APPARATUS AND METHOD OF ROAD SLOPE ESTIMATING BY USING GRAVITATIONAL ACCELERATION SENSOR
First Claim
1. A method of road slope estimating by using a gravitational acceleration sensor, comprising:
- determining whether a condition of estimating the road slope by using the gravitational acceleration sensor is satisfied;
estimating the road slope by using the gravitational acceleration sensor and updating the road slope when a condition of estimating the road slope by the gravitational acceleration sensor is satisfied;
filtering the estimated road slope;
comparing a change rate of the estimated road slope with a first predetermined value;
comparing a difference between the estimated road slope and the filtered road slope with a second predetermined value when the change rate of the estimated road slope is greater than or equal to the first predetermined value; and
filtering the estimated road slope by changing a coefficient of a filter when the difference between the estimated road slope and the filtered road slope is greater than or equal to the second predetermined value.
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Abstract
A method of road slope estimating by using a gravitational acceleration sensor includes determining whether a condition of estimating the road slope by using the gravitational acceleration sensor is satisfied; estimating the road slope by using the gravitational acceleration sensor and updating the road slope when a condition of estimating the road slope by the gravitational acceleration sensor is satisfied; comparing a change rate of the estimated road slope with a first predetermined value; comparing a difference between the estimated road slope and a filtered road slope with a second predetermined value when the change rate of the estimated road slope is greater than or equal to the first predetermined value; and filtering the estimated road slope by changing a coefficient of the filter when the difference between the estimated road slope and the filtered road slope is greater than or equal to the second predetermined value.
29 Citations
15 Claims
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1. A method of road slope estimating by using a gravitational acceleration sensor, comprising:
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determining whether a condition of estimating the road slope by using the gravitational acceleration sensor is satisfied; estimating the road slope by using the gravitational acceleration sensor and updating the road slope when a condition of estimating the road slope by the gravitational acceleration sensor is satisfied; filtering the estimated road slope; comparing a change rate of the estimated road slope with a first predetermined value; comparing a difference between the estimated road slope and the filtered road slope with a second predetermined value when the change rate of the estimated road slope is greater than or equal to the first predetermined value; and filtering the estimated road slope by changing a coefficient of a filter when the difference between the estimated road slope and the filtered road slope is greater than or equal to the second predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 8)
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7. The method of claim I, wherein the coefficient of the filter is changed based on the change rate of the estimated road slope.
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9. An apparatus of road slope estimating by using a gravitational acceleration sensor, comprising:
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a gravitational acceleration sensor configured to detect a horizontal acceleration and a longitudinal acceleration of a vehicle; a data detector configured to detect data for estimating the road slope by using the gravitational acceleration sensor; and a controller configured to estimate the road slope and filter the estimated road slope when a condition of estimating the road slope by using the gravitational acceleration sensor is satisfied, and filter the estimated road slope again by changing a coefficient of a filter based on a change rate of the estimated road slope or a difference between the estimated road slope and the filtered road slope. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification