JP3518349B2 - Pitching angle calculation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the correct car height reference value using a simple method and calculate accurate pitching angle. SOLUTION: Setting is made for the car height reference value hf0 in a specified position Pf on the front part of a vehicle when it is in the reference attitude and the car height reference value hr0 in another specified position Pr on the rear part of the vehicle, and a pitching angle calculating device calculates the pitching angle of a vehicle on the basis of the difference between these reference values and the car height sensing value hf in the position Pf when the vehicle is running and the car height sensing value hr in the position Pr, wherein the arrangement includes car height sensing means 1 and 2 to sense the car height values hff and hfr in the positions Pf and Pr when the vehicle is in the specified condition and reference value calculating means 33 and 36 to correct the sensed values of car height hff and hfr using the car height correction value αf in the preset position Pf and the car height correction value αr in the position Pr and calculate the car height reference values hf0 and hr0 when the vehicle is in the reference attitude. Thereby a correct car height reference value for calculating the pitching angle can be set by a simple method even if the vehicle does not take the reference attitude, and it is possible to calculate accurate pitching angle when the vehicle is running.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pitching angle calculating device, and more particularly to an improved method for setting a vehicle height reference value used for calculating a pitching angle.

[0002]

2. Description of the Related Art The applicant of the present invention measured and memorized the vehicle height reference values of front and rear wheel positions under correct measurement conditions at the time of factory shipment of a completed vehicle. Has been proposed, and a pitching angle calculation device for calculating the pitching angle of the vehicle based on the deviation of the vehicle height detection value from the reference value has been proposed (for example, see Japanese Patent Application No. 10-1030).

The correct measurement conditions for the vehicle height reference value are the number of occupants and the riding positions, the weight and loading position of the cargo, the amount of fuel and oils, tire air pressure, and other variables that change the vehicle height.
It is a standard vehicle attitude that is obtained when the value is set in advance at the vehicle design stage (hereinafter referred to as a design empty vehicle).

However, when the vehicle is shipped from the factory, it is shipped in a state different from the above-described empty design state (hereinafter referred to as a factory empty vehicle). Therefore, in order to measure the vehicle height reference value, the designed empty state is once realized, and after measurement. You have to return to the factory empty condition. Therefore, a lot of man-hours are required such as refueling and withdrawal of fuel and adjustment of tire air pressure. However, if the vehicle height reference value is measured when the factory is empty, the correct pitching angle cannot be calculated.

An object of the present invention is to set a correct vehicle height reference value and calculate an accurate pitching angle by a simple method.

[0006]

(1) The invention of claim 1
Is a predetermined position P f at the front of the vehicle in a predetermined state of the vehicle.
Vehicle height value h ff of the vehicle and a vehicle height value h f of a predetermined position P r at the rear of the vehicle.
While detecting r , the vehicle height at a predetermined position P f during vehicle operation
Vehicle height detection for detecting the value h f and the vehicle height value h r at a predetermined position P r
Outputting means and vehicle height at a predetermined position P f in the reference posture of the vehicle
A vehicle height H dr value H df and a predetermined position P r, the vehicle
Vehicle height value H ff at a predetermined position P f in a predetermined state and a place
The difference (H ff −H df ) between the fixed position P r and the vehicle height H fr , (H fr
−H dr ) is a vehicle height correction value α f (= H ) at a predetermined position P f .
ff −H df ) and the vehicle height correction value α r (= H ) at the predetermined position P r
storage means for storing as fr -H dr), in position P f
Definitive height correction value alpha f and vehicle height correction value at a predetermined position P r
The vehicle height detection value in the given state of the vehicle using α r
The vehicle height of the vehicle in the reference posture is corrected by correcting h ff and h fr.
A reference value calculating means for calculating the reference values h f0 and h r0 ,
Based on the distance between the predetermined position P f and the predetermined position P r , the predetermined position
The vehicle height at the position P f from the vehicle height reference value h f0
It changes to the vehicle height detection value h f and at the predetermined position Pr
The vehicle height is detected from the vehicle height reference value h r0 during vehicle operation.
The pitching angle when changing to h r is calculated. (2) A pitching angle calculation device according to a second aspect of the present invention is provided in front of a vehicle.
Note: At least the number of passengers, boarding position,
Check the load, the amount of fuel and oils, and the tire pressure.
It is in a state where each has a predetermined value. (3) The pitching angle computing device according to claim 3 is provided in front of the vehicle.
The predetermined state is a predetermined state at the time of factory shipment. (4) The pitching angle calculation device according to claim 4 is provided in front of the vehicle.
Note: The specified state is a preset state at the time of shipment from the store.
It (5) In the pitching angle calculation device according to claim 5, the remaining fuel is used.
Based on the remaining amount detection means to detect the amount and the remaining fuel amount detection value
And first correction means for correcting the vehicle height correction values α f and α r.
Get (6) pitching angle computing device of claim 6, the tire
Air pressure detection means to detect air pressure, and based on the air pressure detection value
Based on the second correction means for correcting the vehicle height correction values α f and α r
Equipped with. (7) The pitching angle computing device according to claim 7 is a product of an occupant and a product.
An occupant load detection method that detects only the load, and the occupant and the load
Third method for correcting the vehicle height correction values α f and α r based on the detection result
And the correction means of. (8) The pitching angle computing device according to claim 8 is a vehicle height correction device.
Input the values α f , α r or vehicle height reference values h f0 , h r0
Means are provided.

In the section of means for solving the above-mentioned problems, the drawings of one embodiment are used for the sake of easy understanding, but the present invention is not limited to this embodiment. .

[0008]

According to the present invention, a correct vehicle height reference value for pitching angle calculation can be set by a simple method even when the vehicle is not in the reference posture, and when the vehicle is in operation. An accurate pitching angle can be calculated. In addition, by correcting the vehicle height correction value based on the remaining fuel amount, by correcting the vehicle height correction value by the tire air pressure, or by correcting the vehicle height correction value depending on the occupant and load conditions, more accurate The vehicle height reference value can be set.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION According to the present invention, the angle of a headlamp reflector is automatically adjusted according to a change in pitching angle of a vehicle, and the optical axis of the headlamp is kept constant even if the pitching angle changes. An embodiment applied to an auto levelizer will be described. The present invention is not limited to the headlamp auto leveler, and can be applied to all devices that perform control based on the pitching angle.

First, a method of calculating the pitching angle θ will be described with reference to FIG. The vehicle height detection value at the front wheel position of the vehicle is h
If f, the vehicle height reference value is hf0, the vehicle height detection value at the rear wheel position is hr, and the vehicle height reference value is hr0, the vehicle heights at the front and rear wheel positions are changed from the reference values hf0 and hr0 to the detection values hf and hr, respectively. The pitching angle θ when changing is

## EQU1 ## θ = arc-tan [{(hf-hf0)-(hr-hr
0)} / W] In Formula 1, W is the distance (wheelbase length) from the front wheel to the rear wheel.

In this embodiment, an example in which the pitching angle is obtained from the vehicle heights of the front wheel position and the rear wheel position of the vehicle is shown. However, the vehicle height detection position is not limited to the front and rear wheel positions, and a predetermined front portion of the vehicle is used. The pitching angle may be calculated based on the vehicle height value at the position Pf and the predetermined position Pr at the rear of the vehicle, and the distance between the positions Pf and Pr.

Next, the design empty state and the factory empty state will be described with reference to FIG. In this embodiment, FIG.
As shown in (a), there is one occupant weighing 60 kg only in the driver's seat, no cargo is loaded in the trunk, full of oils such as fuel and oil, and tire pressure of 2.1 kg.
This state is referred to as the "design empty vehicle" state, and the vehicle attitude in this design empty vehicle state is used as the reference attitude. Then, the vehicle height values at the front wheel position and the rear wheel position in the empty design state determined by desk calculation or actual vehicle measurement are defined as Hdf and Hdr, respectively.

The angle at which the vehicle inclines in the front-rear direction from the reference posture in the empty design state is the pitching angle θ of the vehicle.
Further, in this reference posture, the optical axis of the headlamp is adjusted downward by 0.57 degrees from the horizontal plane, and that position is the reference position of the headlamp reflector.

In this embodiment, as shown in FIG. 2 (b), no fuel is loaded on the occupant and no cargo is loaded.
Only 0 liters and tire air pressure of 3.5kg are called "factory empty". Then, the vehicle height values at the front wheel position and the rear wheel position in the factory empty state determined by desk calculation or actual vehicle measurement are set to Hff and Hfr, respectively.

Here, the difference between the vehicle height set value Hdf in the design empty state at the front wheel position and the vehicle height set value Hff in the factory empty state is αf, and the vehicle height set value Hd in the designed empty state at the rear wheel position.
The difference between r and the vehicle height setting value Hfr in the empty state of the factory is defined as αr.

