JP5361691B2 - Motorcycle angle estimation apparatus and method for motorcycle - Google Patents

Description

  The present invention, for example, in a motorcycle headlamp, is used for controlling a motorcycle headlamp that is variable in light distribution by rotating the optical axis in the opposite direction according to the bank angle of the vehicle body to expand the irradiation range. The present invention relates to a bank angle estimation apparatus and method.

  Usually, a motorcycle headlamp is used in a state of being fixed to the vehicle body.When driving a curve with such a motorcycle, if the vehicle body is banked, the optical axis of the headlamp also tilts. In the nighttime, there is a problem that irradiation to the inner side in the traveling direction of the vehicle body is reduced and the visibility of the rider is deteriorated. Recently, the visibility of the rider has been improved by rotating the optical axis in the direction opposite to the direction in which the vehicle body is banked by the driving force of an actuator such as a motor. There is a variable light distribution headlamp to be improved, and a motorcycle headlamp device including such a variable light distribution headlamp is known (for example, see Patent Document 1).

  The headlamp device for a motorcycle shown in Patent Document 1 includes a lamp body in which a light emitter and a lens facing the front surface thereof are rotatably provided around a central axis thereof, and a drive for rotating the lens and the bulb. And a rotation control means for detecting a bank angle of the vehicle body, and a direction in which a bank and a lens and a valve linked to the drive machine are banked based on the bank angle detected by the rotation control means. And rotate in the opposite direction.

  According to the invention of Patent Document 1, the bank angle of the vehicle body is easily and accurately calculated from the angular velocity in the horizontal plane and the vehicle speed, and based on the bank angle, the driving machine, and further the lens and the valve linked to the driving machine are banked. Since it rotates in the opposite direction, the light distribution of the headlamps increases in the direction of travel where the rider's line of sight faces when driving at night, and a wide field of view can be secured.

JP 2001-347777 A

  In the headlamp device for a motorcycle described in Patent Document 1, it is possible to obtain an estimated bank angle value equivalent to the actual bank angle of the vehicle body in a steady state of travel where the bank angle is constant. However, for example, when entering a curve, exiting a curve, or slaloming, when the vehicle body bank angle and the bank angular velocity change from moment to moment, the centrifugal force acting on the vehicle body and the hydrostatic force of gravity However, since the bank angular acceleration, which is a derivative of the bank angular velocity, greatly affects the estimated bank angle, there is a problem that a practical bank angle equivalent to the bank angle of the vehicle body cannot be estimated.

  The present invention has been made to solve the above-mentioned problems, and is not only in a steady state of travel where the bank angle is constant, for example, when entering a curve, exiting a curve, or slaloming. Furthermore, it is an object of the present invention to provide a motorcycle bank angle estimating apparatus and method for obtaining a practical bank angle that is equivalent to the bank angle of a vehicle body even in a running transient state in which the bank angle and the bank angular velocity fluctuate every moment. To do.

  According to the motorcycle bank angle estimating apparatus and method of the present invention, a light distribution variable headlamp that expands an irradiation range by rotating an optical axis in a direction opposite to the bank angle according to a bank angle of a motorcycle body. An apparatus and method for estimating a bank angle of a motorcycle used for light control, wherein a bank angle before correction is obtained based on an angular velocity around a vertical axis of a vehicle body detected by a sensor and a vehicle speed in a vehicle body traveling direction, and the bank before correction The first calculation unit (step) that obtains the bank angular velocity from the angle, obtains the bank angular acceleration from the bank angular velocity, and smoothes the obtained angular acceleration, and the angular velocity around the vertical axis of the vehicle body detected by the sensor and the vehicle body traveling direction A second computing unit (step) that integrates both based on the vehicle speed and smoothes the accumulated output, the output of the first computing unit (step), and the output of the second computing unit (step) Based on Comprising estimating unit for obtaining the rear bank angle (step).

  According to the present invention, the bank angle and the bank angular velocity are not changed in a steady state where the bank angle is constant, for example, when entering a curve, when leaving a curve, and when slaloming. Even in a fluctuating running transition state, a practical bank angle equivalent to the actual bank angle of the vehicle body can be obtained without excessively calculating the bank angle.

It is a figure which shows the headlamp system of the light distribution variable type in Embodiment 1 thru | or 3 of this invention. FIG. 6 is a diagram in which the bank behavior of a motorcycle in Embodiments 1 to 3 of the present invention is modeled as a two-dimensional in-plane motion. It is a figure which shows the bank angle calculating part in Embodiment 1 thru | or 3 of this invention.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a variable light distribution type headlamp system according to Embodiment 1 of the present invention. In FIG. 1, a headlight mechanism 7 that rotates an optical axis and an actuator 6 that drives the headlight mechanism 7 are controlled by a control device 1 so as to have a predetermined rotation angle. The control device 1 includes a bank angle calculation unit 2 and a control calculation unit 3. The bank angle calculation unit 2 uses a detection value of a vehicle speed sensor 4 that detects a speed in the vehicle body traveling direction and an angular velocity around the vehicle body vertical axis. The bank angle of the vehicle body is estimated based on the detected value of the gyro sensor 5 to be detected. The control calculation unit 3 generates a command for controlling the actuator 6 to a predetermined rotation angle based on the output of the bank angle calculation unit 2, and drives the actuator 6 by transmitting the command to a drive circuit (not shown). . Regarding the bidirectional arrow connecting the control calculation unit 3 and the actuator 6, an arrow from the control calculation unit 3 to the actuator 6 indicates a flow of a command for driving the actuator 6, and conversely, an arrow from the actuator 6 to the control calculation unit 3 is illustrated. The flow of the detection value by the position detection sensor with which the actuator which is not carried out is each represented.

  Next, a specific bank angle estimation method in the bank angle calculation unit 2 will be described with reference to FIGS. FIG. 2 is a model of the behavior of a motorcycle at the time of banking as viewed from the front wheel side as a two-dimensional in-plane motion. As the coordinate system, for example, the wheel contact point is set as the origin, the vertical upward direction is the z-axis positive direction, the vehicle body traveling direction is the x-axis positive direction, and the y-axis positive direction is set so that the z-axis and the x-axis have a right-handed relationship. . The total mass of the system, which is the sum of the vehicle body mass and the rider mass, is regarded as a concentrated mass concentrated at a distance L (m) from the wheel contact point, and this point is taken as the center of gravity of the system. The total mass is M (kg), the distance from the wheel contact point to the center of gravity is L (m), the bank angle is θ (rad), the vehicle speed is V (m / s), and the angular velocity in the z-axis direction is ωs (rad / s). ) And the symbol, the equation of rotational motion of the system around the x-axis at the wheel contact point is expressed by Equation (1).

  Equation (1) is transformed with respect to ωs × cos θ to obtain equation (2).

  ωs × cos θ is an angular velocity (hereinafter represented by symbol ω) detected by the gyro sensor 5 provided in the vehicle body. In a steady state where the vehicle body travels at a constant bank angle, the bank angular acceleration in equation (2)

Can be ignored. However, in a transitional state where the bank angle and bank angular velocity fluctuate from moment to moment, such as when entering a curve, exiting a curve, or slaloming, the bank angular acceleration

Cannot be ignored. Therefore, the steady state of travel (bank angular acceleration

Compared to ≒ 0), the running transient state (bank angular acceleration

In the case of ≠ 0), the output of the gyro sensor 5 is detected excessively by Δω shown in the equation (3).

  Therefore, in the headlamp control that takes into account the transient state of travel, it is necessary to calculate the bank angle based on Equation (2). A bank angle calculation unit based on the equation (2) is shown in FIG. 3, and specific processing of the bank angle calculation unit 2 will be described below.

  The bank angle calculation unit 2 mainly includes a first calculation unit 10, a second calculation unit 20, and an estimation unit 30. In the angle calculation unit 11 in the first calculation unit 10, the vehicle body traveling direction velocity V detected by the vehicle speed sensor 4 and the angular velocity ω around the vehicle body vertical axis (one-dot chain line A in FIG. 2) detected by the gyro sensor 5. , The pre-correction bank angle θ0 is calculated by equation (4).

  Here, g is a gravitational acceleration. As shown in Expression (4), the bank angle θ0 before correction calculated here is an angle determined from a static balance equation of a centrifugal force vector and a gravity vector acting on the system in a steady state of traveling.

  Next, the angular velocity calculation unit 12 calculates the angular velocity dθ0 from the current value of the bank angle θ0 before correction and the value one point before using the equation (5).

  Here, n is an integer, and Δt is a control cycle of the control device 1.

  Next, the angular acceleration calculation unit 13 calculates the angular acceleration ddθ0 from the current value of the angular velocity dθ0 and the value one point before by using Equation (6).

  The filter 14 is for attenuating the observation noise and the calculation noise due to numerical differentiation, and obtains ddθ0_f as the output. Here, the cutoff frequency of the filter 14 is set to, for example, about twice the frequency of the motion assumed in the slalom traveling with the largest fluctuation of the bank angular acceleration.

  On the other hand, in the second computing unit 20, the integrating unit 21 computes V × ω and further obtains Vω_f through the filter 22 that attenuates the observation noise. The cut-off frequency of the filter 22 is set to, for example, about twice the frequency of motion assumed in slalom running with the largest fluctuation in bank angular acceleration.

  Then, the estimation unit 30 calculates the corrected bank angle θ from the output ddθ0_f of the first calculation unit 10 and the output Vω_f of the second calculation unit 20 using Equation (7). Based on the post-correction bank angle θ, the control calculation unit 3 in the subsequent stage calculates a command to the actuator 6.

  As described above, according to the first embodiment of the present invention, the first calculation unit that calculates the bank angular acceleration from the bank angle obtained from the geometric relationship between the centrifugal force vector and the gravity vector, and the bank angular acceleration are taken into account. Since the estimation unit for calculating the corrected bank angle is provided, the bank angle (which is synonymous with the corrected bank angle θ) can be obtained even when the motorcycle is running, even in a transient state where the influence of the bank angular acceleration component cannot be ignored. Practical values can be obtained without being overestimated. As a matter of course, the bank angle θ can be estimated without any problem in the first embodiment of the present invention even in the steady state of traveling.

