KR101371537B1 - Apparutus and method for controlling swiveling angle of vehicle headlamp considerating the limit of the swiveling angle - Google Patents

Abstract

An apparatus and method are provided for controlling a vehicle headlamp rotation angle by reflecting the rotational limit angle of the headlamp. The apparatus for controlling a vehicle head lamp rotation angle by reflecting the rotation limit angle includes: a yaw-rate sensor for detecting a yaw rate for determining a vehicle posture; A speed sensor detecting a speed of the vehicle; A curvature calculator configured to calculate a radius of curvature of the main road that the vehicle travels through the detected yaw rate and the speed; And a rotation limit angle calculation unit configured to calculate a rotation limit angle of the headlamp of the vehicle based on the vehicle body size value and the radius of curvature of the vehicle including a value obtained by multiplying a vehicle height of the vehicle by a preset constant.

Description

Apparatus and method for controlling swiveling angle of vehicle headlamp considerating the limit of the swiveling angle}

The present invention relates to an apparatus and a method for controlling a vehicle headlamp rotation angle by reflecting the rotational limit angle, and more particularly, to contribute to complying with the regulations on the swiveling limit angle of the vehicle headlamp An automobile headlamp control apparatus and method are provided.

In general, a vehicle is equipped with various vehicle lamps having a lighting function for easily checking an object located around the vehicle at night and a signal function for notifying other vehicles or road users of the vehicle driving condition. For example, headlamps and fog lights among a variety of vehicle lamps are aimed at lighting functions, and turn signal lamps, brake lights and car lights etc. are aimed at signal functions.

Among these, the headlamp for a vehicle has an essential function of securing a driver's vision at night by irradiating light in the same direction as the driving direction of the vehicle.

However, if the headlamp for a vehicle has a fixed light irradiation direction, it is difficult to secure the driver's vision before the vehicle enters the curved road or the straight road in the straight road, and also during driving on the curved road and in front of the vehicle. Even if there is a crossroad in the road, it is difficult to continuously secure the driver's view.

Therefore, in recent years, a method of securing a driver's field of view by adjusting the light irradiation direction of the headlamp for a vehicle based on information such as driving information of the vehicle, for example, a driving speed of the vehicle or a rotation angle of a wheel, has been studied. It is becoming.

For example, the vehicle is equipped with sensors for detecting the driving information of the vehicle, that is, the driving speed of the vehicle, the angle of rotation of the wheel and the male state of the vehicle, and the detection result by the sensor is an electronic control unit. The electronic control unit adjusts the light irradiation direction of the vehicle headlamp based on the detection result of the sensor.

However, the maximum range of angles for controlling the irradiation direction of a vehicle headlamp is prescribed by law. Nevertheless, when experimentally measuring the vehicle's driving angle against the rotating angle of the headlamp, which is conventionally controlled according to the light irradiation direction control system of the vehicle headlamp, the deviation of the maximum limit angle for the rotating angle You will find that there are not many cases of control.

The problem to be solved by the present invention is a vehicle headlamp rotation angle control device and method for controlling the irradiation direction of the car headlamp by reflecting the maximum allowable swiveling limit angle by law when controlling the swiveling angle of the car headlamp To provide.

Another problem to be solved by the present invention is to provide a method for calculating a vehicle head lamp rotational limit angle that presents a specific process for calculating a simple and accurate result in calculating the swiveling limit angle.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

One aspect of the apparatus for controlling the car headlamp rotation angle by reflecting the rotation limit angle of the present invention for solving the above problems is a yaw-rate sensor for detecting a yaw rate for determining the attitude of the vehicle; A speed sensor detecting a speed of the vehicle; A curvature calculator configured to calculate a radius of curvature of the main road that the vehicle travels through the detected yaw rate and the speed; And a rotation limit angle calculator configured to calculate a rotation limit angle of the headlamp of the vehicle based on the vehicle body size value and the radius of curvature of the vehicle including a value obtained by multiplying a vehicle height of the vehicle by a preset constant.

Further, further comprising a headlamp control unit for controlling the rotation angle of the headlamp of the vehicle, the headlamp control unit may control the rotation of the headlamp in the range below the calculated rotation limit angle.

One aspect of the method for controlling the vehicle headlamp rotation angle by reflecting the rotational limit angle of the present invention for solving the above problems comprises the steps of detecting the yaw rate for grasping the vehicle speed and the attitude of the vehicle; Calculating a radius of curvature of the road on which the vehicle travels based on the sensed yaw rate and the speed; And calculating a rotation limit angle of the headlamp of the vehicle based on the body size value of the vehicle and the radius of curvature including a value obtained by multiplying a vehicle height of the vehicle by a preset constant.

Furthermore, the method may further include controlling the rotation of the headlamp in a range below the calculated rotation limit angle.

Other specific details of the invention are included in the detailed description and drawings.

According to an apparatus and method for controlling a car head lamp rotation angle by reflecting a rotation limit angle according to embodiments of the present invention, a swiveling limit angle is calculated through a specific process of calculating a simple and accurate result value, and the calculated By controlling the direction of irradiation of the car headlamps by reflecting the swivel limit angle, it is possible to comply with the regulations on the allowable swivel limit angle.

1 is a block diagram of an apparatus for controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle according to an embodiment of the present invention.
2 is a schematic diagram for explaining a vehicle handle angle correction.
3 and 4 are schematic diagrams for describing variables to be considered in an apparatus for controlling a vehicle head lamp rotation angle by reflecting a rotation limit angle according to embodiments of the present invention.
5 to 8 are schematic diagrams for explaining a method of calculating the rotational limit angle according to embodiments of the present invention.
9 is a flowchart illustrating a method of controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

1 is a block diagram of an apparatus for controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle according to an embodiment of the present invention.

First, referring to FIG. 1, an apparatus for controlling a car head lamp rotation angle by reflecting a rotation limit angle according to embodiments of the present invention includes a yaw rate sensor 110, a speed sensor 120, and a curvature calculation unit ( And a rotation limit angle calculator 300, and may further include a headlamp controller 400 and a headlamp rotation angle calculator.

As described above, recently, the driver's view is secured by adjusting the light irradiation direction of the headlamp of the vehicle based on the driving information of the vehicle, for example, the driving speed of the vehicle or the rotation angle of the wheel. Vehicles with functions are emerging. In this case, the vehicle rotates the vehicle headlamp in real time through a process of adjusting the steering wheel angle, steering gear ratio and swivel angle according to the change of vehicle speed.

In the block diagram of FIG. 1, the headlamp rotation angle calculation unit 500 performs a function of calculating the rotation angle. Hereinafter, the headlamp rotation angle calculation unit 500 performs the above-described processes. To explain.

Meanwhile, the following will describe a process of adjusting the steering wheel angle, steering gear ratio, and swivel angle according to the change in vehicle speed, but there may be other factors to be reflected in adjusting the rotation angle of the vehicle headlamp.

2 is a schematic diagram for explaining a vehicle handle angle correction.

Typically, the vehicle steering angle δ is different from the actual steering angle δ ′ of the vehicle as the speed increases, because of the centrifugal force of the vehicle. That is, as shown in FIG. 2, as the speed of the vehicle increases in the curve, the centrifugal force of the vehicle also increases, and the steering angle (δ) of the vehicle handle angle (δ ') due to the increased centrifugal force of the vehicle increases. You need to correct the difference. In order to obtain the accurate steering wheel angle, the steering wheel angle is corrected using the yaw-rate value detected by the yaw-rate sensor 110 that senses the vehicle's posture. This is called steering wheel angle correction. . For the details of the steering wheel angle correction can refer to the contents of the existing technical literature, which will be briefly described as above.

Meanwhile, the steering wheel angle δ and the steering angle δ ′ of the actual vehicle are proportional to the gear ratio, but the gear ratio has a nonlinear characteristic and the left and right are not perfectly symmetrical. However, the error is not large compared to the average value of the gear ratio and the average value is used for the purpose of algorithm simplification.

As described above, an adjustment process is performed before changing the rotation angle of the headlamp based on the vehicle steering angle δ adjusted through the relationship with the steering angle δ ′ of the actual vehicle and the detected vehicle speed. That is, the driver changes the field of view according to the speed of the vehicle. Accordingly, in order to secure the field of view of the driver, the driver also needs to change the swivel angle according to the vehicle steering angle.

More specifically, the driver may have a larger angle of view in the direction to rotate when driving at a higher speed than when driving at a lower speed. That is, in the case of high-speed driving, the driver is looking far away, so the sufficient angle can be secured even by the rotation angle of the small headlamp, thereby reducing the rotation angle of the headlamp during the high-speed driving. On the other hand, when the speed of the vehicle is more than a certain speed (about 130km / h) may be adjusted to increase the rotation angle of the headlamp again.

The headlamp rotation angle calculator 500 provides the headlamp controller 400 with the rotation angle of the headlamp finally adjusted through the above process, thereby controlling the rotation angle of the headlamp. Contribute.

However, as already explained, the maximum range of the angle for controlling the irradiation direction of the headlamp for a vehicle is prescribed by law. When the irradiation angle of the headlamp for a vehicle is controlled through the above-described process, the head defined by the law is required. It has been experimentally confirmed that the case of exceeding the range of the irradiation angle of the lamp does not occur a lot.

Accordingly, an embodiment provided by the present invention provides a method for controlling the rotation angle of the headlamp by reflecting the rotational limit angle according to the curvature, and calculating a simple and accurate result in calculating the rotational limit angle.

3 and 4 are schematic diagrams for describing variables to be considered in an apparatus for controlling a vehicle head lamp rotation angle by reflecting a rotation limit angle according to embodiments of the present invention.

The rotation limit angle of the headlamp, which is currently required by law, is at least 100 times the height of the headlamp's vehicle (the distance from the floor to the point where the headlamp of the vehicle is located, also referred to as H hereinafter). At this point, the irradiation angle of the vehicle headlamp cannot enter the inside of the trajectory line of the moving vehicle center of gravity.

Therefore, hereinafter, the description will be made using a value of 100 times the vehicle height (H). However, if it is not necessary to limit the value to 100 times, the constant value to be multiplied by H as necessary is different from 100. It may be a value.

In addition, the present invention is not limited to this purpose simply to comply with the law, but rather to calculate the appropriate limit of the headlamp rotation angle using the vehicle's driving conditions (speed, yaw rate, steering wheel rotation angle, etc.) In addition to controlling the headlamps by reflecting them and reflecting them, they also contribute to reducing the load on the in-vehicle system by using a simple method in calculating the limit of the angle of rotation of the lamp.

3 (2) means the trajectory to be drawn by the vehicle later when reflecting the steering angle (δ ') of the vehicle, (L) is the radius of the track. (3) means the direction in which the headlamp of the vehicle is irradiated, and (4) is an angle made by (1) and (3) when (1) is the direction of the vehicle's forward direction. It becomes the rotation angle.

On the other hand, the curvature calculation unit 200 calculates the radius of curvature (L), the radius of curvature (L) as shown in Figure 4, the steering angle (δ ') of the vehicle and the wheel base (Wheel Base) of the vehicle, that is, This can be obtained from the constant B, the distance between the front and rear wheels, which can be

[Formula 1]

L = B / sin (δ ')

However, in the present invention, the following equation is used as a method for obtaining the radius of curvature more concisely.

[Formula 2]

L = (vehicle speed) / (yo-rate)

The speed and yaw rate of the vehicle in the above equation are values obtained through the speed sensor 120 and the yaw rate sensor 110, respectively. As described above, the present invention calculates the radius of curvature based solely on the speed and yaw rate of the vehicle, and the result is not only effective in terms of accuracy compared to other methods but also reduces the amount of computation, thereby reducing the burden on the internal system memory. Will be reduced.

Hereinafter, various situations for extracting the rotational limit angle will be set, and thus, the rotational limit angle calculator 300 extracts the rotational limit angle according to each case.

5 to 8 are schematic diagrams for explaining a method of calculating a rotation limit angle according to embodiments of the present invention. A total of four cases are assumed.

In the case shown in FIG. 5, the trajectory of the vehicle is regarded as the trajectory of the wheel close to the direction to be rotated, and the reference point for the distance corresponding to 100 times the height of the vehicle H from the front of the vehicle is also determined. This is based on the location. (Case 1)

At this time, if the rotation limit angle of the headlamp is θ, θ will be calculated as follows.

[Formula 3]

θ = 90-θ1

At this time, θ1 is obtained by the following equation by the second law of cosine.

[Formula 4]

Θ obtained through Equation 3 and Equation 4 above is the rotation limit angle of the headlamp, and this value is transmitted to the headlamp control unit 400 so that the headlamp control unit 400 rotates in controlling the rotational angle of the headlamp. It can act as a limit of angle.

Next, in the case shown in FIG. 6, the movement trajectory of the vehicle is regarded as the movement trajectory of the center of the front of the vehicle, and the reference point for the distance corresponding to 100 times the height of the vehicle H from the front of the vehicle is the same as in the case of Case 1. This is based on the position of the headlamp to be rotated. (Case 2)

At this time, if the rotation limit angle of the headlamp is θ, θ will be calculated as follows.

[Formula 5]

θ = 90-θ1

At this time, θ1 is obtained by the following equation by the second law of cosine.

[Formula 6]

X in Equation 6 means half of the width of the left and right headlamps of the vehicle.

Θ obtained through Equation 5 and Equation 6 becomes the rotation limit angle of the headlamp, and this value is transmitted to the headlamp control unit 400 so that the headlamp control unit 400 rotates in controlling the rotational angle of the headlamp. It can contribute as an angle limit.

Next, in the case shown in FIG. 7, the movement trajectory of the vehicle is regarded as the movement trajectory of the vehicle center. In particular, the center of the vehicle may be the center of gravity of the vehicle. Meanwhile, the reference point for the distance corresponding to 100 times the vehicle height H from the front of the vehicle is based on the position of the headlamp to be rotated as in the case of Case 1 and Case 2. (Case 3)

At this time, if the rotation limit angle of the headlamp is θ, θ will be calculated as follows.

[Equation 7]

θ = 180-θ1-θ2

At this time, θ1 and θ2 are obtained by the following equation by the cosine second law and Pythagorean theorem.

[Equation 8]

[Equation 9]

[Equation 10]

X in Equation 10 means half the width of the left and right headlamp width of the vehicle, Y means the distance from the center of the vehicle to the front or rear.

Θ obtained through Equations 7 to 10 becomes the rotation limit angle of the head lamp, and this value is transmitted to the head lamp control unit 400 so that the head lamp control unit 400 rotates in controlling the rotation angle of the head lamp. It can contribute as an angle limit.

Next, in the case shown in FIG. 8, the movement trajectory of the vehicle is regarded as the movement trajectory of the vehicle center as in Case 3. In particular, the center of the vehicle may be the center of gravity of the vehicle. On the other hand, the reference point for the distance corresponding to 100 times the height of the vehicle (H) from the front of the vehicle is based on the center of the left and right headlamps in front of the vehicle, unlike the case 1 to case 3. (Case4)

At this time, if the rotation limit angle of the headlamp is θ, θ will be calculated as follows.

[Equation 11]

θ = 180-θ1-θ2

At this time, θ1 and θ2 are obtained by the following equation by the cosine second law and Pythagorean theorem.

[Equation 12]

[Formula 13]

[Equation 14]

X in Equation 10 means half the width of the left and right headlamp width of the vehicle, Y means the distance from the center of the vehicle to the front or rear.

Θ obtained through Equations 7 to 10 becomes the rotation limit angle of the head lamp, and this value is transmitted to the head lamp control unit 400 so that the head lamp control unit 400 rotates in controlling the rotation angle of the head lamp. It can contribute as an angle limit.

On the other hand, Equation 12 in Case 4 and Equation 8 in Case 3 consequently become equal to each other, and Equation 14 in Case 4 and Equation 10 in Case 3 are also identical in appearance, but the set reference points are different from each other. Because of the difference, the meaning of each corresponding expression is naturally different.

The head lamp control unit 400 compares the rotation limit angle θ provided from the rotation limit angle calculation unit 300 with the head lamp rotation angle provided in real time from the head lamp rotation angle calculation unit 500 to compare the head lamp rotation. If the angle does not exceed the rotation limit angle (θ), the headlamp rotation is controlled according to the headlamp rotation angle. If the headlamp rotation angle exceeds the rotation limit angle (θ), the rotation limit angle (θ) The rotation of the headlamp can be controlled.

Until now, each component of FIG. 1 may refer to software, or hardware such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). However, the components are not limited to software or hardware, and may be configured to be in an addressable storage medium and configured to execute one or more processors. The functions provided in the components may be implemented by a more detailed component or may be implemented by a single component that performs a specific function by combining a plurality of components.

9 is a flowchart illustrating a method of controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle according to an embodiment of the present invention.

Referring to FIG. 9, in the method of controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle according to embodiments of the present disclosure, detecting the speed and yaw rate of the vehicle (S1310) and detecting the yaw Calculating a radius of curvature of the main road in which the vehicle travels through a rate and the speed (S1320), and calculating a vehicle body size value and the radius of curvature of the vehicle, including a value obtained by multiplying a vehicle height of the vehicle by a predetermined constant; Comprising a step of calculating the rotational limit angle of the headlamp of the vehicle based on (S1330), and further, the step (S1340) of controlling the rotation of the headlamp in the range below the calculated rotational limit angle It may include.

In step S1310, the speed and yaw rate of the vehicle is based on the values detected by the speed sensor and the yaw rate sensor installed in the vehicle, and the method of obtaining the radius of curvature of the vehicle in S1320 can be obtained through the method of Equation 2 described above. Can be.

The step of calculating the rotation limit angle of the headlamp (S1330) can be understood through FIGS. 3 to 8 and corresponding descriptions, and the step of controlling the rotation of the headlamp (S1340) can also be referred to the description already described, and thus repeated. Try to avoid explanations.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: sensor unit 110: yaw rate sensor
120: speed sensor 130: wheel rotation angle detection sensor
200: curvature calculation unit 300: rotation limit angle calculation unit
400: headlamp control unit 500: headlamp rotation angle calculation unit

Claims (9)

Yaw-rate sensor for detecting a yaw rate for determining the attitude of the vehicle;
A speed sensor detecting a speed of the vehicle;
A curvature calculator configured to calculate a radius of curvature of the main road that the vehicle travels through the detected yaw rate and the speed; And
A rotation limit angle calculation unit configured to calculate a rotation limit angle of the headlamp of the vehicle based on a body size value of the vehicle and a radius of curvature including a value of a vehicle height multiplied by a preset constant,
The curvature calculation unit,
And an apparatus for controlling a vehicle headlamp rotation angle by reflecting a rotation limit angle obtained by dividing the speed by the yaw rate to obtain the radius of curvature. delete The method of claim 1,
The preset constant is 100,
And the center of the vehicle controls the rotation angle of the vehicle headlamp by reflecting a rotation limit angle, which is the center of gravity of the vehicle. The method of claim 1,
And the vehicle body size value of the vehicle further includes half the width of the left and right headlamps of the vehicle or a distance from the center of the vehicle to the front or rear side of the vehicle, thereby controlling the rotation angle of the vehicle headlamp. The method of claim 1,
When the rotation limit angle of the headlamp of the vehicle is θ,
The rotation limit angle calculation unit calculates the θ by the following equation, where L is the radius of curvature of the main road in which the vehicle travels, and H is a vehicle headlamp rotation angle that reflects the rotation limit angle, which is the vehicle height of the vehicle. Device.

5. The method of claim 4,
When the rotation limit angle of the headlamp of the vehicle is θ,
The rotation limit angle calculation unit calculates the θ by the following equation, where L is the radius of curvature of the road in which the vehicle travels, H is the height of the vehicle, and X is half the width of the left and right headlamps of the vehicle. Device that controls the angle of rotation of the car headlamp by reflecting the angle.

5. The method of claim 4,
When the rotation limit angle of the headlamp of the vehicle is θ,
The rotation limit angle calculation unit calculates the θ by the following equation, where L is the radius of curvature of the vehicle mainly traveling, H is the vehicle height of the vehicle, X is half the width of the left and right headlamps of the vehicle, and Y is And control a vehicle headlamp rotation angle by reflecting a rotation limit angle, which is a distance from the center of the vehicle to the front or rear surface.

The method of claim 1,
Further comprising a headlamp control unit for controlling the rotation angle of the headlamp of the vehicle,
And the headlamp control unit controls the vehicle headlamp rotation angle by reflecting the rotation limit angle, which controls the rotation of the headlamp in a range below the calculated rotation limit angle. Detecting a yaw rate for determining the speed of the vehicle and the attitude of the vehicle;
Calculating a radius of curvature of the road on which the vehicle travels based on the sensed yaw rate and the speed; And
Calculating a rotation limit angle of the headlamp of the vehicle on the basis of a body size value of the vehicle and a radius of curvature including a value obtained by multiplying a vehicle height of the vehicle by a preset constant,
Computing the radius of curvature,
Dividing the speed by the yaw-rate to obtain the radius of curvature, the method of controlling a vehicle headlamp rotation angle reflecting a rotational limit angle.

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