KR20190066915A - Apparatus and method for calculating the roll angle of a vehicle - Google Patents

Abstract

According to an embodiment of the present invention, a method for calculating a roll angle of a vehicle comprises the following steps of: calculating lateral velocity of the vehicle; calculating a pitch angle based on the lateral velocity, longitudinal acceleration, yaw angular velocity, and vehicle velocity; calculating reliability of the calculated pitch angle based on accuracy of the lateral velocity; calculating a roll angle corresponding to driving in a normal state; calculating reliability of the calculated roll angle based on variation of the lateral velocity; and reconstructing a roll angle integral equation based on the pitch angle reliability and the roll angle reliability in a normal state.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an apparatus and a method for calculating roll angle of a vehicle for determining an overturning and pitch over situation in a rollover situation, especially in a rollover situation with a low roll angular velocity, among rollover situations of a vehicle.

The roll angle calculation method of the related art calculates the lateral velocity and the pitch angle of the vehicle using the sensor angular velocity and angle sensed during running of the vehicle and the angular velocity of the roll, the steering angle, the vehicle velocity, the longitudinal acceleration, And the current roll angle was calculated using the roll angular velocity, yaw angular velocity, pitch angle and previous roll angle. In addition, the pitch angle was calculated to estimate the accurate roll angle in the parking tower.

In the roll angle calculation method of the related art, there is a problem that when the pitch angle estimated value reflected for improving the accuracy has a large error in the excessive steering and reflected in the roll angle integral, the roll angle diverges and the air bag is opened.

The present invention seeks to provide an apparatus and a method for calculating the roll angle of a vehicle.

More particularly, the present invention relates to a method and apparatus for selectively reflecting a pitch angle through a pitch angle reliability calculating unit and solving a problem of divergence during roll angle integration through a steady state roll angle calculating unit, And more particularly, to an apparatus and method for calculating the roll angle of a vehicle that improves the accuracy of the roll roll estimate.

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

A method for calculating a roll angle of a vehicle according to an embodiment of the present invention includes: calculating a lateral velocity of a vehicle; Calculating a pitch angle based on the lateral velocity and the longitudinal acceleration, the yaw angular velocity, and the vehicle velocity; Calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity; Calculating a roll angle corresponding to steady state running; Calculating a reliability of the calculated roll angle based on the lateral velocity variation; And reconstructing the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability.

According to the embodiment, the step of calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity may calculate the pitch angle reliability based on the magnitude of the absolute value of the steering angle change amount, the magnitude of the lateral velocity change amount, and the steering angle magnitude .

According to an embodiment, the step of calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity may further include the steps of separately calculating the reliability of the lateral velocity used in calculating the pitch angle; And determining whether the calculated lateral velocity is reflected at the time of calculating the pitch angle based on the reliability of the calculated lateral velocity.

According to the embodiment, the step of calculating the roll angle corresponding to the steady-state running can calculate the roll angle during steady-state running based on the following equation (3).

According to the embodiment, the step of calculating the reliability of the calculated roll angle based on the lateral velocity variation may further include the step of calculating the steady state roll angle reliability based on the magnitude of the absolute value of the steering angle variation.

According to the embodiment, the step of reconstructing the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability may further comprise: converting the reliability calculated in the pitch angle reliability calculation section to a flag of 0, 1; Converting the steady state roll angle reliability to a continuous value between predetermined set values; And reconstructing the roll angle integral based on the pitch angle reliability value and the steady state roll angle reliability value.

An apparatus for calculating a roll angle of a vehicle according to an embodiment of the present invention includes: a transverse velocity calculating unit for calculating a transverse velocity of a vehicle; A pitch angle calculating unit for calculating a pitch angle based on the lateral and longitudinal accelerations, the yaw angular speed and the vehicle speed; A pitch angle reliability calculating unit for calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity; A steady state roll angle calculating unit for calculating a roll angle corresponding to steady state running; A steady-state roll angle reliability calculation unit for calculating the reliability of the calculated roll angle based on the lateral velocity variation; And a roll angle integrator for reconstructing the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability.

According to the embodiment, the pitch angle reliability calculating section can be calculated on the basis of the magnitude of the absolute value of the steering angle variation, the magnitude of the lateral velocity variation (sensor measured value), and the steering angle magnitude.

According to the embodiment, the pitch angle reliability calculating section may separately calculate the reliability of the lateral velocity used in calculating the pitch angle, and determine whether the lateral velocity is reflected in the pitch angle calculation based on the calculated reliability.

According to the embodiment, the steady state roll angle reliability calculating section may calculate the steady state roll angle reliability based on the magnitude of the absolute value of the steering angle change amount.

According to an embodiment, the roll angle integration unit converts the reliability calculated in the pitch angle reliability calculation unit into a flag of 0, 1, converts the steady state roll angle reliability into a continuous value between predetermined set values, Value and the steady state roll angle reliability value.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And can be understood and understood.

Effects of the apparatus and method for calculating roll angle of a vehicle according to the present invention will be described as follows.

First, when the error of the pitch angle estimate increases according to the driving situation, it is advantageous to deteriorate the performance compared to the pure roll compacting and to minimize the adverse effect due to the reflection of the pitch angle.

Second, in order to prevent divergence of the roll angle estimates, the steady state roll angle is reflected in the model.

The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
1 is a block diagram of an apparatus for calculating the roll angle of a vehicle according to an embodiment of the present invention.
FIG. 2 is a graphical representation of steering travel data with a parking tower according to an embodiment of the present invention.
3 is a graph showing R & H driving test data according to an embodiment of the present invention.
4 is a flowchart showing a method of calculating a roll angle of a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the description of the embodiment, in the case of being described as being disposed at the "upper or lower", "before" or "after" of each element, (Lower) "and" front or rear "encompass both that the two components are in direct contact with each other or that one or more other components are disposed and disposed between the two components.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

1 is a block diagram of an apparatus for calculating the roll angle of a vehicle according to an embodiment of the present invention.

The automobile having the rollover detection function of the present invention may include the sensor unit 100 and the processor 200 as shown in FIG.

The sensor unit 100 senses a signal generated during a vehicle running or a predetermined operation and inputs the sensed signal to the processor 200. The sensor unit 100 may include a roll rate sensor 110, a yaw rate sensor 120, a longitudinal / lateral acceleration sensor 130, a steering angle sensor 140, and a wheel speed sensor 150.

The processor 200 includes a horizontal axis calculating unit 210, a pitch angle calculating unit 220, a pitch angle reliability calculating unit 230, a steady state roll angle calculating unit 240, a steady state roll angle reliability calculating unit 250, (260).

The transverse velocity calculating unit 210 can calculate the lateral velocity of the vehicle using the vehicle speed, the steering angle, and the yaw angular velocity received from the sensor unit 100.

The pitch angle calculating unit 220 can calculate the pitch angle using the longitudinal acceleration, the yaw rate and the vehicle speed sensed through the sensor unit 100 and the lateral speed of the vehicle calculated through the lateral vehicle speed calculator 131 have.

The pitch angle calculating unit 220 can calculate the pitch angle using the following equation (1).

: 피치각 산출치,

: 종방향 가속도

: 요 각속도,

: 횡속도,

는

를 적분한 값 일 수 있다.At this time,

: Pitch angle calculated value,

: Longitudinal acceleration

: Yaw angular velocity,

: Lateral speed,

The

. ≪ / RTI >

The pitch angle reliability calculating section 230 can calculate the reliability of the calculated pitch angle on the basis of the accuracy of the lateral velocity.

The pitch angle reliability calculating unit 230 can calculate the reliability of the vehicle model based lateral velocity in the current driving situation by using the yaw rate estimation value using the same vehicle model parameter and the yaw rate error of the actual vehicle. The pitch angle reliability calculating section 230 can calculate the pitch angle reliability based on the index.

The pitch angle reliability calculating unit 230 can calculate the reliability based on the magnitude of the absolute value of the steering angle variation, the magnitude of the lateral velocity, and the steering angle magnitude. The magnitude of the lateral velocity may be a sensor measurement.