Embodiment 2. FIG.
In an ordinary motorcycle, it is rare to run with the vehicle body deeply banked, so it is considered that there is no practical problem even if the calculation shown in the first embodiment is simplified. Therefore, Embodiment 2 of the present invention shows a bank angle estimation method for a motorcycle in which the calculation formulas in the angle calculation unit 11 and the estimation unit 30 shown in FIG. 3 are simplified.

  Since it is rare for a normal motorcycle to travel with the vehicle body deeply banked, Equation (8) approximating sin θ to θ is used.

  The angle calculation unit 11 calculates the pre-correction bank angle θ0 using equation (9).

  Since the processes in the angular velocity calculation unit 12, the angular acceleration calculation unit 13, the filter 14, and the second calculation unit 20 are the same as those in the first embodiment of the present invention, the description thereof is omitted.

  And the estimation part 30 calculates the bank angle (theta) after correction | amendment using Formula (10).

  As described above, according to the second embodiment of the present invention, in a normal motorcycle, the bank angle is estimated by a simple arithmetic expression considering that it is rare to travel with the vehicle body being deeply banked. Even in a running transient state where the influence of the acceleration component cannot be ignored, a practical numerical value can be obtained without an excessive bank angle (synonymous with the corrected bank angle θ). As a matter of course, the bank angle θ can be estimated without any problem in the second embodiment of the present invention even in the steady state of traveling.

Embodiment 3 FIG.
In traveling in which the vehicle body is periodically banked like a slalom, a signal other than the motion frequency of the slalom due to the mechanical characteristics of the vehicle body is superimposed on the gyro sensor 5, and based on the detection value of the gyro sensor 5. The angular velocity and angular acceleration are simply retracted back and forth by the angular velocity calculation unit 12 and the angular acceleration calculation unit 13 (Equation (5) and Equation (6)), and as a result, the corrected bank angle θ becomes oscillatory and the estimation accuracy may deteriorate. is there. Therefore, in the calculation processing of the angular velocity calculation unit 12 and the angular acceleration calculation unit 13, pseudo-differential calculation may be performed using Expression (11) and Expression (12).

ここで、Ｔは擬似微分のフィルタ時定数である。

Here, T is a filter time constant of pseudo differentiation.

  As described above, according to the third embodiment, the bank angle (synonymous with the corrected bank angle θ) is obtained without amplifying signals other than the slalom motion frequency due to the mechanical characteristics of the vehicle body by the angular velocity and acceleration calculations. A practical value can be obtained.

  DESCRIPTION OF SYMBOLS 1 Control apparatus, 2 bank angle calculating part, 3 control calculating part, 4 vehicle speed sensor, 5 gyro sensor, 6 actuator, 7 mechanism, 10 1st calculating part, 11 angle calculating part, 12 angular velocity calculating part, 13 angular acceleration calculation Part, 14 filter, 20 2nd calculating part, 21 integrating | accumulating part, 22 filter, 30 estimation part.

Claims (2)

This is a motorcycle bank angle estimating device used for controlling a headlamp with variable light distribution by rotating the optical axis in the opposite direction to the bank angle of the motorcycle body to expand the irradiation range. And
An angle calculation unit for obtaining a bank angle before correction based on an angular velocity around the vertical axis of the vehicle body detected by a sensor and a vehicle speed in the vehicle body traveling direction, and an angular velocity calculation for obtaining a bank angular velocity from a bank angle before correction that is an output of the angle calculation unit. An angular acceleration calculation unit that obtains bank angular acceleration from the bank angular velocity that is the output of the angular velocity calculation unit, a first calculation unit that includes a filter that smoothes the output of the angular acceleration calculation unit,
An integration unit that integrates both based on the angular velocity around the vertical axis of the vehicle body detected by the sensor and the vehicle speed in the vehicle body traveling direction, a second calculation unit comprising a filter that smoothes the output of the integration unit;
An apparatus for estimating a bank angle of a motorcycle, comprising: an estimation unit that obtains a bank angle after correction based on the output of the first calculation unit and the output of the second calculation unit. This is a method for estimating the bank angle of a motorcycle, which is used for controlling a headlamp with variable light distribution by rotating the optical axis in the direction opposite to the bank angle of the motorcycle body to expand the irradiation range. And
The bank angle before correction is obtained based on the angular velocity around the vertical axis of the vehicle detected by the sensor and the vehicle speed in the vehicle body traveling direction, the bank angular velocity is obtained from the bank angle before correction, and the bank angular acceleration is obtained from the bank angular velocity. A first calculation step for smoothing bank angular acceleration;
A second calculation step of integrating both based on the angular velocity around the vertical axis of the vehicle body detected by the sensor and the vehicle speed in the vehicle body traveling direction, and smoothing the integrated output;
A bank angle estimation for a motorcycle, comprising: an estimation step for obtaining a corrected bank angle based on the output obtained in the first computation step and the output obtained in the second computation step. Method.

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