KR102210685B1 - Current height value calculation method of driving vehicle - Google Patents

Abstract

A method of calculating a current vehicle height value of a driving vehicle is disclosed. An acquisition step of acquiring vehicle information of a vehicle being driven by using a vehicle sensor; A determination step of determining whether the vehicle is abnormal using the obtained vehicle information; A correction step of correcting a vehicle height sensor initial value calculated according to an abnormality of the vehicle to a driving height sensor initial value; And a calculating step of calculating a current vehicle height value of the vehicle height sensor using the driving height sensor initialization value; including, when the vehicle released in a biased state is running, the bias state is determined, and the driving garage is corrected in real time. The vehicle can be controlled to a normal posture by calculating the current garage value through the sensor initialization value.

Description

Current height value calculation method of driving vehicle}

The present invention relates to a method of calculating a current vehicle height, and more particularly, to a method of calculating a current vehicle height value of a vehicle running in an abnormal state.

The vehicle's suspension system absorbs the shock transmitted from the road surface to improve the ride comfort, or when driving on a road with severe irregularities, it controls the irregular movement of the wheels and increases the grip of the tires to reliably transmit driving and braking power to the road surface. Performs the function to make.

The suspension system supports the load of the vehicle and at the same time absorbs vibrations and shocks to prevent vibrations from being transmitted to the body, thereby improving ride comfort and driving stability of the vehicle.

Among these suspension systems, the air suspension system is an electronically controlled suspension device that realizes improved ride comfort and steering performance by actively adjusting the height of the vehicle using high-pressure air. The air suspension system lowers the vehicle height during high-speed driving to ensure controllability and minimizes aerodynamic resistance.In off-road, the vehicle height is increased to improve ride comfort.By maintaining the standard vehicle height regardless of the loaded cargo, it is optimal for driving conditions. Control the vehicle.

The height sensor in the air suspension system is for measuring the relative displacement of the body and the wheel at each corner of the vehicle, the relative displacement of the body and the wheel is measured as an angle value, and the measured angle value is converted to a height value. The converted garage value is used for garage control.

The height sensor is fixed to the body of the vehicle by a separate fixing bracket, and when it is mounted on the body through the bracket, the vehicle height value measured by the vehicle height sensor is the deviation of the vehicle body hole, the deviation of the link, and the assembly of the suspension device. There is no choice but to vary from vehicle to vehicle due to deviations, and accordingly, in all vehicles equipped with a suspension system, when the ECU (Electronic Control Unit) is replaced not only during the initial vehicle assembly at the factory, but also after delivery, when the mechanical parts of the front and rear wheels are replaced, or When the garage sensor is replaced, HSC (Height Sensor Calibration) must be performed.

HSC refers to the operation of matching the measured height value and the design height value by comparing the design height value and the measured height value, which are basically recognized by the ECU, and canceling the difference, and the measured height value is the wheel calculated through the measured device. It is the distance from the center of the wheel house to the wheel house.If the ECU calculates the garage sensor initialization value according to the difference between the designed garage value and the actual vehicle height value, the garage value input to the ECU through the garage sensor is then converted to the garage sensor initialization value. By increasing or decreasing by, it is converted into an accurate garage value.

However, HSC must be performed at the initial factory assembly of a vehicle equipped with a suspension system, but the vehicle manufacturing process time is limited, the deviation of the garage measurement device for HSC, and the control threshold when controlling the height through the suspension at a specific location (e.g. 5mm ), etc., it was impossible to control the ideal garage, so there were cases where the vehicle was left skewed to the left or right.

If the wheel alignment process (camber, caster, toe, etc.) is adjusted in such a state that the garage is twisted to the left or right, that is, in an abnormal garage other than the normal garage, vehicle bias occurs when the outgoing vehicle travels straight ahead. Therefore, there is a problem of generating an obstacle in safe driving and anxiety of the driver.

Accordingly, the present invention was conceived in consideration of the above circumstances, and the vehicle's biased posture due to the limitations of the vehicle manufacturing process time at the time of factory initial assembly, the deviation of the garage measurement device for HSC and the control threshold value, etc. It is an object of the present invention to provide a method of calculating a current vehicle height value of a driving vehicle that can be changed to a normal posture during operation.

In order to achieve the above object, a method for calculating a current height value of a vehicle being driven according to an exemplary embodiment of the present invention includes: an acquisition step of acquiring vehicle information of the vehicle being driven by using a vehicle sensor; A determination step of determining whether the vehicle is abnormal using the obtained vehicle information; A correction step of correcting a vehicle height sensor initial value calculated according to an abnormality of the vehicle to a driving height sensor initial value; And a calculation step of calculating a current vehicle height value of the vehicle height sensor using the driving height sensor initialization value.

A control step of controlling a posture of the vehicle to a normal posture so that the car height sensor initialization value can be corrected to the driving car height sensor initialization value in the correction step; In the control step, when the attitude control of the vehicle is ended and the correction step is completed, a comparison step of comparing a difference value between the driving garage sensor initialization value and the vehicle height sensor initialization value with a preset threshold value, the In the calculating step, if the difference value is less than the threshold value in the comparing step, the current vehicle height value of the vehicle height sensor may be calculated by using the driving height sensor initialization value.

A measuring step of measuring a measured vehicle height value of the vehicle in a stopped state using a measuring device; It may further include a calculation step of calculating the vehicle height sensor initialization value by comparing the measured vehicle height value and a preset design vehicle height value.

The vehicle sensor includes a vehicle height sensor, a yaw rate sensor, a steering angle sensor, and a speed sensor, and the vehicle information includes a left vehicle height value, a right vehicle height value, a yaw rate value, a steering value, and a vehicle speed value. The vehicle height value of the vehicle sensor may be the left vehicle height value or the right vehicle height value.

The determining step may include a posture determination step of determining a posture state of the vehicle using the yaw rate value and the steering value.

In the posture determination step, when the yaw rate value is a zero level and the steering value is greater than or equal to a preset reference steering level, the posture of the vehicle is determined as a biased posture, and a difference value between the yaw rate value and the steering value is a preset reference If it is within the range level, the posture of the vehicle may be determined as a normal posture.

The determining step may further include a vehicle height determination step of determining whether the vehicle height value is normal using the left vehicle height value and the right vehicle height value.

In the vehicle height determination step, when the difference value between the left and right vehicle height values is within a preset reference vehicle height range, the vehicle height is determined as a normal vehicle height, and the difference value between the left and right vehicle height values is When it is out of the reference vehicle height range, the vehicle height may be determined as an abnormal garage.

The determining step is the left vehicle height value. It may further include a road surface determination step of determining a road surface condition using the right vehicle height value and the vehicle speed value.

In the determining of the road surface, a state of a road surface on which the vehicle is traveling may be determined as a rough road state or an unexplored road state according to a table value calculated in advance based on the left vehicle height value, the right vehicle height value, and the vehicle speed value.

In the determining step, when the vehicle speed value is greater than or equal to a reference speed for a predetermined time, it may be determined whether the vehicle is abnormal.

In the correction step, the vehicle height sensor initialization value may be increased or decreased according to the normal posture control in the control step, so that the vehicle height sensor initialization value may be corrected to the driving vehicle height sensor initialization value.

In the determining step, when the difference value is equal to or greater than the threshold value in the comparing step, it is possible to re-determine whether the vehicle is in an abnormal state.

In the calculation step, when the difference value in the comparison step is less than the threshold value, the driving height sensor initialization value is added to the left or right vehicle height value measured from the direction in which the vehicle is inclined to determine the current vehicle height value of the vehicle height sensor. Can be calculated.

In the calculating step, if it is determined as one of the normal posture, the normal vehicle height, and the rough road state in the determination step, the current vehicle height value of the vehicle height sensor is calculated by adding the garage sensor initialization value to the left vehicle height value or the right vehicle height value. Can be calculated.

According to the method for calculating the current garage value of the vehicle being driven according to an embodiment of the present invention, even when the vehicle is released from the vehicle in a left or right skewed state, the vehicle being inclined is determined and the vehicle is shifted to a biased posture. If it is determined, the vehicle height sensor initialization value may be modified to calculate the current vehicle height value through the resulting driving height sensor initialization value, so that the vehicle's biasing attitude can be controlled to a normal position according to the current garage value.

In addition, since the vehicle posture can be corrected immediately after determining the vehicle's bias state, it is effective in safe driving while reducing anxiety of the driver who feels the vehicle bias.

1 is a block diagram schematically illustrating an apparatus for calculating a current vehicle height value of a driving vehicle according to an exemplary embodiment of the present invention.
2 is a flowchart briefly illustrating a method of calculating a current vehicle height value of a driving vehicle according to an exemplary embodiment of the present invention.
3 is a diagram for describing a road surface condition determination in a method of calculating a current vehicle height value of a vehicle being driven according to an exemplary embodiment of the present invention.
4 is a graph for describing vehicle attitude determination in a method of calculating a current vehicle height value of a driving vehicle according to an exemplary embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the implementation of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and is not limited to the described embodiments. In addition, in order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals in the drawings indicate the same members.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components unless specifically stated to the contrary. In addition, terms such as “... unit”, “... unit”, “module”, and “block” described in the specification mean units that process at least one function or operation, which is hardware, software, or hardware. And software.

Referring to FIG. 1, the apparatus for calculating a current vehicle height value of a vehicle being driven according to an embodiment of the present invention is an apparatus for calculating a normal current vehicle height value used for vehicle attitude control in an air suspension system of a vehicle, and the sensor unit 100 , A calculation unit 200, a determination unit 300, a correction unit 400, and a control unit 500 may be included.

The sensor unit 100 is a sensing device mounted on a vehicle to obtain various vehicle information. Here, the vehicle information may include a vehicle height value, a yaw rate value, a vehicle speed value, and a steering value.

The calculation unit 200 is a device that generates a garage sensor initialization value used to calculate a current vehicle height value used for vehicle attitude control. The garage sensor initialization value may be calculated based on a design garage value recognized by the control unit 500 during vehicle design and an actual vehicle height value measured through a measurement device in a vehicle in a stopped state.

Here, the reason for calculating the garage sensor initialization value is that when the vehicle height sensor is mounted on the vehicle body through the bracket, the vehicle height value of the vehicle height sensor is determined by vehicle by vehicle body hole deviation, link deviation, suspension device assembly deviation, etc. Because it is different, this is to make the vehicle height value in which such deviation occurs close to the vehicle height value measured by the actual measuring device.

The current garage value of the vehicle being driven may be calculated by adding a garage sensor initialization value to the vehicle height value of the garage sensor when the vehicle condition satisfies a specific condition. At this time, the vehicle suspension system may maintain the vehicle posture in a normal posture by analyzing the calculated current garage value and controlling the suspension device based on the analyzed result. Here, the vehicle suspension system may be an air suspension system.

In addition, the current garage value is different from the vehicle height value measured through the actual measurement device even though it is calculated by the garage sensor initialization value when the vehicle condition does not satisfy a specific condition. In this case, the vehicle attitude control by the suspension system is normally performed. Will not be performed.

Accordingly, when the vehicle condition does not satisfy a specific condition, a new initialization value is required to make the current vehicle height value of the vehicle being driven close to the vehicle height value measured through the measurement device. Hereinafter, generation of a new initialization value will be described, and the new initialization value is defined as the driving height sensor initialization value.

The determination unit 300 is a device that determines whether a vehicle condition satisfies a specific condition by using vehicle information acquired by the sensor unit 100. The determination unit 300 may determine whether three specific conditions are satisfied.

The determination unit 200 may determine the attitude of the vehicle using the yaw rate value and the steering value. The determination unit 200 may determine whether the vehicle height value is normal using the vehicle height value on the left side and the vehicle height value on the right side. The determination unit 200 may determine the state of the road surface on which the vehicle is running using the vehicle height value and the vehicle speed value.

The correction unit 400 is a device that generates a driving height sensor initialization value when the state of the vehicle does not satisfy a specific condition, that is, does not satisfy the above three conditions by the determination of the determination unit 200. The correction unit 400 may correct the vehicle height sensor initialization value to the driving garage sensor initialization value by increasing or decreasing the vehicle height sensor initialization value.

The controller 500 is a device that controls the vehicle suspension device so that the vehicle posture is maintained in a normal posture. The controller 500 may control the posture of the vehicle to a normal posture so that the left or right car height values coincide with each other.

In this case, the correction unit 400 may correct the initial value of the vehicle height sensor to the initial value of the driving height sensor by increasing or decreasing the initial value of the garage sensor according to the attitude control of the vehicle.

In addition, the controller 500 may determine whether the driving height sensor initialization value is changed from the vehicle height sensor initialization value to a preset threshold value or more. Here, the reason for setting the threshold value is to prevent the vehicle height value from being calculated as a value outside the measurement range of the vehicle height sensor by the driving height sensor initialization value.

In addition, the controller 500 may calculate the current garage value using the driving height sensor initialization value, control the vehicle suspension device using the calculated current vehicle height value, and continue to maintain the vehicle posture at the normal posture. Suspension device can be controlled.

Accordingly, the apparatus for calculating the current garage value of the vehicle being driven according to an embodiment of the present invention determines the biased state of the vehicle in the driving vehicle even when the vehicle is released from the vehicle in a left or right biased state, and the vehicle is in a biased position. If determined, the vehicle height sensor initialization value may be corrected to the driving garage sensor initialization value, and the current vehicle height value may be calculated through the resulting driving garage sensor initialization value.

The vehicle suspension system may control the vehicle suspension device using the calculated current vehicle height value, thereby controlling the vehicle's biased posture to the normal posture.

Hereinafter, a process of correcting the vehicle sensor value through detailed components of the device for calculating the current height value of the vehicle being driven will be described.

First, the sensor unit 100 may include a vehicle height sensor 110, a yaw rate sensor 120, a steering angle sensor 130, and a vehicle speed sensor 140.

The garage sensor 110 measures the relative displacement between the vehicle body and the wheel, and measures the relative displacement between the vehicle body and the wheel as an angle value, and converts the measured angle value to obtain a vehicle height value.

The vehicle height value obtained here is transmitted to the determination unit 200 and used to determine the vehicle attitude. In addition, the measured vehicle height value described above is a value obtained by measuring the distance between the center of the wheel of the vehicle in which the measuring device is stopped and the house of the wheel.

The yaw rate sensor 120 is a sensor that detects whether the vehicle rotates left or right based on the Z axis of the vehicle, and may obtain a yaw rate value indicating a ratio of the left and right rotation. The obtained yaw rate value is transmitted to the determination unit 200 and used to determine whether the vehicle is traveling straight.

The steering angle sensor 130 is a sensor that acquires a steering value by sensing a rotation angle of a vehicle wheel. The steering value obtained here is transmitted to the determination unit 200 and used to determine the bias.

The vehicle speed sensor 140 is a sensor that acquires a vehicle speed value by detecting a vehicle speed. The vehicle speed value obtained here is transmitted to the determination unit 200 and used to determine the road surface condition.

The calculation unit 200 may calculate a garage sensor initialization value using a design garage value recognized during vehicle design and a measured vehicle height value measured through a measurement device in a vehicle in a stopped state.

The calculation unit 200 may generate a garage sensor initialization value used for calculating a vehicle height value of the vehicle height sensor 110 in the vehicle being driven. The calculation unit 200 may generate a garage sensor initialization value through a difference value between the designed vehicle height value and the measured vehicle height value.

The determination unit 300 may include a posture determination unit 310, a vehicle height determination unit 320, and a road surface determination unit 330.

The posture determination unit 310 may determine whether the vehicle posture is normal using the yaw rate value of the yaw rate sensor 120 and the steering value of the steering angle sensor 130.

When the yaw rate value is a zero level and the steering value is greater than or equal to a preset reference steering level, the attitude determination unit 310 determines the attitude of the vehicle as a biased position, and the difference between the yaw rate value and the steering value is within a preset reference range level. If yes, the posture of the vehicle may be determined as a normal posture. Here, the yaw rate value and the steering value may be expressed in 10 levels and compared with each other, which will be described in detail later with reference to FIG. 4.

The vehicle height determination unit 320 may determine whether the vehicle height value on the left side of the vehicle and the vehicle height value on the right side of the vehicle measured by the vehicle height sensor 110 are normal.