[Number 2] H ff -H df = αf, H fr -H dr = αr

Next, the vehicle height difference αf obtained from the vehicle height set values Hdf, Hff, Hdr, Hfr at the front and rear wheel positions of the model vehicle,
Using αr, the vehicle height reference value hf for individual vehicles of the same vehicle type
A method of calculating 0 and hr0 by calculation will be described. In the following, the vehicle height differences αf and αr are referred to as vehicle height correction values for correcting the vehicle height detection value in the factory empty state and calculating the vehicle height reference value in the designed empty state.

When the vehicle height detection values of the front and rear wheel positions obtained in the factory empty state at the time of factory shipment of the vehicle of the same model vehicle as the model vehicle are hff and hfr, these are the above vehicle height set values in the factory empty state of the model vehicle. It does not completely match Hff and Hfr, and has some error. However, since this error is so small that it can be ignored in the calculation of the pitching angle, the vehicle height correction value α
Vehicle height detection values hff and hfr in the empty factory condition using f and αr
Is corrected and the vehicle height reference values hf0 and hr0 in the empty design state are calculated.

## EQU00003 ## hf0 = hff-.alpha.f, hr0 = hfr-.alpha.r Then, using the calculated vehicle height reference values hf0 and hr0 in the empty design state, the pitching angle .theta.

FIG. 3 is a diagram showing the configuration of one embodiment. The vehicle height sensor 1 is attached to the suspension arm for the front right wheel and detects the arm angle. The vehicle height sensor 2 is attached to the suspension arm for the right rear wheel and detects the arm angle. The controller 3 is composed of a microcomputer and its peripheral parts, and executes a control program described later to execute vehicle height reference values hf0 and hr0.
And the pitching angle θ are calculated, and the optical axis of the headlamp is adjusted according to the pitching angle θ. The right headlamp leveler 4 tilts the right headlamp reflector to adjust the optical axis angle of the right headlamp. The left headlamp leveler 5 tilts the left headlamp reflector to adjust the optical axis angle of the left headlamp. The initialization switch 6 sets the vehicle height reference value hf at the front and rear wheels.
A switch for initializing 0 and hr0.

In this embodiment, an example in which vehicle height sensors are installed on the right front wheel and the right rear wheel to detect vehicle heights at the front and rear wheels, however, vehicle height sensors are installed on the left front wheel and left rear wheel. The vehicle height at the front and rear wheel positions may be detected by installing vehicle height sensors on all four wheels to obtain the vehicle height average values for the front and rear wheels, respectively. Good.

The controller 3 constitutes the control block shown in FIG. 3 in the software form of a microcomputer. The front vehicle height conversion unit 31 converts the suspension arm angle detected by the right front wheel vehicle height sensor 1 into the vehicle height hf at the front wheel position. The front vehicle height reference value correction value storage unit 32 is a memory that stores the vehicle height reference value hf0 at the front wheel position and the vehicle height correction value αf. The front reference value calculation unit 33 corrects the vehicle height detection value hff in the factory empty state by the mathematical expression 3 using the vehicle height correction value αf, and calculates the vehicle height reference value hf0 in the design empty state.

Similarly, the rear vehicle height conversion unit 34 converts the suspension arm angle detected by the right rear wheel vehicle height sensor 2 into the vehicle height hr at the rear wheel position. The rear vehicle height reference value correction value storage unit 35 is a memory that stores the vehicle height reference value hr0 at the rear wheel position and the vehicle height correction value αr. Rear reference value calculation unit 36
Uses the vehicle height correction value αr to correct the vehicle height detection value hfr in the factory empty state by Formula 3, and calculates the vehicle height reference value hr0 in the designed empty vehicle state.

The pitching angle calculation unit 37 calculates the vehicle height based on the vehicle height detection value hf and the vehicle height reference value hf0 at the front wheel position and the vehicle height detection value hr and the vehicle height reference value hr0 at the rear wheel position according to the above formula (1). The pitching angle θ of the vehicle from the reference posture in the empty design state is calculated. Further, the reflector control angle calculation unit 38 changes the optical axes of the left and right headlamps, which are set 0.57 degrees downward from the horizontal plane with respect to the reference posture in the empty design state, according to the pitching angle θ of the vehicle. Calculate the control angle of the headlamp reflector of. The left and right headlamp levelers 4, 5 tilt the reflector according to the reflector control angle, and adjust the optical axis of the headlamp to a position according to the pitching angle θ of the vehicle.

FIG. 4 is a flow chart showing the initialization process of the controller 3. With this flowchart, the initialization process at the time of factory shipment for each vehicle of the same vehicle type as the model vehicle will be described. The controller 3 executes this initialization process when the initialization switch 6 is operated in a factory empty state. In step 1, the vehicle height sensor 1 for the right front wheel and the vehicle height sensor 2 for the right rear wheel are used to detect the vehicle height at the front wheel position and the vehicle height at the rear wheel position. The vehicle height detection value hfr at the position is set. In the following step 2, the vehicle height detection values hff and hfr in the factory empty state are corrected using the vehicle height correction values αf and αr in accordance with the above equation 3, and vehicle height reference values hf0 and hr0 in the designed empty state are calculated. Then, in step 3, the vehicle height reference values hf0 and hr0 are stored in the memory.

<< First Modified Example of One Embodiment of the Invention >> A first modified example of the above embodiment in which initialization is performed at a store will be described. When the vehicle is initialized, it is easy to bring the vehicle into the designed empty state described above, and it is not necessary to calculate the vehicle height reference values hf0 and hr0.

FIG. 5 is a flow chart showing an initialization process when the vehicle is shipped from the factory and the dealership realizes the empty design state and initializes the vehicle height reference value again. When the initialization switch 6 is operated, the controller 3 starts executing this process. First, in step 11, it is confirmed whether or not this initialization is the first time. In the case of the first initialization, the process proceeds to step 12, and it is determined that the initialization is performed at the time of factory shipment, and the processes of steps 13, 14, and 17 are performed. The factory initialization processing in these steps 13, 14, and 17 is the same as the processing in steps 1, 2, and 3 shown in FIG. 4 described above, and a description thereof will be omitted.

In the case of initialization after the second time, step 15
Then, it is determined that the initialization is performed at the store. Initialization at this store is performed with the vehicle in the design empty state, and therefore it is not necessary to calculate the vehicle height reference values hf0 and hr0. Therefore, in step 16, the vehicle heights of the front wheel position and the rear wheel position in the design empty state are detected and set as the vehicle height reference value hf0 of the front wheel position and the vehicle height reference value hr0 of the rear wheel position, respectively. Then, in step 17, the vehicle height reference values hf0 and hr0 are stored.

<< Second Modified Example of One Embodiment of the Invention >> In the above modified example, an example is shown in which the dealership realizes the designed empty state to initialize the vehicle height reference value. A second modified example will be described in which a "store empty" state different from the factory empty state is defined and the vehicle height reference value is initialized again in that state.

The vehicle height difference (vehicle height correction value) at the front wheel position between the design vacant state (vehicle standard posture) and the store vacant state is α
f'and the vehicle height difference (vehicle height correction value) at the rear wheel position is α
r '. These correction values αf 'and αr' are set in advance,
If it is stored, the vehicle height detection values hdf and hdr at the front and rear wheel positions in the empty state of the store are respectively vehicle height correction values αf ′ and α.
It is possible to calculate the vehicle height reference values hf0 and hr0 in the reference posture in the design empty vehicle state by correcting with r '. That is,

## EQU00004 ## hf0 = hdf-.alpha.f ', hr0 = hdr-αr '

FIG. 6 is a flow chart showing an initialization process in the case where the store is emptied and the vehicle height reference value is initialized again after the factory shipment. It should be noted that the same step numbers are given to the steps that perform the same processing as the processing shown in FIG. 5, and the description will focus on the differences. If it is determined to be initialized at the store, in step 16A,
When the dealer's vehicle is empty, the right front wheel vehicle height sensor 1 and the right rear wheel vehicle height sensor 2 detect the vehicle height at the front wheel position and the vehicle height at the rear wheel position. The vehicle height detection value hdr at the rear wheel position is used. Continued Step 16B
Then, using the vehicle height correction values αf ′ and αr ′, the vehicle height detection values hdf and hdr in the empty state of the store are corrected by the above mathematical formula 4, and the vehicle height reference values hf0 and hr0 in the empty design state are calculated. And
In step 17, the vehicle height reference values hf0 and hr0 are stored in the memory.

<< Third Modification of One Embodiment of the Invention >> Since the vehicle height changes depending on the remaining amount of fuel, the change in the vehicle height at the front and rear wheels with respect to the remaining amount of fuel is measured in advance to determine the remaining amount of fuel. The vehicle height correction value αf in the factory empty state described above according to the change of
By correcting αr, more accurate vehicle height reference values hf0 and hr0 can be obtained.