The pitch angle reliability calculating unit 230 may separately calculate the reliability of Vy (lateral velocity) used in calculating the pitch angle, and determine whether to reflect Vy (lateral velocity) at the time of pitch angle calculation based on the calculated reliability.

The steady state roll angle calculating unit 240 may calculate the roll angle corresponding to the steady state running through the following equation (2).

: 롤각 산출치,

: 롤 각속도,

: 피치각 산출치 이다.At this time,

: Roll angle calculation value,

: Roll angular velocity,

: Pitch angle calculated value.

The pitch flag may be a value between 0 and 1 depending on the reliability of the pitch angle calculation value. The pitch angle is not reflected when the pitch-calculated value reliability is zero, and the reflected pitch angle is reflected when the pitch-calculated value reliability is one.

S.sroll in Equation (2) may be a roll angle calculated at steady state running.

The s.sroll can be calculated by the following equation (3).

: 횡방향 가속도

: 요 각속도,

: 종속도 일 수 있다.At this time

: Transverse acceleration

: Yaw angular velocity,

: Can be dependent.

The steady state roll angle calculating section 240 can calculate the roll angle based on the approximate equation obtained by subtracting the time change amount term in the lateral acceleration sensor kinematics.

The steady-state roll angle reliability calculating unit 250 can calculate the steady-state roll angle reliability based on the magnitude of the lateral velocity deleted when the reliability of the steady-state roll angle estimate is approximated in the current driving situation.

The steady-state roll angle reliability calculation section 250 can calculate the steady-state roll angle reliability calculation section 250 based on the magnitude of the absolute value of the steering angle variation.

The roll angle integration section 260 can reconstruct the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability.

The roll angle integration unit 260 may convert the steady state roll angle reliability to a continuous value between predetermined set values.

The roll angle integrating unit 260 can reconstruct the roll angle integral equation as shown in Equation (4).

: 조향각,

: 조향각 시간변화율,

: 종속도,

: 횡속도,

: 정상상태 롤각, P.C: Pitch Condition, L: 관측기 게인 일 수 있다.At this time,

: Steering angle,

: Steering angle time rate of change,

: Dependency,

: Lateral speed,

: Steady state roll angle, PC: pitch condition, L: observer gain.

The roll angle integrating unit 260 can use an observer gain value measured with an observer gain parameter when the flag is on.

The roll angle integration unit 260 may be set to a predetermined value as an observer gain parameter at the time of flag off. For example, at flag off, an observer gain parameter of 0.005 can be used.

The roll angle integrating unit 260 may convert the reliability calculated by the pitch angle reliability calculating unit 230 into a flag of 0, 1.

The roll angle integration section 260 can output the observer gain L when the flag is ON. The observer gain (L) may be output based on observer gain output conditions.

For example, observer gain output condition is 0 for observer gain (L) when transverse velocity> 1.2 ms / s2, observer gain output condition is 0.2 for observer gain when transverse velocity <0.07 m / s2 .

입력으로 하는 룩업 테이블을 이용하여 0 내지 1 사이 값을 출력할 수 있다.For example, the observer gain output condition

A value between 0 and 1 can be output by using a lookup table as an input.

The roll angle integrating unit 260 can convert the steady state roll angle reliability to a continuous value between 0 and 2.5. Here, 2.5 may be a predetermined set value for converting the roll angle reliability.

For example, the roll angle integration unit 260 may output a large value of the observer gain output condition to the observer gain L, and may use 2.5 as the output value to be used as the observer gain L.

The roll angle integrating unit 260 can prevent the use of the pitch angle term based on the pitch angle ignorance on / off condition. The pitch angle ignorance on / off condition may be a pitch condition.

For example, the roll angle integration unit 260 can prevent the use of the pitch angle term when the observer gain (L) is less than 0.8. When the observer gain (L) is less than 0.8, the roll angle integrating unit 260 can prevent the error by not using the pitch angle because the steering angle change becomes large and the accuracy of the static angle may be lowered.

The roll angle integration unit 260 can improve the pitch angle accuracy based on the Vy (lateral velocity) on / off condition at the time of pitch angle estimation.

For example, the roll angle integration section 260 can turn off Vy (lateral velocity) in the estimation equation to prevent use of Vy (lateral velocity) used in estimating the pitch angle is inaccurate.

The roll angle integrating unit 260 can calculate the roll angle based on the flag that is used to integrate only the Roll rate after Impact.

For example, the roll angle integration unit 260 can be set to be used for the roll rate integral calculation when Ay> 1g based on the Flag.

룩업 테이블을 이용하여 관측기 게인 가변화 할 수 있다. 즉, 롤각 적분부(260)는 관측기 게인(L)에서 출력된 값에 룩업 테이블이 곱하여 관측기 게인을 가변화 할 수 있다.For example, the roll angle integration section 260

Observer gain can be changed by using lookup table. That is, the roll angle integration unit 260 may vary the observer gain by multiplying the output value of the observer gain L by the lookup table.

For example, the roll angle integration unit 260 can output a small observer gain as the steady state angle becomes inaccurate in order to prevent an inaccurate steady-state angle follow-up.

For example, the roll angle integration unit 260 can output the observer gain to 0 when the steering angle change amount is high at a high vehicle speed.

The roll angle integrating unit 260 can turn on / off the final observer gain (L) using the centrifugal force term change amount. That is, the steady state roll angle reliability calculating unit 250 can use the centrifugal force change amount to prevent the initial follow-up of the erroneous steady state angle.

룩업 테이블을 이용하더라도 관측기 게인이 출력할 수 있다.For example, when the vehicle speed is rapidly decelerated and the steering angle change is large,

Observer gain can be output even if lookup table is used.

FIG. 2 is a graphical representation of steering travel data with a parking tower according to an embodiment of the present invention.

Referring to FIG. 2, the vertical axis in the graph indicates the roll rate value. In the graph, the horizontal axis represents time to show the time at which the roll rate value is measured. 2, a Measured graph showing actual measured values sensed by the roll rate sensor 110 during a steering operation with respect to a parking tower, a conventional graph reflecting the pitch angle, and a pitch angle are selectively reflected, and a proposed graph reflecting the steady- .

The Measured roll angle and Conventional roll angle shown in FIG. 2 show that the roll angle increases in the conventional graph after about 25 seconds from the start of measurement, and the error between the actual measured value and the pitch angle estimate becomes larger.

Measured and Proposed graphs can have similar roll angles during the measurement time. Therefore, it can be confirmed that the error between the actual measured value and the estimated value reflecting the steady state roll angle is minimized.

That is, in the method of calculating the roll angle of a vehicle according to the present invention, the steady state roll angle is reflected in the model to prevent the divergence of the roll angle estimate during the steering operation with respect to the parking tower, thereby reducing the probability of AM roll- .

3 is a graph showing R & H driving test data according to an embodiment of the present invention.

Referring to FIG. 3, the vertical axis in the graph indicates the roll rate value. In the graph, the horizontal axis represents time to show the time at which the roll rate value is measured. 3, a Measured graph indicating actual measured values sensed by the roll rate sensor 110 during a Ride & Handling (R & H) run, a conventional angle graph reflecting a pitch angle, and a pitch angle are selectively reflected, .

In the Measured graph and Conventional graph shown in FIG. 3, the roll angle is decreased in the conventional graph after about 70 seconds, and the error between the actual measured value and the pitch angle estimate becomes larger.

Measured and Proposed graphs can have similar roll angles during the measurement time. Therefore, it can be confirmed that the error between the actual measured value and the estimated value reflecting the steady state roll angle is minimized.

That is, the vehicle roll angle calculation method of the present invention may have the effect of reducing the probability of AM roll over of the rollover airbag according to the divergence of the roll angle estimate, by reflecting the steady state roll angle to the model to prevent divergence of the roll angle estimate during R &

4 is a flowchart showing a method of calculating a roll angle of a vehicle according to an embodiment of the present invention.

Referring to Fig. 4, the roll angle calculating method of the vehicle can receive the sensed signal from the sensor unit 100 of the vehicle.

The sensor signal may include a roll rate signal, a yaw rate signal, a longitudinal / lateral acceleration signal, a steering angle signal, and a wheel speed signal (S110).

The transverse velocity calculating unit 210 may calculate the lateral velocity of the vehicle using the vehicle speed, the steering angle, and the yaw rate received from the sensor unit 100 (S120).

Then, the pitch angle calculating unit 220 may calculate the pitch angle using the longitudinal acceleration, the yaw rate, and the vehicle speed sensed through the sensor unit 100 and the calculated lateral speed of the vehicle (S130).

The pitch angle reliability calculating unit 230 may calculate the reliability based on the magnitude of the absolute value of the steered angle change amount, the magnitude of the lateral velocity, and the steering angle magnitude (S140). At this time, the pitch angle reliability calculating section 230 may separately calculate the reliability of Vy (lateral velocity) used in pitch angle calculation and determine whether to reflect Vy (lateral velocity) at the time of pitch angle calculation based on the calculated reliability have.

The steady state roll angle calculating section 240 can calculate the roll angle corresponding to the steady state running (S150). At this time, the steady state roll angle calculating unit 240 can calculate the roll angle based on the approximate equation obtained by deleting the time change amount term in the lateral acceleration sensor kinematics.

The steady-state roll angle reliability calculating unit 250 can calculate the reliability of the calculated roll angle based on the lateral velocity variation (S160). At this time, the steady-state roll angle reliability calculation unit 250 can calculate based on the magnitude of the lateral velocity deleted when the reliability of the steady-state roll angle estimation value is approximated in the current driving situation. In addition, the steady-state roll angle reliability calculating section 250 can calculate the reliability of the roll angle on the basis of the magnitude of the absolute value of the steering angle change amount.

The roll angle integrating unit 260 may reconstruct the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability (S170).

The roll angle integrating unit 260 converts the reliability calculated in the pitch angle reliability calculating unit 230 into a flag of 0,1 and converts the steady state roll angle reliability into a continuous value between 0 and 2.5, You can reconstruct the fractions.

The method according to an embodiment of the present invention may be implemented as a program for execution on a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- Tape, floppy disk, and optical input data storage system. The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

100:
200: Processor
210:
220: pitch angle calculating section
230: pitch angle reliability calculating section
240: Steady State Roll Angle Calculation Unit
250: steady state roll angle reliability calculating section
260: roll angle integration part

Claims (19)

Calculating a lateral speed of the vehicle;
Calculating a pitch angle based on the lateral velocity and the longitudinal acceleration, the yaw angular velocity, and the vehicle velocity;
Calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity;
Calculating a roll angle corresponding to steady state running;
Calculating a reliability of the calculated roll angle based on the lateral velocity variation; And
And reconstructing a roll angle integral based on the pitch angle reliability and the steady state roll angle reliability. The method according to claim 1,
Wherein the step of calculating the pitch angle based on the lateral velocity, the longitudinal acceleration, the yaw angular velocity and the vehicle velocity calculates a pitch angle based on the following equation (1).
[Equation 1]

(

: Pitch angle calculated value,

: Longitudinal acceleration

: Yaw angular velocity,

: Lateral speed,

: The

Lt; / RTI &gt; The method according to claim 1,
Wherein the step of calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity
Calculating the pitch angle reliability based on the magnitude of the absolute value of the steering angle change amount, the magnitude of the lateral velocity change amount, and the steering angle magnitude. The method according to claim 1,
Wherein the step of calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity
Separately calculating the reliability of the lateral velocity used in calculating the pitch angle; And
And determining whether the calculated lateral velocity is reflected at the time of calculating the pitch angle based on the reliability of the calculated lateral velocity. The method according to claim 1,
Wherein the step of calculating the roll angle corresponding to the steady state running
A method of calculating a roll angle of a vehicle based on the following formula (2).
&Quot; (2) &quot;

(

: Roll angle calculation value,

: Roll angular velocity,

: Pitch angle calculated value) 6. The method of claim 5,
Wherein the step of calculating the roll angle corresponding to the steady state running
And calculating a roll angle during steady-state running based on the following equation (3).
&Quot; (3) &quot;

(

: Transverse acceleration

: Yaw angular velocity,

: Dependency) The method according to claim 1,
Wherein the step of calculating the reliability of the calculated roll angle based on the lateral speed change amount
And calculating steady state roll angle reliability based on the magnitude of the absolute value of the steering angle change amount. The method according to claim 1,
Wherein reconstructing the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability comprises:
And restructuring the roll angle integral to reflect the pitch angle reliability and the steady state roll angle reliability based on Equation (4): &quot; (4) &quot;
&Quot; (4) &quot;

(

: Steering angle,

: Steering angle time rate of change,

: Dependency,

: Lateral speed,

: Steady state roll angle) The method according to claim 1,
Wherein reconstructing the roll angle integral based on the pitch angle reliability and the steady state roll angle reliability comprises:
Converting the reliability calculated by the pitch angle reliability calculating unit into a flag of 0, 1;
Converting the steady state roll angle reliability to a continuous value between predetermined set values; And
Further comprising reconstructing a roll angle integral based on the pitch angle reliability value and the steady state roll angle reliability value. A computer-readable recording medium on which a program for realizing a roll angle calculation method of a vehicle according to any one of claims 1 to 9 is recorded. A transverse velocity calculating unit for calculating a transverse velocity of the vehicle;
A pitch angle calculating unit for calculating a pitch angle based on the lateral and longitudinal accelerations, the yaw angular speed and the vehicle speed;
A pitch angle reliability calculating unit for calculating the reliability of the calculated pitch angle based on the accuracy of the lateral velocity;
A steady state roll angle calculating unit for calculating a roll angle corresponding to steady state running;
A steady-state roll angle reliability calculation unit for calculating the reliability of the calculated roll angle based on the lateral velocity variation; And
And a roll angle integrator for reconstructing a roll angle integral based on the pitch angle reliability and the steady state roll angle reliability. 12. The method of claim 11,
The pitch angle calculating unit
And calculates a pitch angle based on the following equation (1).
[Equation 1]

(

: Pitch angle calculated value,

: Longitudinal acceleration

: Yaw angular velocity,

: Lateral speed,

: The

Lt; / RTI &gt; 12. The method of claim 11,
The pitch angle reliability calculation unit
Based on a magnitude of an absolute value of a steering angle change amount, a magnitude of a lateral velocity change amount (sensor measured value), and a steering angle magnitude. 12. The method of claim 11,
The pitch angle reliability calculation unit
The reliability of the lateral speed used in calculating the pitch angle is separately calculated,
And determines whether or not the lateral velocity is reflected upon calculation of the pitch angle based on the calculated reliability. 12. The method of claim 11,
The steady state roll angle calculating section
And calculates a roll angle of the vehicle based on the following equation (2).
&Quot; (2) &quot;

(

: Roll angle calculation value,

: Roll angular velocity,

: Pitch angle calculated value) 16. The method of claim 15,
The steady state roll angle calculating section
And calculates a roll angle during steady-state running based on the following equation (3).
&Quot; (3) &quot;

(

: Transverse acceleration

: Yaw angular velocity,

: Dependency) 12. The method of claim 11,
The steady-state roll angle reliability calculation unit
And calculates the steady state roll angle reliability based on the magnitude of the absolute value of the steering angle variation. 12. The method of claim 11,
The roll angle integrating unit
And restructuring the roll angle integral so as to reflect the pitch angle reliability and the steady state roll angle reliability based on Equation (4): &quot; (4) &quot;
&Quot; (4) &quot;

(

: Steering angle,

: Steering angle time rate of change,

: Dependency,

: Lateral speed,

: Steady state roll angle) 12. The method of claim 11,
The roll angle integrating unit
The reliability calculated by the pitch angle reliability calculation unit is converted into a flag of 0, 1, the steady state roll angle reliability is converted into a continuous value between predetermined set values, and the pitch angle reliability value and the steady state roll angle reliability value And calculating a roll angle of the vehicle.

Images