Patent ID: 8200452
Filing Date: 2012-06-12
Classification: B60W,G01C,G01P

Abstract:
1. An attitude-angle detecting apparatus comprising: an acceleration sensor for measuring an acceleration being applied to a mobile object; a yaw-rate sensor for measuring a yaw rate of the mobile object; a speed sensor for measuring a speed of the mobile object; a mobile-component acceleration calculating means comprising: a front/rear-axis acceleration calculating means for calculating an actual acceleration by differentiating the speed with time, thereby adapting it into a front/rear-axis-direction component force of a mobile-component acceleration; a right/left-axis acceleration calculating means for calculating a centrifugal force from the yaw rate and the speed, thereby adapting it into a right/left-axis-direction component force of the mobile-component acceleration; and an up/down-axis acceleration calculating means for calculating a component force of the centrifugal force in the up/down-axis direction of the mobile object, thereby adapting it into an up/down-axis-direction component force of the mobile-component acceleration; and an attitude-angle calculating means for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.