KR20170068828A - Apparatus and method for calculating slope of vehicle - Google Patents

Apparatus and method for calculating slope of vehicle Download PDF

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Publication number
KR20170068828A
KR20170068828A KR1020150175780A KR20150175780A KR20170068828A KR 20170068828 A KR20170068828 A KR 20170068828A KR 1020150175780 A KR1020150175780 A KR 1020150175780A KR 20150175780 A KR20150175780 A KR 20150175780A KR 20170068828 A KR20170068828 A KR 20170068828A
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KR
South Korea
Prior art keywords
vehicle
slope
data
calculating
acceleration
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KR1020150175780A
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Korean (ko)
Inventor
고광민
임정욱
이양기
오세욱
최성욱
고향구
Original Assignee
현대자동차주식회사
현대오트론 주식회사
기아자동차주식회사
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Priority to KR1020150175780A priority Critical patent/KR20170068828A/en
Publication of KR20170068828A publication Critical patent/KR20170068828A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0525—Height adjusting or levelling valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/08—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces characterised by use of gyroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • F21S48/10—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/28—Gyroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/202—Height or leveling valve for air-springs

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for calculating a tilt of a vehicle and a method thereof, and more particularly to a data obtaining unit for obtaining gyro data, acceleration data and speed data of a vehicle. A summation slope calculating unit for calculating a summation slope by summing the slope of the road surface and the vehicle by synthesizing the obtained gyro data and the obtained acceleration data; And a vehicle slope calculating unit for calculating a slope of the vehicle by calculating a moving acceleration from the obtained speed data and synthesizing the calculated moving acceleration with the calculated sum slope angle.

Description

[0001] APPARATUS AND METHOD FOR CALCULATING SLOPE OF VEHICLE [0002]

More particularly, the present invention relates to an apparatus and a method for calculating a slope of a vehicle, and more particularly, to a slope calculating apparatus and method for calculating a slope of a vehicle by synthesizing gyro data and acceleration data and a moving acceleration obtained from the vehicle speed data, The present invention relates to an apparatus for calculating a tilt of a vehicle and a method thereof.

A conventional mechanical leveling sensor is a product composed of a vehicle wire and a motor actuator. The mechanical leveling sensor is mounted on the suspension at the bottom of the vehicle. The mechanical leveling sensor is used to control the height of the headlamp of the vehicle by recognizing the inclination angle of the vehicle.

Conventional mechanical leveling sensors are a mandatory trend to be fitted to vehicles through legislation and are expected to expand further in the future.

Since a conventional mechanical leveling sensor is mounted on a vehicle lower suspension, two leveling sensors must be mounted in order to determine acceleration deceleration. Since the characteristics of gyros and acceleration sensors are different from those of mechanical sensors, it is impossible to perform speed-based filtering.

Currently, there is no device that controls the headlamp leveling sensor after recognizing the road surface inclination using the gyro and the acceleration sensor.

However, when the vehicle moves from the gyro and the acceleration sensor, the noise of the sensor data becomes worse, and it is difficult to obtain the accurate slope of the road surface.

Specifically, the method of measuring the angle of the vehicle includes a measurement method using an acceleration sensor and a method using a gyro sensor.

However, in the measurement method using the acceleration sensor, the angle of the vehicle is measured using only the acceleration sensor provided in the vehicle. At this time, if the center axis of the acceleration sensor installed in the vehicle is not the same as the rotation center axis, an error occurs due to the inclusion of the translational motion component.

The measurement method using the gyro sensor measures the angle of the vehicle using only the gyro sensor. At this time, the measurement of the angle of the vehicle has a weak point in which the integration error accumulates.

Korean Patent Publication No. 10-2010-0073300 (published on July 1, 2010)

The embodiments of the present disclosure are intended to provide a vehicle tilt calculating apparatus and method for calculating a tilt of a vehicle by synthesizing movement acceleration obtained from vehicle speed data on a sum tilt calculated by combining gyro data and acceleration data.

According to a first aspect of the present invention, there is provided a data processing apparatus comprising: a data acquiring unit acquiring gyro data, acceleration data, and velocity data of a vehicle; A summation slope calculating unit for calculating a summation slope by summing the slope of the road surface and the vehicle by synthesizing the obtained gyro data and the obtained acceleration data; And a vehicle slope calculating unit that calculates a slope of the vehicle by calculating a moving acceleration from the obtained speed data and synthesizing the calculated moving acceleration with the calculated sum slope angle, .

The apparatus may further include a lamp angle calculating section for calculating a leveling control angle of the headlamp from the calculated slope of the vehicle.

The sum slope calculating unit may sample the obtained acceleration data, low-pass filter the sampled acceleration data, and synthesize the filtered acceleration data and the obtained gyro data using a compensation filter to calculate a tilt angle.

The sum slope calculating unit sets a gain value of a filter using a regression curve table according to the obtained speed data and synthesizes the filtered acceleration data and the obtained gyro data using a compensation filter to which the set gain value is applied can do.

The vehicle slope calculating unit may calculate the slope of the vehicle using the function of the vector coordinates of the vehicle, which is composed of the calculated movement acceleration, the calculated sum slope, and the gravitational acceleration.

Meanwhile, according to a second aspect of the present invention, there is provided a method for controlling a vehicle, comprising: obtaining gyro data, acceleration data, and velocity data of a vehicle; Synthesizing the obtained gyro data and the obtained acceleration data to calculate a summation slope of the sum of the slope of the road surface and the vehicle; And calculating a slope of the vehicle by calculating a moving acceleration from the obtained speed data and synthesizing the calculated moving acceleration with the calculated sum slope angle to calculate a slope of the vehicle.

The method may further include calculating a leveling control angle of the headlamp from the calculated slope of the vehicle.

The step of calculating the sum slope includes sampling the obtained acceleration data, low-band filtering the sampled acceleration data, synthesizing the filtered acceleration data and the obtained gyro data using a compensation filter to calculate a tilt angle .

Wherein the step of calculating the sum slope comprises: setting a gain value of a filter using a regression curve table according to the obtained velocity data; calculating a sum of the filtered acceleration data and the obtained gyro using a compensation filter to which the set gain value is applied; Data can be synthesized.

The step of calculating the slope of the vehicle may calculate the slope of the vehicle using a function of the vector coordinates of the vehicle, which is composed of the calculated movement acceleration, the calculated sum slope, and the gravitational acceleration.

The embodiments of the present invention can calculate the slope of the vehicle by synthesizing the moving acceleration obtained from the speed data of the vehicle on the sum slope calculated by combining the gyro data and the acceleration data.

Embodiments of the present invention can easily detect the inclination of the road surface by combining (integrating) the gyro and the acceleration sensor by setting the speed data as a gain value. At this time, the detected road slope can be used as a control factor of the head lamp leveling.

Embodiments of the present invention can solve the cumulative error problem due to the difference between the actual vehicle slope and the gyro and the acceleration sensor.

Further, the embodiments of the present invention can secure the mass productivity of the product and secure stable performance.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a configuration diagram of a vehicle tilt calculating apparatus according to an embodiment of the present invention; FIG.
Fig. 2 is an explanatory view of the inclination and sum tilt of the vehicle when the vehicle moves on a level or an uphill according to the embodiment of the present invention. Fig.
3 is a flowchart of a method of calculating a slope of a vehicle according to an embodiment of the present invention.
FIG. 4 is a detailed flowchart of a process of synthesizing the gyro and acceleration data of FIG. 3 according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present specification. In describing the embodiments of the present invention, description of technical contents which are well known in the technical field to which the present invention belongs and which are not directly related to the present specification will be omitted. This is for the sake of clarity without omitting the unnecessary explanation and without giving the gist of the present invention.

In describing the components of the present specification, the same reference numerals may be given to components having the same name, and the same reference numerals may be given to different drawings. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that it has the same function in different embodiments, and the function of each component is different from that of the corresponding embodiment Based on the description of each component in FIG.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a configuration diagram of a vehicle tilt calculating apparatus according to an embodiment of the present invention; FIG.

1, a vehicle tilt calculating apparatus 100 according to an embodiment of the present invention includes a data obtaining unit 110, a sum tilt calculating unit 120, and a vehicle tilt calculating unit 130. Here, the vehicle tilt calculating apparatus 100 may further include a lamp angle calculating unit 140. [

The specific configuration and operation of each component of the vehicle tilt calculation device 100 of Fig. 1 will be described below.

First, the data acquisition unit 110 acquires gyro data, acceleration data, and speed data of the vehicle from a gyro sensor, an acceleration sensor, and a speed sensor provided in the vehicle.

The sum slope calculating unit 120 calculates the sum slope by combining the gyro data obtained by the data obtaining unit 110 and the obtained acceleration data. Here, the summation slope represents the slope of the road surface and the inclination of the vehicle.

Specifically, the summation slope calculating unit 120 samples the acceleration data obtained by the data obtaining unit 110 and low-pass filters the sampled acceleration data. The summation slope calculating unit 120 calculates the slope angle by synthesizing the filtered acceleration data and the gyro data obtained by the data obtaining unit 110 using a compensation filter. At this time, the summation slope calculating unit 120 may set the gain value of the filter using the regression curve table according to the speed data obtained by the data obtaining unit 110. [ The summation slope calculating unit 120 synthesizes the filtered acceleration data and the gyro data obtained by the data obtaining unit 110 using the compensation filter to which the set gain value is applied.

On the other hand, the vehicle slope calculating unit 130 calculates the moving acceleration from the speed data obtained by the summation slope calculating unit 120. The vehicle slope calculating unit 130 calculates the slope of the vehicle by synthesizing the calculated movement acceleration with the sum slope angle calculated by the sum slope calculating unit 120. [

Specifically, the vehicle slope calculating unit 130 calculates the slope of the vehicle using the function of the vector coordinates of the vehicle, which includes the calculated movement acceleration, the calculated sum slope, and the gravitational acceleration.

Then, the lamp-angle calculating unit 140 calculates the leveling control angle of the headlamp from the inclination of the vehicle calculated by the vehicle-tilt calculating unit 130. [

Thus, the vehicle tilt calculation apparatus 100 according to the embodiment of the present invention synthesizes the speed values generated when the vehicle moves to the gyro and acceleration data of the gyro and the acceleration sensor. Thus, the acceleration data adjusts the gain value of the low-pass filter and allows the relative gain value to be set when synthesizing with the gyro data.

Since the acceleration sensor data becomes unstable when the vehicle is moving, the vehicle tilt calculation apparatus 100 receives the speed data and sets the gain data to the gain value of the low-pass filter.

Since the gyro data is accurate when moving instantaneously, the vehicle tilt calculation device 100 receives the speed data and sets the gain value in the synthesis of the gyro and acceleration data. Here, the set gain value can exhibit excellent performance compared to a general Kalman filter, a compensation filter, and a low-pass filter.

Fig. 2 is an explanatory view of the inclination and sum tilt of the vehicle when the vehicle moves on a level or an uphill according to the embodiment of the present invention. Fig.

As shown in Fig. 2 (a), the traveling direction of the vehicle is referred to as the Y axis, and the direction perpendicular to the traveling direction Y axis is referred to as the Z axis. The vehicle has a slope (veh_A) of the vehicle when the vehicle moves on the flat ground. gravity_A represents the angle between gravity direction and Z axis.

As shown in Fig. 2 (b), when the vehicle moves uphill, the road surface on which the vehicle travels has an inclination A (slope_A).

On the road having such an inclination A (slope_A), the vehicle has an acceleration component aacY in the traveling direction and an acceleration component aacZ in the direction perpendicular to the traveling direction Y axis.

First, the sum slope calculating unit 120 may calculate the sum slope by synthesizing the gyro data and the acceleration data through a compensation filter or a Kalman filter. The calculation method is as follows.

The summation gradient calculator 120 allows acceleration data of the acceleration component aacY in the traveling direction and the acceleration component of the acceleration component aacZ in the direction perpendicular to the traveling direction Y axis to be sampled for a specific time (for example, 20 ms).

Then, the summation slope calculating unit 120 removes the maximum and minimum values from the acceleration data sampled, and then filters the sampled acceleration data to obtain a sampling value through calculation of an average value.

Next, the summation slope calculating unit 120 passes the sampled value through the low pass filter, and once again performs filtering as shown in Equation (1).

Figure pat00001

Where accY_sample is a sampled value of the acceleration component in the traveling direction, accY_prev is the previous sampled value of the acceleration component in the traveling direction, and alpha is the coefficient of the low-pass filter.

Then, the summation slope calculating unit 120 obtains the total sum slope angle through the compensation filter of the acceleration data and the gyro data as shown in the following equation (2).

Figure pat00002

Where angle is the sum of the slope, angle + gyrdata * dt is the integral value of the gyro angular velocity, accData is the acceleration data, 0.98 is the gain value of the compensation filter, and 0.02 is the (1-gain value).

Here, the gain value is 0.98, but the regression curve table value according to the actual vehicle speed is used. That is, the summation slope calculating unit 120 sets the gain value of the filter using the regression curve table according to the obtained vehicle speed data.

On the other hand, the vehicle slope calculating unit 130 synthesizes the moving acceleration with the calculated sum slope angle, and calculates the slope of the vehicle as shown in the following equation (3).

Figure pat00003

Here, (Yt, Zt) is the vector coordinate of the vehicle,

Figure pat00004
The movement acceleration,
Figure pat00005
Gravity acceleration,
Figure pat00006
The inclination of the vehicle,
Figure pat00007
Represents a summation slope.

Here, the vehicle slope calculating unit 130 calculates the slope of the vehicle using a wheel pulse inputted from the vehicle or a wheel tick,

Figure pat00008
) Can be obtained. The summation slope calculating unit 120 calculates the summation slope (the summation slope) by synthesizing the gyro data and the acceleration data
Figure pat00009
) Can be calculated.

Gravitational acceleration (

Figure pat00010
) Is also a known value, the vehicle slope calculating unit 130 calculates the slope of the vehicle by calculating the simultaneous equations
Figure pat00011
) Can be calculated.

3 is a flowchart of a method of calculating a slope of a vehicle according to an embodiment of the present invention.

The vehicle inclination calculation device 100 acquires gyro data, acceleration data, and velocity data of the vehicle (S302).

The vehicle tilt calculation apparatus 100 synthesizes the obtained gyro data and acceleration data, and calculates a sum tilt of the sum of the tilt of the road surface and the vehicle (S304).

The vehicle tilt calculation apparatus 100 calculates the tilt of the vehicle by calculating the movement acceleration from the obtained speed data and synthesizing the calculated movement acceleration with the calculated sum tilt angle (S306).

The vehicle tilt calculating apparatus 100 calculates the leveling control angle of the headlamp from the tilt of the vehicle calculated by the vehicle tilt calculating unit 130 (S308).

FIG. 4 is a detailed flowchart of a process of synthesizing the gyro and acceleration data of FIG. 3 according to the embodiment of the present invention.

The summation slope calculating unit 120 samples the acceleration data during a specific time (S402).

The sum slope calculating unit 120 removes the maximum and minimum values from the sampled values (S404).

After removing the maximum and minimum values, the summation slope calculating unit 120 calculates a mean value by filtering the values from which the maximum and minimum values have been removed, and obtains a sampled value (S406).

Then, the sum-slope calculating unit 120 passes the sampled value through the low-pass filter and performs filtering again (S408).

The sum slope calculating unit 120 calculates the sum slope using the gyro data and the acceleration data using the compensation filter (S410).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: vehicle tilt calculating device
110; The data acquisition unit
120: sum tilt calculating section
130: vehicle slope calculating section
140: lamp angle calculating section

Claims (10)

A data acquisition unit for acquiring gyro data, acceleration data, and velocity data of the vehicle;
A summation slope calculating unit for calculating a summation slope by summing the slope of the road surface and the vehicle by synthesizing the obtained gyro data and the obtained acceleration data; And
Calculating a slope of the vehicle by calculating a moving acceleration from the obtained speed data, synthesizing the calculated moving acceleration with the calculated sum slope angle,
And a tilt of the vehicle. The method according to claim 1,
Calculating a leveling control angle of the headlamp from the calculated inclination of the vehicle;
Further comprising: an inclination calculation unit for calculating an inclination of the vehicle. The method according to claim 1,
The sum slope calculating unit
And a tilt angle calculating unit for calculating a tilt angle by sampling the obtained acceleration data, performing low-band filtering on the sampled acceleration data, and synthesizing the filtered acceleration data and the obtained gyro data using a compensation filter. The method of claim 3,
The sum slope calculating unit
Calculating a slope of the vehicle to synthesize the filtered acceleration data and the obtained gyro data by using a compensation filter to which the set gain value is applied by using a regression curve table according to the obtained speed data, Device. The method according to claim 1,
The vehicle inclination calculating unit
And calculates the slope of the vehicle by using a function of the vector coordinates of the vehicle made up of the calculated movement acceleration, the calculated sum slope, and the gravitational acceleration. Obtaining gyro data, acceleration data, and velocity data of the vehicle;
Synthesizing the obtained gyro data and the obtained acceleration data to calculate a summation slope of the sum of the slope of the road surface and the vehicle; And
Calculating movement acceleration from the obtained velocity data, and calculating the slope of the vehicle by synthesizing the calculated movement acceleration with the calculated sum tilt angle
And calculating a slope of the vehicle. The method according to claim 6,
Calculating a leveling control angle of the headlamp from the calculated slope of the vehicle
And calculating a slope of the vehicle. The method according to claim 6,
Wherein the step of calculating the sum slope comprises:
Sampling the acquired acceleration data, low-pass filtering the sampled acceleration data, and synthesizing the filtered acceleration data and the obtained gyro data using a compensation filter to calculate a tilt angle. 9. The method of claim 8,
Wherein the step of calculating the sum slope comprises:
Calculating a slope of the vehicle to synthesize the filtered acceleration data and the obtained gyro data by using a compensation filter to which the set gain value is applied by using a regression curve table according to the obtained speed data, Way. The method according to claim 6,
The step of calculating the slope of the vehicle
And calculating the slope of the vehicle by using a function of the vector coordinates of the vehicle made up of the calculated movement acceleration, the calculated sum slope, and the gravity acceleration.
KR1020150175780A 2015-12-10 2015-12-10 Apparatus and method for calculating slope of vehicle KR20170068828A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101977750B1 (en) 2017-11-24 2019-05-13 현대오트론 주식회사 Apparatus and method for caculating angle of vehicle slope using acceleration sensor
KR20190061752A (en) 2017-11-28 2019-06-05 현대오트론 주식회사 Apparatus and method for caculating vehicle slope using gps

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101977750B1 (en) 2017-11-24 2019-05-13 현대오트론 주식회사 Apparatus and method for caculating angle of vehicle slope using acceleration sensor
KR20190061752A (en) 2017-11-28 2019-06-05 현대오트론 주식회사 Apparatus and method for caculating vehicle slope using gps

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