WO2016042599A1 - 前照灯用光軸制御装置 - Google Patents
前照灯用光軸制御装置 Download PDFInfo
- Publication number
- WO2016042599A1 WO2016042599A1 PCT/JP2014/074410 JP2014074410W WO2016042599A1 WO 2016042599 A1 WO2016042599 A1 WO 2016042599A1 JP 2014074410 W JP2014074410 W JP 2014074410W WO 2016042599 A1 WO2016042599 A1 WO 2016042599A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- acceleration
- angle
- optical axis
- control device
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/10—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
- B60Q1/115—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution by electric means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
- F21S41/60—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution
- F21S41/65—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on light sources
- F21S41/657—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on light sources by moving light sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/112—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/114—Vehicle acceleration or deceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/116—Vehicle at a stop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/13—Attitude of the vehicle body
- B60Q2300/132—Pitch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/32—Road surface or travel path
- B60Q2300/324—Road inclination, e.g. uphill or downhill
Definitions
- the present invention relates to an optical axis control device for a headlamp that controls an optical axis of an in-vehicle headlamp using an acceleration signal detected by an acceleration sensor.
- the headlight illumination direction is tilted upward, the headlight illumination should be performed so as not to dazzle the driver who drives the oncoming vehicle and to avoid discomfort for pedestrians facing the headlight. It is necessary to keep the optical axis relative to the road surface constant by lowering the direction, that is, the optical axis of the headlamp.
- the headlight irradiation direction is lowered. Therefore, it is essential to install an optical axis control device for headlamps that returns the irradiation direction before the change.
- the rider's boarding or loading of the luggage is performed when the vehicle is stopped, and the optical axis control when the vehicle is stopped is the main optical axis control device for the headlamp. It becomes control.
- the optical axis control of the headlamp cancels the change in the inclination angle of the vehicle with respect to the road surface in order to return the irradiation direction of the headlamp to the original direction when the vehicle tilts in the front-rear direction as described above.
- the optical axis since the optical axis is operated up and down, first, it is necessary to measure the inclination angle of the vehicle with respect to the road surface.
- the stroke sensors attached to the front and rear suspensions (suspension devices) of the vehicle are used to measure the amount of contraction of the front and rear suspensions, that is, the amount of subsidence of the front and rear axles. And the inclination angle of the vehicle with respect to the road surface based on the length of the wheel base.
- the optical axis control device of the above-mentioned Patent Document 1 increases the accuracy of the inclination angle of the vehicle with respect to the road surface while using a two-axis acceleration sensor in the longitudinal direction and the vertical direction of the vehicle, and performs suitable optical axis control of the headlamp. For this purpose, in addition to the optical axis control when the vehicle is stopped, the optical axis control is performed by detecting the acceleration when the vehicle is traveling.
- the optical axis control device of Patent Document 1 uses the acceleration detected when the vehicle is running to determine the direction of acceleration change every time, or the direction of acceleration change from two accelerations with different detection timings. Thus, the inclination angle of the vehicle with respect to the road surface is calculated, and the optical axis is controlled based on the change in the inclination angle with respect to the road surface.
- the present invention has been made to solve the above-described problems, and it is an object of the present invention to improve the accuracy of the inclination angle of the vehicle with respect to the road surface by taking into account the inclination changed by the acceleration and deceleration of the vehicle. .
- An optical axis control device for a headlamp calculates a vehicle angle indicating an inclination angle of a vehicle with respect to a road surface using acceleration signals in the vertical direction and the front-rear direction detected by an acceleration sensor mounted on the vehicle.
- a control unit that generates a signal for operating the optical axis of the headlamp, and the control unit has information on preset reference accelerations in the vertical direction and the front-rear direction, and the vehicle traveling detected by the acceleration sensor
- the vehicle angle is calculated from the ratio of the difference between the longitudinal acceleration signal and the reference acceleration in the longitudinal direction while the vehicle is running to the difference between the acceleration signal in the vertical direction and the reference acceleration in the vertical direction.
- a plurality of acceleration signals detected during traveling are used to derive a vehicle angle corresponding to the amount of change in acceleration in the front-rear direction being zero, that is, a vehicle angle during stopping or traveling at a constant speed. Since it did in this way, even if the inclination of a vehicle changes by acceleration / deceleration of a vehicle, a highly reliable vehicle angle can be obtained. In addition, since the acceleration change amount is used, it is possible to reduce the influence of the offset latent in the output of the acceleration sensor and the change of the offset with time, and a stable vehicle angle can be obtained over a long period of time.
- FIG. 3 is a diagram for explaining a relationship between acceleration and a vehicle angle in the first embodiment. It is a figure explaining the relationship between an acceleration and a vehicle angle in Embodiment 1, and shows a mode that a vehicle angle changes with the magnitude
- FIG. 3 is a diagram illustrating vehicle inclination that changes due to acceleration / deceleration in the first embodiment.
- FIG. 4 is a graph showing a relationship of a vehicle angle with respect to an acceleration change amount in the X-axis direction in the first embodiment.
- 3 is a flowchart showing an operation of the optical axis control device for headlamps according to the first embodiment.
- FIG. 6 is a diagram for explaining an offset latent in the acceleration sensor in the first embodiment.
- FIG. 6 is a diagram for explaining a change with time of an offset latent in an acceleration sensor in the first embodiment. It is a figure explaining the offset correction method by the optical-axis control apparatus for headlamps which concerns on Embodiment 1.
- FIG. 5 is a flowchart showing an initial setting method of the optical axis control device for headlamps according to the first embodiment.
- FIG. 4 is a flowchart showing a method for setting the mounting angle of the optical axis control device for headlamps according to the first embodiment. It is a figure explaining the range which the optical axis control apparatus for headlamps concerning Embodiment 3 of this invention uses for calculation of a vehicle angle. It is a figure explaining the change of the acceleration when a vehicle vibrates in Embodiment 3.
- FIG. 4 is a flowchart showing a method for setting the mounting angle of the optical axis control device for headlamps according to the first embodiment. It is a figure explaining the range which the optical axis control apparatus for headlamps concerning Embodiment 3 of this invention uses for calculation of a vehicle angle. It is a figure explaining the change of the acceleration when a vehicle vibrates in Embodiment 3.
- FIG. 4 is a flowchart showing a method for setting the mounting angle of the optical axis control device for headlamps according to the first embodiment. It is a figure explaining the range which the optical axis control apparatus for headlamps
- FIG. 1 is a block diagram illustrating a configuration example of a headlamp optical axis control device 10 according to the first embodiment.
- the headlamp optical axis control device 10 according to Embodiment 1 includes a power supply unit 11, an acceleration signal input unit 12, a speed signal input unit 13, a vehicle information input unit 14, and a control unit 15.
- the control unit 15 includes a CPU (Central Processing Unit) 16, a storage unit 17 composed of a semiconductor memory or the like, and an optical axis operation signal output unit 18.
- CPU Central Processing Unit
- FIG. 2 is a diagram showing an example in which the headlamp optical axis control device 10 is mounted on the vehicle 7.
- the vehicle 7 includes a left headlight 5L and a right headlight 5R provided with optical axis operation devices 6L and 6R that adjust the direction of the optical axis, an acceleration sensor 2, a vehicle speed sensor 3, and a headlamp.
- An optical axis control device 10 is installed.
- the acceleration sensor 2 detects the longitudinal acceleration applied to the vehicle 7 and the vertical acceleration applied to the vehicle 7 and outputs an acceleration signal.
- the vehicle speed sensor 3 detects the vehicle speed of the vehicle 7 and outputs a speed signal.
- the headlamp optical axis control device 10 and the acceleration sensor 2 are configured separately.
- the acceleration sensor 2 is accommodated in the optical axis control device 10 for headlamps, and is configured integrally.
- the headlight optical axis control device 10 configured integrally with the acceleration sensor 2 is housed inside another vehicle-mounted electrical component 8.
- the optical axis control device 10 for headlamps keeps the optical axis in the vertical direction of the left and right headlamps 5L and 5R illuminating the front of the vehicle 7 constant.
- the power supply unit 11 supplies the power of the in-vehicle battery 1 to the control unit 15.
- the acceleration signal input unit 12 inputs the longitudinal and vertical acceleration signals output from the acceleration sensor 2 to the CPU 16.
- the speed signal input unit 13 inputs the speed signal output from the vehicle speed sensor 3 to the CPU 16.
- the vehicle information input unit 14 inputs, to the CPU 16, vehicle information indicating operation details performed by the driver on the switch 4 of the vehicle 7 configured by an ignition switch, a lighting switch, a dimmer switch, or the like.
- the CPU 16 calculates an inclination angle of the vehicle 7 with respect to the road surface (hereinafter also referred to as a vehicle angle) using the longitudinal and vertical acceleration signals and speed signals, and outputs an optical axis operation signal for canceling the change in the inclination angle. Generate.
- the optical axis operation signal output unit 18 outputs the optical axis operation signal calculated by the CPU 16 to the optical axis operation devices 6L and 6R.
- the optical axis operation devices 6L, 6R operate the angle of the optical axis of the headlamps 5L, 5R according to the optical axis operation signal input from the optical axis control device 10 for headlamps.
- Optical axis control is performed so as to cancel the change in the tilt angle. Thereby, even if the inclination angle of the vehicle 7 changes, the optical axis is kept constant.
- FIGS. 3 (a) and 4 (a) to 4 (d) are diagrams for explaining the relationship between the acceleration and the vehicle angle.
- an acceleration measurement system is used in which the vertical direction of the vehicle 7 is the Z axis and the longitudinal direction of the vehicle 7 is the X axis, and FIGS. 3 (a) and 4 (a) to 4 (d) are used. ),
- the direction and magnitude of acceleration applied to the vehicle 7 is expressed by the position of a weight suspended by a spring.
- a planar quadrilateral with four vertices at the center points of the front, rear, left, and right wheels touching the road surface is considered as a virtual carriage, the surface of the virtual carriage will be parallel to the road surface.
- 3B shows the behavior of acceleration (weight suspended by a spring) applied to the vehicle 7 as viewed from the virtual carriage (ie, the road side) of the vehicle 7.
- the vertical direction of the virtual carriage is the Z ⁇ axis
- the longitudinal direction is the X ⁇ axis.
- FIGS. 4 (b) to 4 (d) are when the vehicle is running and the acceleration is as shown in FIGS. 4 (b), 4 (c), and 4 A state of increasing in the order of (d) is shown.
- the rotation of the vehicle 7 (indicated by arrow 101) also increases.
- an angle ⁇ formed by the X axis in the front-rear direction and the moving direction of the weight due to acceleration of the vehicle 7 (arrow 100) is the inclination angle of the vehicle 7 (measurement system) with respect to the road surface, that is, the vehicle angle.
- the traveling road The vehicle angle can be calculated regardless of the gradient.
- the acceleration measurement system installed in the vehicle 7 moves in parallel to the road surface with reference to the preset accelerations on the Z and X axes as in the following equation (1).
- the vehicle angle can be calculated regardless of the gradient of the road on which the vehicle is running.
- the measurement origin of the acceleration measurement system is O
- the weight position is the measurement reference point P
- the acceleration in the X and Z-axis directions from the measurement origin O is X , Z.
- the change amount ⁇ X of the X-axis acceleration is the longitudinal acceleration X detected by the acceleration sensor 2 and the longitudinal acceleration that is the substantial reference point P1.
- the Z-axis acceleration change ⁇ Z is the difference between the vertical acceleration Z detected by the acceleration sensor 2 and the vertical acceleration that is the substantial reference point P1.
- FIG. 5 (c) is a supplement to FIG. 4.
- the vehicle 7 rotates by the rotation angle ⁇ 1 in the direction indicated by the arrow 101, and the front of the vehicle 7 Inclines in the direction that goes up or the back goes down.
- the vehicle 7 is inclined so that the front of the vehicle 7 is lowered or the rear is raised.
- FIG. 5B shows a state where the vehicle 7 is stopped or traveling at a constant speed.
- the vehicle angle ⁇ has an inclination (rotation angle) that is changed by acceleration / deceleration of the vehicle 7. ⁇ 1) is included. Therefore, the accuracy of the vehicle angle ⁇ obtained from the acceleration of one set of Z and X axes is low. Therefore, it is not appropriate to directly use the vehicle angle ⁇ obtained from the acceleration of one set of the Z and X axes for controlling the optical axis of the headlamp.
- a plurality of sets of accelerations on the Z and Y axes during traveling are used in order to obtain a highly accurate vehicle angle even when the inclination of the vehicle 7 changes due to acceleration / deceleration of the vehicle 7.
- the vehicle angle ⁇ is calculated by the following equation (1A).
- equation (1A the vehicle angle ⁇ is calculated by the following equation (1A).
- the vehicle 7 is stopped as a reference acceleration with the position of the weight at the time of stopping or traveling at a constant speed (that is, when the acceleration is zero) as the reference acceleration P0.
- the vertical acceleration Z0 applied to the vehicle 7 and the longitudinal acceleration X0 are used.
- the vehicle angle ⁇ is obtained from the equation (1A). Thereby, the vehicle angle can be calculated without being affected by the gradient of the road on which the vehicle is running.
- the weight position (reference point P0) when stopped or traveling at a constant speed is the total angle of the inclination angle ⁇ 3 of the measurement axis (X axis) with respect to the road surface and the inclination angle ⁇ 4 of the road surface with respect to the horizontal plane. ⁇ 2.
- the CPU 16 determines whether or not the vehicle 7 is stopped based on the speed signal of the vehicle speed sensor 3, and stores the acceleration signal of the acceleration sensor 2 when it is determined that the vehicle 7 is stopped as a reference acceleration. Stored in the unit 17.
- the CPU 16 determines that the vehicle 7 is traveling based on the speed signal, the acceleration newly input from the acceleration sensor 2 using the acceleration stored in the storage unit 17 as a reference.
- the vehicle angle ⁇ is calculated from the signal.
- FIG. 6 is a graph showing the vehicle angle ⁇ with respect to the acceleration change amount ⁇ X0 in the X-axis direction.
- the CPU 16 sets the acceleration change amount ⁇ X0 in the X axis direction as the first axis and the acceleration in the Z and X axis directions detected by the acceleration sensor 2 during traveling on the coordinates where the vehicle angle ⁇ is set as the second axis.
- the vehicle angle ⁇ calculated using the above is plotted.
- the star in FIG. 6 indicates the plotted vehicle angle ⁇ .
- the X-axis direction acceleration change amount ⁇ X0 is a difference between the X-axis direction acceleration signal Xn detected by the acceleration sensor 2 and the reference acceleration X0.
- the CPU 16 derives a representative straight line 110 or a curve formed by a plurality of plotted vehicle angles ⁇ .
- the CPU 16 sets a value at which the acceleration change amount ⁇ X0 on the derived straight line 110 is zero to a vehicle angle ⁇ 5 when the vehicle 7 is stopped or traveling at a constant speed (hereinafter referred to as a stopped vehicle). Treated as an angle).
- the representative straight line 110 or curve is a straight line or curve passing through the two if the calculated vehicle angle ⁇ is two, and the least square method if the number of calculated vehicle angles ⁇ is large. It may be derived by an arithmetic method such as Incidentally, the reason why the typical characteristic of the vehicle angle ⁇ with respect to the acceleration is curved is that the characteristic of the spring used for the suspension of the vehicle 7 is non-linear.
- step ST1 the CPU 16 first acquires the acceleration signal of the up-down direction and the front-back direction input from the acceleration sensor 2 via the acceleration signal input part 12 (step ST1). Subsequently, the CPU 16 determines whether the vehicle 7 is stopped or traveling based on the speed signal input from the vehicle speed sensor 3 via the speed signal input unit 13 (step ST2). In the operation example of FIG. 7, optical axis control when the vehicle 7 is stopped (steps ST3 to ST9) and optical axis control when the vehicle 7 is traveling (steps ST12 to ST16) are switched. .
- step ST2 “YES”) the CPU 16 calculates an inclination angle of the vehicle 7 with respect to the horizontal direction (versus the horizontal vehicle angle) using the acceleration signal acquired in step ST1 (step ST2). ST3). Since the calculation method of the angle to the horizontal vehicle using the output of the acceleration sensor may be a well-known method, the description thereof is omitted.
- the CPU 16 determines whether or not the angle to the horizontal vehicle before the change is stored in the storage unit 17. Has a first flag indicating.
- the CPU 16 checks whether or not the first time flag is set (step ST4). If the first time flag is not set (step ST4 “YES”), the first time flag is set (step ST5).
- the horizontal vehicle angle calculated in ST3 is stored in the storage unit 17 as the first horizontal vehicle angle (step ST6), and the process returns to step ST1.
- step ST4 “NO”) the CPU 16 reads the first-to-horizontal vehicle angle from the storage unit 17, subtracts the to-horizontal vehicle angle calculated in step ST3, and calculates the inclination angle difference. Calculate (step ST7). If there is a difference in inclination angle (step ST8 “YES”), the inclination of the vehicle 7 and the optical axis also change due to the passenger getting on / off or loading / unloading of the luggage, so the CPU 16 determines the difference between the vehicle angle and the inclination angle difference. Are added to calculate the changed vehicle angle (step ST9). If there is no difference in tilt angle (“NO” in step ST8), the tilt angle of the vehicle 7 has not changed and the optical axis has not changed, so the process returns to step ST1.
- Step ST10 sets an optical axis operation angle that cancels the changed angle so that the optical axis returns to the initial position when the angle of the vehicle 7 with respect to the horizontal plane changes due to passenger getting on and off or loading and unloading of luggage. This is the processing to be sought.
- the CPU 16 changes the slope when the angle with respect to the horizontal vehicle immediately after the vehicle 7 stops (the first time after the stop) changes with respect to the horizontal vehicle angle thereafter (after the second time after the vehicle stops).
- An optical axis operation angle for returning to the initial position after canceling the angle difference is calculated and used for optical axis control.
- the first horizontal angle of the vehicle after stopping is the angle corresponding to the angle of the vehicle when traveling without any passenger getting on or off or loading and unloading, and the change of the inclination angle while stopping is observed. Convenient as a standard for
- the optical axis control while the vehicle is stopped for example, the vehicle 7 is stopped in advance on a horizontal road surface, and the optical axis is set to 1% on the depression side (the angle at which the optical axis is lowered 1 m in front of 100 m).
- the vehicle angle is set so that the optical axis of the headlamps 5L and 5R returns to the initial position (1% on the depression side) according to the difference in the vehicle angle that changes depending on the passenger getting on and off or loading and unloading the luggage.
- the optical axis can be manipulated in a direction that cancels the amount of change.
- the optical axis operation angle is obtained from the optical axis correction angle stored in advance in the storage unit 17, the vehicle angle reference value stored in advance in the storage unit 17, and the vehicle angle calculated in step ST8.
- the change amount of the vehicle angle is canceled by (vehicle angle reference value ⁇ vehicle angle), and (optical axis correction angle + vehicle angle reference value) is added to this value to return the optical axis to the initial position.
- the optical axis correction angle and the vehicle angle reference value will be described later.
- the CPU 16 generates an optical axis operation signal from the optical axis operation angle obtained in step ST10, and outputs it to the optical axis operation devices 6L and 6R via the optical axis operation signal output unit 18 (step ST11).
- the optical axis operation devices 6L and 6R operate the optical axes of the headlamps 5L and 5R according to the optical axis operation signal.
- step ST2 “NO”) the CPU 16 resets the first flag (step ST12).
- the CPU 16 calculates the vehicle angle ⁇ from the above equation (1A) using the acceleration signal at the time of travel obtained in step ST1, and the vehicle angle ⁇ on the coordinates of the vehicle angle with respect to the acceleration change amount shown in FIG. To obtain a straight line 110.
- the CPU 16 sets the value on the straight line 110 corresponding to the amount of change in acceleration in the front-rear direction to zero as the vehicle angle ⁇ 5 when the vehicle 7 is stopped (step ST13).
- step ST14 “NO” When the number of effective plots of the vehicle angle ⁇ is not enough and the vehicle angle ⁇ 5 that is stopped cannot be calculated (step ST14 “NO”), the CPU 16 returns to step ST1. On the other hand, when the vehicle angle ⁇ 5 during stoppage can be calculated (step ST14 “YES”), the CPU 16 proceeds to step ST15.
- This step ST15 is a step of correcting the offset and sensitivity of the acceleration sensor 2, and the process will be described later.
- the CPU 16 calculates the optical axis operation angle at step ST10 using the vehicle angle at the stop calculated at step ST13 as the vehicle angle (step ST16), and outputs the optical axis operation signal at step ST11.
- the generated signal is output to the optical axis operation devices 6L and 6R via the optical axis operation signal output unit 18.
- a plurality of accelerations in the X and Z axis directions applied to the traveling vehicle 7 are used to calculate the vehicle angle when the acceleration change amount in the X axis direction is zero, that is, when the vehicle is stopped or traveling at a constant speed.
- the vehicle angle during the stop can be derived without being affected by the gradient of the traveling road and the influence of the inclination of the vehicle 7 that changes due to acceleration / deceleration.
- step ST15 a method for correcting the offset and sensitivity of the acceleration sensor 2 in step ST15 will be described.
- an offset exists in the output of the acceleration sensor 2, and the offset may change with time.
- the optical axis control (steps ST3 to ST9) using the angle with respect to the horizontal vehicle when the vehicle 7 is stopped is a method of accumulating the changed angles, errors may accumulate. Therefore, in the optical axis control using the angle with respect to the horizontal vehicle, there is a possibility that the optical axis is shifted over time.
- FIG. 8 is a diagram for explaining the measurement system and the weight viewed from the vertical direction and the horizontal direction when the acceleration sensor 2 is initially set.
- the vertical axis is the vertical direction
- the horizontal axis is the horizontal direction.
- the intersection of the X axis and the Z axis is the origin of the acceleration sensor 2
- the intersection of the vertical direction and the horizontal direction is the origin of measurement O viewed from the vehicle 7 (measurement system).
- the offset Xoff in the X-axis direction and the offset Zoff in the Z-axis direction are expressed by the following expressions (2) and (3).
- Xoff X ⁇ ⁇ 1 ⁇ sin ( ⁇ off) ⁇
- Zoff Z ⁇ ⁇ 1 ⁇ cos ( ⁇ off) ⁇ (3)
- ⁇ off is a deviation (known) in the mounting angle with respect to the vertical direction
- 1 G is the gravitational acceleration
- X and Z are acceleration signals detected by the acceleration sensor 2.
- step ST15 the CPU 16 corrects the offset of the acceleration signal of the acceleration sensor 2 by the following means so that the angle with respect to the horizontal vehicle being stopped is equivalent to the vehicle angle being stopped obtained at step ST13.
- FIG. 10 is a diagram for explaining the offset correction method in step ST15.
- the vertical axis of the graph is the vehicle angle ⁇
- the horizontal axis is the acceleration change amount ⁇ X0 in the X-axis direction.
- the CPU 16 collects a plurality of vehicle angles ⁇ calculated from the acceleration signal when the vehicle 7 is stopped, and plots the vehicle angles ⁇ at the time of stopping collected in step ST15 as shown in the graph of FIG. A representative vehicle angle ⁇ 6 having an average or high appearance frequency is obtained. This representative vehicle angle ⁇ 6 is substituted for the horizontal vehicle angle.
- the difference between the stopped vehicle angle ⁇ 5 and the representative vehicle angle ⁇ 6 is a change in the offset.
- the CPU 16 stores the corrected offsets Xoff and Zoff in the storage unit 17, corrects the offset of the acceleration signal input from the acceleration sensor 2 thereafter, and uses the corrected offset Xoff and Zoff for calculating the angle with respect to the horizontal vehicle. Note that the offset correction timing is not limited to step ST15.
- the first flag of the CPU 16 is reset after completion of the optical axis control device 10 for headlamps (step ST21).
- the operator tilts the optical axis control device 10 for headlamps in which the acceleration sensor 2 is incorporated in three or more directions, and the acceleration sensor 2 measures acceleration in the vertical and front-rear directions and outputs an acceleration signal (Ste ST22).
- the CPU 16 estimates the offset and sensitivity of the acceleration sensor 2 based on the input acceleration signal (step ST23).
- FIG. 12A is a diagram for explaining the measurement system and the weight viewed from the vertical direction and the horizontal direction at the time of initial setting, where the vertical axis is the vertical direction and the horizontal axis is the horizontal direction.
- FIG. 12B when the headlamp optical axis control device 10 incorporating the acceleration sensor 2 is rotated, as shown in FIG. The center of the circle drawn by the weight suspended by the spring is offset, and the size of the circle is the sensitivity.
- the operator fixes the headlight optical axis control device 10 on a horizontal surface, and sets the mounting angle of the acceleration sensor 2 with respect to the headlight optical axis control device 10 (step ST24).
- the optical axis control device for headlamp 10 stores the offset and sensitivity of the acceleration sensor 2 in step ST23 and the setting value of the attachment angle in step ST24 in the storage unit 17.
- the setting signal for storing the various setting values can be substituted by inputting a specific input pattern to the vehicle information input unit 14, for example, in addition to the setting signal by communication with an external device.
- this specific input pattern is, for example, encryption such as setting the transmission selection lever to “R”, setting the lighting switch to “ON”, and repeating the “ON” of the passing switch three times. Combination. Of course, other combinations of input pattern signals may be used.
- the optical axis correction angle and the vehicle angle reference value are stored in the storage unit 17 and used in the flowchart of FIG.
- the CPU 16 generates and outputs an optical axis operation signal from the optical axis operation angle at the time of setting the attachment angle (step ST25).
- the operator confirms whether or not the optical axis operation signal has a correct value (step ST26).
- steps ST27 to ST30 is performed at a vehicle manufacturing factory or maintenance factory.
- the worker mounts the headlight optical axis control device 10 on the vehicle 7 (step ST27), and sets the mounting angle of the acceleration sensor 2 with respect to the vehicle 7 while the vehicle 7 is stopped on a horizontal road surface (step ST27).
- ST28 mounts the headlight optical axis control device 10 on the vehicle 7
- ST28 sets the mounting angle of the acceleration sensor 2 with respect to the vehicle 7 while the vehicle 7 is stopped on a horizontal road surface
- step ST28 the mounting angle is set in the same procedure as in steps ST24-1 to 24-4 in FIG.
- This ⁇ off is stored in the storage unit 17 and used in the flowchart of FIG.
- the operator mechanically adjusts the optical axes of the headlamps 5L and 5R using a spanner or a driver.
- the optical axis is set to an initial position (for example, 1% on the depression angle side) (step ST30).
- the optical axes of the headlamps 5L and 5R are in the initial position of 1% on the depression side.
- the control unit 15 of the optical axis control device 10 for headlamps has information on preset vertical and vertical reference accelerations, and is detected by the acceleration sensor 2.
- the vehicle angle is calculated from the ratio of the difference between the longitudinal acceleration signal during traveling of the vehicle 7 and the reference acceleration in the longitudinal direction with respect to the difference between the vertical acceleration signal during traveling of the vehicle 7 and the vertical reference acceleration. This corresponds to the case where the difference in the longitudinal direction is set as the first axis and the calculated vehicle angle is plotted on the coordinates where the vehicle angle is set as the second axis, and the acceleration change amount in the longitudinal direction is zero.
- the vehicle angle is derived, and an optical axis operation signal for operating the optical axes of the headlamps 5L and 5R is generated based on the derived vehicle angle. Since a plurality of acceleration signals detected during traveling are used to derive the vehicle angle when the amount of acceleration change in the front-rear direction is zero, that is, the vehicle angle during stopping or traveling at constant speed, the vehicle 7 By accelerating / decelerating, a highly accurate vehicle angle can be obtained even if the inclination of the vehicle 7 changes. In addition, by using the acceleration change amount, it is possible to reduce the influence of the offset latent in the output of the acceleration sensor 2 and the change of the offset with time, and a stable vehicle angle can be obtained over a long period of time.
- the control unit 15 calculates the angle to the horizontal vehicle using the acceleration signals in the vertical direction and the front-rear direction when the vehicle 7 detected by the acceleration sensor 2 is stopped.
- a representative horizontal vehicle angle is derived from a plurality of horizontal vehicle angles, and the representative vehicle angle is different from the corresponding vehicle angle when the acceleration change amount in the front-rear direction is zero, both are equal.
- the acceleration signal detected by the acceleration sensor 2 is corrected.
- the headlamp optical axis control device 10 that can stably control the optical axis of the headlamp even when the vehicle is stopped.
- the acceleration sensor 2 is configured integrally with the optical axis control device 10 for headlamps, so that wiring can be omitted, and a simple configuration.
- the optical axis control device 10 for the headlamp can be realized.
- the headlamp optical axis control device 10 is integrated with the vehicle-mounted electrical component 8 having a function different from that of the optical axis control. Since the headlamp optical axis control device 10 does not exist, the system configuration mounted on the vehicle 7 is simplified.
- Embodiment 2 the vertical acceleration Z0 applied to the vehicle 7 detected by the acceleration sensor 2 when the vehicle 7 is stopped and the longitudinal acceleration X0 are used as the reference acceleration.
- the reference acceleration may be other than this.
- the optical axis control apparatus for headlamps which concerns on Embodiment 2 is the same as the structure of FIG. 1 on drawing, it demonstrates using FIG.
- the CPU 16 may use the acceleration Zs in the vertical direction applied to the vehicle 7 and the acceleration Xs in the front-rear direction when the vehicle 7 is traveling at a constant acceleration as the reference acceleration. Further, for example, the CPU 16 may use the vertical acceleration Zc applied to the vehicle 7 and the acceleration Xc in the front-rear direction when the vehicle 7 is traveling at a constant speed as the reference acceleration. Further, for example, the CPU 16 may use the vertical acceleration Z-100 detected by the acceleration sensor 2 before a preset time (for example, 100 ms) and the longitudinal acceleration X-100 as the reference acceleration. Good.
- a preset time for example, 100 ms
- a reference acceleration a plurality of values may be switched and used.
- the CPU 16 uses Z0 and X0 as a reference acceleration for a preset time from the start of travel (for example, for 5 seconds until the rapid acceleration at the start of travel ends). After that, while using Z-100 and X-100 as the reference acceleration, if there is a timing when the vehicle 7 is traveling at a constant acceleration, it is switched to Zs and Xs, and the vehicle 7 travels at a constant speed. If there is a timing, it may be appropriately combined such as switching to Zc and Xc.
- acceleration X based on the measurement origin O
- acceleration change amount ⁇ X0 based on the acceleration at the time of stopping or at constant speed (reference point P0)
- the acceleration serving as a reference is the acceleration sensor 2. Aligned on the circumference drawn by the sensitivity, acceleration changes almost occur in the tangential direction of the circle.
- the reference acceleration may be ⁇ X0, ⁇ Z0, Xs, Zs, Xc, Zc, or X-100, Z-100.
- Embodiment 3 In the first embodiment, all the acceleration signals input from the acceleration sensor 2 are used to calculate the vehicle angle when the vehicle is stopped. However, in the third embodiment, only the acceleration signals within a preset range are used. The configuration to be used. In addition, since the optical axis control apparatus for headlamps which concerns on Embodiment 3 is the same as the structure of FIG. 1 on drawing, it demonstrates using FIG.
- FIG. 14 is a diagram for explaining a range 200 used by the headlight optical axis control device 10 according to the third embodiment for calculation of the vehicle angle.
- the horizontal axis of the graph is the acceleration change amount ⁇ X0 in the X-axis direction
- the vertical axis is the vehicle angle ⁇
- the vehicle angle ⁇ calculated from the acceleration signal detected during traveling is plotted with an asterisk.
- FIG. 15 shows a change in acceleration when the vehicle 7 vibrates.
- an acceleration 210 due to the vibration may be superimposed on the acceleration signal output from the acceleration sensor 2.
- an acceleration signal having a value larger than the actual acceleration or a small acceleration signal (including the minus side) is output.
- the acceleration change amount 211 when there is vibration deviates from the acceleration change amount 212 when there is no vibration.
- the behavior of the vehicle 7 may also become abnormal.
- ⁇ X0 as the denominator of the above equation (1A) for calculating the vehicle angle ⁇ is small, and the calculation result may be abnormal.
- the CPU 16 does not use the vehicle angle ⁇ calculated from the acceleration signal for calculating the vehicle angle ⁇ 5 when the vehicle is stopped. If the input acceleration signal is between ⁇ 2G and ⁇ 0.5G or 0.5G to 2G, as shown in the range 200 of FIG. 14, for example, the CPU 16 determines a representative straight line from the vehicle angle ⁇ . 201 or the curve 202 is calculated, and the vehicle angle ⁇ 5 when the vehicle is stopped is derived. On the other hand, the vehicle angle ⁇ of the acceleration signal outside the range 200 is not used for calculation.
- the range 200 may be further carefully selected.
- the CPU 16 represents the vehicle angle ⁇ of the input acceleration signal as a representative.
- the straight line 201 or the curve 202 is not used for calculation.
- the range 200 is set for the longitudinal acceleration signal, but it may be set for the vertical acceleration signal.
- the control unit 15 when at least one of the vertical and forward / backward acceleration signals detected by the acceleration sensor 2 is outside the preset range, the control unit 15 The configuration is not used for deriving the corresponding vehicle angle when the acceleration change amount in the front-rear direction is zero. For this reason, an abnormal acceleration signal can be eliminated, and the optical axis control device 10 for headlamps that can control the optical axis of the headlamp with high accuracy can be realized.
- Embodiment 4 FIG. In the third embodiment, only the acceleration signal within a preset range is used for the calculation of the vehicle angle. However, in the fourth embodiment, the availability is determined based on the vehicle speed signal. In addition, since the optical axis control apparatus for headlamps which concerns on Embodiment 4 is the same as the structure of FIG. 1 on drawing, it demonstrates using FIG.
- the acceleration change amount obtained by differentiating the speed signal of the vehicle speed sensor 3 is equivalent to the acceleration change amount 212 obtained from the acceleration signal of the acceleration sensor 2. Therefore, if the acceleration change amount obtained from the speed signal is equal to the acceleration change amount obtained from the acceleration signal, it can be determined that the acceleration 210 due to vibration is not superimposed on the acceleration signal, and the acceleration signal of the acceleration sensor 2 can be determined. The authenticity of the can be confirmed. That is, if the acceleration change amount is the same, it can be determined that there is no problem even if the acceleration signal of the acceleration sensor 2 is used for calculation of the vehicle angle when the vehicle is stopped.
- the CPU 16 calculates the acceleration change amount by differentiating the speed signal, calculates the square root of ( ⁇ Z0 2 + ⁇ X0 2 ), obtains the acceleration change amount of the acceleration signal corresponding to the acceleration change amount obtained from the speed signal, Compare Incidentally, the amount of acceleration change obtained from the speed signal and the amount of acceleration change obtained from the acceleration signal are in the range of 0.9 to 1.1 times, for example.
- the control unit 15 converts the speed of the vehicle 7 into an acceleration change amount, the up-down direction and the front-back direction detected by the acceleration sensor 2, and the acceleration change amount.
- the acceleration signal is used for derivation of the vehicle angle corresponding to the acceleration change amount in the front-rear direction being zero. For this reason, an abnormal acceleration signal can be eliminated, and the optical axis control device 10 for headlamps that can control the optical axis of the headlamp with high accuracy can be realized.
- the optical axis control device for a headlamp can control the optical axis of the headlamp with high accuracy while using an acceleration sensor
- the optical axis control device for a headlamp using a bright light source such as an LED can be used. It is suitable for use in an optical axis control device.
- In-vehicle battery 2. Acceleration sensor, 3. Vehicle speed sensor, 4. Switch, 5L, 5R headlamp, 6L, 6R optical axis operation device, 7. Vehicle, 8. In-vehicle electrical component, 10. Optical axis control device for headlamp, 11. Power supply Unit, 12 acceleration signal input unit, 13 speed signal input unit, 14 vehicle information input unit, 15 control unit, 16 CPU, 17 storage unit, 18 optical axis operation signal output unit.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
なお、搭乗者の乗車あるいは荷物の積載は、車両が停車しているときに行われるものであり、車両が停車しているときの光軸制御が、当前照灯用光軸制御装置の主な制御となる。
しかしながら、上記特許文献1では、車両が加速しても減速しても、路面に対する車両の傾斜角度が変化しないことを前提としており、加減速するときの加速度の変化方向を、特許文献1の図4および図6のように直線近似して求めている。つまり、上記特許文献1の方法で求めた傾斜角度には、車両が加減速することによって変化した傾斜が含まれていないため、確度が低いという課題があった。
実施の形態1.
図1は、実施の形態1に係る前照灯用光軸制御装置10の構成例を示すブロック図である。実施の形態1に係る前照灯用光軸制御装置10は、電源部11、加速度信号入力部12、速度信号入力部13、車両情報入力部14、および制御部15を含んでいる。制御部15は、CPU(Central Processing Unit)16、半導体メモリ等で構成された記憶部17、および光軸操作信号出力部18を含んでいる。
電源部11は、車載バッテリ1の電源を制御部15へ供給する。加速度信号入力部12は、加速度センサ2が出力した前後・上下方向の加速度信号をCPU16へ入力する。速度信号入力部13は、車速センサ3が出力した速度信号をCPU16へ入力する。車両情報入力部14は、イグニッションスイッチ、ライティングスイッチ、あるいはディマースイッチ等で構成された車両7のスイッチ4に対してドライバが行った操作内容を示す車両情報を、CPU16へ入力する。CPU16は、前後・上下方向の加速度信号と速度信号を用いて、路面に対する車両7の傾斜角度(以下、車両角度とも呼ぶ)を算出し、傾斜角度の変化を相殺するための光軸操作信号を生成する。光軸操作信号出力部18は、CPU16が算出した光軸操作信号を光軸操作装置6L,6Rへ出力する。
本発明の説明においては、車両7の上下方向をZ軸、車両7の前後方向をX軸とした加速度の計測系を使用し、図3(a)および図4(a)~図4(d)に示すように、車両7(当計測系)に加わる加速度の方向と大きさをばねに吊り下げた錘の位置によって表現する。
また、路面に接地した前後左右それぞれの車輪の中心点を4個の頂点とした平面状の四角形を仮想的な台車としてみれば、当仮想的な台車の面は路面に対して平行になることを念頭において、図3(b)には、車両7の当仮想的な台車(即ち道路側)から見た、当車両7に加わる加速度(ばねに吊り下げた錘)の挙動を示す。なお、当図においては、当仮想的な台車の上下方向をZα軸、前後方向をXα軸とする。
一方、図3(a)に示すように、計測系から車両7に加わる加速度(ばねに吊り下げた錘)を見た場合、車両7の加速によって、錘は、車両7の計測系の前後方向のX軸とは異なる方向に移動する。このとき、前後方向のX軸と車両7の加速による錘の移動方向(矢印100)とがなす角度θが、路面に対する車両7(計測系)の傾斜角度、つまり車両角度となる。
換言すれば、車両7に設置された加速度の計測系においては、下式(1)のように、予め設定したZ,X軸上の加速度を基準にして、道路面に対して平行に移動するZ,X軸の加速度の変化を観測すれば、走行している道路の勾配に関係なく車両角度を算出することができる。
そのため、Z,X軸1組の加速度から得た車両角度θの確度は低い。従って、前照灯の光軸制御に、Z,X軸1組の加速度から得た車両角度θをそのまま使用することは適切ではない。
ここで、図4に示すように、停車時あるいは等速走行時(つまり、加速度が零のとき)の錘の位置を基準点P0とし、基準となる加速度として、車両7が停車しているときの車両7に加わる上下方向の加速度Z0と、前後方向の加速度X0を使用する。車両7が走行しているときに加速度センサ2が検出する上下方向の加速度をZn、前後方向の加速度をXnとすると、車両角度θは、式(1A)より求まる。これにより、走行している道路の勾配による影響を受けることなく車両角度を算出することができる。
即ち、ΔZ0=Zn-Z0,ΔX0=Xn-X0である。
CPU16は、X軸方向の加速度変化量ΔX0を第一軸に設定し、車両角度θを第二軸に設定した座標上に、走行中に加速度センサ2が検出したZ,X軸方向の加速度を用いて算出した車両角度θをプロットする。図6の星印は、プロットした車両角度θを示す。X軸方向の加速度変化量ΔX0は、加速度センサ2によって検出されたX軸方向の加速度信号Xnと、基準となる加速度X0との差分である。
CPU16は、プロットした複数個の車両角度θによって形成される、代表的な直線110あるいは曲線を導く。CPU16は、導いた直線110上の加速度変化量ΔX0が零に位置する値を、車両7が停車しているとき、あるいは等速度で走行しているときの車両角度θ5(以下、停車中の車両角度と呼ぶ)として扱う。
ちなみに、上記加速度に対する車両角度θの代表的な特性が曲線状になるのは、車両7のサスペンションに使用するばねの特性が非線形であることが要因の一つである。
加速度センサ2のオフセットとその経時変化については、後述する。
CPU16は、電源が投入されて動作を開始すると、図7のフローチャートを実施する。
CPU16は、1回目フラグがセットされているか否かを確認し(ステップST4)、1回目フラグがセットされていない場合(ステップST4“YES”)、1回目フラグをセットし(ステップST5)、ステップST3で算出した対水平車両角度を1回目対水平車両角度として記憶部17に記憶させ(ステップST6)、ステップST1に戻る。
ステップST10において、CPU16は、車両7が停車した直後(停車後1回目)の対水平車両角度に対して、その後(停車後2回目以降)の対水平車両角度が変化したときに、変化した傾斜角度差を相殺した上で初期位置に戻す光軸操作角度を算出し光軸制御に使用する。ちなみに、停車後1回目の対水平車両角度は、搭乗者の乗り降り、あるいは荷物の積み下ろし等がない、走行しているときの車両角度に対応する角度であり、停車中の傾斜角度の変化を観測するための基準として好都合である。
光軸補正角度および車両角度基準値は後述する。
一方、停車中の車両角度θ5を算出できた場合(ステップST14“YES”)、CPU16はステップST15へ進む。
このステップST15は、加速度センサ2のオフセットと感度の補正を行うステップであり、その処理は後述する。
このように、走行中の車両7に加わるX,Z軸方向の加速度を複数使用して、X軸方向の加速度変化量が零のとき、つまり停車中または等速走行中の車両角度を算出することで、走行する道路の勾配による影響、ならびに加減速することにより変化する車両7の傾斜の影響を受けることなく、停車中の車両角度を導くことができる。
上述したように、加速度センサ2の出力にはオフセットが潜在し、そのオフセットは経時的に変化する可能性がある。また、車両7が停車しているときの対水平車両角度を使用する光軸制御(ステップST3~ST9)は変化した角度を延々と蓄積する方式であるため、誤差が蓄積する可能性がある。そのため、対水平車両角度を使用する光軸制御においては、経時的に光軸がずれる可能性がある。
Xoff=X-{1・sin(θoff)} (2)
Zoff=Z-{1・cos(θoff)} (3)
ここで、鉛直方向に対する取り付け角度のずれ(既知)をθoff、重力加速度を1G、加速度センサ2が検出する加速度信号をX,Zとする。
オフセットXoff,Zoffの修正により、計測上の原点OがO1に修正され、車両角度のずれもΔθoff=0に修正される。
なお、オフセット修正のタイミングは、ステップST15に限定されるものではない。
製造工場において、前照灯用光軸制御装置10の完成後にCPU16の1回目フラグをリセットしておく(ステップST21)。作業者は、加速度センサ2が組み込まれた前照灯用光軸制御装置10を3方向以上に傾け、加速度センサ2がその都度の上下・前後方向の加速度を測定して加速度信号を出力する(ステップST22)。CPU16は、入力された加速度信号に基づいて、加速度センサ2のオフセットと感度を推定する(ステップST23)。
なお、上記各種設定値を格納する設定用信号としては、外部装置との通信による設定信号の他に、たとえば、車両情報入力部14に、特定の入力パターンを入力することで代用する。ちなみに、当特定な入力パターンとは、たとえば、変速機の選択レバーを「R」に設定、かつ、ライティングスイッチを「オン」に設定、かつ、パッシングスイッチの「オン」を3回繰り返す等の暗号的な組み合わせである。もちろん、入力パターン用の信号の組み合わせは上記以外でも構わない。
上記実施の形態1では、基準となる加速度として、車両7が停車しているときに加速度センさ2によって検出された車両7に加わる上下方向の加速度Z0と、前後方向の加速度X0を使用したが、基準となる加速度はこれ以外であってもよい。
なお、実施の形態2に係る前照灯用光軸制御装置は、図面上は図1の構成と同じであるため、図1を援用して説明する。
また例えば、CPU16は、基準となる加速度として、車両7が等速度で走行しているときの、車両7に加わる上下方向の加速度Zcと、前後方向の加速度Xcを使用してもよい。
また例えば、CPU16は、基準となる加速度として、予め設定した時間(例えば、100ms)前に加速度センサ2が検出した上下方向の加速度Z-100と、前後方向の加速度X-100を使用してもよい。
従って、基準加速度は、ΔX0,ΔZ0でもよいし、Xs,Zsでもよいし、Xc,Zcでもよいし、X-100,Z-100でもよい。
上記実施の形態1では、停車中の車両角度の算出に、加速度センサ2から入力された加速度信号をすべて使用していたが、本実施の形態3では、予め設定された範囲内の加速度信号のみ使用する構成とする。
なお、実施の形態3に係る前照灯用光軸制御装置は、図面上は図1の構成と同じであるため、図1を援用して説明する。
また、車両7が急加速あるいは急停車等して大きな加速度が検出されるときは、車両7の挙動も異常になることがある。一方、加速度が小さなときは、車両角度θを算出する上式(1A)の分母となるΔX0が小さく、算出結果が異常になることがある。
CPU16は、例えば図14の範囲200のように、入力された加速度信号が-2Gから-0.5G、あるいは、0.5Gから2Gの間にあれば、それらの車両角度θから代表的な直線201あるいは曲線202を算出し、停車中の車両角度θ5を導く。一方、当範囲200外の加速度信号の車両角度θは算出には使用しない。
上記実施の形態3では、車両角度の算出に、予め設定された範囲内の加速度信号のみ使用したが、本実施の形態4では、車両の速度信号に基づいて使用可否を判断する構成とする。
なお、実施の形態4に係る前照灯用光軸制御装置は、図面上は図1の構成と同じであるため、図1を援用して説明する。
従って、速度信号から得た加速度変化量と、加速度信号から得た加速度変化量とが同等であれば、加速度信号には振動による加速度210が重畳されていないと判断でき、加速度センサ2の加速度信号の信憑性を確認することができる。即ち、両者の加速度変化量が同等であれば、加速度センサ2の加速度信号を停車中の車両角度の算出に使用しても問題はないと判断できる。
ちなみに、速度信号から得た加速度変化量と加速度信号から得た加速度変化量とが同等とは、例えば、0.9倍から1.1倍の範囲である。
Claims (7)
- 車両に搭載された加速度センサによって検出された上下方向および前後方向の加速度信号を用いて、路面に対する前記車両の傾斜角度を示す車両角度を算出し、前照灯の光軸を操作する信号を生成する制御部を備えた前照灯用光軸制御装置であって、
前記制御部は、予め設定された前記上下方向および前記前後方向の基準加速度の情報を有し、前記加速度センサによって検出された前記車両の走行中の前記上下方向の加速度信号と前記上下方向の基準加速度との差分に対する、前記車両の走行中の前記前後方向の加速度信号と前記前後方向の基準加速度との差分の比から車両角度を算出し、前記前後方向の加速度信号と基準加速度との差分を第一軸に設定すると共に車両角度を第二軸に設定した座標上に当該算出した車両角度を複数個プロットして前記前後方向の加速度変化量が零のときに相当する車両角度を導出し、当該導出した車両角度に基づいて前記前照灯の光軸を操作する信号を生成することを特徴とする前照灯用光軸制御装置。 - 前記上下方向および前記前後方向の基準加速度は、
前記加速度センサによって検出された、前記車両が停車しているときの前記上下方向および前記前後方向の加速度信号、
あるいは、前記車両が等加速度で走行しているときの前記上下方向および前記前後方向の加速度信号、
あるいは、前記車両が等速度で走行しているときの前記上下方向および前記前後方向の加速度信号、
あるいは、予め設定された時間前の前記上下方向および前記前後方向の加速度信号であることを特徴とする請求項1記載の前照灯用光軸制御装置。 - 前記制御部は、前記加速度センサによって検出された前記上下方向および前記前後方向の少なくとも一方の加速度信号が予め設定された範囲外である場合、当該加速度信号を前記前後方向の加速度変化量が零のときに相当する車両角度の導出に使用しないことを特徴とする請求項1記載の前照灯用光軸制御装置。
- 前記制御部は、前記車両の速度を加速度の変化量に変換し、当該変換した加速度の変化量と、前記加速度センサによって検出された前記上下方向および前記前後方向の加速度信号の変化量との差が、予め設定された範囲内である場合、当該加速度信号を前記前後方向の加速度変化量が零のときに相当する車両角度の導出に使用することを特徴とする請求項1記載の前照灯用光軸制御装置。
- 前記制御部は、前記加速度センサによって検出された前記車両が停車しているときの前記上下方向および前記前後方向の加速度信号を用いて、水平方向に対する前記車両の傾斜角度を示す対水平車両角度を算出し、複数個の前記対水平車両角度から代表的な対水平車両角度を導き、前記代表的な対水平車両角度と前記前後方向の加速度変化量が零のときに相当する車両角度とが異なる場合に両者が等しくなるように前記加速度センサによって検出される加速度信号を補正することを特徴とする請求項1記載の前照灯用光軸制御装置。
- 前記加速度センサと一体に構成されていることを特徴とする請求項1記載の前照灯用光軸制御装置。
- 前記車両に搭載される車載電装品と一体に構成されていることを特徴とする請求項1記載の前照灯用光軸制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/321,960 US10471884B2 (en) | 2014-09-16 | 2014-09-16 | Headlight optical-axis control device |
DE112014006958.2T DE112014006958B4 (de) | 2014-09-16 | 2014-09-16 | Scheinwerferoptikachsensteuervorrichtung |
PCT/JP2014/074410 WO2016042599A1 (ja) | 2014-09-16 | 2014-09-16 | 前照灯用光軸制御装置 |
JP2016548462A JP6073535B2 (ja) | 2014-09-16 | 2014-09-16 | 前照灯用光軸制御装置 |
CN201480081987.2A CN106715194B (zh) | 2014-09-16 | 2014-09-16 | 前照灯用光轴控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/074410 WO2016042599A1 (ja) | 2014-09-16 | 2014-09-16 | 前照灯用光軸制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016042599A1 true WO2016042599A1 (ja) | 2016-03-24 |
Family
ID=55532670
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/074410 WO2016042599A1 (ja) | 2014-09-16 | 2014-09-16 | 前照灯用光軸制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10471884B2 (ja) |
JP (1) | JP6073535B2 (ja) |
CN (1) | CN106715194B (ja) |
DE (1) | DE112014006958B4 (ja) |
WO (1) | WO2016042599A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018065692A1 (fr) * | 2016-10-07 | 2018-04-12 | Aml Systems | Procédé et dispositif autonomes de détermination d'une assiette d'un véhicule automobile |
JP2019073189A (ja) * | 2017-10-17 | 2019-05-16 | スタンレー電気株式会社 | 車両用灯具の制御装置および車両用灯具システム |
US10513217B2 (en) | 2015-05-27 | 2019-12-24 | Mitsubishi Electric Corporation | Optical axis control device for headlight |
WO2020183531A1 (ja) * | 2019-03-08 | 2020-09-17 | 三菱電機株式会社 | 光軸制御装置及び調整方法 |
JPWO2020183530A1 (ja) * | 2019-03-08 | 2021-09-13 | 三菱電機株式会社 | 光軸制御装置 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107206928B (zh) * | 2015-01-14 | 2020-11-10 | 株式会社小糸制作所 | 车辆用灯具的控制装置和车辆用灯具系统 |
CN107428285B (zh) | 2015-03-12 | 2019-12-31 | 三菱电机株式会社 | 前照灯用光轴控制装置 |
JP6381830B2 (ja) * | 2015-11-09 | 2018-08-29 | 三菱電機株式会社 | 投射光学機器及び前照灯装置 |
MX2019005524A (es) | 2016-11-18 | 2019-11-21 | Polaris Inc | Vehiculo que tiene suspension ajustable. |
JP6936624B2 (ja) * | 2017-05-19 | 2021-09-15 | スタンレー電気株式会社 | 車両用灯具の制御装置および車両用灯具システム |
US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
DE102017216945A1 (de) * | 2017-09-25 | 2019-03-28 | Robert Bosch Gmbh | Verfahren und System zum automatischen Einstellen eines Neigungswinkels eines Fahrzeugscheinwerfers |
JP6970013B2 (ja) * | 2017-12-27 | 2021-11-24 | 株式会社小糸製作所 | 車両用灯具の制御装置 |
US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
EP4183629B1 (en) | 2021-11-23 | 2024-02-14 | C.R.F. Società Consortile per Azioni | System and method for adjusting the emission direction of a motor-vehicle headlight unit |
IT202200008477A1 (it) | 2022-04-28 | 2023-10-28 | Fiat Ricerche | "Sistema e procedimento per regolare la direzione di emissione di un gruppo proiettore di autoveicolo" |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014101109A (ja) * | 2012-10-24 | 2014-06-05 | Koito Mfg Co Ltd | 車両用灯具の制御装置 |
JP2014104788A (ja) * | 2012-11-26 | 2014-06-09 | Koito Mfg Co Ltd | 車両用灯具の制御装置 |
JP2014108639A (ja) * | 2012-11-30 | 2014-06-12 | Koito Mfg Co Ltd | 車両用灯具の制御装置及び車両用灯具システム |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001347882A (ja) * | 2000-04-03 | 2001-12-18 | Denso Corp | 車両用前照灯光軸方向自動調整装置 |
JP5134527B2 (ja) * | 2008-12-25 | 2013-01-30 | 川崎重工業株式会社 | 自動二輪車のバンク角検知装置およびヘッドランプ装置 |
JP5787649B2 (ja) | 2010-10-26 | 2015-09-30 | 株式会社小糸製作所 | 車両用灯具の制御装置および車両用灯具システム |
JP5713784B2 (ja) * | 2011-04-22 | 2015-05-07 | 株式会社小糸製作所 | 車両用灯具の制御装置、および車両用灯具システム |
JP2014000876A (ja) * | 2012-06-18 | 2014-01-09 | Yamaha Motor Co Ltd | リーン姿勢で旋回する車両用のサブヘッドライトユニット及びサブヘッドライトシステム、並びにリーン姿勢で旋回する車両 |
-
2014
- 2014-09-16 US US15/321,960 patent/US10471884B2/en active Active
- 2014-09-16 DE DE112014006958.2T patent/DE112014006958B4/de active Active
- 2014-09-16 WO PCT/JP2014/074410 patent/WO2016042599A1/ja active Application Filing
- 2014-09-16 JP JP2016548462A patent/JP6073535B2/ja active Active
- 2014-09-16 CN CN201480081987.2A patent/CN106715194B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014101109A (ja) * | 2012-10-24 | 2014-06-05 | Koito Mfg Co Ltd | 車両用灯具の制御装置 |
JP2014104788A (ja) * | 2012-11-26 | 2014-06-09 | Koito Mfg Co Ltd | 車両用灯具の制御装置 |
JP2014108639A (ja) * | 2012-11-30 | 2014-06-12 | Koito Mfg Co Ltd | 車両用灯具の制御装置及び車両用灯具システム |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10513217B2 (en) | 2015-05-27 | 2019-12-24 | Mitsubishi Electric Corporation | Optical axis control device for headlight |
WO2018065692A1 (fr) * | 2016-10-07 | 2018-04-12 | Aml Systems | Procédé et dispositif autonomes de détermination d'une assiette d'un véhicule automobile |
FR3057222A1 (fr) * | 2016-10-07 | 2018-04-13 | Aml Systems | Procede et dispositif autonomes de determination d'une assiette d'un vehicule automobile. |
JP2019073189A (ja) * | 2017-10-17 | 2019-05-16 | スタンレー電気株式会社 | 車両用灯具の制御装置および車両用灯具システム |
JP7037907B2 (ja) | 2017-10-17 | 2022-03-17 | スタンレー電気株式会社 | 車両用灯具の制御装置および車両用灯具システム |
WO2020183531A1 (ja) * | 2019-03-08 | 2020-09-17 | 三菱電機株式会社 | 光軸制御装置及び調整方法 |
JPWO2020183531A1 (ja) * | 2019-03-08 | 2021-06-03 | 三菱電機株式会社 | 光軸制御装置及び調整方法 |
JPWO2020183530A1 (ja) * | 2019-03-08 | 2021-09-13 | 三菱電機株式会社 | 光軸制御装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112014006958B4 (de) | 2020-01-02 |
JPWO2016042599A1 (ja) | 2017-04-27 |
DE112014006958T5 (de) | 2017-06-22 |
CN106715194A (zh) | 2017-05-24 |
JP6073535B2 (ja) | 2017-02-01 |
US20170129390A1 (en) | 2017-05-11 |
CN106715194B (zh) | 2018-03-06 |
US10471884B2 (en) | 2019-11-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6073535B2 (ja) | 前照灯用光軸制御装置 | |
JP6180690B2 (ja) | 前照灯用光軸制御装置 | |
JP6194062B2 (ja) | 車両用灯具の制御装置及び車両用灯具システム | |
JP5787649B2 (ja) | 車両用灯具の制御装置および車両用灯具システム | |
JP7084514B2 (ja) | 車両用灯具の制御装置 | |
JP2015202757A (ja) | 車両用灯具の制御装置 | |
JP6129461B2 (ja) | 前照灯用光軸制御装置 | |
JP2010143424A (ja) | 車両用ランプのオートレベリングシステム | |
JP6285260B2 (ja) | 車両用灯具の制御装置 | |
JP5758738B2 (ja) | 車両用灯具の制御装置 | |
JP6916038B2 (ja) | 車両用灯具の制御装置および車両用灯具システム | |
JP6417098B2 (ja) | 車両姿勢制御装置 | |
EP4194268B1 (en) | Control device for a vehicle lamp and a vehicle lamp system | |
JP2015174572A (ja) | 車両用前照灯の光軸制御装置、車両用前照灯システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14902118 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2016548462 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15321960 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112014006958 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14902118 Country of ref document: EP Kind code of ref document: A1 |