CN106232424B - 车辆的俯仰角计算装置以及光轴调整装置 - Google Patents

车辆的俯仰角计算装置以及光轴调整装置 Download PDF

Info

Publication number
CN106232424B
CN106232424B CN201580019880.XA CN201580019880A CN106232424B CN 106232424 B CN106232424 B CN 106232424B CN 201580019880 A CN201580019880 A CN 201580019880A CN 106232424 B CN106232424 B CN 106232424B
Authority
CN
China
Prior art keywords
acceleration
pitch angle
angle
vehicle
calculation part
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580019880.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN106232424A (zh
Inventor
水野龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of CN106232424A publication Critical patent/CN106232424A/zh
Application granted granted Critical
Publication of CN106232424B publication Critical patent/CN106232424B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/10—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
    • B60Q1/115—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B60Q2300/132—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN201580019880.XA 2014-04-18 2015-04-14 车辆的俯仰角计算装置以及光轴调整装置 Active CN106232424B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014-086492 2014-04-18
JP2014086492A JP6326932B2 (ja) 2014-04-18 2014-04-18 ピッチング角算出装置及び光軸調整装置
PCT/JP2015/061424 WO2015159872A1 (ja) 2014-04-18 2015-04-14 車両のピッチング角算出装置及び光軸調整装置

Publications (2)

Publication Number Publication Date
CN106232424A CN106232424A (zh) 2016-12-14
CN106232424B true CN106232424B (zh) 2018-12-28

Family

ID=54324077

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580019880.XA Active CN106232424B (zh) 2014-04-18 2015-04-14 车辆的俯仰角计算装置以及光轴调整装置

Country Status (4)

Country Link
US (1) US10099603B2 (enExample)
JP (1) JP6326932B2 (enExample)
CN (1) CN106232424B (enExample)
WO (1) WO2015159872A1 (enExample)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107036630B (zh) * 2017-04-27 2020-09-25 深圳市思拓通信系统有限公司 一种车辆驾驶预警装置安装角度的自动识别系统及方法
JP6936624B2 (ja) * 2017-05-19 2021-09-15 スタンレー電気株式会社 車両用灯具の制御装置および車両用灯具システム
JP6981795B2 (ja) 2017-07-10 2021-12-17 スタンレー電気株式会社 車両用灯具の制御装置および車両用灯具システム
DE102017217271A1 (de) * 2017-09-28 2019-03-28 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Ermittlung des Nickwinkels eines Kraftfahrzeugs
CN115697630A (zh) * 2020-05-28 2023-02-03 株式会社德山 层叠抛光垫
CN112379699B (zh) * 2020-11-19 2023-10-27 广州彩熠灯光股份有限公司 一种灯具挂载方向调节方法、系统、存储介质及终端
JP7331228B2 (ja) * 2021-11-17 2023-08-22 スタンレー電気株式会社 車両用灯具の制御装置および車両用灯具システム
CN116164251B (zh) * 2021-11-24 2025-01-21 常州星宇车灯股份有限公司 汽车灯具的控制方法、控制装置
JP7511970B2 (ja) * 2022-02-10 2024-07-08 パナソニックオートモーティブシステムズ株式会社 姿勢推定システム、制御システム、及び姿勢推定方法
KR102635242B1 (ko) 2022-05-30 2024-02-08 현대모비스 주식회사 도로 대비 차량의 기울기를 추정하기 위한 장치 및 그 방법

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4726277B2 (ja) * 2000-05-31 2011-07-20 株式会社デンソー 車両用前照灯光軸方向自動調整装置
JP2004168179A (ja) 2002-11-20 2004-06-17 Koito Mfg Co Ltd 車両用前照灯の照射方向制御装置
JP5787649B2 (ja) * 2010-10-26 2015-09-30 株式会社小糸製作所 車両用灯具の制御装置および車両用灯具システム
JP2012096664A (ja) * 2010-11-02 2012-05-24 Koito Mfg Co Ltd 車両用灯具の制御装置、車両用灯具システム、および車両用灯具の制御方法
JP5761982B2 (ja) * 2010-12-15 2015-08-12 株式会社小糸製作所 車両用灯具の制御装置
JP5713784B2 (ja) * 2011-04-22 2015-05-07 株式会社小糸製作所 車両用灯具の制御装置、および車両用灯具システム
EP2543541B1 (en) * 2011-07-04 2019-02-27 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Optical axis controller of automotive headlamp
JP2013129284A (ja) 2011-12-21 2013-07-04 Honda Motor Co Ltd ピッチング角処理装置
JP6008573B2 (ja) * 2012-05-17 2016-10-19 株式会社小糸製作所 車両用灯具の制御装置及び車両用灯具システム
US10001361B2 (en) * 2012-08-01 2018-06-19 Mitsubishi Electric Corporation Inclination detector and onboard apparatus
CN203549641U (zh) * 2013-10-24 2014-04-16 广州市光辰电子有限公司 一种光轴可多向调节的灯

Also Published As

Publication number Publication date
US20170043703A1 (en) 2017-02-16
US10099603B2 (en) 2018-10-16
JP6326932B2 (ja) 2018-05-23
WO2015159872A1 (ja) 2015-10-22
JP2015205570A (ja) 2015-11-19
CN106232424A (zh) 2016-12-14

Similar Documents

Publication Publication Date Title
CN106232424B (zh) 车辆的俯仰角计算装置以及光轴调整装置
JP4868964B2 (ja) 走行状態判定装置
US9912933B2 (en) Road surface detection device and road surface detection system
KR102845646B1 (ko) 관성 측정 유닛에 대한 캘리브레이션 장치 및 방법
CN102470874B (zh) 车辆控制装置及运算装置
CN107021059A (zh) 用于织带伸出的系统和方法
US10561356B2 (en) Driver's physical condition detection device and method
CN106767847A (zh) 一种车辆姿态安全预警方法及系统
JPWO2021124548A5 (enExample)
US20200039505A1 (en) Method and system for determining a fording situation
CN107615096A (zh) 动作检测装置
JP2019526481A5 (enExample)
CN108151824A (zh) 基于车载全景影像的水位识别方法及系统
JP2015116947A (ja) 乗員判定装置および乗員判定方法
JP5429565B2 (ja) 車高検出装置
WO2021044566A1 (ja) 体格判定装置および体格判定方法
CN106864461A (zh) 一种基于加速度传感器判断车辆运动行为的方法
US20230286346A1 (en) Vehicle suspension system
CN111891000B (zh) 在车辆内定位乘客的方法和系统
JP2024016186A (ja) 推定装置、制御方法、プログラム及び記憶媒体
CN113566777A (zh) 车辆俯仰角估计方法及其系统、计算机设备、存储介质
ATE499278T1 (de) Verfahren zur bestimmung des neigungswinkels eines zweirades sowie verfahren zur niveauregulierung eines gefederten zweirades
CN108646054A (zh) 一种车载加速传感器三轴自校准方法
CN206430715U (zh) 车载单目摄像头与六轴传感器结合测距系统
US8296049B2 (en) Vehicle control device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant