger than the area A, and the area B. Vehicle horizontal state detection device, characterized in that divided into the area C including the outermost portion of the laser receiver. 5. The method of claim 4,
Wherein each laser transmitter is initially aligned to transmit a laser to area A of each laser receiver. 5. The method of claim 4,
Although it is determined that there is an abnormality in the air pressure of the tire by the TPMS, when the area A is detected through the laser receiver, it is determined that the error of the TPMS. 5. The method of claim 4,
A tilt sensor for measuring a tilt of the vehicle; And
Further comprising a vehicle information collecting unit for collecting information of the vehicle through a sensor installed in the vehicle,
The control unit,
An area determination unit which receives location information from which the laser is received from each of the laser receivers and determines an area corresponding to the location where the laser is received;
A TPMS determination unit that determines whether an error of the TPMS is determined by using area information determined by the area determination unit and air pressure information of the tire detected by the TPMS;
An inclination determination unit that determines whether the vehicle is in a horizontal state using area information determined by the area determination unit, and determines an error of the laser module based on the area information and the inclination information of the vehicle detected by the inclination sensor. ; And
Road condition determination unit for determining the state of the road driving the vehicle by using the area information determined by the area determination unit and the vehicle information transmitted from the vehicle information collection unit
Vehicle horizontal state sensing device comprising a. The method of claim 7, wherein
The road state determination unit displays the area B for a predetermined time while the area determined by the area determination unit returns to the area A, and the wheel speed of the vehicle is lower than the predetermined speed through the vehicle information collection unit while in the area B. The vehicle horizontal state detection device, characterized in that it is determined that the vehicle is driving on the unpaved road when detected as. The method of claim 7, wherein
When the brake signal is received from the vehicle information collecting unit and the wheel speed is rapidly reduced, and the area determined by the area determining unit indicates the C area, the vehicle passes through the jaw. Vehicle level detection device. In the method of claim 4 wherein the vehicle horizontal state detection device determines the TPMS error,
Determining an area where a laser is received at each laser receiver;
Determining whether an air pressure of the tire detected through the TPMS is abnormal; And
If it is determined that there is an abnormality in the air pressure, and the area where the laser is received is the A area, determining that the error of the TPMS
TPMS error determination method comprising a. The method of claim 10,
In the step of determining whether the air pressure is abnormal, if it is determined that the air pressure is abnormal, and it is determined that the region in which the laser is received is not the A region but the B region or the C region, it is determined that the TPMS is normal. TPMS error determination method further comprising the step of. The method of claim 10,
And determining that there is no abnormality in the air pressure in the step of determining whether the air pressure is abnormal, and determining that the TPMS operates normally when it is determined that the region where the laser is received is the A region. 12. The method of claim 11,
When it is determined that there is no abnormality in the air pressure in the step of determining whether the air pressure is abnormal, and it is determined that the region where the laser is received is not the A region but the B region or the C region, the tilt of the vehicle through the tilt sensor Detecting;
Determining whether the vehicle is in a horizontal state by detecting an inclination of the vehicle;
If it is determined that the vehicle is not in a horizontal state, determining the error of the TPMS; And
Determining that the laser module is in an error state when the vehicle is in a horizontal state.
TPMS error determination method comprising more.

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