FIG. 7 is a diagram showing the configuration of the third modification. The same components and control blocks as those shown in FIG. 3 are designated by the same reference numerals, and different points will be mainly described. The fuel liquid level detection sensor 7 detects the liquid level of the fuel and measures the remaining amount of fuel. The front reference value calculation unit 33A and the rear reference value calculation unit 36A correct the vehicle height correction values αf and αr in the factory empty state according to the measured fuel remaining amount.

Of course, it is also possible to correct the vehicle height correction values αf 'and αr' in the empty state of the dealer described above according to the remaining fuel amount.

<Fourth Embodiment of One Embodiment of the Invention> Since the vehicle height changes depending on the tire air pressure, the vehicle height change of the front and rear wheel positions with respect to the tire air pressure change is measured in advance, and It is possible to correct the vehicle height correction values αf and αr in the empty state of the factory described above according to the change in the air pressure to obtain more accurate vehicle height reference values hf0 and hr0.

FIG. 8 is a diagram showing the configuration of the fourth modification. The same components and control blocks as those shown in FIG. 3 are designated by the same reference numerals, and different points will be mainly described. The tire air pressure sensor 8 has pressure sensors installed in all four tires to detect the air pressure of each wheel. Front reference value calculation unit 33B and rear reference value calculation unit 36B
Determines the average air pressure value of the front tires and the average air pressure value of the rear tires, and corrects the vehicle height correction values αf and αr in the factory empty state according to the change in the air pressure of the front and rear wheels.

Incidentally, it is of course possible to correct the vehicle height correction values αf 'and αr' in the empty state of the dealer described above according to the change in tire air pressure. Further, in the above modification, the example in which the tire pressure is directly detected is shown, but the vehicle height is detected by the vehicle height sensor, and the tire pressure of each wheel is estimated based on the change amount from the regular vehicle height. You may

<Fifth Modification of the Embodiment of the Invention> Since the vehicle height changes depending on the number of occupants, the boarding positions, and the load of the cargo, the front and back of the number of occupants and the boarding positions and the load of the cargo change. The vehicle height change of the wheel position is measured in advance, and the above-mentioned vehicle height correction values αf and αr in the factory empty state are corrected according to the changes of the occupant and the load to obtain more accurate vehicle height reference values hf0 and hr0. be able to.

FIG. 9 is a diagram showing the configuration of the fifth modification. The same components and control blocks as those shown in FIG. 3 are designated by the same reference numerals, and different points will be mainly described. The occupant load detection sensor 9 detects the number of occupants, the boarding position, and the load of the load. The occupant can detect it with a seat switch installed in each seat or an infrared sensor. The weight of one occupant is, for example, 60 kg, and the change in vehicle height with respect to changes in the number of occupants and the boarding position is measured in advance. The load of the cargo is detected by the pressure sensor installed on the trunk floor. The front reference value calculation unit 33C and the rear reference value calculation unit 36C correct the vehicle height correction values αf, αr in the empty state of the factory according to the number of passengers, the riding position, and the load of the load.

It should be noted that the vehicle height correction value α in the above-mentioned empty state of the store is determined according to the number of passengers, the boarding positions, and the load of the load.
Of course, it is possible to modify f'and αr '.

<< Sixth Modification of One Embodiment of the Invention >> As shown in FIG. 10, an input device 10 is provided, and a vehicle height correction value α is set.
f, αr, αf ', αr' or vehicle height reference values hf0, hr0
May be input directly from the input device 10.

In the configuration of the above embodiment, the right front wheel vehicle height sensor 1 and the left rear wheel vehicle height sensor 2 serve as vehicle height detecting means, and the controller 3 has storage means, reference value computing means, and first to third portions. The fuel liquid level detection sensor 7 constitutes the remaining amount detection means, the tire air pressure sensor 8 constitutes the air pressure detection means, the occupant load detection sensor 9 constitutes the occupant load detection means, and the input device 10 constitutes the input means. .

In the above-described embodiment and its modification, an example is shown in which the vehicle height reference value is initialized at the time of factory shipment and at the time of shipment from the dealer, but the present invention is limited to the time of shipment from the factory and at the time of shipment from the dealer. Instead, it is possible to prescribe the vehicle height correction value in that vehicle state by prescribing the vehicle states other than those and thereby initializing the vehicle height reference value.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a method of calculating a pitching angle.

FIG. 2 is a diagram showing a design empty state and a factory empty state.

FIG. 3 is a diagram showing a configuration of an embodiment.

FIG. 4 is a flowchart showing an initialization process according to an embodiment.

FIG. 5 is a flowchart showing an initialization process of a first modified example.

FIG. 6 is a flowchart showing an initialization process of a second modified example.

FIG. 7 is a diagram showing a configuration of a third modified example.

FIG. 8 is a diagram showing a configuration of a fourth modified example.

FIG. 9 is a diagram showing a configuration of a fifth modified example.

FIG. 10 is a diagram showing a configuration of a sixth modified example.

[Explanation of symbols]

1 Right front wheel height sensor 2 Right rear wheel height sensor 3 Controller 4 Right headlamp / leveler 5 Left headlamp / leveler 6 Initialization switch 7 Fuel level sensor 8 Tire pressure sensor 9 Occupant load sensor 10 Input device 31 Front vehicle height conversion unit 32 Front vehicle height reference value correction value storage unit 33, 33A, 33B, 33C, 33D Front reference value calculation unit 34 Rear vehicle height conversion unit 35 Rear vehicle height reference value correction value storage unit 36, 36A, 36B , 36C, 36D Rear reference value calculator 37 Pitching angle calculator 38 Reflector control angle calculator

Claims (8)

(57) [Claims] 1. A predetermined front part of a vehicle in a predetermined state of the vehicle
Vehicle height value h ff at position P f and vehicle at predetermined position P r at the rear of the vehicle
The high value h fr is detected and the predetermined position P when the vehicle is operating
detecting a vehicle height value h r of the vehicle height h f and the predetermined position P r of f
The vehicle height detection means and the vehicle height value H df at a predetermined position P f in the reference posture of the vehicle and
And the vehicle height value H dr at the predetermined position P r and the predetermined state of the vehicle.
Of the vehicle height value H ff of the predetermined position P f and the predetermined position P r of
The difference between the vehicle height value H fr (H ff −H df ), (H fr −H dr ),
The vehicle height correction value α f (= H ff −H df ) at the predetermined position P f
The vehicle height correction value α r (= H fr −H dr ) at the predetermined position P r
Storage means for and storing, your vehicle height correction value alpha f and predetermined position P r at the predetermined position P f
The vehicle height correction value α r is used to adjust the vehicle to the predetermined state.
Correct the vehicle height detection values h ff and h fr
Calculation of reference values h f0 and h r0
And means, based on the distance from a predetermined position P f and the predetermined position P r, the predetermined position
The vehicle height at the position P f from the vehicle height reference value h f0
It changes to the vehicle height detection value h f and at the predetermined position Pr
The vehicle height is detected from the vehicle height reference value h r0 during vehicle operation.
A pitching angle calculation device for calculating a pitching angle when changed to h r . 2. The pitching angle calculation device according to claim 1, wherein the predetermined state of the vehicle is at least the number of occupants and the riding position.
Storage, load of cargo, amount of fuel and oils and empty tires
A pitching angle calculation device characterized in that the atmospheric pressure is set to a predetermined value . 3. The pitching angle calculation device according to claim 1 , wherein the predetermined state of the vehicle is a predetermined state at the time of factory shipment.
Pitching angle computing device, characterized in that it. 4. The pitching angle calculation device according to claim 1 , wherein the predetermined state of the vehicle is a predetermined state at the time of shipment from a dealer.
A pitching angle calculation device characterized by being in a state . 5. The pitching angle computing device according to any one of claims 1 to 4, wherein a remaining amount detecting means for detecting a remaining amount of fuel, and a vehicle height correction value α based on the remaining fuel amount detected value. modify f , α r
And a first correcting means for controlling the pitching angle. 6. The pitching angle computing device according to any one of claims 1 to 5, wherein air pressure detection means for detecting tire air pressure, and vehicle height correction values α f , α r based on the air pressure detection value. To fix
A pitching angle calculation device, comprising: a second correction means . 7. The pitching angle computing device according to claim 1, wherein the occupant load detecting means for detecting the occupant and the load, and the vehicle height correction value α based on the detection result of the occupant and the load. f , α r
And a third correcting means for correcting . 8. The pitching angle calculation device according to claim 1, wherein vehicle height correction values α f , α r or vehicle height reference values h f0 , h r0 are input.
A pitching angle calculation device, comprising: