System for precision low pressure measurement for autonomous vehicle according to changes in environment

Abstract

The present invention relates to a system for precision low pressure measurement for an autonomous vehicle according to changes in the environment. According to the present invention, the remaining amount of a liquid consumable may be precisely measured even in situations in which the environment changes such as when the atmospheric pressure changes or when driving on a slope.

Description

A precision low-pressure measurement system for autonomous vehicles based on environmental changes.

[0001] The present invention relates to a precision low-pressure measurement system for an autonomous vehicle according to environmental changes, and more specifically, to a technology that enables precise measurement of the remaining amount of a liquid consumable even in environmental changes such as pressure changes or driving on an incline.

[0002] In the fields of smart cars and autonomous vehicles, numerous sensors, such as lidar, radar, and cameras, are used for object recognition. However, over extended periods of operation, contaminants can accumulate in these sensors, degrading their detection performance. This poses a critical vulnerability for autonomous vehicles.

[0003] To achieve this, the sensors need to be cleaned using washer fluid. This increases the frequency of using liquid consumables like washer fluid, and the need for continuous monitoring of the remaining levels of these liquid consumables follows.

[0004] The tanks used to store washer fluid for conventional front windows are equipped with sensors to detect low levels. However, these sensors only detect fluid at the height where the sensor is installed, making it impossible to determine how much washer fluid actually remains in the tank.

[0005] To solve this problem, a pressure sensor can be used instead of a liquid detection sensor. This can be installed at the bottom of the storage tank, and the remaining liquid consumable level can be monitored in real time through its measurements.

[0006] However, pressure sensors are highly sensitive to their surroundings and exhibit errors. A prime example is atmospheric pressure. Even if a pressure sensor is installed at the bottom of a tank and immersed in a liquid consumable, what it actually measures is the sum of the liquid consumable's pressure and atmospheric pressure. Of these, atmospheric pressure is the source of error.

[0007] In other words, if the pressure sensor is installed in a fixed device, atmospheric pressure remains nearly constant, so there's no need to consider changes in atmospheric pressure. However, autonomous vehicles moving in real time can drive on roads at either low or high altitudes. Therefore, even if the same amount of liquid consumable remains, different pressures are measured depending on altitude, resulting in errors in the remaining amount calculation.

[0008] Furthermore, due to the nature of liquids, liquid can drift within the tank depending on the vehicle's movement. For example, when ascending a slope, liquid may drift from the tank toward the rear of the vehicle. When the vehicle turns left, centrifugal force may cause liquid to drift from the tank toward the right side of the vehicle. If liquid exists at different heights at different locations within the tank, measurement errors are bound to occur depending on where the pressure sensor is installed.

[0009] Meanwhile, as a conventional technology for correcting the error of a pressure sensor, there is Korean Patent Publication No. 10-2010-0069168 (20100624 'Pressure sensor device for ultra-low pressure and its driving method').

[0010] The present invention has been devised to solve the problems of the prior art as described above, and its purpose is to provide a technology that can accurately calculate the remaining amount of a liquid consumable even in an autonomous vehicle subject to severe environmental changes.

[0011] In order to achieve the above object, the present invention provides a precision low-pressure measurement system for an autonomous vehicle according to environmental changes, comprising: a pressure sensor installed at the bottom of a storage tank; a GPS module for obtaining altitude information; and a controller for calculating the remaining amount of a liquid consumable stored in the storage tank by subtracting the atmospheric pressure corresponding to the altitude information obtained from the GPS module from the value measured by the pressure sensor.

[0012] Meanwhile, a precision low-pressure measurement system for an autonomous vehicle according to environmental changes according to the present invention for achieving the above purpose may include a pressure sensor A-1 installed at the bottom of a storage tank; a pressure sensor T-1 installed at the top of the storage tank to measure atmospheric pressure; and a controller for calculating the remaining amount of a liquid consumable stored in the storage tank by subtracting the atmospheric pressure value measured by the pressure sensor T-1 from the value measured by the pressure sensor A-1.

[0013] In addition, a precision low-pressure measurement system for an autonomous vehicle according to environmental changes according to the present invention for achieving the above purpose may include a plurality of pressure sensors installed at regular intervals along the perimeter of the bottom portion of a storage tank; and a controller for calculating the remaining amount of a liquid consumable stored in the storage tank using an arithmetic average of the values ​​measured by the pressure sensors.

[0014] In addition, the precision low-pressure measurement system of an autonomous vehicle according to environmental changes according to the present invention for achieving the above purpose may include a pressure sensor installed at the bottom of a storage tank; a gyro sensor for obtaining vehicle inclination information; and a controller for calculating the remaining amount when a tilting phenomenon of a liquid consumable occurs by reflecting the vehicle inclination information obtained from the gyro sensor to the value measured by the pressure sensor.

[0015] By using the precision low-pressure measurement system according to the present invention, the following effects can be expected.

[0016] First, rather than using a sensor that measures whether liquid is detected, a pressure sensor that measures the pressure that varies depending on the remaining amount of liquid consumables is used, so the remaining amount of liquid consumables can always be accurately measured.

[0017] At this time, since the atmospheric pressure changes depending on the altitude at which the vehicle is driving, an error may occur in the measurement value of the pressure sensor. The measurement value of the pressure sensor can be corrected in response to the altitude information obtained from the GPS module, or a separate pressure sensor that measures the atmospheric pressure can be additionally installed, and then the variable atmospheric pressure is removed using the difference between them and the remaining amount of the liquid consumable is measured. This can solve the problem of errors in calculating the remaining amount due to altitude changes.

[0018] In addition, depending on the driving environment of the vehicle, the liquid consumable may be concentrated to one side, but in the present invention, pressure sensors are installed at regular intervals along the circumference of the bottom part of the storage tank, and the controller calculates the remaining amount using the arithmetic mean value of these pressure sensors, so that even if the phenomenon of the liquid consumable being concentrated occurs, the calculation of the remaining amount can be made accurately.

[0019] In addition, even if only one pressure sensor is installed at the bottom of the storage tank, the remaining amount of liquid consumables can be accurately measured when a tilting phenomenon occurs by checking the tilt of the vehicle with the gyro sensor and then compensating the pressure sensor's measurement value to reflect this.

[0020] Figure 1 is a drawing for explaining a precision low-pressure measurement system according to a first embodiment of the present invention.

[0021] Figure 2 is a drawing to compare and explain different environments in which a vehicle is driven.

[0022] Figure 3 is a drawing for explaining a precision low-pressure measurement system according to a second embodiment of the present invention.

[0023] Figure 4 is a drawing for explaining another application example of the precision low-pressure measurement system illustrated in Figure 3.

[0024] Figure 5 is a drawing for explaining a precision low-pressure measurement system according to a third embodiment of the present invention.

[0025] Figure 6 is a drawing for explaining a precision low-pressure measurement system according to a fourth embodiment of the present invention.

[0026] Figure 7 is a drawing for explaining a precision low-pressure measurement system according to a fifth embodiment of the present invention.

[0027] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. Some components irrelevant to the gist of the invention will be omitted or compressed. However, these omitted components do not necessarily mean they are unnecessary for the present invention, and those skilled in the art can combine and use them.

[0028] FIG. 1 is a drawing illustrating a precision low-pressure measurement system (hereinafter referred to as the "precision low-pressure measurement system") for an autonomous vehicle according to environmental changes according to a first embodiment of the present invention. As illustrated in FIG. 1, the precision low-pressure measurement system according to the first embodiment of the present invention includes a pressure sensor A-1 (11), a GPS module (60), and a controller (40).

[0029] Before explaining, the identifiers such as 'A', 'B', 'A-1', 'A-2', 'B-1', 'T-1', etc. added to the component names explained below are only marks to distinguish the same component names installed in different locations and do not have a great meaning.

[0030] Pressure sensor A-1 (11) is installed at the bottom of storage tank A (10) and is provided to measure the pressure applied from the liquid consumable remaining in storage tank A (10).

[0031] The liquid consumables stored in the storage tank A (10) illustrated in Figure 1 may refer to washer fluid for cleaning windows or sensors, and may also refer to other types of liquid consumables used in autonomous vehicles, such as coolant, engine oil, and transmission oil.

[0032] The GPS module (60) is provided to obtain GPS coordinate information via satellite, and at this time, the GPS module (60) can also obtain altitude information of the current location of the autonomous vehicle.

