CN103863174A - Predictive follow-up control method for vehicle headlamps - Google Patents
Predictive follow-up control method for vehicle headlamps Download PDFInfo
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- CN103863174A CN103863174A CN201310033408.4A CN201310033408A CN103863174A CN 103863174 A CN103863174 A CN 103863174A CN 201310033408 A CN201310033408 A CN 201310033408A CN 103863174 A CN103863174 A CN 103863174A
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Abstract
The invention discloses a predictive follow-up control method for vehicle headlamps, and aims to overcome the shortcoming of incapability of regulating the illumination state of conventional vehicle headlamps according to a current steering state and requirements on the safe running of the vehicle in a steering process of a vehicle. The control method comprises the following steps of acquiring angular velocity in the steering process of the vehicle in real time; setting a prediction time interval, and determining the product of the prediction time interval and the angular velocity of any moment in the steering process of the vehicle as a predicted deflection angle of the vehicle at the moment; determining the predicted deflection angle of the vehicle at the moment as a follow-up control angle of the vehicle headlamps at the moment. According to the method, deflection angle changes during the steering of the vehicle are predicted to correspondingly compensate the deflection angle of the headlamps to realize dynamic adaptive follow-up regulation; the vehicle dynamically runs, an angular velocity value can be dynamically and instantly obtained, and the predicted angle can be regulated at any time, so that prediction errors are reduced to a great extent.
Description
Technical field
The present invention relates to vehicle car light control technology field, specifically, relate to a kind of vehicle head lamp forecasting type follow-up control method.
Background technology
The head lamp of vehicle is arranged on the front portion of whole car, and it mainly plays illumination and signal function.The light that the head lamp playing a role in lighting sends can illuminate the road conditions in car body front, makes the driver can be in the driving of night or the bad place safety of light, and the head lamp of its illuminating effect can be divided into halogen tungsten lamp, xenon lamp etc. according to light source.
In the process of moving, due to different road conditions, different driving states, actual to the lighting requirement of head lamp is different to vehicle, and especially vehicle is in the time turning, and for the requirement to vehicle safe driving, it is different that the illumination condition of head lamp is required.And existing a lot of vehicle head lamp does not possess any regulatory function, under the different lighting demands of vehicle, car light, often all in identical state, is disadvantageous to the traffic safety of vehicle so so.
Summary of the invention
The present invention be directed to existing vehicle head lamp in turn inside diameter process, cannot, according to current turn condition and the deficiency that cannot adjust headlamp lighting state according to the requirement of vehicle safe driving, provide a kind of vehicle head lamp forecasting type follow-up control method.
The technical matters that will solve required for the present invention, can be achieved through the following technical solutions:
A kind of vehicle head lamp forecasting type follow-up control method, is characterized in that, comprises the steps:
1) cireular frequency in Real-time Obtaining turn inside diameter process;
2) set a predicted time interval, using in predicted time interval and turn inside diameter process any time cireular frequency product as the prediction pendulum angle of this moment vehicle;
3) the servo-actuated control angle of this moment head lamp using the prediction pendulum angle of this moment vehicle as vehicle, and drive head lamp to rotate corresponding angle.
In the present invention, in step 1), the angle speed in turn inside diameter process is obtained by angular velocity sensor.
In the present invention, step 2) in, described predicted time interval is a constant in same once turning process; Described predicted time is spaced apart 0.3 second to 1 second, and preferred, described predicted time is spaced apart 0.5 second.
In the present invention, in step 3), set lower limit and the higher limit of vehicle prediction pendulum angle, when the prediction pendulum angle of this moment vehicle is less than the lower limit of setting, the servo-actuated control angle of head lamp is zero, and head lamp does not rotate; When the prediction pendulum angle of this moment vehicle is greater than the higher limit of setting, the servo-actuated control angle of head lamp is described higher limit.
Described higher limit, is 15 degree for the outside head lamp of Ackermann steer angle, and the inner side head lamp of Ackermann steer angle is 7.5 degree.
Described lower limit is 20% of described higher limit.
Vehicle head lamp forecasting type follow-up control method of the present invention, the deflection angle of utilization prediction Ackermann steer angle changes head lamp is carried out to corresponding deflection angle compensation, realize dynamic self-adapting following adjustment, because vehicle is dynamic operation, it is also dynamically instant obtaining magnitude of angular velocity, the angle of prediction is also to adjust at any time processing, has so just reduced to a great extent the error of prediction; And determine and in turn inside diameter acquires a certain degree scope, carry out servo-actuated control by the threshold values of setting compensation angle, avoid the excessive frequent movement of controlling to improve its service life and reliability; Meanwhile, the present invention can, according to the left lamp of vehicle and right lamp running state and need the angle various criterion of beat in real-world operation, select to identify left lamp and right lamp by option switches, realizes the unitarity of hardware.
Accompanying drawing explanation
Further illustrate the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is vehicle prediction pendulum angle schematic diagram of the present invention.
The specific embodiment
In order to make technological means of the present invention, creation characteristic, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Purport of the present invention is, by to the vehicle safe driving analysis to vehicle head lamp lighting demand in the time turning of existing vehicle, for existing vehicle turn inside diameter process in, the problem that cannot adjust the illumination condition of head lamp according to turn condition, provides a kind of vehicle head lamp forecasting type follow-up control method.
State shown in Fig. 1 is vehicle turnon left state (situation of right-hand corner is similar), and the illumination direction of vehicle head lamp does not make any adjustments along vehicle body direction.And vehicle is when turning left, for traffic safety head lamp relatively vehicle body towards left side deflection (in like manner, the vehicle body of turning right is relatively towards right side deflection), in the present invention, has adopted following mode to limit and how to have carried out deflection.
When vehicle substantially has inertia and continuity in the time turning, in enough short time section, its angular velocity omega and run curve are consistent, cireular frequency when at initial position t1 is ω 1, cireular frequency when t2 is ω 2, t2-t1 is interval time Δ t, in the time calculating, Δ t is set to predicted time interval, at Δ t enough little and suitable in the situation that and operation we ω 1 that thinks that is similar to of characteristic that links up equal ω 2.
So, vehicle predicts that within the Δ t time pendulum angle is θ, θ=ω 1 * Δ t, like this, we can pass through the cireular frequency of angular transducer Real-time Obtaining vehicle in turning process, obtain vehicle operating magnitude of angular velocity and predict the prediction pendulum angle of vehicle after very short time Δ t on any time point.Obtain after the prediction pendulum angle of vehicle, the servo-actuated control angle of this moment head lamp using the prediction pendulum angle of this moment vehicle as vehicle, and drive head lamp to rotate corresponding angle, specifically can be with motor-car head lamp to carry out deflection by actr.Like this, because vehicle is dynamic operation, it is also dynamically instant obtaining magnitude of angular velocity, and the angle of prediction is also to adjust at any time processing, has so just reduced to a great extent the error of prediction.
In the same once turning process of vehicle, predicted time is spaced apart a constant, select suitable predicted time interval can more obtain the servo-actuated control angle of head lamp accurately, predicted time interval too small loses forecast function, excessive distortion lags behind, and predicted time interval was preferably 0.3 second between-1 second.According to documentation integrators such as " traffic engineerings ", normal driving personnel's speed of response is at approximately 0.3 second-1 second, it is the most rational that predicted time interval is chosen within the scope of this, preferably, predicted time is spaced apart 0.5 second, choosing 0.5 second is to belong to the qualified levels such as speed of response 3 at speed of response at 0.5 second, meets the average level of most of chaufeur.
For example, suppose that vehicle angular velocity omega is at any one time 30 °s/sec, the predicted time interval that we set is 0.5 second, now calculates in advance vehicle prediction pendulum angle and be °s/sec * 0.5 second=15 °, θ=ω * Δ t=30, and now needing the servo-actuated offset angle of car light is 15 °.
Certainly for fear of excessively frequent servo-actuated and the servo-actuated control angle of head lamp is carried out to irrational excessive control to vehicle head lamp control, to improve service life and the reliability of whole system, can determine and in turn inside diameter acquires a certain degree scope, carry out servo-actuated control by the threshold values of the servo-actuated control angle of setting vehicle head lamp.
Be we predict pendulum angle lower limit of setting and a higher limit to vehicle, when the prediction pendulum angle of this moment vehicle is less than the lower limit of setting, illustrate that now turn inside diameter is comparatively mild, head lamp is not all right to carry out servo-actuated control and also can not impact traffic safety, servo-actuated head lamp control angle is set as to zero, head lamp does not rotate, and avoids excessively frequent control of head lamp.
When the prediction pendulum angle of this moment vehicle is greater than the higher limit of setting, although now vehicle rotates comparatively rapid, but reaching a certain angle, the servo-actuated operating angle of head lamp can guarantee traffic safety, excessive servo-actuated operating angle likely impacts traffic safety on the contrary, now, servo-actuated head lamp control angle is set as to this higher limit, and, in the time that the prediction pendulum angle of this moment vehicle is greater than the higher limit of setting, the servo-actuated operating angle of head lamp keeps this higher limit.
For this higher limit, the outside head lamp of Ackermann steer angle is 15 degree, the inner side head lamp of Ackermann steer angle is 7.5 degree, this is because head lamp and inner side head lamp running state and to need the angular standard of servo-actuated control be different in real-world operation outside Ackermann steer angle, the present invention selects to identify outside head lamp and inner side head lamp by option switches, has realized the unitarity of hardware.The present invention predicts that Changing Pattern calculates offset angle in advance, avoids servo-actuated hysteresis quality.
Lower limit is preferably 20% of higher limit, this is according to the simplest 28 principles, within the scope of 80% hard-over, to carry out servo-actuated control, so when outside head lamp is 15 degree, inner side head lamp is that 7.5 degree are as higher limit, lower limit should be outside head lamp 15*20%=3 degree, inner side head lamp 7.5*20%=1.5 degree.
Below only just preferred embodiment of the present invention is described, but can not be interpreted as it is limitations on claims.The present invention is not only confined to above embodiment, and its concrete structure allows to change.In a word, all various variations of doing in the protection domain of independent claims of the present invention are all in protection scope of the present invention.
Claims (8)
1. a vehicle head lamp forecasting type follow-up control method, is characterized in that, comprises the steps:
1) cireular frequency in Real-time Obtaining turn inside diameter process;
2) set a predicted time interval, using in predicted time interval and turn inside diameter process any time cireular frequency product as the prediction pendulum angle of this moment vehicle;
3) the servo-actuated control angle of this moment head lamp using the prediction pendulum angle of this moment vehicle as vehicle, and drive head lamp to rotate corresponding angle.
2. a kind of vehicle head lamp forecasting type follow-up control method according to claim 1, is characterized in that: in step 1), the angle speed in turn inside diameter process is obtained by angular velocity sensor.
3. a kind of vehicle head lamp forecasting type follow-up control method according to claim 1, is characterized in that: step 2) in, described predicted time interval is a constant in same once turning process.
4. a kind of vehicle head lamp forecasting type follow-up control method according to claim 3, is characterized in that: described predicted time is spaced apart 0.3 second to 1 second.
5. a kind of vehicle head lamp forecasting type follow-up control method according to claim 3, is characterized in that: described predicted time is spaced apart 0.5 second.
6. a kind of vehicle head lamp forecasting type follow-up control method according to claim 1, it is characterized in that: in step 3), set lower limit and the higher limit of vehicle prediction pendulum angle, when the prediction pendulum angle of this moment vehicle is less than the lower limit of setting, the servo-actuated control angle of head lamp is zero, and head lamp does not rotate; When the prediction pendulum angle of this moment vehicle is greater than the higher limit of setting, the servo-actuated control angle of head lamp is described higher limit.
7. a kind of vehicle head lamp forecasting type follow-up control method according to claim 6, is characterized in that: described higher limit is 15 degree for the outside head lamp of Ackermann steer angle, and the inner side head lamp of Ackermann steer angle is 7.5 degree.
8. according to a kind of vehicle head lamp forecasting type follow-up control method described in claim 6 or 7, it is characterized in that: described lower limit is higher limit 20%.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407708A (en) * | 2018-01-24 | 2018-08-17 | 江苏大学 | A kind of automotive self-adaptive headlamp corner compensating control method based on ATSM |
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| JP2008100592A (en) * | 2006-10-18 | 2008-05-01 | Denso Corp | Traveling direction estimation device for vehicle and driving support system |
| CN101190664A (en) * | 2006-12-01 | 2008-06-04 | 丰田自动车株式会社 | Vehicular illumination system |
| CN101402331A (en) * | 2008-10-24 | 2009-04-08 | 上海电机学院 | Intelligent follow-up illumination method of car lamp |
| CN102114803A (en) * | 2011-02-25 | 2011-07-06 | 江苏洪昌科技股份有限公司 | Vehicle adaptive front-lighting curve control device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6626563B2 (en) * | 2000-10-03 | 2003-09-30 | Denso Corporation | Automatic optical-axis adjusting device for automatically adjusting optical axes of front lights of vehicle with reduced number of signals |
| EP1905643A2 (en) * | 2006-09-26 | 2008-04-02 | Valeo Vision | Method of early detection of a bend on a portion of road and associated system |
| JP2008100592A (en) * | 2006-10-18 | 2008-05-01 | Denso Corp | Traveling direction estimation device for vehicle and driving support system |
| CN101190664A (en) * | 2006-12-01 | 2008-06-04 | 丰田自动车株式会社 | Vehicular illumination system |
| CN101402331A (en) * | 2008-10-24 | 2009-04-08 | 上海电机学院 | Intelligent follow-up illumination method of car lamp |
| CN102114803A (en) * | 2011-02-25 | 2011-07-06 | 江苏洪昌科技股份有限公司 | Vehicle adaptive front-lighting curve control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108407708A (en) * | 2018-01-24 | 2018-08-17 | 江苏大学 | A kind of automotive self-adaptive headlamp corner compensating control method based on ATSM |
| CN108407708B (en) * | 2018-01-24 | 2021-02-12 | 江苏大学 | ATSM-based automobile adaptive headlamp turning angle compensation control method |
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| CN103863174B (en) | 2016-03-30 |
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