JPH0763555A - Inclined state detecting device - Google Patents

Abstract

PURPOSE:To provide an inclined state detecting device in which the inclined state of a road surface to a horizontal surface is calculated on the basis of the inclined state of a vehicle detected by an absolute inclined state detecting device and a relative inclined state detecting device to remove the detection error by the relative inclination. CONSTITUTION:A lateral inclination sensor 2 and a longitudinal inclination sensor 1 detect a lateral absolute inclination (alpha1 and a longitudinal absolute inclination (alpha2, respectively. The output signals corresponding to the detected inclinations alpha1, 2 are inputted to a microcomputer 15 through low pass filters 8, 7, a multiplexer 13, and an A/D converter 14. The microcomputer 15 calculates a lateral relative angle (beta1 and a longitudinal relative angle beta2 from the inputted signals, and operates them with the inputted inclinations alpha1 and 2, whereby the inclination gamma1 of a road surface to a lateral horizontal surface and the inclination gamma2 of the road surface to longitudinal horizontal surface, and the maximum inclination of the road surface to the horizontal surface are calculated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inclination state detecting device for detecting an inclination state of a road surface on which a vehicle such as an automobile runs or stops.

[0002]

2. Description of the Related Art FIG. 14 shows, for example, Japanese Unexamined Patent Publication No. 1-138407.
FIG. 11 is a block diagram showing a configuration of a conventional tilt state detecting device disclosed in Japanese Patent Publication No. 1-58, in which 1 is mounted on a vehicle 18 (see FIG. 2) and detects a tilt angle of the vehicle 18 in the front-rear direction. One inclination angle sensor, 2 is mounted on the vehicle 18, a second inclination angle sensor for detecting the inclination angle of the vehicle 18 in the left-right direction, and 15a is the center of the signals from the inclination angle sensor 1 and the inclination angle sensor 2. An interface for outputting to a processing device (hereinafter referred to as "CPU") 15c, and 15b is a CP
U15c is a readable and writable memory (RAM), 15d is a read only memory (ROM) connected to the CPU 15c, 15 is an interface 15a, RAM 15b, CPU 15c and ROM.
15d is a microcomputer, 16 is a display unit connected to the microcomputer 15, and 17 is a buzzer also connected to the microcomputer 15.

Next, the operation will be described. As shown in FIGS. 2, 3 and 4, for example, when the vehicle 18 is parked on a road surface that is rising to the right and has an uphill slope, the first inclination angle sensor 1 tilts the vehicle 18 with respect to the horizontal plane in the front-rear direction. A signal corresponding to the angle α2 is output to the CPU 15c via the interface 15a, and the second tilt angle sensor 2 is set to the vehicle 1
A signal corresponding to the inclination angle α1 of the horizontal direction 8 with respect to the horizontal plane is output to the CPU 15c via the interface 15a. The CPU 15c calculates the tilt angles of the vehicle 18 in the front-rear direction and the left-right direction based on these signals input from the interface 15a, and the calculated tilt angles are the initial tilt range, the stable tilt range, the caution tilt range, and the caution tilt range. It is determined which range it belongs to, and a display signal or a buzzer signal corresponding to each range is output to the display unit 16 and the buzzer 17.

[0004]

Since the conventional inclination detecting device is constructed as described above, as shown in FIG. 2, when the vehicle 18 is stopped on a road surface having an upward slope, The inclination α1 detected by the second inclination angle sensor 2 (hereinafter referred to as “absolute inclination”) is the inclination angle γ1 of the road surface with respect to the horizontal plane, and the inclination of the vehicle body with respect to the road surface (hereinafter, referred to as “relative inclination”). It is an angle obtained by adding the angle β1. That is, the actual inclination angle γ1 of the road surface with respect to the horizontal plane is γ1 = α1-β1, and the inclination angle α1 detected by the second inclination angle sensor 2 includes the inclination angle β1 of the vehicle body with respect to the road surface as an error. There is. As shown in FIG. 3, even when the vehicle 18 is stopped on an uphill road surface, similarly, the absolute inclination angle α2 detected by the first inclination angle sensor 1 includes the relative inclination angle β2 as an error. Has been.

In the relative inclination, since the vehicle 18 is positioned on the inclined surface, a force is applied downwardly of the inclination, so that the force applied to the left and right or front and rear suspensions of the vehicle 18 is not uniform, and the left and right or front and rear suspensions expand and contract the same. Not only that, but also when the vehicle 18 is located on a horizontal plane, the force applied to the left and right or front and rear suspensions of the vehicle 18 becomes uneven depending on the arrangement of the load of the vehicle 18, and the relative inclination is May occur.

When the road surface inclination angle is displayed on the display unit 16 while including such relative inclination as an error, the displayed inclination angle does not indicate the actual road surface inclination angle, and the vehicle 18 is horizontal. There is a problem in that a tilt angle other than 0 may be displayed despite the fact that the vehicle 18 is located at, which confuses the user of the vehicle 18.

Further, in the case of correcting the actual traveling distance to the horizontal movement distance by the signals from the inclination angle sensors 1 and 2 in a navigation system requiring high accuracy, the influence of the relative inclination error is accumulated, and There was a problem that it hindered accuracy improvement.

The invention of claim 1 has been made to solve the above problems, and an object thereof is to obtain a tilt state detecting device in which a detection error due to relative tilt is removed.

It is an object of the present invention to provide a tilt state detecting device in which a detection error due to a relative tilt in at least one of the longitudinal direction and the lateral direction of the vehicle is removed.

It is an object of the present invention to provide a tilt state detecting device capable of removing a detection error due to a relative tilt of a vehicle in at least two directions and determining a maximum amount of tilt of a road surface.

It is another object of the present invention to provide an inclination state detecting device capable of obtaining the maximum inclination direction of the road surface.

It is an object of the present invention to provide an inclination state detecting device capable of displaying an accurate inclination state of a road surface with respect to a horizontal plane.

It is an object of the present invention to provide an inclination state detecting device which issues a warning when the inclination amount of a road surface with respect to a horizontal plane exceeds an allowable maximum inclination amount.

[0014]

According to another aspect of the present invention, there is provided an inclination state detecting device for calculating an inclination state of a road surface with respect to a horizontal plane based on an inclination state of a vehicle detected by an absolute inclination state detecting device and a relative inclination state detecting device. It is something that is done.

In the lean state detecting device according to the second aspect of the present invention, both the absolute lean state detecting device and the relative lean state detecting device detect the lean state in at least one of the front-rear direction and the left-right direction of the vehicle, and calculate. The device calculates the amount of inclination of the road surface in at least one of the front-rear direction and the left-right direction of the vehicle with respect to the horizontal plane.

According to the third aspect of the present invention, in the inclination state detecting device, the absolute inclination state detecting device and the relative inclination state detecting device detect the inclination states of the vehicle in at least two directions, respectively, and the arithmetic unit detects the road surface with respect to the horizontal plane. The maximum tilt amount of is calculated.

In the inclination state detecting device according to the invention of claim 4, the arithmetic device calculates the maximum inclination amount of the road surface with respect to the horizontal plane and the maximum inclination direction of the road surface with respect to the horizontal plane.

An inclination state detecting device according to a fifth aspect of the present invention comprises a display device for displaying the inclination state of the road surface with respect to the horizontal plane based on the calculation result of the arithmetic unit.

According to a sixth aspect of the present invention, there is provided the inclination state detecting device, which compares the inclination amount of the road surface with respect to the horizontal plane with a preset allowable maximum inclination amount based on the calculation result of the arithmetic device, and a comparing means. And a warning device that issues a warning in accordance with the comparison result.

[0020]

The tilt state detecting device according to the invention of claim 1 is
Based on the detection result of the relative inclination state detection device, the detection result of the absolute inclination state detection device is corrected by the arithmetic device, the detection error due to the relative inclination is removed, and the inclination state of the road surface with respect to the horizontal plane is calculated.

In the same manner, the inclination state detecting device according to the second aspect of the present invention detects the inclination state of the vehicle in at least one of the front-rear direction and the left-right direction, removes the detection error due to the relative inclination, and detects the road surface. The tilted state of the with respect to the horizontal plane is calculated.

In the same manner, the inclination state detecting device according to the invention of claim 3 detects the inclination states of the vehicle in at least two directions and eliminates the detection error due to the relative inclination.
And calculate the maximum amount of inclination of the road surface with respect to the horizontal plane.

In the same manner, the inclination state detecting device according to the invention of claim 4 removes the detection error due to the relative inclination and calculates the maximum inclination amount of the road surface with respect to the horizontal plane and the maximum inclination direction of the road surface with respect to the horizontal plane.

In the same manner, the inclination state detecting device according to the invention of claim 5 removes the detection error due to the relative inclination, calculates the inclination state of the road surface with respect to the horizontal plane, and displays this inclination state on the display device.

Similarly, in the inclination state detecting device according to the invention of claim 6, the inclination amount of the road surface with respect to the horizontal plane from which the detection error due to the relative inclination is removed is compared with the maximum allowable inclination amount by the comparing means, and the comparison result is obtained. Based on this, a warning device issues a warning.

[0026]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 is a front-back direction inclination angle sensor (absolute inclination state detecting device) for detecting the front-back direction inclination angle of the same vehicle 18 as in the conventional example, and 2 is the same vehicle 18 as in the conventional example.
A left / right inclination angle sensor (absolute inclination state detection device) 3 for detecting the left / right inclination angle of the vehicle 18 detects the vehicle height on the right front wheel side from the expansion / contraction of the suspension spring on the right front wheel side of the vehicle 18, and determines the vehicle height. A right front wheel vehicle height sensor (relative inclination state detection device) 4 which outputs a signal in response to the vehicle front wheel detects a vehicle height on the left front wheel side from expansion and contraction of a suspension spring on the left front wheel side of the vehicle 18, and outputs a signal corresponding to the vehicle height. The left front wheel vehicle height sensor (relative inclination state detection device) 5 for outputting detects the vehicle height of the right rear wheel side from the expansion and contraction of the right rear wheel side suspension spring of the vehicle 18, and outputs a signal corresponding to the vehicle height. A right rear wheel vehicle height sensor (relative inclination state detection device), 6 detects the vehicle height on the left rear wheel side from the expansion and contraction of the left rear wheel side suspension spring of the vehicle 18, and outputs a signal according to the vehicle height. Rear wheel height sensor (relative tilt state Detection device), a low pass filter for removing high frequency components of the detection signal output from each sensor of the inclination angle sensor 1, the vehicle height sensors 3-6 7-12, 13
Is a multiplexer which selects and outputs the output signals of the low-pass filters 7 to 12 according to a command signal from a microcomputer (arithmetic unit, comparison means) 15, and 14 is an A which converts the analog output signal selected by the multiplexer 13 into a digital signal. A / D converter, 15 is the same microcomputer as the conventional example, 16 is the same display unit (display device) as the conventional example, and 17 is the same warning buzzer (warning device) as the conventional example.

In FIGS. 2 to 4, α1 is an absolute inclination angle detected by the inclination angle sensor 2 in the left-right direction and indicates the inclination state of the vehicle 18 in the left-right direction with respect to the horizontal plane, and β1 is the inclination state of the vehicle in the left-right direction with respect to the road surface. Relative tilt angle, γ1
Is the inclination angle of the road surface with respect to the horizontal plane in the left-right direction, α2 is the absolute inclination angle indicating the front-back inclination state of the vehicle 18 with respect to the horizontal plane, which is detected by the front-back inclination angle sensor 1, and β2
Is a relative inclination angle indicating the front-rear direction inclination state of the vehicle with respect to the road surface, and γ2 is an inclination angle of the road surface with respect to the front-rear direction horizontal plane. Reference numeral 23 is a left-right axis line representing the left-right direction of the vehicle 18, forming an angle of β1 with the road surface and an angle of α1 with the horizontal plane. 24 is a vertical axis representing the vertical direction of the vehicle 18,
Reference numeral 25 is a front-rear axis line representing the front-rear direction of the vehicle 18. α
1, β1 and γ1 are positive in the upward-sloping direction, and α
Both 2, β2 and γ2 have a positive climb direction.

Next, the operation will be described. As described above, the horizontal inclination angle sensor 2 and the front-rear inclination angle sensor 1 detect the left-right absolute inclination angle α1 and the front-rear absolute inclination angle α2, and detect the detected absolute inclination angle α1,
The output signal corresponding to 2 is input to the microcomputer 15 via the low-pass filters 8 and 7, the multiplexer 13, and the A / D converter 14, respectively. The right front wheel vehicle height sensor 3 is the right front wheel side vehicle height Hrf, the left front wheel vehicle height sensor 4 is the left front wheel side vehicle height Hlf, and the right rear wheel vehicle height sensor 5 is the right rear wheel side vehicle height Hrr, the left rear wheel. The vehicle height sensor 6 is a vehicle height Hl on the left rear wheel side.
The vehicle heights Hrf, Hlf, Hrr,
Output signals corresponding to Hlr are input to the microcomputer 15 via the low pass filters 9 to 12, the multiplexer 13 and the A / D converter 14.

The microcomputer 15 receives the input right front wheel vehicle height Hrf, left front wheel vehicle height Hlf, and right rear wheel vehicle height Hr.
By calculating the left-right direction relative angle β1 and the front-rear direction relative angle β2 from the signal corresponding to r and the left rear wheel vehicle height Hlr, and calculating the input left-right direction absolute inclination angle α1 and front-rear direction absolute inclination angle α2, The inclination angle γ1 of the road surface with respect to the horizontal plane in the left-right direction, the inclination angle γ2 of the road surface with respect to the front-rear direction, the maximum inclination angle of the road surface with respect to the horizontal plane, and the direction in which the maximum inclination of the road surface with respect to the horizontal plane are calculated. The corresponding display signal is output to the display unit 16 and the buzzer signal is output to the warning buzzer 17.

Next, the processing inside the microcomputer 15 will be described with reference to FIG. 5. When the power supply of the tilt state detecting apparatus of this embodiment is turned on, each part is initialized and the operation is started, first of all, Input processing of a signal from the directional tilt angle sensor 1 is performed (step ST1). In this step ST1, a control signal is transmitted to the multiplexer 13 in order to select the signal transmitted from the tilt angle sensor 1 in the front-rear direction via the low pass filter 7, and the multiplexer 13
A digital value corresponding to the absolute tilt in the front-rear direction input from the A / D converter 14 via the is read. Next, the absolute tilt angle α2 in the front-rear direction is calculated from the read digital value corresponding to the absolute tilt in the front-rear direction (step S
T2). Subsequently, the signal from the left / right tilt angle sensor 2 is input (step ST3), and the left / right absolute tilt angle α1 is calculated (step ST4).

Further, the right front wheel vehicle height sensor 3, the left front wheel vehicle height sensor 4, the right rear wheel vehicle height sensor 5 and the left rear wheel vehicle height sensor 6 are provided.
From the low-pass filters 9 to 12 via the multiplexer 13 and the A / D converter 14, respectively, to the right front wheel vehicle height Hrf and the left front wheel vehicle height Hl.
f, digital values corresponding to the right rear wheel vehicle height Hrr and the left rear wheel vehicle height Hlr are read (step ST5). Then, the read vehicle heights Hrf, Hlf, Hrr, Hlr
The relative tilt angle β2 in the front-rear direction and the relative tilt angle β1 in the left-right direction are calculated from the digital values respectively corresponding to (1) and (2) below (step ST6).
7).

(1) β2 = Arctan ((Hrf−Hrr) / B) (2) β1 = Arctan ((Hrf−Hlf) / T)

Where B is the wheel base length of the vehicle 18,
T is the tread length of the vehicle 18, and Arctan is the main value.

Next, an inclination angle γ2 with respect to the horizontal plane in the front-rear direction and an inclination angle γ1 with respect to the horizontal plane in the left-right direction are calculated by the following equations (3) and (4) (step ST8,
9).

(3) γ2 = α2-β2 (4) γ1 = α1-β1

Subsequently, the maximum inclination amount θ and the maximum inclination direction φ of the road surface are calculated according to the following equations (5) and (6) (steps ST10 and ST11).

(5) θ = Arctan ((tan ² γ1 + tan ² γ2) ^1/2 ) (6) φ = −Arcsin (tan γ1 / (tan ² γ1 + tan ² γ
2) ^1/2 )

Here, Arctan and Arcsin are main values, θ is positive in the direction of the ascending slope, φ is 0 in the traveling direction of the vehicle 18, and positive in the right direction.

Next, it is determined whether the inclination angle γ1 with respect to the horizontal plane in the left-right direction and the inclination angle γ2 with respect to the horizontal plane in the front-rear direction exceed the maximum allowable inclination angle in the left-right direction and the front-rear direction of the vehicle 18 (step ST12). ),
When it exceeds, it progresses to step ST13, and when it does not exceed, it progresses to step ST14. Step ST1
In No. 3, a buzzer signal is output to warn the driver that the vehicle 18 is on a road surface exceeding the maximum allowable inclination angle,
The warning buzzer 17 is sounded. In step ST14,
Road surface inclination angles γ1, γ obtained in steps ST8 to ST11
2. A display signal is output to the display unit 16 to display at least one value of the maximum inclination amount θ and the maximum inclination direction φ.

Next, the display section 16 of the tilt state detecting device of this embodiment will be described with reference to FIGS. FIG. 7 is an external view of the display unit 16. In FIG.
16a is a left-right tilt display that displays the tilt angle γ1 with respect to the horizontal plane in the left-right direction, 16b is a front-back tilt display that displays the tilt angle γ2 with respect to the horizontal plane in the front-back direction, 16c
Is a maximum inclination display that displays the maximum inclination amount θ and the maximum inclination direction φ of the road surface.

FIG. 9 (a) shows a left / right inclination display 16a when the vehicle 18 is parked with its right side down on a road surface having an angle of 10 ° with respect to the horizontal plane, as shown in FIG. 9 (b).
Of the vehicle 1 as shown in FIG.
8 is an example of the left-right inclination display 16a when the vehicle is parked with the left side down on a road surface having an angle of 10 ° with the horizontal plane, FIG. 10 (a) shows a vehicle 18 as shown in FIG. 10 (b).
Is an example of the left-right inclination display 16a when the vehicle is parked with the left side down on a road surface having an angle of 10 ° with the horizontal plane, FIG. 11 (a) shows the vehicle 18 as shown in FIG. 11 (b).
Is an example of the front-back inclination display 16b when the vehicle is stopped with the front side facing downward on a road surface having an angle of 10 ° with respect to the horizontal plane, FIG. 12 (a) shows the vehicle 18 as shown in FIG. 12 (b).
Is an example of the front-back inclination display 16b when the vehicle is parked with the rear side down on a road surface having an angle of 10 ° with respect to the horizontal plane, and FIG. 13 shows right-side up in the left-right direction as shown in FIG. β
1. An example of the maximum inclination display 16c when the vehicle 18 is stopped on a road surface having an angle of α1 in the front-back direction, showing that the maximum inclination amount θ of the road surface is 14 °. And the maximum tilt direction φ is 16 dots d1 to d
This indicates that the direction is d11 in 16.

Example 2. In the first embodiment, vehicle height sensors 3 to 6
Used a vehicle height sensor that detects the vehicle height from the expansion and contraction of the suspension spring and outputs a signal according to the detected vehicle height. However, the vehicle height sensors 3 to 6 are not limited to this type. For example, the vehicle height may be detected by expanding and contracting the suspension damper, the vehicle height may be detected by the weight applied to the suspension portion, or the vehicle height may be detected by using ultrasonic waves or radio waves.

Example 3. Further, in the first embodiment, the right front wheel vehicle height sensor 3, the left front wheel vehicle height sensor 4, the right rear wheel vehicle height sensor 5 and the left rear wheel vehicle height sensor 6 are provided, and the right front wheel vehicle height Hrf,
Left front wheel height Hlf, right rear wheel height Hrr and left rear wheel height H
Although lr is detected and the relative tilt angle β2 in the front-rear direction and the relative tilt angle β1 in the left-right direction are calculated according to the equations (1) and (2), the installation position of the vehicle height sensor is not limited to this. , As shown in FIG. 6, the center of the tip of the vehicle 18,
The vehicle front vehicle height sensor (relative inclination state detecting device) 19, the vehicle left rear vehicle height sensor (relative inclination state detecting device) 20, and the vehicle right rear vehicle height sensor (relative inclination state detecting device) are respectively provided on both left and right end surfaces of the rear end portion. 21, the vehicle front vehicle height Hf, the vehicle left rear vehicle height Hl, and the vehicle right rear vehicle height Hr detected by the respective sensors are used to calculate the front-rear relative inclination angle β2 and the left-right relative inclination angle β1 by the following equation (7). ) And (8).

(7) β2 = Arctan ((Hf−Hr) / B ₁ ) (8) β1 = Arctan ((Hr−Hf) / T ₁ )

Here, B ₁ is the distance from the vehicle front vehicle height sensor 19 to the vehicle left rear vehicle height sensor 20 and the vehicle right rear vehicle height sensor 21, and T ₁ is the vehicle left rear vehicle height sensor 20 to the vehicle right rear vehicle. The distance to the high sensor 21, Arctan, is the main value.

Further, in the first embodiment, the maximum inclination amount θ of the road surface and the maximum inclination direction φ are calculated from the inclination angle γ2 with respect to the horizontal plane in the front-rear direction and the inclination angle γ1 with respect to the horizontal plane in the left-right direction from the equations (5) and (6). Calculated according to
As shown in FIG. 7, a vehicle height sensor group (relative inclination state detection device) 22 is provided around the vehicle 18, and the vehicle height sensor group 2
Output H from at least 3 or more vehicle height sensors in 2
The maximum inclination amount θ and the maximum inclination direction φ may be calculated and obtained from i (i = 1 to n: n ≧ 3) and the installation positions of the three or more vehicle height sensors.

[0047]

As described above, according to the invention of claim 1, the absolute inclination state of the vehicle with respect to the horizontal plane and the relative inclination state of the vehicle with respect to the road surface are detected by the respective detecting devices, and the inclination state of the road surface with respect to the horizontal plane is detected. Since it is configured to be calculated by the arithmetic unit, the detection error due to the relative inclination can be removed, and the inclination state of the road surface can be accurately known even when the vehicle is inclined with respect to the road surface. There is an effect that the actual traveling distance can be accurately corrected to the horizontal movement distance without accumulating the error caused by the inclination with respect to the road surface.

According to the second aspect of the present invention, the inclination state of the vehicle in at least one of the front-rear direction and the left-right direction is detected by the absolute inclination state detection device and the relative inclination state detection device, and the vehicle front-rear direction with respect to the horizontal plane. Alternatively, since the inclination amount of the road surface in at least one of the left and right directions is calculated by the arithmetic device, it is possible to eliminate the detection error due to the relative inclination in at least one of the front-rear direction and the left-right direction of the vehicle. is there.

According to the third aspect of the present invention, the inclination states of the vehicle in at least two directions are detected by the absolute inclination state detecting device and the relative inclination state detecting device, respectively, and the maximum inclination amount of the road surface with respect to the horizontal plane is calculated. Therefore, there is an effect that the detection error due to the relative inclination of the vehicle in at least two directions can be removed and the maximum inclination amount of the road surface can be obtained.

According to the fourth aspect of the present invention, the maximum inclination amount of the road surface with respect to the horizontal plane and the maximum inclination direction of the road surface with respect to the horizontal plane are calculated by the arithmetic device. Therefore, the maximum inclination direction of the road surface can be further obtained. There is an effect that can be done.

According to the invention of claim 5, since the display device is provided for displaying the inclination state of the road surface with respect to the horizontal plane based on the calculation result of the arithmetic unit, when the vehicle is inclined with respect to the road surface. Also, there is an effect that the inclination of the road surface can be accurately displayed.

According to the sixth aspect of the invention, the comparison means compares the amount of inclination of the road surface with respect to the horizontal plane with a preset allowable maximum amount of inclination based on the calculation result of the arithmetic unit,
Since the warning device is configured to issue a warning in accordance with the comparison result, there is an effect that the warning can be issued when the inclination amount of the road surface with respect to the horizontal plane exceeds the maximum allowable inclination amount.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a tilt state detecting device according to an embodiment of the present invention.

FIG. 2 is a front view showing a state in which the vehicle is parked on a road surface having an upward slope.

FIG. 3 is a side view showing a state in which the vehicle is stopped on a road surface having an ascending slope.

FIG. 4 is a perspective view showing a state in which the vehicle is parked on a road surface that is rising to the right and has an ascending slope.

5 is a flowchart showing a process inside a microcomputer of the tilt state detecting device according to the embodiment of FIG. 1. FIG.

FIG. 6 is a plan view showing an installation position of a vehicle height sensor of an inclination state detecting device according to a third embodiment of the present invention.

FIG. 7 is a plan view showing an installation position of a vehicle height sensor group of an inclination state detecting device according to a fourth embodiment of the present invention.

8 is an external view of a display unit of the tilt state detecting device according to the embodiment of FIG.

FIG. 9 is a front view showing a state in which the vehicle is stopped with the right side facing down, and an example of the left and right tilt display of the display unit at that time.

FIG. 10 is a front view showing a state in which the vehicle is stopped with the left side facing down and an example of a left-right tilt display of the display unit at that time.

FIG. 11 is a side view showing a state where the vehicle is stopped with the front side facing down and an example of a front-back inclination display of the display unit at that time.

FIG. 12 is a side view showing a state in which the vehicle is stopped with its rear side facing down and an example of an inclined display in the front-rear direction of the display unit at that time.

FIG. 13 is a top view showing a display example that displays the direction of maximum inclination when the vehicle is stopped in the state shown in FIG. 4.

FIG. 14 is a block diagram showing an example of a configuration of a conventional tilt state detection device.

[Explanation of symbols]

 1 Front-rear direction inclination angle sensor (absolute inclination state detection device) 2 Left-right direction inclination angle sensor (absolute inclination state detection device) 3 Right front wheel vehicle height sensor (relative inclination state detection device) 4 Left front wheel vehicle height sensor (relative inclination state sensor) State detection device) 5 Right rear wheel vehicle height sensor (relative tilt state detection device) 6 Left rear wheel vehicle height sensor (relative tilt state detection device) 15 Microcomputer (calculation device, comparison means) 16 Display unit (display device) 17 Warning buzzer (warning device) 18 Vehicle 19 Vehicle front vehicle height sensor (relative inclination state detection device) 20 Vehicle left rear vehicle height sensor (relative inclination state detection device) 21 Vehicle right rear vehicle height sensor (relative inclination state detection device) 22 Vehicle height sensor group (relative inclination state detection device)

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[Procedure amendment]

[Submission date] December 9, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction content]

It is an object of the present invention to provide a tilt state detecting device in which a detection error due to a relative tilt in at least one of the front-rear direction and the left-right direction of a vehicle is removed.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0040

[Correction method] Change

[Correction content]

Next, the display section 16 of the tilt state detecting apparatus of this embodiment will be described with reference to FIG. 8-13. FIG. 8 is an external view of the display unit 16. In FIG.
16a is a left-right tilt display that displays the tilt angle γ1 with respect to the horizontal plane in the left-right direction, 16b is a front-back tilt display that displays the tilt angle γ2 with respect to the horizontal plane in the front-back direction, 16c
Is a maximum inclination display that displays the maximum inclination amount θ and the maximum inclination direction φ of the road surface.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0046

[Correction method] Change

[Correction content]

Example 4. Further, in Example 1, the maximum inclination amount θ and the maximum inclination direction φ of the road surface are calculated from the inclination angle γ2 with respect to the horizontal plane in the front-rear direction and the inclination angle γ1 with respect to the horizontal plane in the left-right direction according to the equations (5) and (6). However, as shown in FIG. 7, a vehicle height sensor group (relative inclination state detection device) 22 is provided around the vehicle 18, and at least three vehicle height sensors in the vehicle height sensor group 22 are provided. The maximum inclination amount θ and the maximum inclination direction φ may be calculated and calculated from the output Hi (i = 1 to n: n ≧ 3) and the installation positions of the three or more vehicle height sensors. .

Claims (6)

[Claims] 1. An absolute inclination state detecting device for detecting an inclination state of a vehicle with respect to a horizontal plane, a relative inclination state detecting device for detecting an inclination state of the vehicle with respect to a road surface, the absolute inclination state detecting device and the relative inclination state detection. An inclination state detection device, comprising: an arithmetic device that calculates an inclination state of the road surface with respect to the horizontal plane based on an inclination state of the vehicle detected by the device. 2. The absolute inclination state detection device and the relative inclination state detection device both detect an inclination state of at least one of a front-rear direction and a left-right direction of a vehicle, and the arithmetic unit is the front-rear direction with respect to the horizontal plane. Alternatively, the inclination state detecting device according to claim 1, wherein an inclination amount of the road surface in at least one of the left and right directions is calculated. 3. The absolute inclination state detecting device and the relative inclination state detecting device each detect an inclination state of the vehicle in at least two or more directions, and the arithmetic unit determines a maximum inclination amount of the road surface with respect to the horizontal plane. The tilt state detecting device according to claim 1, wherein the tilt state detecting device calculates. 4. The inclination state detecting device according to claim 3, wherein the arithmetic unit calculates the maximum inclination amount of the road surface with respect to the horizontal plane and the maximum inclination direction of the road surface with respect to the horizontal plane. 5. The tilt according to claim 1, further comprising a display device that displays a tilted state of the road surface with respect to the horizontal plane based on a calculation result of the computing device. State detection device. 6. Comparing means for comparing the inclination amount of the road surface with respect to the horizontal plane and a preset allowable maximum inclination amount based on the calculation result of the arithmetic unit, and a warning according to the comparison result of the comparing means. The tilt state detection device according to any one of claims 1 to 3, further comprising a warning device that generates a warning.