[0033] The controller (40) is provided to calculate the remaining amount of liquid consumables remaining in the storage tank A (10) by calculating the value measured by the pressure sensor A-1 (11) through a specific calculation formula or by comparing it with a previously stored table. The remaining amount information of liquid consumables calculated by the controller (40) is displayed through a separate display.

[0034] In addition, when contamination is detected by a separate contamination detection device (not shown) or a user's operation command is input, the controller (40) can control the pump (50) to operate so that the liquid consumable contained in the storage tank A (10) is sprayed to the nozzle through the pipe (19).

[0035] The function of calculating the remaining amount of liquid consumable through the measurement value of pressure sensor A-1 (11) and the function of controlling the pump (50) may be performed by one controller (40), but may also be performed by separate control means. In the present invention, the content of calculating the remaining amount of liquid consumable through the measurement value of pressure sensor A-1 (11) rather than the control of the pump (50) will be discussed in more detail.

[0036] The data measured by the controller (40) through the measurement value of the pressure sensor A-1 (11) is basically the 'pressure of the liquid consumable'. Therefore, if the remaining amount of the liquid consumable is large, the measured pressure will be high, and if the remaining amount of the liquid consumable is small, the measured pressure will be low. Accordingly, the controller (40) converts the pressure value measured by the pressure sensor A-1 (11) into information on the remaining amount of the liquid consumable and outputs it through comparison with a specific calculation formula or a previously stored table.

[0037] However, strictly speaking, the value measured by pressure sensor A-1 (11) is [pressure of liquid consumable + atmospheric pressure]. Atmospheric pressure varies depending on altitude. As shown in Fig. 2, when an autonomous vehicle is driving at a low altitude of 50 m above sea level, the atmospheric pressure is relatively high, and when it is driving at a high altitude of 1,000 m above sea level, the atmospheric pressure is relatively low.

[0038] Therefore, even if the same amount of liquid consumable remains, the measured value of pressure sensor A-1 (11) is different when driving at 50 m above sea level and when driving at 1,000 m above sea level.

[0039] To this end, the controller (40) checks the altitude information of the current location where the autonomous vehicle is driving, which is measured in real time by the GPS module (60). When the altitude information is checked, the atmospheric pressure can also be checked, and if the atmospheric pressure information according to the altitude is set as a specific calculation formula or tabulated, the controller (40) can calculate the remaining amount information by subtracting the atmospheric pressure corresponding to the current altitude from the value measured by the current pressure sensor A-1 (11) and using only the pressure of the liquid consumable.

[0040] Therefore, even if an autonomous vehicle is driving on a road with different altitudes, the measured value of pressure sensor A-1 (11) can be converted into remaining amount information by reflecting the change in atmospheric pressure according to the change in altitude, thereby enabling accurate calculation of remaining amount information.

[0041] FIG. 3 is a drawing for explaining a precision low-pressure measurement system according to a second embodiment of the present invention. As illustrated in FIG. 3, the precision low-pressure measurement system according to the second embodiment of the present invention includes a pressure sensor A-1 (11), a pressure sensor T-1 (15), and a controller (40).

[0042] Pressure sensor A-1 (11) is installed at the bottom of storage tank A (10) to measure pressure values. Therefore, pressure sensor A-1 (11) is usually always kept immersed in liquid consumables.

[0043] Pressure sensor T-1 (15) is installed at the upper part of storage tank A (10) and measures the pressure value. Therefore, pressure sensor A-1 (11) is usually maintained in a state where it is not immersed in liquid consumables.

[0044] As shown in Fig. 3, pressure sensor A-1 (11) and pressure sensor T-1 (15) are installed in storage tank A (10), but since the installation locations are different, the measured values ​​are also different. That is, the value measured by pressure sensor A-1 (11) is [pressure of liquid consumable + atmospheric pressure], and the value measured by pressure sensor T-1 (15) is [atmospheric pressure].

[0045] The controller (40) calculates the remaining amount of the liquid consumable by using both the information measured by the pressure sensor A-1 (11) (pressure of the liquid consumable + atmospheric pressure) and the information measured by the pressure sensor T-1 (15) (atmospheric pressure). More specifically, the controller (40) calculates the remaining amount of the liquid consumable by using the difference obtained by subtracting the measured value of the pressure sensor T-1 (15) from the measured value of the pressure sensor A-1 (11).

[0046] That is, the controller (40) calculates the remaining amount of the liquid consumable through the calculation formula [(pressure of the liquid consumable + atmospheric pressure) - (atmospheric pressure)].

[0047] As explained above, if an autonomous vehicle is driving at different altitudes, the value measured by pressure sensor A-1 (11) will also change due to the difference in atmospheric pressure. However, if pressure sensors A-1 (11) and T-1 (15) are installed in different locations and the difference between these two pressure sensors (11, 15) is calculated, the [atmospheric pressure] that varies depending on altitude can be eliminated. Therefore, regardless of the altitude at which an autonomous vehicle is driving, only the [pressure of the liquid consumable] with the variable atmospheric pressure eliminated can be accurately measured and then the remaining amount information can be calculated.

[0048] FIG. 4 is a drawing illustrating another application example of the precision low-pressure measurement system illustrated in FIG. 3. That is, sensors may be installed in multiple locations in an autonomous vehicle. In this case, multiple pipes (19) may be connected to a single storage tank A (10) and then transmitted to each location. However, if the distance from the storage tank A (10) to the nozzle is too far, a pressure problem may occur. To this end, as illustrated in FIG. 4, storage tanks (10, 20, 30) may be installed in multiple locations, and liquid consumables may be sprayed to a location close to the location where each storage tank (10, 20, 30) is installed. In this embodiment, an example in which the main tank, storage tank A (10), and auxiliary tanks, storage tank B (20) and storage tank C (30), are installed is illustrated.

[0049] In this case, the auxiliary tanks, storage tank B (20) and storage tank C (30), are each equipped with pressure sensors B-1 (21) and C-1 (31) at the bottom. On the other hand, the main tank, storage tank A (10), is equipped with pressure sensor A-1 (11) at the bottom, and pressure sensor T-1 (15) at the top. The values ​​measured by the pressure sensors (11, 15, 21, 31) are transmitted to the controller (40).

[0050] The controller (40) calculates the remaining amount of liquid consumables remaining in each storage tank (10, 20, 30) through the values ​​measured by the pressure sensors (11, 15, 21, 31).

[0051] More specifically, the controller (40) uses the difference between the pressure sensor A-1 (11) and the pressure sensor T-1 (15) when calculating the remaining amount of liquid consumables in storage tank A (10). Then, when calculating the remaining amount of liquid consumables in storage tank B (20), the difference between the pressure sensor B-1 (21) and the pressure sensor T-1 (15) is used. Finally, when calculating the remaining amount of liquid consumables in storage tank C (30), the difference between the pressure sensor C-1 (31) and the pressure sensor T-1 (15) is used.

[0052] That is, even if the locations of the storage tanks (10, 20, 30) are different, if they are installed in the same autonomous vehicle, the altitude value will be the same, and the atmospheric pressure in that environment will also be the same. Therefore, the sensor for measuring the variable condition of atmospheric pressure can use only the value of the pressure sensor T-1 (15) installed in the main tank, storage tank A (10), and there is no need to additionally install pressure sensors for measuring atmospheric pressure in the auxiliary tanks, and the atmospheric pressure measured in the main tank can be used in the calculation formula in the controller (40).

[0053] FIG. 5 is a diagram for explaining a precision low-pressure measurement system according to a third embodiment of the present invention. More specifically, FIG. 5 (a) is a conceptual diagram illustrating a side view of storage tank A (10) in a precision low-pressure measurement system according to a third embodiment of the present invention, and FIG. 5 (b) is a conceptual diagram illustrating a top view of storage tank B (20).

[0054] As illustrated in FIG. 5, a precision low-pressure measurement system according to a third embodiment of the present invention includes a pressure sensor A-1 (11), a pressure sensor A-2 (12), a pressure sensor A-3 (13), a pressure sensor A-4 (14), and a controller (40).

[0055] The pressure sensors (11, 12, 13, 14) are all installed at the bottom of the storage tank A (10), but are installed at regular intervals along the perimeter of the storage tank A (10).

[0056] The controller (40) calculates the remaining amount of the liquid consumable remaining in the storage tank A (10) using the values ​​measured by the pressure sensors (11, 12, 13, 14). More specifically, the controller (40) calculates the remaining amount of the liquid consumable using the arithmetic mean of the values ​​measured by the pressure sensors (11, 12, 13, 14). That is, the calculation formula [{measured value of pressure sensor A-1 (11) + measured value of pressure sensor A-2 (12) + measured value of pressure sensor A-3 (13) + measured value of pressure sensor A-4 (14)} ÷ 4] is used.

[0057] The reason why the controller (40) in the third embodiment of the present invention uses the arithmetic mean obtained by adding all the measurement values ​​of the pressure sensors (11, 12, 13, 14) and then dividing the result by the number of pressure sensors (11, 12, 13, 14) is as follows.

[0058] The storage tank A (10) is not fixed to one location, but is constantly moving as it is mounted on the autonomous vehicle. Therefore, a phenomenon in which the liquid consumable is pushed to one side within the storage tank A (10) may occur. For example, when the vehicle is going up a slope, the liquid consumable will be pushed from the storage tank A (10) toward the rear of the vehicle, and when the vehicle turns left, the liquid consumable will be pushed from the storage tank A (10) toward the right side of the vehicle due to centrifugal force.

[0059] If driving at a constant speed in a straight line on a flat surface, the values ​​measured by the pressure sensors (11, 12, 13, 14) based on (b) of Fig. 5 will theoretically be the same. On the other hand, if making a left turn, the liquid may flow in the direction of pressure sensor A-1 (11) in (b) of Fig. 5. In this case, the pressure value measured by pressure sensor A-1 (11) increases, and conversely, the pressure value measured by pressure sensor A-3 (13) decreases.

[0060] Therefore, if the pressure sensor is installed only at one location of the storage tank A (10), the remaining amount of the liquid consumable can be accurately measured only when the surface is flat, there is no left-right rotation, and the vehicle is stationary or moving at a constant speed. However, if a plurality of pressure sensors (11, 12, 13, 14) are installed at a certain interval along the bottom circumference of the storage tank A (10) as in the third embodiment of the present invention illustrated in FIG. 5, and the controller (40) calculates the remaining amount of the liquid consumable by taking the arithmetic mean of the measured values ​​of the pressure sensors (11, 12, 13, 14), the remaining amount can be accurately calculated even when the liquid consumable is concentrated on one side.

[0061] Of course, if the number of pressure sensors (11, 12, 13, 14) installed along the bottom perimeter of storage tank A (10) increases and the arithmetic mean of the values ​​measured from them is used, more precise measurements will be possible, but an appropriate number can be used considering the installation cost.

[0062] Fig. 6 is a drawing for explaining a precision low-pressure measurement system according to a fourth embodiment of the present invention. As illustrated in Fig. 6, the precision low-pressure measurement system according to the fourth embodiment of the present invention includes a pressure sensor A-1 (11), a pressure sensor A-2 (12), a pressure sensor A-3 (13), a pressure sensor A-4 (14), a pressure sensor T-1 (15), and a controller (40).

[0063] Pressure sensors A-1 (11), A-2 (12), A-3 (13), and A-4 (14) are installed at regular intervals along the circumference of the bottom portion of storage tank A (10). On the other hand, pressure sensor T-1 (15) is installed at the top portion of storage tank A (10).

[0064] The precision low-pressure measurement system according to the fourth embodiment of the present invention illustrated in FIG. 6 applies all the advantages of the second embodiment illustrated in FIG. 3 and the third embodiment illustrated in FIG. 5.

[0065] That is, in the precision low-pressure measurement system according to the fourth embodiment illustrated in FIG. 6, the controller (40) calculates the remaining amount of the liquid consumable by subtracting the atmospheric pressure value measured by the pressure sensor T-1 (15) at the upper portion from the arithmetic mean value of the pressure sensors (11, 12, 13, 14) at the bottom portion of the storage tank A (10).

[0066] Accordingly, even if the atmospheric pressure changes depending on the altitude, the variable atmospheric pressure information can be removed, and even if the liquid consumable storage tank A (10) is tilted to one side, the accurate remaining amount can be calculated using the arithmetic mean value of the pressure sensors (11, 12, 13, 14) installed at the bottom.

[0067] FIG. 7 is a drawing for explaining a precision low-pressure measurement system according to a fifth embodiment of the present invention. As illustrated in FIG. 7, the precision low-pressure measurement system according to the fifth embodiment of the present invention includes a pressure sensor A-1 (11), a gyro sensor (70), and a controller (40).

[0068] Pressure sensor A-1 (11) is installed at the bottom of storage tank A (10) to measure the pressure of liquid consumables.

[0069] The gyro sensor (70) is provided to measure the pitch, roll, and yaw values ​​that occur according to the movement of the vehicle. That is, the gyro sensor (70) measures the rotational motion values ​​for each axis (X-axis, Y-axis, Z-axis) based on the center point of the vehicle. The measurement value of the gyro sensor (70) is the angular velocity, and the controller (40) can use the measurement value of the gyro sensor (70) to calculate in which direction the vehicle is tilted.

[0070] Through this, the controller (40) calculates the remaining amount of the liquid consumable by reflecting the tilt information for a specific direction calculated through the measurement value of the gyro sensor (70) to the value measured by the pressure sensor A-1 (11). That is, since only one pressure sensor A-1 (11) is installed at the bottom of the storage tank A (10), if the liquid consumable is tilted to one side, the measurement value of the pressure sensor A-1 (11) may change. However, if the vehicle tilt information is confirmed through the value measured by the gyro sensor (70) and this is reflected in the measurement value of the pressure sensor A-1 (11) to correct the remaining amount information, it is always possible to calculate the remaining amount precisely.

[0071] As described in detail above, the following effects can be expected by using the precision low-pressure measurement system according to the present invention.

[0072] First, rather than using a sensor that measures whether liquid is detected, a pressure sensor that measures the pressure that varies depending on the remaining amount of liquid consumables is used, so the remaining amount of liquid consumables can always be accurately measured.

[0073] At this time, since the atmospheric pressure changes depending on the altitude at which the vehicle is driving, an error may occur in the measurement value of the pressure sensor. The measurement value of the pressure sensor can be corrected in response to the altitude information obtained from the GPS module, or a separate pressure sensor that measures the atmospheric pressure can be additionally installed, and then the variable atmospheric pressure is removed using the difference between them and the remaining amount of the liquid consumable is measured. This can solve the problem of errors in calculating the remaining amount due to altitude changes.

[0074] In addition, depending on the driving environment of the vehicle, the liquid consumable may be concentrated to one side, but in the present invention, pressure sensors are installed at regular intervals along the circumference of the bottom of the storage tank, and the controller calculates the remaining amount using the arithmetic mean value of these pressure sensors, so that even if the liquid consumable is concentrated, the calculation of the remaining amount can be made accurately.

[0075] In addition, even if only one pressure sensor is installed at the bottom of the storage tank, the remaining amount of liquid consumables can be accurately measured when a tilting phenomenon occurs by checking the tilt of the vehicle with the gyro sensor and then compensating the pressure sensor's measurement value to reflect this.

[0076] The above preferred embodiments of the present invention are disclosed for the purpose of illustration, and those skilled in the art with ordinary knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions should be considered to fall within the scope of the claims of the present invention.

Claims

1. Pressure sensor installed at the bottom of the storage tank; A GPS module that obtains altitude information; and A precision low-pressure measurement system for an autonomous vehicle according to environmental changes, characterized in that it includes a controller that calculates the remaining amount of a liquid consumable stored in the storage tank by deducting the atmospheric pressure corresponding to the altitude information acquired from the GPS module from the value measured by the pressure sensor.

2. Pressure sensor A-1 installed at the bottom of the storage tank; A pressure sensor T-1 installed at the upper part of the above storage tank to measure atmospheric pressure; and A controller that calculates the remaining amount of liquid consumable stored in the storage tank by subtracting the atmospheric pressure value measured by the pressure sensor T-1 from the value measured by the pressure sensor A-1; A precision low-pressure measurement system for an autonomous vehicle according to environmental changes, characterized by including:

3. Multiple pressure sensors installed at regular intervals along the perimeter of the bottom of the storage tank; A precision low-pressure measurement system for an autonomous vehicle according to environmental changes, characterized in that it includes a controller that calculates the remaining amount of a liquid consumable stored in the storage tank by using the arithmetic mean of the values measured by the pressure sensors.

4. Pressure sensor installed at the bottom of the storage tank; A gyro sensor that obtains vehicle tilt information; and A precision low-pressure measurement system for an autonomous vehicle according to environmental changes, characterized in that it includes a controller that calculates the remaining amount when a liquid consumable spills by reflecting the vehicle tilt information obtained from the gyro sensor to the value measured by the pressure sensor.

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