WO2016189707A1 - 前照灯用光軸制御装置 - Google Patents
前照灯用光軸制御装置 Download PDFInfo
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- WO2016189707A1 WO2016189707A1 PCT/JP2015/065292 JP2015065292W WO2016189707A1 WO 2016189707 A1 WO2016189707 A1 WO 2016189707A1 JP 2015065292 W JP2015065292 W JP 2015065292W WO 2016189707 A1 WO2016189707 A1 WO 2016189707A1
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- vehicle
- acceleration
- optical axis
- angle
- control device
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- 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
-
- 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
- B60Q1/085—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 special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
-
- 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
- B60Q2300/13—Attitude of the vehicle body
- B60Q2300/132—Pitch
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- 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
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 measured 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 inclination angle of the vehicle with respect to the road surface is referred to as “vehicle angle”.
- 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 vehicle angle was calculated based on the length of the wheelbase.
- the optical axis control device of the above-mentioned Patent Document 1 uses a two-axis acceleration sensor in the front-rear direction and the vertical direction of the vehicle to improve the accuracy of the vehicle angle and to perform a suitable optical axis control of the headlamp. In addition to the optical axis control when the vehicle is stopped, the optical axis control is performed by measuring the acceleration when the vehicle is running. The optical axis control device of Patent Document 1 uses the acceleration measured when the vehicle is running to obtain the acceleration change direction for each time, or the acceleration change direction from two accelerations having different measurement timings. Thus, the vehicle angle is calculated, and the optical axis is controlled based on the change in the vehicle angle.
- the present invention has been made to solve the above-described problems, and is capable of calculating a highly accurate vehicle angle that does not include an inclination angle error caused by acceleration / deceleration of the vehicle, and the vehicle angle.
- the purpose is to reduce the memory capacity and calculation load required for the calculation.
- An optical axis control device for a headlamp calculates a vehicle angle that is an inclination angle of a vehicle with respect to a road surface, using acceleration signals in the vertical direction and the front-rear direction measured by an acceleration sensor mounted on the vehicle.
- An optical axis control device for a headlamp that includes a control unit that generates a signal for operating the optical axis of the headlamp, the control unit at the first two points in time when the vehicle is traveling.
- the first vehicle angle is calculated from the ratio of the difference between the acceleration signal in the vertical direction measured at the first two time points to the difference between the measured acceleration signals in the front-rear direction, and the first vehicle angle is different from the first two time points.
- the second vehicle angle is calculated from the ratio of the difference between the acceleration signals in the vertical direction measured at the second two time points to the difference between the acceleration signals in the front-rear direction measured at the two time points in FIG. Used to calculate angle and first vehicle angle
- the difference between the acceleration signals in the front and rear direction becomes zero using the difference between the acceleration signals in the rear direction and the difference between the second vehicle angle and the acceleration signal in the front and rear direction used for calculating the second vehicle angle.
- Calculate a third vehicle angle calculate a plurality of third vehicle angles, calculate a representative value of the third vehicle angle based on the distribution, and operate the optical axis of the headlamp based on the representative value
- the signal to be generated is generated.
- the difference between the longitudinal acceleration signals used for calculating the first vehicle angle and the first vehicle angle, and the longitudinal direction used for calculating the second vehicle angle and the second vehicle angle are calculated.
- the difference between the acceleration signals is used to calculate a third vehicle angle when the difference between the acceleration signals in the front-rear direction becomes zero, a plurality of third vehicle angles are calculated, and the third vehicle is calculated based on the distribution. Since the representative value of the angle is calculated and a signal for operating the optical axis of the headlamp is generated based on the representative value, the memory capacity and calculation load required for calculating the representative value are reduced. be able to.
- FIG. 3 is a diagram for explaining a relationship between acceleration and a vehicle angle in the first embodiment.
- FIG. 3 is a diagram illustrating vehicle inclination that changes due to acceleration / deceleration in the first embodiment.
- it is a graph for explaining the relationship between the difference between acceleration signals in the longitudinal direction of the vehicle and the vehicle angle.
- FIG. 6 is a graph for explaining processing for calculating a representative vehicle angle by the optical axis control device for headlamps according to the first embodiment.
- 3 is a flowchart showing an operation of the optical axis control device for headlamps according to the first embodiment.
- 4 is a flowchart showing a method for calculating a representative vehicle angle of the optical axis control device for headlamps according to the first embodiment.
- FIG. 8B is a continuation of the flowchart shown in FIG. 8A.
- 3 is a graph illustrating an example of a use range of differential acceleration in the first embodiment.
- 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.
- FIG. 1 is a block diagram showing a configuration example of a headlamp optical axis control device 10 according to Embodiment 1 of the present invention.
- 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 measures the longitudinal acceleration applied to the vehicle 7 and the vertical acceleration applied to the vehicle 7 and outputs them as an acceleration signal.
- the vehicle speed sensor 3 measures the vehicle speed of the vehicle 7 and outputs it as a speed signal.
- the optical-axis control apparatus 10 for headlamps and the acceleration sensor 2 are comprised 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 power supply unit 11 when the headlamp optical axis control device 10 is housed in the in-vehicle electrical component 8, the power supply unit 11, the acceleration signal input unit 12, the speed signal input unit 13, the vehicle Some or all of the functions of the information input unit 14 or the optical axis operation signal output unit 18 may be included in the headlamp optical axis control device 10 or the 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 is a power supply device that supplies the power of the in-vehicle battery 1 to the control unit 15.
- the acceleration signal input unit 12, the speed signal input unit 13, and the vehicle information input unit 14 are communication devices, and vehicle-side devices such as the acceleration sensor 2, the vehicle speed sensor 3, and the switch 4 through a vehicle communication network such as a CAN (Controller Area Network). Communicate with.
- the switch 4 is an ignition switch, a lighting switch, a dimmer switch, or the like.
- 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 vehicle information indicating operation details performed by the driver to the switch 4 of the vehicle 7 to the CPU 16.
- the CPU 16 calculates the tilt angle of the vehicle 7 with respect to the road surface using the longitudinal and vertical acceleration signals and the velocity signal, and generates an optical axis operation signal for canceling the change in the tilt angle of the vehicle 7 with respect to the road surface.
- the optical axis operation signal output unit 18 is a communication device that outputs the optical axis operation signal calculated by the CPU 16 to the optical axis operation devices 6L and 6R.