When the difference value between the left and right garage values of the vehicle being driven is within a preset reference vehicle height range, the garage determination unit 320 determines that the vehicle is a normal vehicle height, and the difference value between the left and right vehicle height values of the vehicle If it is outside the range of the reference vehicle height, it may be determined as an abnormal vehicle height. Here, the reference vehicle height range may be set from 0mm to a value close to 0mm, for example.

The road surface determination unit 330 may determine a road surface condition using a vehicle height value and a vehicle speed value.

When the vehicle speed value is greater than or equal to the reference speed, the road surface determination unit 330 determines the road surface condition as a rough road when the amount of change in the vehicle height value is greater than or equal to the preset reference change amount, and when the change amount in the vehicle height value is less than the preset reference change amount, the road surface state is considered an unexplored road. It can be judged as. Here, the reference change amount may be set according to the needs of the user, and determination of the road surface condition will be described in detail later with reference to FIG. 3.

In addition, the determination unit 300, since there is a possibility of an erroneous determination in the bias determination when the vehicle is in a stopped state or a low-speed driving state, the attitude determination, garage determination, and road surface when the vehicle speed value is more than a preset reference speed for a certain period of time. It is desirable to carry out the judgment. Here, the reference speed may be set according to the needs of the user.

The correction unit 400 may correct the vehicle height sensor initialization value to the driving garage sensor initialization value. The correction unit 400 may correct the vehicle height sensor initialization value to the driving garage sensor initialization value when the vehicle is in a biased posture by the determination unit 300 and the vehicle height value is an abnormal vehicle height and the road surface is an unexplored road.

The correction unit 400 may, for example, correct the vehicle height sensor initialization value to the driving height sensor initialization value so as to increase the left vehicle height value because the left vehicle height value is low when a bias occurs on the left side of the vehicle.

At this time, the control unit 500 may adjust the left and right balance of the vehicle so that the left garage value including the driving garage sensor initialization value is matched with the right garage value using the suspension of the vehicle, and the correction unit 400 It is possible to increase or decrease the garage sensor initialization value until the right balance is matched, that is, the left garage value matches the right garage value.

The controller 500 may compare a difference value between the driving height sensor initialization value and the garage sensor initialization value with a preset threshold value. Here, the threshold value may be set to limit the change of the driving garage sensor initialization value to a specific value or more, since the correction unit 400 generates the driving garage sensor initialization value without knowing the actual vehicle height. Refers to a value set so that the current vehicle height value calculated by the driving height sensor initialization value does not exceed the measurement range of the vehicle height sensor 110.

If the difference value between the driving height sensor initialization value and the garage sensor initialization value is less than a preset threshold, the controller 500 can calculate the current garage value by adding the driving garage sensor initialization value to the vehicle height value of the garage sensor 110. have. The controller 500 may analyze the current garage value calculated by the driving garage sensor initialization value, and control the vehicle suspension through the analyzed result to stabilize the vehicle posture.

Referring to FIGS. 1 to 2, the method of calculating the current vehicle height value of the vehicle being driven will be described. First, the vehicle travels at a predetermined reference speed or higher (S201).

Then, the sensor unit 100 acquires various types of vehicle information (S203). Here, various vehicle information includes a yaw rate value, a vehicle height value, a steering value, and a speed value.

Then, the posture determination unit 310 determines whether the vehicle posture is normal (S205). Here, if the vehicle posture is normal, the process proceeds to step S217, which will be described later.

Then, the garage determination unit 320 determines whether or not the garage state is normal (S207). Here, if the garage is normal, the process proceeds to step S217, which will be described later.

Then, the road surface determination unit 330 determines whether the road surface is a rough road (S209). Here, when the road surface is rough, the process proceeds to step S217, which will be described later.

Then, when the vehicle posture is a biased posture, the car height is abnormal, and the road surface is unexplored, the correction unit 400 corrects the calculated car height sensor initialization value to the driving car height sensor initialization value (S211). Here, the garage sensor initialization value is a state added to the vehicle height value in the direction in which the vehicle bias occurs.

Then, the controller 500 controls the vehicle attitude using the vehicle suspension (S213). Here, the controller 500 controls the vehicle suspension so that the left vehicle height value and the vehicle right vehicle height value are matched, and when the left and right vehicle height values are matched by the vehicle suspension, the garage sensor initialization value added to the left vehicle height value Is finally corrected with the driving height sensor initial value.

Then, the controller 500 determines whether the difference between the driving height sensor initialization value and the garage sensor initialization value is equal to or greater than a preset threshold (S215). Here, the determination of whether or not the threshold value is higher is to prevent the current vehicle height value calculated by the driving vehicle height sensor initialization value from exceeding the measurement range of the vehicle height sensor 110.

In addition, when the difference between the driving height sensor initializing value and the vehicle height sensor initializing value is equal to or greater than a preset threshold, the process returns to step S205.

Finally, in step S215, if the difference between the driving height sensor initialization value and the garage sensor initialization value is less than a preset threshold, the control unit 500 calculates the current vehicle height value of the garage sensor 110 using the driving height sensor initialization value. Do (S217). Here, when the vehicle described above satisfies three specific conditions, the current vehicle height value of the garage sensor 110 is calculated by using the garage sensor initialization value.

Thereafter, the controller 500 analyzes the current garage value calculated by the driving vehicle height sensor initialization value, and controls the vehicle suspension based on the analyzed result, thereby enabling the vehicle to maintain the left and right balance.

Referring to FIG. 3, the road surface determination unit 330 according to an embodiment of the present invention receives a vehicle left or right vehicle height value, and divides the left or right vehicle height value by a second order through a known discrete time differential method to obtain an acceleration value. Convert to

The road surface determination unit 330 passes an acceleration value through a high-frequency filter and a low-frequency filter to determine a more accurate road surface.

The road surface determination unit 330 determines a final road surface condition using the filtered acceleration value and a table value according to the vehicle speed value. Here, the table value refers to a value for the road surface condition calculated in advance through the acceleration value converted from the vehicle height value and the vehicle speed value, and can be divided by a certain level, and in particular, can be set to distinguish between a rough road condition and a rough road condition. have.

The road surface determination unit 330 can not only determine the road surface condition through the table value, but also compare the change amount of the garage value for a certain time with the reference change amount in the vehicle traveling above the reference speed and determine the road surface condition as a result. have.

4, the posture determination unit 330 according to an embodiment of the present invention includes a yaw rate value (YAW) and a steering value (SAS) so that the yaw rate value (YAW) and the steering value (SAS) can be compared with each other. Transforms into 10 levels.

The attitude determination unit 330 may determine whether the vehicle is biased by comparing the yaw rate value YAW converted to any one of the ten levels and the steering value SAS.

When the yaw rate value (YAW) and the steering value (SAS) in a vehicle driving at high speed are within a preset reference range level (eg, 2 level), the attitude determination unit 330 Can be judged as a normal posture without bias.

In addition, when the yaw rate value (YAW) is close to 0 level and the steering value (SAS) is equal to or higher than the reference steering level (eg, 7 level) in the vehicle driving at high speed, the attitude determination unit 330 moves the vehicle attitude to a biased position. I can judge.

Therefore, even if there is a bias phenomenon in the vehicle due to assembly deviation during factory assembly of the vehicle, the bias position can be determined and the normal current garage value can be calculated even after the bias position determination, so that the vehicle's attitude is determined using the current vehicle height value. Can be controlled by

The method according to an embodiment of the present invention can 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. Examples of the recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like, and also include those implemented in the form of a carrier wave (for example, transmission through the Internet). In addition, the computer-readable recording medium can be distributed over a computer system connected through a network to store and execute computer-readable codes in a distributed manner.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom.

Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the attached registration claims.

100: sensor unit
110: garage sensor
120: yaw rate sensor
130: steering angle sensor
140: vehicle speed sensor
200: calculation unit
300: judgment unit
310: posture determination unit
320: garage determination unit
330: road surface determination unit
400: correction unit
500: control unit

Claims (15)

An acquisition step of acquiring vehicle information of a vehicle being driven by using a vehicle sensor;
A determination step of determining whether the vehicle is abnormal using the acquired vehicle information;
A correction step of correcting a vehicle height sensor initialization value calculated according to an abnormality of the vehicle to a driving height sensor initialization value; And
A calculation step of calculating a current vehicle height value of the vehicle height sensor using the driving height sensor initialization value;
A method of calculating a current height value of a garage sensor comprising a. The method of claim 1,
A control step of controlling a posture of the vehicle to a normal posture so that the car height sensor initialization value can be corrected to the driving car height sensor initialization value in the correction step;
When the posture control of the vehicle is terminated in the control step and the correction step is completed, a comparison step of comparing a difference value between the driving garage sensor initialization value and the vehicle height sensor initialization value with a preset threshold value,
In the calculating step, if the difference value is less than the threshold value in the comparing step, the current vehicle height value of the vehicle height sensor is calculated by using the driving height sensor initialization value. . The method according to claim 1 or 2,
A measuring step of measuring a measured vehicle height value of the vehicle in a stopped state using a measuring device;
A calculating step of calculating the vehicle height sensor initialization value by comparing the measured vehicle height value with a preset design vehicle height value;
A method for calculating a current garage value of a vehicle being driven, further comprising. The method of claim 3,
The vehicle sensor includes a garage sensor, a yaw rate sensor, a steering angle sensor, and a speed sensor,
The vehicle information includes the vehicle's left vehicle height value, the vehicle's right vehicle height value, a yaw rate value, a steering value, and a vehicle speed value,
And the vehicle height value of the vehicle sensor is the left vehicle height value or the right vehicle height value. The method of claim 4,
The determining step is
A posture determination step of determining a posture state of the vehicle using the yaw rate value and the steering value;
A method for calculating a current garage value of a vehicle being driven, comprising a. The method of claim 5,
The posture determination step
When the yaw rate value is a zero level and the steering value is equal to or higher than a preset reference steering level, the attitude of the vehicle is determined as a biased attitude,
When a difference value between the yaw rate value and the steering value is within a preset reference range level, the attitude of the vehicle is determined as a normal attitude. The method of claim 4,
The determining step is
A vehicle height determination step of determining whether a vehicle height value is normal using the left vehicle height value and the right vehicle height value;
A method for calculating a current garage value of a vehicle being driven, further comprising. The method of claim 7,
The garage determination step
When the difference value between the left and right vehicle heights is within a preset reference vehicle height range, the vehicle height is determined as a normal vehicle height,
And determining the vehicle height as an abnormal vehicle height when a difference value between the left vehicle height value and the right vehicle height value exceeds the reference vehicle height range. The method of claim 8,
The determining step is
Above left garage value. A road surface determination step of determining a road surface condition using the right vehicle height value and the vehicle speed value;
A method for calculating a current garage value of a vehicle being driven, further comprising. The method of claim 9,
The road surface determination step
The current of the vehicle being driven, characterized in that the condition of the road surface on which the vehicle is traveling is determined as a rough road state or an unexplored road state according to a table value calculated in advance based on the left vehicle height value, the right vehicle height value, and the vehicle speed value. How to calculate the garage value. The method of claim 9,
The determining step is
When the vehicle speed value is greater than or equal to a reference speed for a predetermined time, it is determined whether or not the vehicle is abnormal. The method of claim 4,
The correction step is a method for calculating a current vehicle height value of a vehicle being driven, characterized in that by increasing or decreasing the garage sensor initialization value according to the normal attitude control in the control step, and correcting the vehicle height sensor initialization value to the driving height sensor initialization value. . The method of claim 4,
The determining step is
In the comparing step, when the difference value is greater than or equal to the threshold value, re-determining whether the vehicle is in an abnormal state or not. The method of claim 4,
The calculation step is
In the comparison step, when the difference value is less than the threshold value, a current vehicle height value of the vehicle height sensor is calculated by adding the driving vehicle height sensor initialization value to a left or right vehicle height value measured from a direction in which the vehicle is biased. The method of calculating the current garage value of the vehicle being driven. The method of claim 10,
The calculation step is
In the determination step, when it is determined as one of the normal posture, the normal vehicle height, and the rough road state, the current vehicle height value of the vehicle height sensor is calculated by adding the garage sensor initialization value to the left vehicle height value or the right vehicle height value. The method of calculating the current garage value of the vehicle being driven.

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