KR20170070523A - Apparatus for calculating pitch angle of vehicle and method thereof - Google Patents

Apparatus for calculating pitch angle of vehicle and method thereof Download PDF

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KR20170070523A
KR20170070523A KR1020150178151A KR20150178151A KR20170070523A KR 20170070523 A KR20170070523 A KR 20170070523A KR 1020150178151 A KR1020150178151 A KR 1020150178151A KR 20150178151 A KR20150178151 A KR 20150178151A KR 20170070523 A KR20170070523 A KR 20170070523A
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South Korea
Prior art keywords
vehicle
road surface
calculating
acceleration
calculated
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KR1020150178151A
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Korean (ko)
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KR101755514B1 (en
Inventor
고광민
임정욱
이양기
오세욱
최성욱
고향구
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현대자동차주식회사
현대오트론 주식회사
기아자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B60W2550/142—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/16—Pitch

Abstract

An apparatus and a method for calculating a pitch angle of a vehicle according to the present invention are disclosed. An apparatus for calculating a pitch angle of a vehicle according to the present invention includes: a vehicle sensor unit for sensing an acceleration and an angular velocity of a vehicle when traveling on a road surface having a constant slope; A road surface inclination calculating unit for calculating a road surface inclination using the acceleration and the angular velocity of the sensed vehicle; A vehicle angle value calculation unit for calculating an angle value of the vehicle using the acceleration of the sensed vehicle; And a pitch angle calculating section for calculating a pitch angle of the vehicle indicating the tilted angle of the vehicle from the road surface using the calculated road surface slope and the calculated angle value of the vehicle.

Description

[0001] APPARATUS FOR CALCULATING PITCH ANGLE OF VEHICLE AND METHOD THEREOF [0002]

More particularly, the present invention relates to an apparatus and a method for calculating a pitch angle of a vehicle using an acceleration sensor and a gyro sensor.

Generally, the vehicle is provided with a sensor for detecting the inclination of the vehicle. As a method for detecting the inclination of such a vehicle, there is a method using an acceleration sensor, a gyro sensor, or the like.

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.

And 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.

In addition, the method of measuring the inclination of the vehicle using both the acceleration sensor and the gyro sensor can not obtain the inclination value of the vehicle itself because the road surface inclination is summed.

Japanese Patent Application Laid-Open No. 10-2014-0025620, Apr. 03, 2014. open

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an acceleration sensor and a gyro sensor which are capable of eliminating a road surface gradient calculated using position coordinates An apparatus for calculating a pitch angle of a vehicle and a method therefor.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above objects, an apparatus for calculating a pitch angle of a vehicle according to an aspect of the present invention includes: a vehicle sensor unit for sensing an acceleration and an angular velocity of a vehicle when traveling on a road surface having a constant slope; A road surface inclination calculating unit for calculating a road surface inclination using the acceleration and the angular velocity of the sensed vehicle; A vehicle angle value calculation unit for calculating an angle value of the vehicle using the acceleration of the sensed vehicle; And a pitch angle calculating unit that calculates a pitch angle of the vehicle indicating the tilted angle of the vehicle from the road surface using the calculated road surface gradient and the calculated angle value of the vehicle.

Preferably, the road surface gradient calculating unit sequentially obtains the position coordinates of the vehicle according to the movement of the vehicle using the acceleration and the angular velocity of the sensed vehicle, sequentially calculates the position coordinates of the vehicle according to the movement of the vehicle, And the road surface inclination is calculated.

Preferably, the road surface gradient calculating unit may calculate a direction conversion matrix by integrating the sensed angular velocity, convert the sensed acceleration into a global coordinate system using the calculated direction conversion matrix, and calculate a gravity value from the converted acceleration And calculating the position value of the vehicle by integrating the velocity value of the calculated vehicle. The velocity value of the vehicle is calculated by integrating the acceleration with the gravity value removed.

Preferably, the vehicle angle value calculating section calculates the vehicle angle value using an acceleration component in the vertical direction of the road surface and an acceleration component in the traveling direction of the vehicle.

Preferably, the pitch angle calculating section calculates the pitch angle of the vehicle by subtracting the road surface inclination from the calculated angular value of the vehicle, and subtracting the calculated inclination from the road surface inclination.

A method for calculating a pitch angle of a vehicle according to another aspect of the present invention includes: a vehicle sensing step of sensing acceleration and angular velocity of a vehicle when traveling on a road surface with a constant gradient; A road surface inclination calculating step of calculating a road surface inclination by using the acceleration and the angular velocity of the sensed vehicle; A vehicle angle value calculating step of calculating an angle value of the vehicle using the acceleration of the sensed vehicle; And a pitch angle calculating step of calculating a pitch angle of the vehicle indicating the tilted angle of the vehicle from the road surface using the calculated road surface slope and the calculated angle value of the vehicle.