- vehicle angle the inclination angle of the vehicle 7 with respect to the road surface is referred to as “vehicle angle”.
- 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 changes in the vehicle angle. Thereby, even if the vehicle angle of the vehicle 7 changes, the optical axes of the headlamps 5L and 5R with respect to the road surface are kept constant.
- FIG. 3 is a diagram 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 as shown in FIG.
- the direction and magnitude of acceleration applied to the vehicle 7 as a system is expressed by the position of a weight suspended by a spring. Note that if a flat quadrilateral having 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 is parallel to the road surface.
- the angle ⁇ between the virtual carriage and the vehicle body supported by the suspension (suspension device) is the inclination angle of the vehicle 7 with respect to the road surface, that is, the vehicle angle.
- the acceleration applied to the virtual bogie of the vehicle 7, that is, the acceleration measuring system equivalent to that seen from the road side is represented as the behavior of a weight suspended by a spring.
- the vertical direction of the virtual carriage is defined as the Zi axis
- the longitudinal direction is defined as the Xi axis.
- the weight moves in parallel with the road surface on both a horizontal road and a slope. If the view is changed, the weight is the Xi axis of the virtual carriage. Move in the direction. That is, the change in acceleration due to traveling is parallel to the road surface, that is, as indicated by the arrow 100 in the Xi-axis direction of the virtual carriage.
- FIG. 3A when the acceleration applied to the vehicle 7 is viewed from the acceleration measurement system installed on the vehicle body supported by the suspension, the weight is similar to the above by the acceleration of the vehicle 7. It moves in the Xi-axis direction of the virtual carriage regardless of the X-axis direction in the longitudinal direction of the acceleration measurement system.
- the angle ⁇ formed by the X axis in the front-rear direction of the acceleration measurement system and the Xi axis of the virtual carriage that is, the vehicle angle that is the inclination angle of the vehicle 7 with respect to the road surface, is determined. 7 can be detected as an angle ⁇ formed by the moving direction (arrow 100) of the weight due to acceleration of 7.
- the movement amount of the weight (arrow 100) that moves parallel to the road surface at the two time points km and kn that is, the difference between the vertical acceleration and the front and rear If the difference in acceleration in the direction is observed, the vehicle angle can be calculated regardless of the up / down gradient of the running road.
- FIG. 4 (b) shows an example of the vehicle 7 that is stopped and the vehicle body is stationary
- FIG. 4 (a) shows an example of the vehicle 7 during deceleration
- FIG. 4 (c) shows an acceleration.
- An example of a vehicle 7 at the time is shown.
- the vehicle 7 accelerates as shown in FIG. 4C
- the rear side is called “squat”.
- the vehicle angle since the vehicle angle includes an inclination that changes as the vehicle 7 accelerates or decelerates, that is, an error in the pitch angle, it is determined from the acceleration at two unspecified time points indicating an aspect like squat or nose dive. The accuracy of the obtained vehicle angle is low. Therefore, it is not appropriate to directly use the vehicle angle obtained from the acceleration at two unspecified time points for the optical axis control of the headlamp.
- the pitching angle has a correlation with the acceleration, and the pitching angle increases in accordance with the magnitude of the acceleration. Therefore, as shown in the graph of FIG. 5, the difference between the acceleration signals in the front-rear direction of the vehicle 7, that is, the vehicle angle ⁇ with respect to the difference acceleration ⁇ X in the front-rear direction is plotted, and a representative straight line passing through the plotted many vehicle angles ⁇ . 110 is drawn, and if the vehicle angle at which the differential acceleration ⁇ X in the front-rear direction is zero is obtained, the vehicle 7 is stopped or travels at a constant speed, excluding the influence of pitching when the vehicle 7 is accelerated or decelerated. It is possible to obtain a vehicle angle corresponding to the state of being.
- the differential acceleration ⁇ X in the front-rear direction is the difference between the front-rear acceleration signal at a certain time point measured by the acceleration sensor 2 and the front-rear acceleration signal at another time point, that is, the difference between the front-rear acceleration signals at two time points.
- the acceleration signal measured in a state where the vehicle 7 is stopped or traveling at a constant speed is used as the acceleration signal at the km point, and the difference from the acceleration signal at the kn point is used as the differential acceleration ⁇ X. Is set on the horizontal axis.
- the calculation process of the representative vehicle angle ⁇ S as shown in FIG. 5 is simplified to the process as shown in FIG.
- the vehicle angle ⁇ calculated using the signal difference is plotted as an asterisk. It is assumed that each vehicle angle ⁇ is calculated at a different timing.
- the CPU 16 draws a straight line 111 passing through two stars indicating the first vehicle angle ⁇ and the second vehicle angle ⁇ , and sets a vehicle angle at which the differential acceleration ⁇ X in the front-rear direction is zero on the straight line 111 to the third vehicle angle ⁇ .
- Vehicle angle ⁇ s In FIG. 6, the third vehicle angle ⁇ s is indicated by a white circle. The third vehicle angle ⁇ s corresponds to the vehicle angle when the vehicle 7 is stopped or traveling at a constant speed.
- the CPU 16 obtains a representative vehicle angle ⁇ S that is a representative value of the third vehicle angle ⁇ s based on the distribution state of the plurality of third vehicle angles ⁇ s obtained from the plurality of straight lines 111.
- the representative vehicle angle ⁇ S is indicated by a black circle.
- the CPU 16 calculates the differential acceleration ⁇ X by the equation (1) using the longitudinal acceleration signals Xkm and Xkn measured at two time points, the km point and the kn point. Further, the CPU 16 calculates the differential acceleration ⁇ Z by the equation (2) using the vertical acceleration signals Zkm and Zkn measured at the same two points of the km point and the kn point. Subsequently, the CPU 16 calculates the vehicle angle ⁇ from the ratio of the differential acceleration ⁇ Z to the differential acceleration ⁇ X according to the equation (3). This vehicle angle ⁇ is referred to as a first vehicle angle ⁇ , and the differential acceleration ⁇ X in the front-rear direction used for calculating the first vehicle angle ⁇ is referred to as a first differential acceleration ⁇ X ⁇ . The CPU 16 stores the first vehicle angle ⁇ and the first differential acceleration ⁇ X ⁇ in the storage unit 17 as a set of data.
- the CPU 16 uses the acceleration signals Xkm, Xkn, Zkm, Zkn measured at two time points different from the above two time points to calculate the vehicle angle ⁇ according to the equations (1) to (3).
- This vehicle angle ⁇ is called a second vehicle angle ⁇
- the differential acceleration ⁇ X in the front-rear direction used for calculating the second vehicle angle ⁇ is called a second differential acceleration ⁇ X ⁇ .
- the CPU 16 stores the second vehicle angle ⁇ and the second differential acceleration ⁇ X ⁇ in the storage unit 17 as a set of data.
- the CPU 16 uses the first vehicle angle ⁇ , the first differential acceleration ⁇ X ⁇ , the second vehicle angle ⁇ , and the second differential acceleration ⁇ X ⁇ stored in the storage unit 17 to obtain the equation (4). Then, a third vehicle angle ⁇ s at which the differential acceleration ⁇ X becomes zero on the straight line 111 passing through the first vehicle angle ⁇ and the second vehicle angle ⁇ is calculated.
- the CPU 16 repeats the above process to calculate N (N ⁇ 2) third vehicle angles ⁇ s. Finally, the CPU 16 calculates an average value of the N third vehicle angles ⁇ s by the equation (5), and sets the calculated average value as the representative vehicle angle ⁇ S.
- the representative vehicle angle ⁇ S may be a representative value of the N third vehicle angles ⁇ s, and may be a median value or a mode value in addition to the average value described above.
- ⁇ X Xkn ⁇ Xkm (1)
- ⁇ Z Zkn ⁇ Zkm (2)
- ⁇ tan ⁇ 1 ( ⁇ Z / ⁇ X) (3)
- ⁇ s ( ⁇ ⁇ ⁇ X ⁇ ⁇ ⁇ X ⁇ ) / ( ⁇ X ⁇ X ⁇ ) (4)
- ⁇ S ( ⁇ s1 + ⁇ s2 + ⁇ s3 +... + ⁇ sN) / N (5)
- the calculation of the vehicle angle ⁇ uses the differential accelerations ⁇ X and ⁇ Z, which are the amounts of change in acceleration, so that there is no influence of the offset present in the output of the acceleration sensor 2, and the offset changes with time. There is no problem.
- the CPU 16 may be configured to calculate the third vehicle angle ⁇ s each time the first vehicle angle ⁇ and the second vehicle angle ⁇ are calculated, or the calculated plural sets of vehicle angles ⁇ and the differential acceleration ⁇ X. Is stored in the storage unit 17, and at least one set of the vehicle angle ⁇ and the differential acceleration ⁇ X is used among the plurality of sets of vehicle angles ⁇ and the differential acceleration ⁇ X stored in the storage unit 17, and the third vehicle is used.
- the configuration may be such that the angle ⁇ s is calculated.
- ⁇ Configuration example A> When the CPU 16 newly calculates the first vehicle angle ⁇ , the CPU 16 selects one set from a plurality of sets stored in the storage unit 17, and sets the selected one set of vehicle angle ⁇ and differential acceleration ⁇ X as the first set. The third vehicle angle ⁇ s is calculated using the second vehicle angle ⁇ and the second differential acceleration ⁇ X ⁇ . In addition, when the CPU 16 selects the first set to be used as the second vehicle angle ⁇ from the plurality of sets stored in the storage unit 17 when the first vehicle angle ⁇ is newly calculated, It is preferable to select a set of data that maximizes the difference between the differential acceleration ⁇ X ⁇ and the second differential acceleration ⁇ X ⁇ .
- the accuracy of the straight line 111 connecting the first vehicle angle ⁇ and the second vehicle angle ⁇ is improved, and the representative vehicle angle ⁇ S is more accurate. It is because it can be obtained.
- ⁇ Configuration example B> The CPU 16 selects two sets from a plurality of sets stored in the storage unit 17 and uses the selected set of vehicle angle ⁇ and differential acceleration ⁇ X as the first vehicle angle ⁇ and the first differential acceleration ⁇ X ⁇ .
- the third vehicle angle ⁇ s is calculated using the selected another set of vehicle angles ⁇ and differential acceleration ⁇ X as the second vehicle angle ⁇ and second differential acceleration ⁇ X ⁇ . Further, when the CPU 16 selects two sets from a plurality of sets stored in the storage unit 17, it is preferable to select two sets of data having the largest difference between the differential accelerations ⁇ X.
- the CPU16 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).
- the measurement period of the acceleration signal is 100 ms, for example.
- 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).
- the optical axis control steps ST3 to ST9 when the vehicle 7 is stopped and the optical axis control (steps ST12 to ST15) when the vehicle 7 is traveling are switched. Do it.
- step ST2 for determining whether the vehicle is stopped or traveling it is determined that the vehicle is traveling so that noise in the speed signal is not erroneously determined as a traveling signal or until the vehicle body stops after the vehicle stops. For example, it is desirable to provide a filter having a delay time of about 2 seconds.
- step ST3 the CPU 16 calculates the inclination angle of the vehicle 7 with respect to the horizontal direction using the acceleration signal acquired in step ST1 (step ST3).
- the inclination angle of 7 with respect to the horizontal direction is referred to as “versus-horizontal vehicle angle”. Since the calculation method of the angle with respect to the horizontal vehicle using the output of the acceleration sensor capable of detecting the gravitational acceleration 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 flag is set (step ST4), and if the first flag is not set (step ST4 “YES”). ) That is, immediately after the vehicle stops, the first flag is set (step ST5), the horizontal vehicle angle calculated in step 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 and calculates the anti-horizontal vehicle calculated in step ST3.
- the inclination angle difference is calculated by subtracting the angle (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 previously stopped on a horizontal road surface, and the optical axis is set to an initial position of 1% on the depression side.
- the depression angle side of 1% is an angle at which the optical axis is lowered by 1 m in front of 100 m.
- the change amount of the vehicle angle is canceled so that the optical axis of the headlamps 5L and 5R returns to the initial position according to the difference of the vehicle angle that changes due to the passenger getting on and off or loading and unloading of the luggage.
- the optical axis can be manipulated in the direction.
- 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 emitted from the optical axis operation signal output unit 18.
- step ST2 “NO” when the behavior of the vehicle 7 changes from stop to running (step ST2 “NO”), the CPU 16 resets the first flag (step ST12). Subsequently, the CPU 16 calculates the representative vehicle angle ⁇ S using the acceleration signal acquired in step ST1 (step ST13). When the CPU 16 can calculate the representative vehicle angle ⁇ S (step ST14 “YES”), the CPU 16 updates the vehicle angle to the value of the representative vehicle angle ⁇ S calculated in step ST13 (step ST15). On the other hand, when the representative vehicle angle ⁇ S cannot be calculated (step ST14 “NO”), the CPU 16 returns to step ST1. Details of steps ST13 and ST14 will be described later.
- step ST15 the CPU 16 calculates an optical axis operation angle in step ST10, generates an optical axis operation signal in step ST11, and outputs it to the optical axis operation devices 6L and 6R via the optical axis operation signal output unit 18. To do.
- the vehicle angle at the time of stopping or traveling at a constant speed can be derived without being affected by the inclination (pitching) of 7. Further, since the differential acceleration at the two time points is used for calculating the representative vehicle angle ⁇ S, there is no influence of the offset existing in the output of the acceleration sensor 2, and there is no problem even if the offset changes 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, there is a possibility that errors may accumulate. . Therefore, in the optical axis control using the horizontal vehicle angle, there is a possibility that the optical axis shifts with time.
- the optical axis control using the representative vehicle angle ⁇ S step
- step ST13-1 the CPU 16 determines the front-rear acceleration signals at the two time points and the two time point acceleration signals.
- the differential accelerations ⁇ X and ⁇ Z are calculated using the vertical acceleration signal (step ST13-1 “YES”).
- step ST13-1 the CPU 16 cannot calculate the differential accelerations ⁇ X and ⁇ Z (“NO” in step ST13-1), and consequently determines that the representative vehicle angle ⁇ S cannot be calculated (step ST13-19).
- the process proceeds to step ST14 in FIG. In this case, the CPU 16 determines that the representative vehicle angle ⁇ S cannot be calculated in step ST14 (step ST14 “NO”), returns to step ST1, and acquires the acceleration signal at the second time point.
- the CPU 16 compares the calculated differential acceleration ⁇ X in the front-rear direction with a predetermined differential acceleration usage range (step ST13-2). It is assumed that the use range of the differential acceleration is stored in the storage unit 17.
- FIG. 9 shows an example of the use range of the differential acceleration.
- calculation is performed using acceleration signals measured by the acceleration sensor 2 on the coordinates where the horizontal axis is the differential acceleration ⁇ X in the front-rear direction and the vertical axis is the vehicle angle ⁇ .
- the vehicle angle ⁇ is plotted as an asterisk.
- the use range of the differential acceleration ⁇ X is set to a range from ⁇ 0.5G to ⁇ 0.1G and a range from 0.1G to 0.5G.
- the use range of the differential acceleration ⁇ X is set to a range from ⁇ 0.5G to 0.5G.
- ⁇ X as the denominator of the above equation (3) for calculating the vehicle angle ⁇ is small, and the calculation result may be abnormal.
- the use range of the differential acceleration ⁇ X when the vehicle 7 is decelerating is ⁇ 0.5 G or more and ⁇ 0.1 G or less
- the use range of the differential acceleration ⁇ X when the vehicle 7 is accelerating is 0. 1G or more and 0.5G or less.
- the use range is set for the differential acceleration ⁇ X in the front-rear direction, but the use range may be set for the acceleration signal in the front-rear direction.
- step ST13-2 if the differential acceleration ⁇ X in the front-rear direction is not less than the use range on the deceleration side -0.5G or more and -0.1G or less, the CPU 16 proceeds to step ST13-3 and calculates the difference calculated in step ST13-1.
- the vehicle angle ⁇ on the deceleration side is calculated using the accelerations ⁇ X and ⁇ Z.
- the CPU 16 confirms whether or not the deceleration side memory of the storage unit 17 is free (step ST13-4).
- the storage unit 17 includes two memories, a deceleration side memory and an acceleration side memory.
- the deceleration-side memory has a capacity capable of storing 10 sets of data.
- the acceleration side memory has a capacity capable of storing 10 sets of data.
- a storage area of one memory may be allocated for the deceleration side memory and the acceleration side memory.
- step ST13-4 “YES”) the CPU 16 calculates the deceleration-side vehicle angle ⁇ and the differential acceleration ⁇ X calculated in step ST13-3. Are stored in the deceleration side memory of the storage unit 17 as a set of data (step ST13-5).
- step ST13-4 “NO”) the CPU 16 replaces the data in step ST13-6. If the absolute values of all the differential accelerations ⁇ X stored in the deceleration side memory are larger than the absolute values of the differential accelerations ⁇ X used for calculating the vehicle angle ⁇ in step ST13-3, the CPU 16 calculates in step ST13-3. The vehicle angle ⁇ on the deceleration side and the differential acceleration ⁇ X are discarded.
- step ST13-7 the CPU 16 confirms whether there is a free space in the acceleration side memory of the storage unit 17 (step ST13-7). If the acceleration side memory is empty, that is, if the stored data is 9 sets or less (“YES” in step ST13-7), the CPU 16 determines that the representative vehicle angle ⁇ S cannot be calculated (step ST13-19). The process proceeds to step ST14 in FIG. In this case, the CPU 16 determines that the representative vehicle angle ⁇ S cannot be calculated in step ST14 (step ST14 “NO”), and returns to step ST1.
- the CPU 16 sets one set of data in the acceleration side memory and one set in the deceleration side memory.
- the third vehicle angle ⁇ s is calculated using the data (step ST13-8).
- the CPU 16 may select any two sets of data to be used for calculating the third vehicle angle ⁇ s.
- the absolute value of the differential acceleration ⁇ X is selected from 10 sets of data stored in the acceleration side memory.
- One set of data shown as ⁇ in FIG. 9) having the largest value and one set of data (in FIG. 9) having the largest absolute value of the differential acceleration ⁇ X among the 10 sets of data stored in the deceleration side memory.
- the angle ⁇ S can be calculated.
- the CPU 16 deletes the two sets of data used for calculating the third vehicle angle ⁇ s in step ST13-8 from the acceleration side memory and the deceleration side memory (step ST13-9). Further, the CPU 16 increments a count value N for counting the number of third vehicle angles ⁇ s used for calculating the representative vehicle angle ⁇ S (step ST13-10).
- the CPU 16 reads the total sum of the third vehicle angles ⁇ s calculated last time from the storage unit 17, and adds the third vehicle angle ⁇ s calculated in this step ST13-8 to the read sum, The total of the third vehicle angle ⁇ s is calculated (step ST13-11).
- the CPU 16 stores the total sum of the third vehicle angles ⁇ s calculated this time in the storage unit 17.
- the CPU 16 divides the total of the current third vehicle angle ⁇ s calculated in step ST13-11 by the count value N to obtain an average value of the third vehicle angle ⁇ s, and obtains this average value as the representative vehicle angle.
- ⁇ S is set (step ST13-12). At the time of the first calculation of the third vehicle angle ⁇ s, the total sum of the third vehicle angles ⁇ s is not yet stored in the storage unit 17, so that the third vehicle angle ⁇ s calculated this time is directly used as the representative vehicle angle ⁇ S. Become.
- step ST13-13 determines that the representative vehicle angle ⁇ S has been calculated (step ST13-13), and proceeds to step ST14 in FIG. In this case, the CPU 16 proceeds to step ST15, assuming that the representative vehicle angle ⁇ S can be calculated in step ST14 (step ST14 “YES”).
- step ST13-2 if the differential acceleration ⁇ X in the front-rear direction is not less than 0.1G and not more than 0.5G on the acceleration side in step ST13-2, the CPU 16 proceeds to step ST13-14 and calculates in step ST13-1.
- the vehicle angle ⁇ on the acceleration side is calculated using the differential accelerations ⁇ X and ⁇ Z.
- the CPU 16 confirms whether or not the acceleration side memory of the storage unit 17 is empty (step ST13-15), and stores data (step ST13-16) or replaces data (step ST13-17). Since the processes in steps ST13-15, ST13-16, and ST13-17 are the same as the processes in steps ST13-4, ST13-5, and ST13-6, description thereof is omitted.
- step ST17-18 the CPU 16 confirms whether there is a free space in the deceleration side memory of the storage unit 17 (step ST17-18). If the deceleration side memory is empty, that is, if the stored data is 9 sets or less (“YES” in step ST13-18), the CPU 16 determines that the representative vehicle angle ⁇ S cannot be calculated (step ST13-19). The process proceeds to step ST14 in FIG. In this case, the CPU 16 determines that the representative vehicle angle ⁇ S cannot be calculated in step ST14 (step ST14 “NO”), and returns to step ST1.
- step ST13-18 the CPU 16 performs each process in steps ST13-8 to ST13-13 to represent the representative vehicle angle. ⁇ S is calculated.
- the CPU 16 proceeds to step ST13-19 and determines that the representative vehicle angle ⁇ S cannot be calculated when the differential acceleration ⁇ X in the front-rear direction is neither the deceleration-side use range nor the acceleration-side use range in step ST13-2. Then, the process proceeds to step ST14 in FIG.
- the representative vehicle angle ⁇ S is calculated as described above, a large number of longitudinal accelerations and vehicle angles are stored as in the process shown in FIG. There is no need to obtain, and the number of the longitudinal acceleration and the vehicle angle stored can be reduced, and a representative vehicle angle with high accuracy can be derived by a simple calculation. Therefore, compared with the memory capacity and calculation load required for calculating the representative vehicle angle shown in FIG. 5, the memory capacity and calculation load required for calculating the representative vehicle angle according to the first embodiment can be reduced.
- the configuration of the optical axis control device 10 can be simplified and the cost can be reduced.
- the vehicle angle ⁇ may change when the vehicle 7 starts traveling. Therefore, by resetting the representative vehicle angle ⁇ S when the vehicle 7 stops so that the influence of the vehicle angle ⁇ before the stop does not remain, the representative vehicle angle ⁇ S that has a quick response and high accuracy after the start of traveling can be obtained. Obtainable. Specifically, when the vehicle 7 stops, the CPU 16 resets data such as the representative vehicle angle ⁇ S, the vehicle angle ⁇ used for the calculation thereof, the differential acceleration ⁇ X, and the sum of the third vehicle angle ⁇ s and the like. When the vehicle 7 starts traveling, these data are collected again to calculate the representative vehicle angle ⁇ S.
- the CPU 16 may determine whether the vehicle 7 is stopped based on, for example, speed information input from the speed signal input unit 13. Further, for example, the CPU 16 may determine that the vehicle 7 has stopped when detecting a state corresponding to the engine stop based on information of an ignition switch input from the vehicle information input unit 14. In the case of this configuration, a volatile memory or a nonvolatile memory can be used as the storage unit 17.
- 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 headlight optical axis control device 10 in which the acceleration sensor 2 is incorporated in three or more directions, and the acceleration sensor 2 measures the acceleration in the vertical direction and the front-rear direction and outputs an acceleration signal.
- the CPU 16 estimates the offset and sensitivity of the acceleration sensor 2 based on the input acceleration signal (step ST23).
- FIG. 11A is a diagram illustrating the acceleration measurement system and the weight viewed from the vertical direction and the horizontal direction at the time of initial setting.
- the intersection of the X axis and the Z axis is the origin of the acceleration sensor 2
- the intersection of the vertical axis and the horizontal axis is the measurement origin O viewed from the vehicle 7.
- step ST22 when the headlight optical axis control device 10 incorporating the acceleration sensor 2 was rotated as shown in FIG. 11 (b), the measurement was performed by the acceleration sensor 2 as shown in FIG. 11 (a).
- the origin which is the center of the circle drawn by the acceleration, that is, the weight suspended by the spring, is an offset with respect to the acceleration measurement system, and the size of the circle is the sensitivity of the acceleration measurement system.
- the offset in the X-axis direction is illustrated as Xoff
- the offset in the Z-axis direction is illustrated as Zoff.
- ⁇ off indicates a shift in the mounting angle of the acceleration sensor 2.
- the worker fixes the headlamp optical axis control device 10 to a horizontal surface, and sets the mounting angle of the acceleration sensor 2 with respect to the headlamp 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.
- Fig. 12 shows how to set the mounting angle.
- the acceleration sensor 2 measures acceleration (step ST24-1), and the CPU 16 calculates a horizontal vehicle angle (step ST24-2).
- the calculated horizontal vehicle angle is stored in the storage unit 17 as a vehicle angle reference value (step ST24-3).
- the optical axis correction angle and the vehicle angle reference value are stored in the storage unit 17 and used when executing 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 ST24-4 in FIG.
- the worker stops the vehicle 7 on a horizontal road surface and recognizes the optical axis control device 10 for headlamps with respect to the horizontal vehicle angle, that is, the deviation ⁇ off of the mounting angle of the acceleration sensor 2 shown in FIG.
- the displacement of the mounting angle of the acceleration sensor 2 with respect to the vehicle 7 is corrected.
- the operator mechanically adjusts the optical axes of the headlamps 5L and 5R using a spanner or a driver.
- a non-volatile memory is used as the storage unit 17 for storing the offset and sensitivity of the acceleration sensor 2, the set value of the mounting angle, the vehicle angle reference value, and the optical axis correction angle.
- the control unit 15 determines the difference in the vertical direction at the first two time points with respect to the differential acceleration ⁇ X in the front-rear direction at the first two time points.
- the first vehicle angle ⁇ is calculated from the ratio of the acceleration ⁇ Z, and the differential acceleration ⁇ Z in the vertical direction at the second two time points with respect to the differential acceleration ⁇ X in the longitudinal direction at the second two time points different from the first two time points.
- the second vehicle angle ⁇ is calculated from the ratio and the first vehicle angle ⁇ and its differential acceleration ⁇ X
- the second vehicle angle ⁇ and its differential acceleration ⁇ X are used, and the differential acceleration ⁇ X in the longitudinal direction becomes zero
- the third vehicle angle ⁇ s is calculated, a plurality of third vehicle angles ⁇ s are calculated, the representative vehicle angle ⁇ S is calculated based on the distribution, and the headlamps 5L and 5R are calculated based on the representative vehicle angle ⁇ S.
- the optical axis control apparatus 10 for headlamps which can control the optical axis of a headlamp with high precision is realizable.
- control unit 15 is configured to calculate the average value, the median value, or the mode value of the plurality of third vehicle angles ⁇ s as the representative vehicle angle ⁇ S.
- the representative vehicle angle ⁇ S can be obtained without performing the calculation.
- the control unit 15 calculates the first vehicle angle ⁇ and the second vehicle angle ⁇ by using an acceleration signal within a predetermined use range or a predetermined use range.
- the differential acceleration ⁇ X is used so that the acceleration signal or the differential acceleration at the time of sudden acceleration, sudden stop, and traveling at extremely low speeds can be prevented from being used for calculation of the vehicle angle ⁇ .
- the vehicle angle ⁇ S can be obtained.
- the control unit 15 includes the storage unit 17 that stores a plurality of sets of data with the vehicle angle ⁇ and the differential acceleration ⁇ X as one set of data, and the third vehicle angle ⁇ s. Since at least one set of data is selected from a plurality of sets of data stored in the storage unit 17 for calculation, the straight line 111 can be accurately drawn from the plurality of sets of data. Possible data can be selected, and the representative vehicle angle ⁇ S with high accuracy can be obtained.
- control unit 15 is configured to reset the representative vehicle angle ⁇ S when the vehicle 7 stops, and to calculate again when the vehicle 7 starts running.
- the influence of the vehicle angle ⁇ before stopping does not remain in the representative vehicle angle ⁇ S after the start of traveling. Thereby, it is possible to obtain the representative vehicle angle ⁇ S that has a quick response and high accuracy.
- the acceleration sensor 2 is configured integrally with the headlamp optical axis control device 10, so that wiring can be omitted.
- the headlight optical axis control device 10 having the configuration 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.
- FIG. 1 The configuration of the optical axis control device for headlamps according to the second embodiment is the same as that of the optical axis control device for headlamps 10 shown in FIG. FIG. 1 is incorporated.
- the CPU 16 uses a reference acceleration for either the km point acceleration signal or the kn point acceleration signal used to calculate the vehicle angle ⁇ . Is used.
- the reference acceleration is referred to as “reference acceleration”.
- the CPU 16 according to the second embodiment uses, for example, an acceleration signal measured by the acceleration sensor 2 when the vehicle 7 is stopped as the reference acceleration.
- the CPU 16 of the second embodiment performs the stop acquired in step ST1.
- the acceleration signal at that time is stored in the storage unit 17 as a reference acceleration.
- the CPU 16 of the second embodiment acquires the reference acceleration stored in the storage unit 17, and sets the km points.
- the vehicle angle ⁇ is calculated by the above equations (1) to (3) using the reference acceleration as the acceleration signal and using the acceleration signal at the time of traveling acquired in step ST1 as the acceleration signal at the kn point.
- the acceleration signal measured in the stopped state as the reference acceleration, it is possible to easily detect the changing acceleration, that is, the differential acceleration, so that the vehicle angle ⁇ with high accuracy can be obtained.
- the optical axis control apparatus 10 for headlamps which can control the optical axis of a headlamp with high precision is realizable.
- the vehicle angle ⁇ may deviate on an up or down slope. Therefore, an acceleration signal measured in a state where the vehicle 7 is traveling at a constant speed or an average value of acceleration signals measured for a long time may be used as the reference acceleration.
- step ST2 of the flowchart shown in FIG. 7 of the first embodiment the CPU 16 of the second embodiment stops the vehicle 7 based on the speed signal input from the vehicle speed sensor 3 via the speed signal input unit 13.
- the CPU 16 of the second embodiment determines whether the vehicle 7 is traveling at a constant speed.
- the CPU 16 stores the acceleration signal at the constant speed travel obtained in step ST1 in the storage unit 17 as a reference acceleration. Thereafter, when performing optical axis control (steps ST12 to ST15) while the vehicle 7 is traveling, the CPU 16 of the second embodiment uses the reference acceleration stored in the storage unit 17.
- a vehicle angle ⁇ equivalent to the vehicle angle when the vehicle is stopped on a horizontal road surface can be obtained.
- the CPU 16 collects acceleration signals for a time longer than the time interval between two time points of the differential acceleration used for calculating the vehicle angle ⁇ , and calculates an average value of the collected acceleration signals as a reference acceleration. If the acquisition time of the acceleration signal is lengthened, all the states of uphill, downhill, acceleration and deceleration can be included, and the accuracy of the vehicle angle ⁇ is improved.
- the CPU 16 of the second embodiment is running the vehicle 7 based on the speed signal input from the vehicle speed sensor 3 via the speed signal input unit 13. If it is determined that the acceleration signal is the running acceleration signal acquired in step ST1, the storage unit 17 stores the acceleration signal. Then, the CPU 16 according to the second embodiment averages a plurality of running acceleration signals stored in the storage unit 17 to obtain a reference acceleration.
- the control unit 15 is configured to use an acceleration signal corresponding to a predetermined reference acceleration as one of the acceleration signals measured at two time points. Since the differential acceleration can be easily detected by using an acceleration signal measured in a state where the vehicle 7 is stopped as the acceleration, a highly accurate vehicle angle ⁇ can be obtained. Thereby, the optical axis control apparatus 10 for headlamps which can control the optical axis of a headlamp with high precision is realizable. Further, as the reference acceleration, the acceleration signal measured in a state where the vehicle 7 is traveling at a constant speed or the time difference between two time points of the differential acceleration used to calculate the vehicle angle ⁇ is measured. By using an average value of a plurality of acceleration signals, the optical axis control device 10 for headlamps that can control the optical axis of the headlamps with high accuracy can be realized.
- the control unit 15 uses the speed signal measured by the vehicle speed sensor 3 mounted on the vehicle 7, and the vehicle 7 is stopped or is traveling at a constant speed. Since the state is determined, the state of the vehicle 7 such as stop, constant speed driving, acceleration and deceleration is determined using the speed information of the vehicle speed sensor 3 without using the acceleration sensor 2 that easily includes noise due to vibration. can do. Since the control unit 15 can accurately extract the acceleration signal used as the reference acceleration based on the determination result, it is possible to calculate the vehicle angle ⁇ with high accuracy.
- 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.
- 1 on-board battery 2 acceleration sensor, 3 vehicle speed sensor, 4 switch, 5L left headlight, 5R right headlight, 6L, 6R optical axis operating device, 7 vehicle, 8 on-vehicle electrical components, 10 headlight optical axis Control device, 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.
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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、車両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では、車両が加減速することによって傾斜角度が変化することが考慮されておらず、確度の高い車両角度を得られないという課題があった。
実施の形態1.
図1は、この発明の実施の形態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。
なお、図2(c)のように前照灯用光軸制御装置10が車載電装品8の内部に収容されている場合、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または光軸操作信号出力部18のうちの一部または全部の機能は、前照灯用光軸制御装置10が備えていてもよいし車載電装品8が備えていてもよい。
電源部11は、車載バッテリ1の電源を制御部15へ供給する電源装置である。加速度信号入力部12、速度信号入力部13および車両情報入力部14は通信装置であり、CAN(Controller Area Network)等の車両通信網を通じて加速度センサ2、車速センサ3およびスイッチ4といった車両側の機器と通信する。スイッチ4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ある。加速度信号入力部12は、加速度センサ2が出力した前後方向および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、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。
以下では、路面に対する車両7の傾斜角度を「車両角度」と呼ぶ。
本実施の形態1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)に示すように、当加速度計測系である車両7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。
なお、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ため、当仮想的な台車と、サスペンション(懸架装置)で支えられた車体のなす角度θが、路面に対する車両7の傾斜角度、即ち車両角度である。上記を念頭において、図3(b)には、車両7の仮想的な台車、即ち道路側から見たものと同等の加速度計測系に加わる加速度をばねに吊り下げた錘の挙動として表す。なお、当図においては、仮想的な台車の上下方向をZi軸、前後方向をXi軸とする。
一方、図3(a)に示すように、サスペンションで支えられた車体に設置された加速度計測系から車両7に加わる加速度を見た場合も、車両7の加速によって、錘は、上記と同様に加速度計測系の前後方向のX軸の方向には係わらず、仮想的な台車のXi軸方向に移動する。
上記錘の挙動により、加速度計測系の前後方向のX軸と仮想的な台車のXi軸のなす角度θ、即ち、路面に対する車両7の傾斜角度である車両角度を、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として検出することができる。
車両7が加速するときには、図4(c)に示すように車両7が矢印101で示す方向に回転角度θ1回転し、車両7の前方が上がるか後方が下がる方向に傾斜する。ちなみに、車両7の加速時に後方が下がることを「スクワット」と呼ぶ。
車両7が減速するときには、図4(a)に示すように車両7が矢印102で示す方向に回転角度θ2回転し、車両7の前方が下がるか後方が上がる方向に傾斜する。ちなみに、車両7の減速時に前方が下がることを「ノーズダイブ」と呼ぶ。
前後方向の差分加速度ΔXは、加速度センサ2が計測したある時点の前後方向の加速度信号と他の時点の前後方向の加速度信号との差分、即ち2時点の前後方向の加速度信号の差分である。なお、図5においては、車両7が停止している状態あるいは等速走行している状態において計測された加速度信号をkm点の加速度信号として用い、kn点の加速度信号との差分を差分加速度ΔXとして横軸に設定してある。
