등판 상황에서 가속도 센서 값으로부터 중력 가속도 성분 값 추정 모델의 시뮬레이션 및 민감도 분석

초록

We use acceleration sensor for estimating longitudinal acceleration in vehicle. When vehicle is running road slope (uphill or downhill), it requires that we should correct disturbance and decouple gravitational acceleration component parallel to road. We commonly compare acceleration sensor signal value with a differential signal value of longitudinal velocity and decouple gravitational acceleration component signal value. In this paper, we propose another method of decoupling, correction and detection algorithm unlike existing algorithm. First, algorithm is implemented to compare acceleration sensor signal value with vehicle output torque signal value at flatland for correction process. Next, we should decide what is disturbance signal value and gravitational acceleration component signal value parallel to road from sensor error using detection algorithm at road slope (uphill or downhill). In detection algorithm, it is decided through difference between a differential signal value of estimated longitudinal velocity and acceleration sensor signal value. We simulate Carsim and Matlab/Simulink to find a valid reference value. Finally, we decouple gravitational acceleration component parallel to road using difference between acceleration sensor signal value and signal value of corrected vehicle output torque component. We found that this algorithm could decouple gravitational acceleration component signal value from acceleration sensor data.