Preferably, the road surface inclination calculating step sequentially obtains the position coordinates of the vehicle according to the movement of the vehicle using the acceleration and the angular velocity of the sensed vehicle, and sequentially calculates the position coordinates of the vehicle, Thereby calculating a slope of the road surface.

Preferably, the road surface inclination calculating step may include calculating a direction conversion matrix by integrating the sensed angular velocity, converting the sensed acceleration into a global coordinate system using the calculated direction conversion matrix, and calculating a gravity value The vehicle speed is calculated by integrating the acceleration with the gravity value removed, and the position coordinates of the vehicle are calculated by integrating the calculated speed value of the vehicle.

Preferably, the vehicle angle value calculating step calculates the vehicle angle value using the acceleration component in the vertical direction of the road surface and the acceleration component in the traveling direction of the vehicle.

Preferably, the pitch angle calculating step calculates the pitch angle of the vehicle by subtracting the road surface slope from the calculated angle value of the vehicle and subtracting the slope from the calculated angle.

Accordingly, in the present invention, the pitch angle of the vehicle is calculated by removing the road surface inclination calculated using the position coordinates according to the movement of the vehicle from the angle values of the vehicle calculated using the acceleration sensor and the gyro sensor, It is not necessary to reduce the cost and the number of parts mounting.

Further, since the present invention does not require any additional hardware, it is possible to reduce the cost and the number of component mounting steps compared with the conventional method, and thus it is possible to secure the mass productivity of the product.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing an apparatus for calculating a pitch angle of a vehicle according to an embodiment of the present invention; Fig.
2 is a view for explaining the principle of pitch angle calculation according to an embodiment of the present invention.
3 is a view for explaining the principle of road slope calculation according to an embodiment of the present invention.
FIG. 4 is a view for explaining the principle of position coordinate calculation according to an embodiment of the present invention.
5 is a diagram illustrating a method for calculating a pitch angle of a vehicle according to an embodiment of the present invention.

Hereinafter, an apparatus and method for calculating a pitch angle of a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. 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 the different components have the same function. It should be judged based on the description of each component in the example.

Particularly, in the present invention, when the road surface is traveling at a constant slope, the road surface slope calculated using the position coordinates according to the movement of the vehicle is subtracted from the angle value of the vehicle calculated using the acceleration sensor and the gyro sensor, A new method is proposed.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing an apparatus for calculating a pitch angle of a vehicle according to an embodiment of the present invention; Fig.

1, an apparatus for calculating a pitch angle of a vehicle according to the present invention includes a vehicle sensor unit 110, a road surface inclination calculating unit 120, a vehicle angle value calculating unit 130, (140).

The vehicle sensor unit 110 may include an acceleration sensor and a gyro sensor. For example, the vehicle sensor unit 110 can sense the acceleration of the vehicle through the provided acceleration sensor. Also, the vehicle sensor unit 110 can sense the angular velocity of the vehicle through the gyro sensor.

The road surface inclination calculating unit 120 may calculate the positional coordinates of the vehicle based on the sensed vehicle acceleration or the angular velocity, and calculate the road surface inclination using the obtained positional coordinates.

The vehicle angle value calculation unit 130 may calculate the angle value of the vehicle using the acceleration or angular velocity of the sensed vehicle.

For example, the vehicle angle value calculator 130 may calculate the angle value of the vehicle using the acceleration of the sensed vehicle. The angle value? ACC of the vehicle is expressed by the following equation (1).

[Equation 1]

θ ACC = tan -1

Figure pat00001

Here, ACC_Z represents an acceleration component in the vertical direction of the road surface, and ACC_Y represents an acceleration component in the traveling direction of the vehicle.

The pitch angle calculating unit 140 may calculate the pitch angle of the vehicle using the calculated slope of the road surface and the angle value of the vehicle. That is, the pitch angle calculating unit 140 can calculate the pitch angle of the vehicle by subtracting the slope of the road from the calculated angle value of the vehicle and subtracting the slope.

2 is a view for explaining the principle of pitch angle calculation according to an embodiment of the present invention.

As shown in FIG. 2, the present invention can calculate the pitch angle using the slope of the road surface and the angle value of the vehicle, and the pitch angle? Pitch is expressed by the following equation (2).

&Quot; (2) "

θ pitch = θ ACC - θ slope

Here, θ ACC is an angle value of the vehicle, and θ slope is a road surface slope calculated using the vehicle position coordinates.

For example, in the first position 200 of the vehicle, the pitch angle [theta] pitch may be calculated as zero.

The pitch angle &thetas; pitch at the second position 210 of the vehicle can be calculated to be equal to the road surface slope &thetas; slope . That is, the road slope &thetas; slope is equal to the vehicle angle value &thetas; ACC .

The vehicle is inclined at a predetermined angle from the road surface at the third position 220 of the vehicle so that the pitch angle? Pitch can be calculated by subtracting the road surface slope? Slope from the angular value? ACC of the vehicle.

3 is a view for explaining the principle of road slope calculation according to an embodiment of the present invention.

As shown in FIG. 3, when the vehicle moves in the traveling direction, the position coordinates of the vehicle are generated from (X, Y, Z) to (Xn, Yn, Zn), and the road surface slope can be obtained from the position coordinates thus generated .

In this case, (X, Y, Z) is a position coordinate of the vehicle, and may be a coordinate generated by the fusion of the gyro sensor and the acceleration sensor. These positional coordinates can be obtained by using a general sensor fusion method.

FIG. 4 is a view for explaining the principle of position coordinate calculation according to an embodiment of the present invention.

As shown in FIG. 4, the positional coordinates of the vehicle can be obtained by using the fusion method of the gyro sensor and the acceleration sensor used in the present invention. For example, the position coordinates of the vehicle can be obtained using a Strapdown Inertial Navigation System (SINS).

A method of obtaining the position coordinates of the vehicle using SINS will now be described.

First, the direction conversion matrix can be calculated by integrating the angular velocity or the output value of the gyro sensor.

The acceleration or the output value of the acceleration sensor can be converted into a global coordinate using the calculated direction conversion matrix.

And the speed value of the vehicle can be calculated by integrating the output value of the acceleration sensor from which the gravity value is removed after removing the gravity value from the output value of the converted acceleration sensor. That is, it is possible to calculate the change amount by integrating the output value of the acceleration sensor, and calculate the speed of the vehicle at the current time point by using the calculated change amount and the speed of the previous cycle of the vehicle.

At this time, the vehicle speed v g (t) thus calculated is expressed by the following equation (2).

&Quot; (2) "

Figure pat00002

Where v g (0) is the initial velocity, a g (t) is the acceleration translated into the global coordinate system, and g g is the acceleration caused by the gravity.

The position coordinates (X, Y, Z) of the vehicle can be calculated by integrating the calculated speed values of the vehicle. That is, the distance value can be calculated by integrating the speed value of the vehicle, and the position coordinates of the vehicle at the current time point can be calculated using the calculated distance value and the position coordinates of the previous period of the vehicle.

At this time, the position coordinate s g (t) of the vehicle thus calculated is expressed by the following equation (3).

&Quot; (3) "

Figure pat00003

Where s g (0) is the initial position and v g (t) is the vehicle speed.

5 is a diagram illustrating a method for calculating a pitch angle of a vehicle according to an embodiment of the present invention.

As shown in FIG. 5, an apparatus for calculating a pitch angle of a vehicle according to the present invention (hereinafter referred to as a pitch angle calculating apparatus) can sense an acceleration and an angular velocity of a vehicle when traveling on a road surface having a constant slope (S510).

Next, the pitch angle calculating apparatus can calculate the slope of the road surface by using the acceleration and the angular velocity of the sensed vehicle.

Specifically, the pitch angle calculating apparatus sequentially obtains the position coordinates of the vehicle according to the movement of the vehicle using the sensed vehicle acceleration and the angular velocity (S520), and calculates the position coordinates of the vehicle based on the position coordinates of the vehicle, The inclination can be calculated (S530).

Further, the pitch angle calculating device may calculate the angle value of the vehicle using the acceleration of the sensed vehicle (S540).

Next, the pitch angle calculating device may calculate the pitch angle of the vehicle indicating the inclined angle of the vehicle from the road surface using the calculated road surface inclination and the calculated vehicle angle value (S550).

At this time, the pitch angle calculating apparatus subtracts the road surface inclination calculated from the calculated angular value of the vehicle, and calculates the pitch angle of the vehicle based on the subtracted result.

It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above may be combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

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.

110: vehicle sensor unit
120: road surface slope calculating section
130: vehicle angle value calculating section
140: pitch angle calculating section

Claims (10)

A vehicle sensor unit that senses an acceleration and an angular velocity of the vehicle when traveling on a road surface having a constant inclination;
A road surface inclination calculating unit for calculating a road surface inclination using the acceleration and the angular velocity of the sensed vehicle;
A vehicle angle value calculation unit for calculating an angle value of the vehicle using the acceleration of the sensed vehicle; And
A pitch angle calculating unit for calculating a pitch angle of the vehicle indicating the tilted angle of the vehicle from the road surface using the calculated road surface inclination and the calculated angle value of the vehicle;
And a pitch angle of the vehicle. The method according to claim 1,
The road surface slope calculating unit calculates,
Sequentially obtaining the position coordinates of the vehicle according to the movement of the vehicle using the acceleration and the angular velocity of the sensed vehicle,
Wherein the road surface inclination is calculated using the position coordinates of the vehicle sequentially obtained in accordance with the movement of the vehicle. 3. The method of claim 2,
The road surface slope calculating unit calculates,
Integrates the sensed angular velocity to calculate a direction conversion matrix,
Converts the sensed acceleration into a global coordinate system using the calculated direction conversion matrix,
And calculating a position value of the vehicle by integrating a velocity value of the vehicle by integrating an acceleration whose gravity value is removed after removing the gravity value from the converted acceleration, For calculating a pitch angle of the first and second planes. The method according to claim 1,
Wherein the vehicle angle value calculating section calculates,
Wherein the vehicle angle value is calculated by using an acceleration component in a road surface vertical direction and an acceleration component in a traveling direction of the vehicle. The method according to claim 1,
The pitch angle calculating section may calculate,
And calculating the pitch angle of the vehicle by subtracting the road surface inclination from the calculated angular value of the vehicle and subtracting the obtained road surface inclination. A vehicle sensing step of sensing an acceleration and an angular velocity of the vehicle when traveling on a road surface having a constant slope;
A road surface inclination calculating step of calculating a road surface inclination by using the acceleration and the angular velocity of the sensed vehicle;
A vehicle angle value calculating step of calculating an angle value of the vehicle using the acceleration of the sensed vehicle; And
A pitch angle calculating step of calculating a pitch angle of the vehicle indicating the tilted angle of the vehicle from the road surface using the calculated road surface inclination and the calculated angle value of the vehicle;
Of the pitch angle of the vehicle. The method according to claim 6,
The road surface inclination calculating step may include:
Sequentially obtaining the position coordinates of the vehicle according to the movement of the vehicle using the acceleration and the angular velocity of the sensed vehicle,
Wherein the road surface inclination is calculated using the position coordinates of the vehicle sequentially obtained according to the movement of the vehicle. 8. The method of claim 7,
The road surface inclination calculating step may include:
Integrates the sensed angular velocity to calculate a direction conversion matrix,
Converts the sensed acceleration into a global coordinate system using the calculated direction conversion matrix,
And calculating a position value of the vehicle by integrating a velocity value of the vehicle by integrating an acceleration whose gravity value is removed after removing the gravity value from the converted acceleration, / RTI > The method according to claim 6,
Wherein the vehicle angle value calculating step includes:
Wherein the vehicle angle value is calculated using an acceleration component in a road surface vertical direction and an acceleration component in a traveling direction of the vehicle. The method according to claim 6,
Wherein the pitch angle calculating step comprises:
And calculating a pitch angle of the vehicle by subtracting the road surface slope from the calculated angle value of the vehicle and subtracting the slope from the calculated angle value of the vehicle.
KR1020150178151A 2015-12-14 2015-12-14 Apparatus for calculating pitch angle of vehicle and method thereof KR101755514B1 (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190030858A (en) * 2017-09-15 2019-03-25 현대모비스 주식회사 Apparatus and method for controlling fca system
KR101977750B1 (en) * 2017-11-24 2019-05-13 현대오트론 주식회사 Apparatus and method for caculating angle of vehicle slope using acceleration sensor
CN109883394A (en) * 2019-03-04 2019-06-14 吉林大学 A kind of automobile road grade real-time estimation method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100308572B1 (en) 1998-11-09 2001-11-30 김덕중 Tilt angle and vehicle speed detection device using gyro and accelerometer
JP2013044562A (en) * 2011-08-22 2013-03-04 Ono Sokki Co Ltd Road surface gradient calculation device and method
JP6045517B2 (en) * 2014-01-30 2016-12-14 三菱電機株式会社 Vehicle tilt angle measuring device and optical axis control signal generating device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190030858A (en) * 2017-09-15 2019-03-25 현대모비스 주식회사 Apparatus and method for controlling fca system
KR101977750B1 (en) * 2017-11-24 2019-05-13 현대오트론 주식회사 Apparatus and method for caculating angle of vehicle slope using acceleration sensor
CN109883394A (en) * 2019-03-04 2019-06-14 吉林大学 A kind of automobile road grade real-time estimation method
CN109883394B (en) * 2019-03-04 2021-03-16 吉林大学 Real-time road gradient estimation method for automobile

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