CN101365278A - Kinematic model of adaptive front lighting lamp system and control method thereof - Google Patents
Kinematic model of adaptive front lighting lamp system and control method thereof Download PDFInfo
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Abstract
The invention discloses a kinematics model of an AFS. The establishing process of the model comprises the following steps: obtaining a set of motion characteristic parameters of a vehicle by an MCU in ECU which is an AFS control module; establishing deflection models of a vehicle light in the vertical and horizontal directions respectively; confirming the maximum angle theta of horizontal deflection and the vertical output angle of the vehicle light y0; and obtaining an integrated kinematics model of the AFS by combining the horizontal and vertical deflection models of the vehicle light. The model of the invention accurately describes the kinematics characteristics of the AFS system, thereby providing reliable guarantee for the immediacy of the AFS system. The control on the AFS system by the adoption of the kinematics model satisfies the requirements of technical parameters. When the vehicle light turns to one side, an optical axis on the other side remains in the original position, the speed is started and the deflection angle meets the requirements. The maximum system dynamic regulating angle error is merely 2 degree, and the static control angle error is less than 0.01 degree and much smaller than the error of 0.035 degree in the prior art. The corresponding time for system dynamic regulating is less than 100ms.
Description
Technical field
The present invention relates to a kind of self adaptation and regulate the control system of car headlamp range of exposures, relate in particular to kinematics model and control method thereof that a kind of night, the headlamp self adaptation was regulated during negotiation of bends.
Background technology
Automotive lighting plays an important role to traffic safety.Effective road lighting under various different conditions, purpose are not only the vision that strengthens the people, and be most important and what must consider is that bright degree, color and third dimension will be arranged, shape and action in addition simultaneously, and brightness and color contrast.Car light before and after high-performance headlamp and other is an elementary object of realizing the automotive lighting of " visible and seen ".
A plurality of stages have been experienced in the development of car headlamp system: develop into incandescent lamp from initial kerosene lamp; Develop into parabolic halogen tungsten headlamp, free form surface halogen tungsten headlamp and projection system headlamp then; It is the optical projection system headlamp and the free form surface head lamp system of light source with the gaseous discharge lamp that middle nineteen nineties in last century has occurred.Each developing stage of car headlamp system is all containing the continuous pursuit to traffic safety.
At present, have two kinds of different standards aspect the standard of car headlamp: European standard and Unite States Standard, both mainly have bigger difference on the dipped beam luminous intensity distribution.The special control of paying attention to dazzle of European standard therefore have 15 dead lines of spending on its luminous intensity distribution, and illumination is also lower.And in the U.S., road is broader mostly, therefore to the special requirement of dazzle nothing, as long as headlamp can shine farther brighter just passablely.But along with the quickening of economic globalization process, the difference between these two kinds of standards is eliminated in people's an urgent demand, sets up a unified international standard.A kind of method is exactly to form the standard that both sides can both accept, so-called international coordination that Here it is with reasonably partly integrating in two kinds of standards.Another method is exactly to set up a head lamp system that comprises multiple function, and it can adopt different lighting systems according to different road conditions, weather, AFS system that Here it is (that is: adaptive front lighting lamp system).
As everyone knows,, can only be operated under a kind of fixing pattern, but actual road behaviour in service, environmental aspect, climate condition or the like situation is very complicated as the dipped beam of traditional driving lamp.Such as the many die Dorfstrasses in: fork in the road, bend situation, crossing turning situation, drive on the expressway, driving, misty rain weather etc. on national highway.The also road environment of this complexity and weather conditions just make traffic safety still have huge hidden danger.Statistics shows, require and the higher country of driveship at those vehicle operating specifications of Europe, vehicle safety, since the illumination cause traffic accident (if promptly by day or lighting condition well complete avoidable traffic accident) reach more than 30%, the loss that causes is well imagined.Add that the vehicle that on the way travels is increasing, old driver increase and allow that prolongation (age to 70 year old is driven in European existing permission, and the elderly's eyesight and reaction speed obviously descend) that the driver drives the age or the like is all multifactorly makes that the traffic safety problem is more outstanding.
Under the requirement of these conditions, the AFS system arises at the historic moment.It has significantly improved in vehicle forward direction, the visuality at the intersection in the place ahead, bend place during night running; Reduce the degree of fatigue of detour driving at night effectively, thereby obviously promote the fail safe of detour up train at night.Fig. 1-1, Fig. 1-2 and Fig. 1-3 shows the effect of AFS system, vehicle is when negotiation of bends, as Figure 1-3, illumination zone and obviously increase of distance when not opening such as the AFS shown in Fig. 1-2 when the AFS system opens and compare not open, illuminating effect identical (outer contour is an illumination zone among the figure, and round dot is an illumination distances) during basically with vehicle straight-line travelling shown in Fig. 1-1.Therefore, when vehicle bend travels, the AFS system can enlarge markedly the illumination zone and the illumination distances of dipped headlights, the irradiated area that the AFS system can increase bend reaches about 20 degree, speed of a motor vehicle measuring and calculating according to 40KM/h, can increase more than 3 seconds for the driver will react surplus, it is most important for the professional driver who carries out the transportation at night often to increase driver's reaction time this point.The AFS head lamp system is as an important breakthrough of car light technology, fail safe to driving at night has produced tremendous raising, promoted simultaneously the comfortableness of vehicling lighting greatly, this point has become a common recognition in the middle of the automaker in Japan and Europe.
Research for the AFS head lamp system has obtained remarkable progress abroad, reaches its maturity.The numerous and confused AFS system that releases oneself in the well-known automobile making commercial city of states such as Japan, Europe.In its high-grade car, in the standard configuration AFS system, the AFS system is listed as apolegamy in middle-grade even low and middle-grade car models.Such as the A8 of Audi, BMW 5 is that Mercedes CLS, E system, M are that popular B6 insults and causes RX330, Toyota Crown or the like.The AFS system of domestic present use is introducing product mostly, be to be design starting point with manufacturer this country condition of road surface basically, and the domestic condition of road surface (as: character of road and topography and geomorphology) of China has more different with Japan and Europe.Therefore, the effect that can not bring into play maximum of the AFS system that adopts has brought resistance to the AFS system in the application of China at present.
In the prior art, about the AFS system research is arranged also, open day is on October 10th, 2007, and publication number is to disclose a kind of " self-adaptive control device for head light of auto car " in the Chinese invention patent application of CN101049808A, and this device belongs to non-portable illumination device field.Its technical scheme that is achieved is to comprise central control unit and drive performance element, is provided with the LIN bus transceiver between central control unit and driving performance element; Between driving performance element stepping motor and central control unit master MCU chip, be provided with the position feedback module; Central control unit is connected by the LIN bus with the driving performance element.The light modulation algorithm that uses when a kind of bend throws light on is also disclosed simultaneously.This light modulation algorithm be with steering wheel angle and the speed of a motor vehicle as parameter, bring into and draw left and right two front car light drift angles in the horizontal direction in the corresponding formulas, drive stepping motor reaches this position then.The weak point that above-mentioned light-dimming method exists is: though to have proposed be that illuminating effect is adjusted in drift angle according on the front car light horizontal direction, its motion feature definition is indeterminate, can't realize the effect of AFS system.
Summary of the invention
The kinematics model that the purpose of this invention is to provide a kind of adaptive front lighting lamp system, set up the kinematics model of AFS system on level and vertical both direction, can effectively control illuminating effect in the motion of level and vertical two degrees of freedom according to headlight.In the control method of adaptive front lighting lamp system of the present invention, in clear and definite definition on the basis of relevant parameter, the kinetic characteristic of AFS system has been described exactly, and the judgement by the various modes state, with the function of better realization AFS system, and further promote the effect of AFS system.
In order to solve the problems of the technologies described above, the technical scheme that the kinematics model of adaptive front lighting lamp system of the present invention is achieved is: the process of setting up of its model comprises:
(1) MCU among the adaptive front lighting lamp system control module ECU receives the signal that comes from the vehicle body transducer by the input conditioning module, also receive the signal that comes from car light, chassis, suspension system, axletree parts and steering wheel by connection line, finally obtain one group of motion feature parameter of this vehicle, described one group of motion feature parameter comprises:
The height (m) of H---illuminator lower limb;
The radius of turn of R---vehicle (m);
L---vehicle wheelbase;
K---steering characteristic coefficient;
P---the car light optical axis is to the distance at vehicle wheelbase center;
D---vehicle light illumination distance;
And definition:
θ---maximum car light X deflection angle;
α---be equivalent to the permission angle (deg) of 100 * H;
(2) set up the horizontal direction deflection model of car light:
Approximate the turning to of determining car light is that approximate model is:
Wherein: α (t)---Vehicular turn angle function;
Because the tooth sector gearratio difference of different vehicle, the Vehicular turn angle function can be obtained by following formula:
α(t)＝Kx
i(t) (2)
Can get by formula (1) and (2):
Wherein: x
i(t)---the steering wheel angle input function;
The requirement that is shifted to an earlier date the certain hour illumination by adaptive front lighting lamp system can get:
R·x
o(t)＝∫v(t)dt (4)
Wherein: x
o(t)---car light drift angle output function; V (t)---speed of a motor vehicle function;
Can obtain x by formula (3) and formula (4)
o(t) and x
i(t) pass between is:
Draw α numerical value according to following formula (6):
Determine maximum car light X deflection angle θ, satisfy condition: θ＜α;
(3) set up the vertical direction deflection model of car light:
The height (m) of---the car light optical axis is to the distance and the H at vehicle wheelbase center---illuminator lower limb by the installation site of car light, that is: P can get:
Wherein: y
i(t)---the car body obliqueness input function; H (t)---the car light optical axis is apart from the ground level function;
Can get by the adaptive front lighting lamp system vertical property:
Can draw y by formula (7) and (8)
o(t) and y
i(t) relation between is as follows:
Wherein: y
o(t)---car light vertical output drift angle;
(4) set up the mass motion model of adaptive front lighting lamp system:
Comprehensive above-mentioned car light level and vertical direction deflection model, the mass motion model that draws adaptive front lighting lamp system is:
Utilize above-mentioned model to realize the control method of adaptive front lighting lamp system, may further comprise the steps:
(1) adaptive front lighting lamp system control module ECU is by vehicle body sensor acquisition steering wheel angle signal, the speed of a motor vehicle and overall height signal;
(2) with carrying out preliminary treatment after the above-mentioned signal A/D conversion that collects, draw the level and vertical drift angle of car light current state by described car light horizontal deflection model and car light vertical deflection model;
(3) move with the stepping motor that vertical drift angle drives as car light actuator according to the level of above-mentioned car light by driver, to reach best illuminating effect.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the AFS system kinematics model that proposes among the present invention, and provided the motion model of AFS system on level and vertical both direction, its parameter-definition is clear and definite, and compared with prior art, its algorithm has been described the kinetic characteristic of AFS system more accurately;
(2) also proposed the control corresponding method among the present invention,, can better realize the AFS systemic-function, to promote the control effect of AFS system by the judgement of its various modes state;
(3) kinematics model that utilizes adaptive front lighting lamp system of the present invention meets the technical parameter requirement to the control of adaptive front lighting lamp system, when car light turns to a side, the optical axis of opposite side keeps initial position, and starting the speed of a motor vehicle and drift angle meets the requirements, it only is 0.2 degree that its maximum system is dynamically adjusted error, static departure is far smaller than the error of 0.035 degree in the prior art less than 0.01 degree.Simultaneity factor is dynamically adjusted the corresponding time less than 100ms, is quick respective handling, and improving system real time provides reliable guarantee.
(4) in addition, the integrated motion model of AFS system has also been proposed according to car light level that obtains and the motion model on the vertical both direction among the present invention, the characteristic of representing the AFS system first theoretically is for doing further exploitation to existing AFS system and theoretical foundation has been established in control.
Description of drawings
Fig. 1-the 1st, vehicle straight-line travelling front car light illuminating effect schematic diagram;
Fig. 1-2 is the illuminating effect schematic diagram that vehicle bend does not adopt the AFS system when travelling;
Fig. 1-the 3rd, the illuminating effect schematic diagram when vehicle bend travels after the employing AFS system;
Fig. 2 is a kind of hardware block diagram of adaptive front lighting lamp system;
Fig. 3 is that the signal of the kinematics model of adaptive front lighting lamp system of the present invention transmits block diagram;
Fig. 4 is the horizontal direction of car light shown in a Fig. 3 deflection model schematic diagram;
Fig. 5 is the vertical direction of car light shown in a Fig. 3 deflection model schematic diagram;
Fig. 6 is the flow chart of the control method control thread of adaptive front lighting lamp system of the present invention;
Fig. 7-the 1st, the flow chart of horizontal adjusting processing execution thread in the control method of adaptive front lighting lamp system of the present invention;
Fig. 7-the 2nd, the vertical flow chart of adjusting the processing execution thread in the control method of adaptive front lighting lamp system of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done and to describe in further detail.
As shown in Figure 2, the foundation of the kinematics model of adaptive front lighting lamp system of the present invention based on the structure of a kind of adaptive front lighting lamp system (AFS system), comprise the actuator 20, vehicle body transducer 40 and the vehicle body network 50 that are connected with AFS control module (ECU) 30 respectively, described actuator 20 comprises vertical adjustment actuator 21 and horizontal rotation actuator 22, described vertical adjustment actuator 21 and horizontal rotation actuator 22 all adopt stepping motor, and stepping motor is connected with the dipped headlights 10 of vehicle respectively.The AFS system that is made of above-mentioned hardware configuration can calculate and judges according to the composite factors such as operating state of the operating characteristics of the dynamic change of vehicle body, steering mechanism, engine, thereby judges transport condition that automobile is current and dim head lights is adjusted accordingly.Wherein, the actuator of AFS system is taken on by stepping motor, that is: actuator uses two stepping motors to carry out the angle adjustment of level, vertical direction.Stepping motor has characteristics such as stroke is accurate, stable action, long working life.
The purpose of AFS system is to make the illumination ray of the automobile-used headlamp of meeting (that is: dipped headlights) along with the vehicle travel direction is done horizontal direction deflection, and do the adjustment of vertical direction according to the pitching of vehicle, for the driver at the crossing, bend and the uneven road surface of jolting provide best illuminating effect.Wherein the size of light drift angle is speed, the steering wheel angle by vehicle, the composite factor decision that the inclination angle, front and back of vehicle constitutes.The length of the sensitivity level of the type of the adjustment of the installing and locating of car light, vehicle chassis, suspension system and characteristic, steering mechanism and idle running angle and wheelbase all can exert an influence to the effect of AFS simultaneously.
The signal transitive relation that Fig. 3 shows the kinematics model of adaptive front lighting lamp system of the present invention is that the MCU among the adaptive front lighting lamp system control module ECU receives the signal that comes from the vehicle body transducer by the input conditioning module, such as: can collect the speed of a motor vehicle, the variation of the speed of a motor vehicle, steering wheel angle, the variation of steering wheel angle, overall height, data such as the variation of overall height, also receive and come from car light by connection line, chassis, suspension system, the signal of axletree parts and steering wheel, after obtaining one group of motion feature parameter of this vehicle, can express relation between the above-mentioned associ-ated motion parameters accurately by the kinematics model of setting up the AFS system, final this AFS system correct light drift angle of output, and actuator's motion of control car light, to reach best illuminating effect.Because the AFS car light has level and vertical two degrees of freedom.Therefore, the kinematics model of the AFS system that the present invention relates to also is dimeric, is respectively horizontal direction and vertical direction model, and has in the end provided comprehensive AFS kinematics model.
Contrast the process of setting up of description of drawings kinematics model of the present invention below:
Variable declaration involved in kinematics model of the present invention is as follows:
α---be equivalent to the permission angle (deg) of 100 * H; The height (m) of H---illuminator lower limb;
The radius of turn of R---vehicle (m); L---vehicle wheelbase;
α (t)---Vehicular turn angle function; x
i(t)---the steering wheel angle input function;
K---steering characteristic coefficient; x
o(t)---car light drift angle output function;
V (t)---speed of a motor vehicle function; y
i(t)---the car body obliqueness input function;
H (t)---the car light optical axis is apart from the ground level function; P---the car light optical axis is to the distance at vehicle wheelbase center;
y
o(t)---car light vertical output drift angle; D---vehicle light illumination distance.
(1) foundation of the horizontal direction deflection model of car light:
The deflection angle of AFS system level direction car light is relevant with the current speed of a motor vehicle and steering wheel angle, as getting after Fig. 1-1, Fig. 1-2 and Fig. 1-3 comparison, the AFS system makes car light deflection vehicle be about to the road surface that arrives, and increases the reaction time that illumination zone has improved the driver.
As shown in Figure 3, approximate the turning to of vehicle is that approximate model (wherein having ignored the influence to turning radius such as the speed of a motor vehicle and steering gap, steering wheel idle running angle) can be written as:
By turning to relation to get:
α(t)＝Kx
i(t) (2)
Can get by formula (1) and (2):
The requirement of being thrown light in advance by AFS can get:
R·x
o(t)＝∫v(t)dt (4)
Can obtain x by formula (3) and formula (4) at last
o(t) and x
i(t) relation between:
Wherein, maximum car light deflection angle θ must meet the regulation of θ＜α in the rules ECE48-6.2.6.4 item, and α is calculated by following formula:
Therefore, can determine maximum car light X deflection angle θ, and satisfy θ＜α.
(2) foundation of the vertical direction deflection model of car light:
The angle of pitch of AFS system vertical direction car light is relevant with current car body obliqueness.Vehicle is quickening and brings to a halt or travel when jolting the road surface anxious, all can cause pitching before and after the vehicle, and at this moment Gu Ding car light also can be along with the vehicle body pitching, causes illumination distances to shorten or disturbs the opposite driver that sends a car.The car light of AFS system vertical direction pitching, situation that exactly can this danger of partial offset.
As shown in Figure 5, the installation site by car light can get:
Can get by AFS system vertical property:
Can draw y by formula (7) and (8)
o(t) and y
i(t) relation between is as follows:
(3) foundation of AFS entire system kinematics model
Comprehensive above-mentioned derivation, the integrated motion of AFS system is learned model and can be obtained:
The integrated motion of above-mentioned AFS system is learned model and is approximate kinematics model, represents the characteristic of AFS system theoretically, has established theoretical foundation for it being done further exploitation and control.
In a word, system of the present invention by sensor acquisition steering wheel angle, signals such as the speed of a motor vehicle, can calculate the angle that car light needs deflection by above-mentioned formula (1) to (10) thus, thereby finish the function of illumination in advance, that is to say that car is not also gone to that place, car light illuminates the place that car will arrive.And the car light deflection angle that illumination in advance needs is obtained by above-mentioned Mathematical Modeling.
Utilize the control method of carrying out adaptive front lighting lamp system of kinematics model of the adaptive front lighting lamp system of above-mentioned foundation to be made of following steps: at first, adaptive front lighting lamp system control module ECU is by signals such as vehicle body sensor acquisition steering wheel angle signal, the speed of a motor vehicle and overall height; Then, with carrying out preliminary treatment after the above-mentioned signal A/D conversion that collects, draw the level and vertical drift angle of car light current state by described car light horizontal deflection model and car light vertical deflection model; At last, move with the stepping motor that vertical drift angle drives as car light actuator according to the level of above-mentioned car light by driver, to reach best illuminating effect.
The control method of the adaptive front lighting lamp system among the present invention is divided into two threads in fact: control thread and processing execution thread.Wherein, the control thread mainly is responsible for the state exchange of control AFS system; The processing execution thread is responsible for the processing of data and the execution of stepping motor.
State in the control thread mainly comprises the opening and closing of system monitoring opening and closing, horizontal adjusting system, vertical Adjustment System opening and closing.Continuous pick-up transducers data verify whether it satisfies the opening and closing condition in the control thread.If satisfy condition, above-mentioned relevant monitoring or Adjustment System will go to corresponding state.The control thread as shown in Figure 6.At first, carry out preliminary treatment after the pick-up transducers data; Then, judge the current state of car light supervisory control system, and judge whether to open or the closing vehicle lamp supervisory control system,, then control the lamp system monitoring and be in opening if satisfy unlocking condition according to current vehicle speed; Judge the current state of car light horizontal adjusting system, determine to open or closing vehicle lamp horizontal adjusting system; That is: spend greater than ± 12 when steering wheel angle, under the situation of the speed of a motor vehicle greater than 20Km/h, car light horizontal adjusting system opens simultaneously; When steering wheel angle less than in ± 9 degree, or under the situation of the speed of a motor vehicle less than 10Km/h, car light horizontal adjusting system closing, car light is got back to original position in the horizontal direction.
Judge the current state of the vertical Adjustment System of car light, determine to open or the vertical Adjustment System of closing vehicle lamp; That is: spend greater than ± 2 when vehicle body tilts forward and back angle, under the situation of the speed of a motor vehicle greater than 20Km/h, the vertical Adjustment System of car light is opened simultaneously; Spend smaller or equal to ± 2 when vehicle body tilts forward and back angle, or under the situation of the speed of a motor vehicle less than 10Km/h, the vertical Adjustment System of car light is closed, car light is got back to original position in vertical direction.
The processing execution line traffic control is monitored the state parameter of current above-mentioned each system constantly.Comprise two processing branch roads: the horizontal adjusting system handles with vertical Adjustment System, with the drift angle of car light on processing horizontal respectively and the vertical both direction.The processing execution thread of the horizontal adjusting system of car light is shown in Fig. 7-1, and the processing execution thread of the vertical Adjustment System of car light is shown in Fig. 7-2.
Be to distinguish while executive level and vertical adjustment process in the implementation of thread, shown in Fig. 7-1, if car light horizontal adjusting system is opened by the AFS system,, utilize the horizontal deflection model of described car light to draw the X deflection angle of left car light or right car light according to the steering wheel angle direction; And judge whether above-mentioned drift angle angle exceeds the car light slewing area, if do not exceed its slewing area, then directly level angle is made zero; If exceed slewing area, then export the drift angle and equal after the maximum rotation angle level angle to be made zero.Shown in Fig. 7-2,, then draw the vertical deflection angle of left and right car light respectively according to the vertical deflection model of above-mentioned car light if the vertical Adjustment System of car light is opened by the AFS system; Judge whether above-mentioned drift angle angle exceeds the car light slewing area,, then directly made zero in vertical drift angle if do not exceed its slewing area; If exceed slewing area, then export the drift angle and equal after the maximum rotation angle to be made zero in vertical drift angle.
Embodiment
On AFST-1 type intelligence headlamp testing stand basis, the kinematics model of adaptive front lighting lamp system of the present invention is write among the MCU of AFS system control module ECU.Stipulate relevant technical parameter simultaneously, seen Table 1:
Table 1 technical parameter
Under above-mentioned technical parameter limits, utilize kinematics model of the present invention to draw left and right car light corner data, see Table 2 and table 3 (wherein define steering wheel angle and rotate counterclockwise, clockwise rotate) to negative to just.
The left car light level angle of table 2 data
The right car light level angle of table 3 data
As seen the kinematics model that is utilized adaptive front lighting lamp system of the present invention by above-mentioned data meets the technical parameter requirement to the control of adaptive front lighting lamp system, when car light turns to a side, the optical axis of opposite side keeps initial position, and starting the speed of a motor vehicle and drift angle meets the requirements, it only is 0.2 degree that its maximum system is dynamically adjusted error, static departure is far smaller than the error of 0.035 degree in the prior art less than 0.01 degree.Simultaneity factor is dynamically adjusted the corresponding time less than 100ms, is quick respective handling, and improving system real time provides reliable guarantee.
Although in conjunction with the accompanying drawings the present invention has been carried out foregoing description; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; under the situation that does not break away from aim of the present invention and claim institute protection range, can also make a lot of distortion, these all belong to the row of protection of the present invention.
Claims (3)
1. the kinematics model of an adaptive front lighting lamp system, the process of setting up of its model comprises:
(1) MCU among the adaptive front lighting lamp system control module ECU receives the signal that comes from the vehicle body transducer by the input conditioning module, also receive the signal that comes from car light, chassis, suspension system, axletree parts and steering wheel by connection line, finally obtain one group of motion feature parameter of this vehicle, described one group of motion feature parameter comprises:
The height (m) of H---illuminator lower limb;
The radius of turn of R---vehicle (m);
L---vehicle wheelbase;
K---steering characteristic coefficient;
P---the car light optical axis is to the distance at vehicle wheelbase center;
D---vehicle light illumination distance;
And definition:
θ---maximum car light X deflection angle;
α---be equivalent to the permission angle (deg) of 100 * H;
(2) set up the horizontal direction deflection model of car light:
Approximate the turning to of determining car light is that approximate model is:
Wherein: α (t)---Vehicular turn angle function;
Because the tooth sector gearratio difference of different vehicle, the Vehicular turn angle function can be obtained by following formula:
α(t)＝Kx
i(t) (2)
Can get by formula (1) and (2):
Wherein: x
i(t)---the steering wheel angle input function;
The requirement that is shifted to an earlier date the certain hour illumination by adaptive front lighting lamp system can get:
R·x
o(t)＝∫v(t)dt (4)
Wherein: x
o(t)---car light drift angle output function; V (t)---speed of a motor vehicle function;
Can obtain x by formula (3) and formula (4)
o(t) and x
i(t) pass between is:
Draw α numerical value according to following formula (6):
Determine maximum car light X deflection angle θ, satisfy condition: θ＜α;
(3) set up the vertical direction deflection model of car light:
The height (m) of---the car light optical axis is to the distance and the H at vehicle wheelbase center---illuminator lower limb by the installation site of car light, that is: P can get:
Wherein: y
i(t)---the car body obliqueness input function; H (t)---the car light optical axis is apart from the ground level function; Can get by the adaptive front lighting lamp system vertical property:
Can draw y by formula (7) and (8)
o(t) and y
i(t) relation between is as follows:
Wherein: y
o(t)---car light vertical output drift angle;
(4) set up the mass motion model of adaptive front lighting lamp system:
Comprehensive above-mentioned car light level and vertical direction deflection model, the mass motion model that draws adaptive front lighting lamp system is:
2. the control method of the adaptive front lighting lamp system of a kinematics model that utilizes adaptive front lighting lamp system as claimed in claim 1, it is characterized in that: this method comprises:
(1) adaptive front lighting lamp system control module ECU is by vehicle body sensor acquisition steering wheel angle signal, the speed of a motor vehicle and overall height signal;
(2) with carrying out preliminary treatment after the above-mentioned signal A/D conversion that collects, draw the level and vertical drift angle of car light current state by described car light horizontal deflection model and car light vertical deflection model;
(3) move with the stepping motor that vertical drift angle drives as car light actuator according to the level of above-mentioned car light by driver, to reach best illuminating effect.
3. the control method of adaptive front lighting lamp system according to claim 2, it is characterized in that: the level of described car light is to draw according to following process with vertical drift angle:
(2-1) carry out preliminary treatment after the pick-up transducers data,
(2-2) current state of judgement car light supervisory control system; Judge whether to open or the closing vehicle lamp supervisory control system according to current vehicle speed, then control the lamp system monitoring and be in opening, and carry out following step (2-3) and (2-4) simultaneously if satisfy unlocking condition; Otherwise the monitoring of control lamp system is in closed condition, and returns above-mentioned steps (2-1);
(2-3) current state of judgement car light horizontal adjusting system is determined to open or closing vehicle lamp horizontal adjusting system; That is: spend greater than ± 12 when steering wheel angle, under the situation of the speed of a motor vehicle greater than 20Km/h, car light horizontal adjusting system opens simultaneously; When steering wheel angle less than in ± 9 degree, or under the situation of the speed of a motor vehicle less than 10Km/h, car light horizontal adjusting system closing, car light is got back to original position in the horizontal direction;
If open car light horizontal adjusting system,, utilize the horizontal deflection model of described car light to draw the X deflection angle of left car light or right car light according to the steering wheel angle direction;
Judge whether above-mentioned drift angle angle exceeds the car light slewing area,, then directly level angle is made zero if do not exceed its slewing area; If exceed slewing area, then export the drift angle and equal after the maximum rotation angle level angle to be made zero;
(2-4) current state of the vertical Adjustment System of judgement car light is determined to open or the vertical Adjustment System of closing vehicle lamp; That is: spend greater than ± 2 when vehicle body tilts forward and back angle, under the situation of the speed of a motor vehicle greater than 20Km/h, the vertical Adjustment System of car light is opened simultaneously; Spend smaller or equal to ± 2 when vehicle body tilts forward and back angle, or under the situation of the speed of a motor vehicle less than 10Km/h, the vertical Adjustment System of car light is closed, car light is got back to original position in vertical direction;
If open the vertical Adjustment System of car light, then draw the vertical deflection angle of left and right car light respectively according to the vertical deflection model of above-mentioned car light;
Judge whether above-mentioned drift angle angle exceeds the car light slewing area,, then directly made zero in vertical drift angle if do not exceed its slewing area; If exceed slewing area, then export the drift angle and equal after the maximum rotation angle to be made zero in vertical drift angle.
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