KR102202202B1 - Apparatus for pitch angle detecting of vehicle using gyro sensor and acceleration sensor and method therof - Google Patents

Abstract

The present invention relates to a vehicle pitch angle detection apparatus and method using an acceleration sensor and a gyro sensor, comprising: an acceleration sensor measuring acceleration of a vehicle, a gyro sensor measuring angular velocity of a vehicle, and the acceleration sensor and the gyro sensor. A vehicle state recognition unit that determines the vehicle's stopped state, acceleration state, and running state using the measured acceleration and angular velocity, and the vehicle stops using the acceleration sensor value measured at the vehicle's stopped state determined by the vehicle state recognition unit. By removing the stopped state gravitational vector calculated from the stopped state gravitational vector calculation unit from the stopped state gravity vector calculation unit that calculates the state gravitational vector and the acceleration sensor value measured in the acceleration state of the vehicle determined by the vehicle state recognition unit. An acceleration state vehicle acceleration vector calculation unit that calculates a vehicle acceleration vector, and a vehicle pitch angle vector that calculates a vehicle pitch angle vector by continuously summing the vehicle acceleration vector calculated from the acceleration state vehicle acceleration vector calculation unit during a certain distance. By including a calculation unit, and a vehicle pitch angle calculation unit that calculates the vehicle pitch angle using the vehicle pitch angle vector when the size of the vehicle pitch angle vector calculated from the vehicle pitch angle vector calculation unit is larger than a preset threshold, Compared to the conventional vehicle pitch angle detection device, cost can be effectively reduced.

Description

Vehicle pitch angle detection device and method using acceleration sensor and gyro sensor {APPARATUS FOR PITCH ANGLE DETECTING OF VEHICLE USING GYRO SENSOR AND ACCELERATION SENSOR AND METHOD THEROF}

The present invention relates to an apparatus and method for detecting a pitch angle of a vehicle using an acceleration sensor and a gyro sensor.

In general, a vehicle is provided with a lighting device for the purpose of well seeing an object in a driving direction when driving at night and informing other vehicles or pedestrians of the driving state of the vehicle.

The lighting devices of such vehicles can be largely divided into lighting lights, traffic lights and indicator lights. The lighting lamps can be divided into a head lamp, a backup lamp, a fog lamp, and a room lamp, and the traffic lights are brake lamps, turn signal lamps, and emergency lights. (emergency lamp), etc., and indicators can be divided into side lamps, height lamps, tail lamps, license plate lamps, and parking lamps. have.

Here, the head lamp, also referred to as the headlamp, is a lighting lamp that illuminates a path ahead of the vehicle, and requires brightness to identify obstacles on the road at a distance of 100m ahead at night.

The standards of such headlamps are set differently for each country, and in particular, the irradiation direction of the headlamp beam is set differently depending on whether the driving is left or right.

Vehicle headlamps are generally used as lighting functions for viewing objects, instructions, signals, and warning functions to inform other vehicles or other road users of the driving status of their vehicles.

Conventional headlamps for vehicles can automatically adjust the irradiation direction according to driving conditions such as road environments and vehicle conditions, and are thus introduced in an attempt to provide favorable visibility to drivers.

The vertical driving system of the headlamp is equipped with a height sensor, that is, a garage sensor, to detect the inclination of the vehicle, thereby controlling the vertical angle of the headlamp. The headlamp may be provided with a height sensor, an electronic control unit (ECU), and a vertical driving actuator disposed at the front and rear for vertical driving. In this case, there is a problem in that a number of expensive sensors are provided in the headlamp so that the cost and weight increase.

In addition, there is a limitation in that a correction process of the head lamp and the height sensor is additionally required when parts are replaced due to a failure of the electronic control unit (ECU) or garage sensor. That is, in the case of a vehicle height sensor, which is a device for detecting a pitch angle of an existing vehicle, there is a limit of accuracy in detecting the pitch angle of a vehicle.

The present invention was devised to solve the above-described problem, and an object of the present invention is to calculate the pitch angle of a vehicle in a structurally and cost-effective system using an acceleration sensor and a gyro sensor. It is to provide an apparatus and method for detecting a vehicle pitch angle using an acceleration sensor and a gyro sensor that can effectively reduce cost compared to a detection apparatus.

In order to achieve the above object, a first aspect of the present invention includes an acceleration sensor for measuring acceleration of a vehicle; A gyro sensor measuring the angular velocity of the vehicle; A vehicle state recognition unit for determining a stopped state, an acceleration state, and a driving state of the vehicle using the acceleration and angular velocity measured from the acceleration sensor and the gyro sensor, respectively; A stopped state gravitational vector calculation unit that calculates a stopped state gravitational vector using an acceleration sensor value measured in the stopped state of the vehicle determined by the vehicle state recognition unit; An acceleration state vehicle acceleration vector calculation unit that calculates a vehicle acceleration vector by removing the stopped state gravitational vector calculated from the stopped state gravitational vector calculation unit from the acceleration sensor value measured in the acceleration state of the vehicle determined by the vehicle state recognition unit; A vehicle pitch angle vector calculating unit for calculating a vehicle pitch angle vector by continuously summing the vehicle acceleration vector calculated from the acceleration state vehicle acceleration vector calculating unit for a predetermined distance; And a vehicle pitch angle calculation unit that calculates the vehicle pitch angle using the vehicle pitch angle vector when the size of the vehicle pitch angle vector calculated from the vehicle pitch angle vector calculation unit is larger than a preset threshold. It is to provide a vehicle pitch angle detection device using a sensor.

Here, the acceleration sensor is composed of an X-axis, a Y-axis, and a Z-axis so that three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the vehicle traveling direction (Y-axis) and the ground direction (Z-axis) It is preferable to transmit the acceleration sensor values (Ay, Az) to the vehicle state recognition unit.

Preferably, the gyro sensor is composed of Rx, Ry, and Rz so that three gyro sensors attached in a horizontal state to the vehicle are orthogonal to each other, and a gyro value in a pitch direction may be transmitted to the vehicle state recognition unit.

Preferably, the vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle from the acceleration sensor, and receives the horizontal plane through atan (Ay/Az). A contrast inclined angle value is calculated, and when the calculated angle value is maintained without change for a preset specific time, it may be determined as a stationary state.

Preferably, the vehicle state recognition unit may determine the acceleration state when there is a change in the value of atan (Ay/Az) in the stopped state.

Preferably, the vehicle state recognition unit is in the driving state when the angular velocity value measured from the gyro sensor in the acceleration state is greater than a preset value, or a moving distance estimated from the acceleration measured from the acceleration sensor is greater than a preset distance. I can judge.

Preferably, the vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle from the acceleration sensor, and receives the horizontal plane through atan (Ay/Az). Calculates a contrast inclined angle value, and if the calculated angle value remains unchanged for a preset specific time, it is determined as a stopped state, and the stopped state gravity vector calculation unit comprises a vehicle stop determined by the vehicle state recognition unit. Using the acceleration sensor values (Ay, Az) measured in the state, it is possible to calculate the gravitational vectors (Gy, Gz) in the stationary state.

Preferably, the vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle from the acceleration sensor, and receives the horizontal plane through atan (Ay/Az). Calculates the angle value that is inclined to the contrast, and if the calculated angle value remains unchanged for a predetermined period of time, it is determined as a stopped state, and if there is a change in the value of atan(Ay/Az) in the stopped state, the acceleration state And the stopped state gravity vector calculation unit calculates the stopped state gravity vectors (Gy, Gz) using the acceleration sensor values (Ay, Az) measured at the stopped state of the vehicle determined by the vehicle state recognition unit. , The acceleration state vehicle acceleration vector calculation unit, from the acceleration sensor values (Ay, Az) measured in the acceleration state of the vehicle determined by the vehicle state recognition unit, the stopped state gravitational vector (Gy) calculated from the stopped state gravitational vector calculation unit. , Gz) may be removed to calculate a vehicle acceleration vector (Ay-Gy=Vy, Az-Gz=Vz).

Preferably, the vehicle pitch angle vector calculation unit continuously adds the vehicle acceleration vectors (Vy, Vz) calculated from the acceleration state vehicle acceleration vector calculation unit during a certain distance to obtain the vehicle pitch angle vectors (Py, Pz). When the vehicle pitch angle vector calculated by the vehicle pitch angle vector calculation unit Py, Pz is larger than a preset threshold, the vehicle pitch angle calculation unit may calculate the vehicle pitch angle through atan(Pz/Py). Can be calculated.

A second aspect of the present invention is a method of detecting a pitch angle of a vehicle using an acceleration sensor and a gyro sensor, comprising: (a) measuring acceleration and angular velocity of the vehicle through the acceleration sensor and the gyro sensor, respectively; (b) determining a stopped state, an acceleration state, and a driving state of the vehicle using the acceleration and angular velocity measured in step (a), respectively, through a vehicle state recognition unit; (c) calculating a stopped state gravity vector using the acceleration sensor value measured in the stopped state of the vehicle determined in step (b) through the stopped state gravity vector calculation unit; (d) The vehicle acceleration vector is calculated by removing the vehicle acceleration vector calculated in step (c) from the acceleration sensor value measured in the acceleration state of the vehicle determined in step (b) through the acceleration state vehicle acceleration vector calculation unit. Step to do; (e) calculating a vehicle pitch angle vector by continuously summing the vehicle acceleration vector calculated in step (d) through a vehicle pitch angle vector calculation unit during a certain distance; And (f) calculating the vehicle pitch angle using the vehicle pitch angle vector when the size of the vehicle pitch angle vector calculated in step (e) is larger than a preset threshold through the vehicle pitch angle calculation unit. It is to provide a vehicle pitch angle detection method using an acceleration sensor and a gyro sensor.

Here, in the step (a), the acceleration sensor consists of an X-axis, a Y-axis, and a Z-axis so that the three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the traveling direction of the vehicle (Y-axis) It is preferable to transmit the acceleration sensor values (Ay, Az) in the direction of the ground and the ground (Z axis) to the vehicle state recognition unit.

Preferably, in the step (a), the gyro sensor is composed of Rx, Ry, and Rz so that the three gyro sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the gyro value in the pitch direction is the vehicle state. It can be transmitted to the recognition unit.

Preferably, in the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a). After calculating the angle value inclined relative to the horizontal plane through atan(Ay/Az), if the calculated angle value remains unchanged for a predetermined time, it may be determined as a stopped state.

Preferably, the vehicle state recognition unit may determine the acceleration state when there is a change in the value of atan (Ay/Az) in the stopped state.

Preferably, the vehicle state recognition unit, in the acceleration state, the angular velocity value measured in step (a) is greater than a preset value, or the moving distance estimated from the acceleration measured in step (a) is greater than a preset distance. If so, it can be determined as the driving state.

Preferably, in the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a). After calculating the angle value inclined relative to the horizontal plane through atan(Ay/Az), if the calculated angle value remains unchanged for a predetermined time, it is determined as a stationary state, and in step (c), the stop The state gravitational vector calculation unit may calculate the stopped state gravitational vectors Gy and Gz using the acceleration sensor values Ay and Az measured in the stopped state of the vehicle determined in step (b).

Preferably, in the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a). After calculating the angle value inclined relative to the horizontal plane through atan(Ay/Az), if the calculated angle value remains unchanged for a predetermined time, it is determined as a stopped state, and atan(Ay/Az) in the stopped state ), it is determined as an acceleration state, and in step (c), the stopped state gravity vector calculation unit includes the acceleration sensor value (Ay,) measured in the stopped state of the vehicle determined in step (b). Az) is used to calculate the stopped state gravitational vector (Gy, Gz), and in the step (d), the acceleration state vehicle acceleration vector calculation unit includes the acceleration measured in the acceleration state of the vehicle determined in step (b). Vehicle acceleration vectors (Ay-Gy=Vy, Az-Gz=Vz) may be calculated by removing the vehicle acceleration vectors (Ay-Gy=Vy, Az-Gz=Vz) by removing the static gravity vectors Gy and Gz calculated in step (c) from the sensor values Ay and Az.

Preferably, in the step (e), the vehicle pitch angle vector calculation unit continuously sums the vehicle acceleration vectors (Vy, Vz) calculated in the step (d) for a predetermined distance, and thus the vehicle pitch angle vector Py , Pz), and in the step (f), the vehicle pitch angle calculation unit, when the size of the vehicle pitch angle vector (Py, Pz) calculated in step (e) is greater than a preset threshold, atan( Pz/Py) can be used to calculate the vehicle pitch angle.

A third aspect of the present invention provides a computer-readable recording medium in which a program capable of executing the vehicle pitch angle detection method using the acceleration sensor and the gyro sensor described above is recorded.

The vehicle pitch angle detection method using an acceleration sensor and a gyro sensor according to the present invention may be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices that store data that can be read by a computer system.

For example, computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, hard disk, floppy disk, removable storage device, and non-volatile memory. And optical data storage devices.

According to the vehicle pitch angle detection apparatus and method using the acceleration sensor and the gyro sensor of the present invention as described above, the pitch angle of the vehicle is calculated as a structurally and cost-effective system using the acceleration sensor and the gyro sensor. Accordingly, there is an advantage in that the cost can be effectively reduced compared to the conventional vehicle pitch angle detection device.

1 is an overall block diagram illustrating an apparatus for detecting a vehicle pitch angle using an acceleration sensor and a gyro sensor according to an embodiment of the present invention.
2 is an overall flowchart illustrating a vehicle pitch angle detection method using an acceleration sensor and a gyro sensor according to an embodiment of the present invention.
3 is a view for explaining a process for detecting a pitch angle of a vehicle according to a stopping state, an acceleration state, and a driving state of a vehicle determined through a vehicle state recognition unit applied to an embodiment of the present invention.
FIG. 4 is a view for explaining a process for calculating a vehicle acceleration vector using acceleration sensor values according to a vehicle stop state and an acceleration state determined by a vehicle state recognition unit applied to an exemplary embodiment of the present invention.
5 is a view for explaining a process for calculating a vehicle pitch angle vector through a vehicle pitch angle vector calculation unit applied to an embodiment of the present invention.
6 is a view for explaining a process for calculating a pitch angle of a vehicle through a vehicle pitch angle calculation unit applied to an embodiment of the present invention.

Hereinafter, the advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms different from each other, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the technical field to which the present invention belongs It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification. "And/or" includes each and every combination of one or more of the recited items.

Although the first, second, etc. are used to describe various elements, components and/or sections, of course, these elements, components and/or sections are not limited by these terms. These terms are only used to distinguish one element, component or section from another element, component or section. Therefore, it goes without saying that the first element, the first element, or the first section mentioned below may be a second element, a second element, or a second section within the technical scope of the present invention.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, actions and/or elements, and/or elements, steps, actions and/or elements mentioned. Or does not exclude additions.

In addition, terms such as "... unit" and "module" described in the specification mean units that process at least one function or operation, which may be implemented as hardware or software, or as a combination of hardware and software. .

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

In addition, when it is determined that detailed descriptions of known functions or configurations may unnecessarily obscure the subject matter of the present invention, detailed descriptions thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention and may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

Combinations of each block of the attached block diagram and each step of the flowchart may be executed by computer program instructions (execution engine), and these computer program instructions are executed on the processor of a general purpose computer, special purpose computer or other programmable data processing equipment. As it may be mounted, its instructions executed by the processor of a computer or other programmable data processing equipment generate means for performing the functions described in each block of the block diagram or each step of the flowchart. These computer program instructions may also be stored in computer-usable or computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement a function in a particular manner, so that the computer-usable or computer-readable memory It is also possible to produce an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or each step of the flow chart.

In addition, since computer program instructions can be mounted on a computer or other programmable data processing equipment, a series of operation steps are performed on a computer or other programmable data processing equipment to create a process that is executed by a computer, It is also possible for the instructions to perform possible data processing equipment to provide steps for executing the functions described in each block of the block diagram and each step of the flowchart.

In addition, each block or each step may represent a module, segment, or part of code containing one or more executable instructions for executing specified logical functions, and in some alternative embodiments mentioned in the blocks or steps. It should be noted that it is also possible for functions to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially simultaneously, and the blocks or steps may be performed in the reverse order of a corresponding function as necessary.

1 is an overall block diagram illustrating an apparatus for detecting a vehicle pitch angle using an acceleration sensor and a gyro sensor according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle pitch angle detection apparatus using an acceleration sensor and a gyro sensor according to an embodiment of the present invention includes an acceleration sensor 100, a gyro sensor 200, a vehicle state recognition unit 300, and a vehicle stop. A state gravity vector calculation unit 400, an acceleration state vehicle acceleration vector calculation unit 500, a vehicle pitch angle vector calculation unit 600, a vehicle pitch angle calculation unit 700, and the like are included.

Here, the acceleration sensor 100 is a sensor that measures the acceleration of the vehicle, and is composed of an X-axis, a Y-axis, and a Z-axis so that three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the traveling direction of the vehicle ( Y axis) and the acceleration sensor values (Ay, Az) in the ground direction (Z axis) are measured and transmitted to the vehicle state recognition unit 300.

The gyro sensor 200 is a sensor that measures the angular velocity of a vehicle, and consists of Rx, Ry, and Rz so that three gyro sensors attached in a horizontal state to each other are orthogonal to each other, and measure the gyro value in the pitch direction. It performs a function of transmitting to the state recognition unit 300.

The vehicle state recognition unit 300 performs a function of determining a stopping state, an acceleration state, and a driving state of the vehicle by using the acceleration and angular velocity measured from the acceleration sensor 100 and the gyro sensor 200, respectively.

That is, the vehicle state recognition unit 300 receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle from the acceleration sensor 100, and receives atan (Ay/Az). Through the calculation of the angle value inclined relative to the horizontal plane, and if the calculated angle value remains unchanged for a predetermined time, it is determined as a stopped state.

In addition, the vehicle state recognition unit 300 determines the acceleration state when there is a change in the value of atan (Ay/Az) in the stopped state.

In addition, the vehicle condition recognition unit 300 runs when the angular velocity value measured from the gyro sensor 200 is greater than a preset value or the moving distance estimated from the acceleration measured from the acceleration sensor is greater than a preset distance. Judging by the state.

The stopped state gravity vector calculation unit 400 calculates the stopped state gravitational vector (Gy, Gz) using the acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined by the vehicle state recognition unit 300. Functions.

The acceleration state vehicle acceleration vector calculation unit 500 is a vehicle stop calculated from the vehicle state recognition unit 300 from the acceleration sensor values (Ay, Az) measured in the acceleration state of the vehicle determined by the vehicle state recognition unit 300. It performs a function of calculating the vehicle acceleration vector (Ay-Gy=Vy, Az-Gz=Vz) by removing the state gravity vectors (Gy, Gz).

The vehicle pitch angle vector calculation unit 600 continuously adds the vehicle acceleration vectors (Vy, Vz) calculated from the acceleration state vehicle acceleration vector calculation unit 500 during a certain distance to the vehicle pitch angle vectors (Py, Pz). Performs the function of calculating.

When the vehicle pitch angle vector calculated by the vehicle pitch angle vector calculation unit 600 is larger than a preset threshold, the vehicle pitch angle calculation unit 700 calculates the vehicle pitch angle using the vehicle pitch angle vector. Perform.

That is, the vehicle pitch angle calculation unit 700, when the size of the vehicle pitch angle vector (Py, Pz) calculated from the vehicle pitch angle vector calculation unit 600 is larger than a preset threshold, through atan (Pz/Py). Vehicle pitch angle can be calculated.

As described above, the pitch angle of the vehicle calculated from the vehicle pitch angle calculation unit 700 may be used for various purposes. For example, it may be used for a leveling device of a headlamp, or may be used for calculating the inclination angle of a road surface to prevent a vehicle from being pushed when starting. In addition, the pitch angle of the vehicle may be used for purposes of determining a driving path for navigation, controlling the attitude of the vehicle, improving fuel efficiency of the vehicle, and detecting real-time energy consumption of the vehicle.

Hereinafter, a method for detecting a vehicle pitch angle using an acceleration sensor and a gyro sensor according to an embodiment of the present invention will be described in detail.

2 is an overall flowchart for explaining a vehicle pitch angle detection method using an acceleration sensor and a gyro sensor according to an embodiment of the present invention, and FIG. 3 is a vehicle determined through a vehicle state recognition unit applied to an embodiment of the present invention. It is a view for explaining a process for detecting the pitch angle of the vehicle according to the stopping state, acceleration state, and driving state of, and FIG. 4 is a vehicle stop state determined through a vehicle state recognition unit applied to an embodiment of the present invention, and A diagram for explaining a process for calculating a vehicle acceleration vector using an acceleration sensor value according to an acceleration state, and FIG. 5 is a diagram for calculating a vehicle pitch angle vector through a vehicle pitch angle vector calculation unit applied to an embodiment of the present invention. It is a view for explaining a process for, and FIG. 6 is a view for explaining a process for calculating a pitch angle of a vehicle through a vehicle pitch angle calculation unit applied to an embodiment of the present invention.

1 to 6, a vehicle pitch angle detection method using an acceleration sensor and a gyro sensor according to an embodiment of the present invention includes, first, acceleration and acceleration of the vehicle through the acceleration sensor 100 and the gyro sensor 200. Each angular velocity is measured (S100).

At this time, in the step S100, the acceleration sensor 100 consists of an X-axis, a Y-axis, and a Z-axis so that the three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the traveling direction of the vehicle (Y-axis) and The acceleration sensor values Ay and Az in the ground direction (Z axis) are measured and transmitted to the vehicle state recognition unit 300.

In addition, in the step S100, the gyro sensor 200 is composed of Rx, Ry, and Rz so that three gyro sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the vehicle state is recognized by measuring the gyro value in the pitch direction. It is transmitted to the unit 300.

Thereafter, the vehicle state recognition unit 300 determines the stopping state, the acceleration state, and the driving state of the vehicle by using the acceleration and angular velocity respectively measured in step S100 (S200).

That is, in the step S200, the vehicle condition recognition unit 300 receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step S100, and receives atan(Ay After calculating the angle value inclined relative to the horizontal plane through /Az), if the calculated angle value remains unchanged for a predetermined time, it is determined as a stop state (see FIG. 3).

In addition, the vehicle state recognition unit 300 determines the acceleration state when there is a change in the value of atan (Ay/Az) in the stopped state (see FIG. 3).

In addition, the vehicle state recognition unit 300 determines the driving state when the angular velocity value measured in step S100 is greater than a preset value in the acceleration state, or the moving distance estimated from the acceleration measured in step S100 is greater than a preset distance. (See Fig. 3).

Then, the stopped state gravity vectors (Gy, Gz) are calculated using the acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined in step S200 through the stopped state gravity vector calculation unit 400. (S300) (see FIGS. 3 and 4).

Next, from the acceleration sensor values (Ay, Az) measured in the acceleration state of the vehicle determined in the step S200 through the acceleration state vehicle acceleration vector calculation unit 500, the stopped state gravity vector Gy, calculated in the step S300. Gz) is removed to calculate the vehicle acceleration vector (Ay-Gy=Vy, Az-Gz=Vz) (S400) (see FIGS. 3 and 4).

That is, the value (Ay-Gy, Az-Gz) obtained by removing the stopping state gravity vectors (Gy, Gz) from the acceleration sensor values (Ay, Az) generated in the vehicle acceleration state is called the vehicle acceleration vector (Vy, Vz). .

At this time, the vehicle acceleration vector should be reliable only when the gravity vector value matches the stationary state. In order to maintain the inclined angle compared to the horizontal plane of the vehicle, the slope of the road surface must be constant and the slope of the vehicle body must be stable to some extent.

On the other hand, when determining whether the vehicle is in an accelerated state based only on the atan (Ay/Az) value, the vehicle may be incorrectly determined to be in an accelerated state when an exceptional situation occurs in which artificial shaking occurs in the vehicle even when the vehicle is in a stopped state. I can.

Therefore, in an embodiment of the present invention, if there is no change in the gyro sensing value measured using the gyro sensor 200 for a certain distance (eg, about 10m), it is determined that the slope of the road surface is stable. Since the shaking of the vehicle includes the angular velocity in the direction of the pitch, it can be determined that the vehicle is in an accelerated state only when the gyro sensing value remains stable for a certain distance while the atan(Ay/Az) value changes. . If a change in the gyro sensing value occurs despite a large change in atan(Ay/Az) value, it is determined that the vehicle is in an unstable stopped state, not an acceleration state. On the other hand, the'constant distance' can be adjusted in consideration of an increase in the reliability of a value and an increase in the amount of sample data as the driving distance of the vehicle increases.

When a significant degree of change in the angle of the road surface or a change in inclination occurs in the vehicle body, it can be detected through the gyro sensor 200, and in this case, the calculation of the vehicle acceleration vector is passed to the driving state.

After that, the vehicle pitch angle vectors Py and Pz are calculated by continuously summing the vehicle acceleration vectors Vy and Vz calculated in the step S400 through the vehicle pitch angle vector calculation unit 600 during a certain distance. (S500) (see Fig. 5).

That is, when accelerating with sufficient acceleration on a stable road surface, the vehicle acceleration vectors (Vy, Vz) calculated in step S400 are continuously added during a certain distance, the summed vector is calculated, and the vehicle pitch angle vector (Py , Pz).

Meanwhile, the vehicle acceleration vectors Vy and Vz have errors to some extent depending on the performance of the sensor, and the direction of the error is not constant.

Therefore, when a plurality of vehicle acceleration vectors (Vy, Vz) are added, the error values present in the vehicle acceleration vectors (Vy, Vz) are canceled out during the summing process, and the error values of the vehicle pitch angle vectors (Py, Pz) Becomes a relatively small value.

If the magnitude of the vehicle acceleration vectors Vy and Vz is too small, the reliability of the value decreases. When the vehicle acceleration vectors (Vy, Vz) are larger than a certain degree, the degree of retraction is high, so only when the vehicle pitch angle vectors (Py, Pz) are larger than a certain value, the vehicle pitch angle through atan (Pz/Py) Yields

That is, when the size of the vehicle pitch angle vector calculated in step S500 through the vehicle pitch angle calculation unit 700 is larger than a preset threshold, the vehicle pitch angle is calculated using the vehicle pitch angle vector (S600) ( 6).

At this time, in the step S600, the vehicle pitch angle calculation unit 700, when the size of the vehicle pitch angle vector (Py, Pz) calculated in the step S500 is larger than a preset threshold, the vehicle through atan (Pz/Py) The pitch angle can be calculated.

Meanwhile, the vehicle pitch angle detection method using an acceleration sensor and a gyro sensor according to an embodiment of the present invention may also be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices that store data that can be read by a computer system.

For example, computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, hard disk, floppy disk, removable storage device, and non-volatile memory. And optical data storage devices.

In addition, the computer-readable recording medium can be distributed to a computer system connected through a computer communication network, and stored and executed as code that can be read in a distributed manner.

Although a preferred embodiment of the vehicle pitch angle detection apparatus and method using the acceleration sensor and the gyro sensor according to the present invention has been described, the present invention is not limited thereto, but the claims and the detailed description of the invention and the appended It is possible to implement various modifications within the scope of the drawings, and this also belongs to the present invention.

100: acceleration sensor,
200: gyro sensor,
300: vehicle status recognition unit,
400: static state gravity vector calculation unit,
500: acceleration state vehicle acceleration vector calculation unit,
600: vehicle pitch angle vector calculation unit,
700: vehicle pitch angle calculation unit

Claims (18)

An acceleration sensor that measures acceleration of the vehicle;
A gyro sensor measuring the angular velocity of the vehicle;
A vehicle state recognition unit for determining a stopped state, an acceleration state, and a driving state of the vehicle using the acceleration and angular velocity measured from the acceleration sensor and the gyro sensor, respectively;
A stopped state gravitational vector calculation unit that calculates a stopped state gravitational vector using an acceleration sensor value measured in the stopped state of the vehicle determined by the vehicle state recognition unit;
An acceleration state vehicle acceleration vector calculation unit that calculates a vehicle acceleration vector by removing the stopped state gravitational vector calculated from the stopped state gravitational vector calculation unit from the acceleration sensor value measured in the acceleration state of the vehicle determined by the vehicle state recognition unit;
A vehicle pitch angle vector calculating unit for calculating a vehicle pitch angle vector by continuously summing the vehicle acceleration vector calculated from the acceleration state vehicle acceleration vector calculating unit for a predetermined distance; And
When the size of the vehicle pitch angle vector calculated from the vehicle pitch angle vector calculation unit is larger than a preset threshold, a vehicle pitch angle calculation unit that calculates the vehicle pitch angle using the vehicle pitch angle vector,
The acceleration state vehicle acceleration vector calculation unit
The vehicle acceleration vector is calculated only when the angular velocity value of the vehicle measured by the gyro sensor is kept constant while the vehicle moves a certain distance
Vehicle pitch angle detection device using acceleration sensor and gyro sensor.
The method of claim 1,
The acceleration sensor is composed of an X-axis, a Y-axis, and a Z-axis so that three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the vehicle traveling direction (Y-axis) and the ground direction (Z-axis) Vehicle pitch angle detection apparatus using an acceleration sensor and a gyro sensor, characterized in that transmitting the acceleration sensor values (Ay, Az) to the vehicle state recognition unit.
The method of claim 1,
The gyro sensor is composed of Rx, Ry, and Rz so that three gyro sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the gyro value in the pitch direction is transmitted to the vehicle state recognition unit. And a vehicle pitch angle detection device using a gyro sensor.
The method of claim 1,
The vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y axis) and the ground direction (Z axis) of the vehicle from the acceleration sensor, and is inclined compared to the horizontal plane through atan (Ay/Az). An apparatus for detecting a vehicle pitch angle using an acceleration sensor and a gyro sensor, characterized in that it calculates an angle value and determines that the vehicle is in a stopped state when the calculated angle value is maintained without change for a preset specific time.
The method of claim 4,
The vehicle state recognition unit determines a vehicle pitch angle detection device using an acceleration sensor and a gyro sensor, wherein when a value of atan (Ay/Az) changes in the stopped state, it is determined as an acceleration state.
The method of claim 5,
The vehicle state recognition unit determines the driving state when the angular velocity value measured from the gyro sensor in the acceleration state is greater than a preset value, or the moving distance estimated from the acceleration measured from the acceleration sensor is greater than a preset distance. Vehicle pitch angle detection device using an acceleration sensor and a gyro sensor, characterized in that.
The method of claim 1,
The vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y axis) and the ground direction (Z axis) of the vehicle from the acceleration sensor, and is inclined compared to the horizontal plane through atan (Ay/Az). Calculate an angle value, and if the calculated angle value remains unchanged for a preset specific time, it is determined as a stationary state,
The stopped state gravitational vector calculation unit calculates the stopped state gravitational vector (Gy, Gz) using the acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined by the vehicle state recognition unit. Vehicle pitch angle detection device using acceleration sensor and gyro sensor.
The method of claim 1,
The vehicle state recognition unit receives acceleration sensor values (Ay, Az) in the traveling direction (Y axis) and the ground direction (Z axis) of the vehicle from the acceleration sensor, and is inclined compared to the horizontal plane through atan (Ay/Az). An angle value is calculated, and if the calculated angle value remains unchanged for a predetermined period of time, it is determined as a stationary state, and when a change in the value of atan(Ay/Az) occurs in the stationary state, it is determined as an acceleration state. ,
The stopped state gravity vector calculation unit calculates the stopped state gravitational vectors (Gy, Gz) using acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined by the vehicle state recognition unit,
The acceleration state vehicle acceleration vector calculation unit may include a stopped state gravity vector (Gy,) calculated from the stopped state gravity vector calculation unit from the acceleration sensor values (Ay, Az) measured at the acceleration state of the vehicle determined by the vehicle state recognition unit. A vehicle pitch angle detection apparatus using an acceleration sensor and a gyro sensor, characterized in that the vehicle acceleration vector (Ay-Gy=Vy, Az-Gz=Vz) is calculated by removing Gz).
The method of claim 8,
The vehicle pitch angle vector calculation unit calculates the vehicle pitch angle vectors (Py, Pz) by continuously summing the vehicle acceleration vectors (Vy, Vz) calculated from the acceleration state vehicle acceleration vector calculation unit while traveling for a predetermined distance,
The vehicle pitch angle calculation unit calculates the vehicle pitch angle through atan(Pz/Py) when the size of the vehicle pitch angle vector (Py, Pz) calculated from the vehicle pitch angle vector calculation unit is larger than a preset threshold. Vehicle pitch angle detection apparatus using an acceleration sensor and a gyro sensor, characterized in that.
As a method of detecting the pitch angle of a vehicle using an acceleration sensor and a gyro sensor,
(a) measuring acceleration and angular velocity of the vehicle through the acceleration sensor and the gyro sensor, respectively;
(b) determining a stopped state, an acceleration state, and a driving state of the vehicle using the acceleration and angular velocity measured in step (a), respectively, through a vehicle state recognition unit;
(c) calculating a stopped state gravity vector using the acceleration sensor value measured in the stopped state of the vehicle determined in step (b) through the stopped state gravity vector calculation unit;
(d) The vehicle acceleration vector is calculated by removing the vehicle acceleration vector calculated in step (c) from the acceleration sensor value measured in the acceleration state of the vehicle determined in step (b) through the acceleration state vehicle acceleration vector calculation unit. Step to do;
(e) calculating a vehicle pitch angle vector by continuously summing the vehicle acceleration vector calculated in step (d) through a vehicle pitch angle vector calculation unit during a certain distance; And
(f) when the size of the vehicle pitch angle vector calculated in step (e) is greater than a preset threshold through the vehicle pitch angle calculation unit, calculating the vehicle pitch angle using the vehicle pitch angle vector,
The acceleration state vehicle acceleration vector calculation unit
The vehicle acceleration vector is calculated only when the angular velocity value of the vehicle measured by the gyro sensor is kept constant while the vehicle moves a certain distance.
Vehicle pitch angle detection method using acceleration sensor and gyro sensor.
The method of claim 10,
In the step (a), the acceleration sensor is composed of an X-axis, a Y-axis, and a Z-axis so that the three acceleration sensors attached in a horizontal state to the vehicle are orthogonal to each other, and the vehicle traveling direction (Y-axis) and the ground A vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, comprising transmitting acceleration sensor values Ay, Az in a direction (Z-axis) to the vehicle state recognition unit.
The method of claim 10,
In the step (a), the gyro sensor is composed of Rx, Ry, and Rz so that three gyro sensors attached in a horizontal state to the vehicle are orthogonal to each other, and transmits the gyro value in the pitch direction to the vehicle state recognition unit. Vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, characterized in that.
The method of claim 10,
In the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a), and receives atan(Ay Vehicle pitch using an acceleration sensor and a gyro sensor, characterized in that after calculating the angle value inclined relative to the horizontal plane through /Az), when the calculated angle value is maintained without change for a predetermined period of time, it is determined as a stopped state. Each detection method.
The method of claim 13,
The vehicle state recognition unit determines a vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, wherein when a value of atan (Ay/Az) changes in the stopped state, it is determined as an acceleration state.
The method of claim 14,
The vehicle state recognition unit is in the driving state when the angular velocity value measured in step (a) is greater than a preset value in the acceleration state, or the moving distance estimated from the acceleration measured in step (a) is greater than a preset distance. Vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, characterized in that determined by.
The method of claim 10,
In the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a), and receives atan(Ay /Az) after calculating the angle value inclined relative to the horizontal plane, and if the calculated angle value remains unchanged for a predetermined time, it is determined as a stationary state,
In the step (c), the stopped state gravity vector calculation unit, using the acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined in the step (b), the stopped state gravity vectors (Gy, Gz) Vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, characterized in that to calculate.
The method of claim 10,
In the step (b), the vehicle state recognition unit receives the acceleration sensor values (Ay, Az) in the traveling direction (Y-axis) and the ground direction (Z-axis) of the vehicle in the step (a), and receives atan(Ay /Az) is used to calculate the angle value inclined relative to the horizontal plane, and if the calculated angle value remains unchanged for a predetermined period of time, it is determined as a stopped state, and the value of atan(Ay/Az) in the stopped state It is judged as an acceleration state if there is a change in
In the step (c), the stopped state gravity vector calculation unit, using the acceleration sensor values (Ay, Az) measured in the stopped state of the vehicle determined in the step (b), the stopped state gravity vectors (Gy, Gz) Yields,
In the step (d), the acceleration state vehicle acceleration vector calculation unit, the stop state calculated in step (c) from the acceleration sensor values (Ay, Az) measured in the acceleration state of the vehicle determined in step (b). A vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, characterized in that the vehicle acceleration vector (Ay-Gy=Vy, Az-Gz=Vz) is calculated by removing the gravity vectors (Gy, Gz).
The method of claim 17,
In the step (e), the vehicle pitch angle vector calculation unit continuously sums the vehicle acceleration vectors (Vy, Vz) calculated in the step (d) during a certain distance to the vehicle pitch angle vectors (Py, Pz). Is calculated,
In the step (f), the vehicle pitch angle calculation unit, when the size of the vehicle pitch angle vector (Py, Pz) calculated in the step (e) is larger than a preset threshold, the vehicle through atan(Pz/Py) Vehicle pitch angle detection method using an acceleration sensor and a gyro sensor, characterized in that calculating the pitch angle.

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