図6においては、図5と同様に、横軸を前後方向の差分加速度ΔXとし、縦軸を車両角度θとした座標上に、加速度センサ2が計測した2時点の前後方向および上下方向の加速度信号の差分を用いて算出された車両角度θが、星印としてプロットされている。車両角度θのそれぞれは異なるタイミングで算出されたものとする。CPU16は、第1の車両角度θと第2の車両角度θを示す2個の星印を通る直線111を描き、この直線111において前後方向の差分加速度ΔXが零となる車両角度を、第3の車両角度θsとして求める。図6では第3の車両角度θsを白丸で示す。第3の車両角度θsは、車両7が停止している状態あるいは等速走行している状態の車両角度に相当する。最後に、CPU16は、複数の直線111から求めた複数個の第3の車両角度θsの分布状態を基に、第3の車両角度θsの代表値である代表車両角度θSを求める。図6では代表車両角度θSを黒丸で示す。
この車両角度θを第1の車両角度θαと呼び、第1の車両角度θαの算出に使用した前後方向の差分加速度ΔXを第1の差分加速度ΔXαと呼ぶ。CPU16は、第1の車両角度θαと第1の差分加速度ΔXαを1組のデータとして、記憶部17に記憶させる。
この車両角度θを第2の車両角度θβと呼び、第2の車両角度θβの算出に使用した前後方向の差分加速度ΔXを第2の差分加速度ΔXβと呼ぶ。CPU16は、第2の車両角度θβと第2の差分加速度ΔXβを1組のデータとして、記憶部17に記憶させる。
ΔZ=Zkn-Zkm (2)
θ=tan-1(ΔZ/ΔX) (3)
θs=(θα・ΔXβ-θβ・ΔXα)/(ΔXβ-ΔXα) (4)
θS=(θs1+θs2+θs3+・・・+θsN)/N (5)
CPU16は、新たに第1の車両角度θαを算出した場合に、記憶部17が記憶している複数組の中から1組を選択し、選択した1組の車両角度θと差分加速度ΔXを第2の車両角度θβと第2の差分加速度ΔXβとして用いて、第3の車両角度θsを算出する。
また、CPU16は、新たに第1の車両角度θαを算出した場合に記憶部17が記憶している複数組の中から第2の車両角度θβとして使用する1組を選択する際、第1の差分加速度ΔXαと第2の差分加速度ΔXβとの差が最も大きくなるような1組のデータを選択することが好ましい。第1の差分加速度ΔXαと第2の差分加速度ΔXβとの差が大きいほど、第1の車両角度θαと第2の車両角度θβを結ぶ直線111の精度が向上し、確度の高い代表車両角度θSを得ることができるためである。
CPU16は、記憶部17が記憶している複数組の中から2組を選択し、選択した1組の車両角度θと差分加速度ΔXを第1の車両角度θαと第1の差分加速度ΔXαとして用い、選択したもう1組の車両角度θと差分加速度ΔXを第2の車両角度θβと第2の差分加速度ΔXβとして用いて、第3の車両角度θsを算出する。
また、CPU16は、記憶部17が記憶している複数組の中から2組を選択する際、差分加速度ΔX間の差が最も大きい2組のデータを選択することが好ましい。第1の差分加速度ΔXαと第2の差分加速度ΔXβとの差が大きいほど、第1の車両角度θαと第2の車両角度θβを結ぶ直線111の精度が向上し、確度の高い代表車両角度θSを得ることができるためである。
以下では、構成例Bについて説明する。
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。
なお、停車中か走行中かを判定するステップST2には、速度信号中のノイズを走行信号と誤判定しないように、あるいは、上記車両が停車してから車体が静止するまでを走行中と判断するように、例えば2秒ほどの遅延時間を有するフィルタを設けることが望ましい。
CPU16は、車両7の挙動が走行から停車に変わったときに、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”)、つまり停車直後に、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。
また、代表車両角度θSの算出に2時点の差分加速度を使用するため、加速度センサ2の出力に存在するオフセットの影響がなく、当オフセットが経時的に変化しても問題ない。一方、車両7が停車している状態における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法であるため、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、時間が経過するにつれて光軸がずれていく可能性があるが、この実施の形態1では代表車両角度θSを使用する光軸制御(ステップST12~ST15)を組み合わせることにより蓄積した誤差を排除することができ、前照灯の光軸を長期間にわたって正しい角度に安定して維持することができる。
CPU16は、加速度信号入力部12を介して加速度センサ2から入力された前後方向および上下方向の加速度信号が2時点分揃っていれば、当2時点の前後方向の加速度信号と、当2時点の上下方向の加速度信号を使用して、差分加速度ΔX,ΔZを算出する(ステップST13-1“YES”)。一方、加速度信号が1時点分しかなければ、CPU16は差分加速度ΔX,ΔZを算出できない(ステップST13-1“NO”)、ひいては代表車両角度θSを算出できないと判定して(ステップST13-19)、図7のステップST14へ進む。この場合、CPU16は、ステップST14において代表車両角度θSを算出できなかったとして(ステップST14“NO”)、ステップST1へ戻り、2時点目の加速度信号を取得する。
ここで、図9に、差分加速度の使用範囲の一例を示す。図9においては、図5および図6と同様に、横軸を前後方向の差分加速度ΔXとし、縦軸を車両角度θとした座標上に、加速度センサ2が計測した加速度信号を用いて算出された車両角度θが、星印としてプロットされている。図示では、差分加速度ΔXの使用範囲は、-0.5Gから-0.1Gまでの範囲と、0.1Gから0.5Gまでの範囲に設定されている。
車両7が急加速あるいは急停車等して大きな加速度が計測されるときは、車両7の挙動も異常になることがある。そのため、急加速あるいは急停車等したときの加速度信号を除外するために、差分加速度ΔXの使用範囲が-0.5Gから0.5Gまでの範囲に設定されている。一方、加速度が小さなときは、車両角度θを算出する上式(3)の分母となるΔXが小さく、算出結果が異常になることがある。そのため、車両角度θの算出結果が異常になる可能性のある-0.1Gから0.1Gまでの範囲は、上記使用範囲から除外されている。結果、車両7が減速しているときの差分加速度ΔXの使用範囲は、-0.5G以上-0.1G以下となり、車両7が加速しているときの差分加速度ΔXの使用範囲は、0.1G以上0.5G以下となる。
なお、この例では、前後方向の差分加速度ΔXについて使用範囲を設定しているが、前後方向の加速度信号について使用範囲を設定してもよい。
具体的には、CPU16は、車両7が停止したときに、代表車両角度θSとその算出に使用した車両角度θ、差分加速度ΔXおよび第3の車両角度θsの総和等のデータをリセットし、車両7が走行を開始したときに改めてこれらのデータを収集して代表車両角度θSを算出する。CPU16は、例えば速度信号入力部13から入力される速度情報に基づいて車両7の停止を判断すればよい。また、CPU16は、例えば車両情報入力部14から入力されるイグニッションスイッチの情報に基づいてエンジン停止に相当する状態を検出したときに、車両7が停止したと判断してもよい。この構成の場合、記憶部17として、揮発性メモリまたは不揮発性メモリを使用可能である。
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がその都度の上下方向と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。
実施の形態2に係る前照灯用光軸制御装置の構成は、上記実施の形態1の図1に示した前照灯用光軸制御装置10と図面上では同じ構成であるため、以下では図1を援用する。
本実施の形態2に係る前照灯用光軸制御装置10において、CPU16は、車両角度θの算出に使用するkm点の加速度信号またはkn点の加速度信号のいずれか一方に、基準となる加速度を使用する。以下では、基準となる加速度を「基準加速度」と呼ぶ。
上記実施の形態1の図7に示したフローチャートにおいて車両7が停止している状態で光軸制御(ステップST3~ST9)を行う際に、実施の形態2のCPU16は、ステップST1で取得した停止時の加速度信号を基準加速度として記憶部17に記憶させておく。その後、車両7が走行している状態で光軸制御(ステップST12~ST15)を行う際に、実施の形態2のCPU16は、記憶部17に記憶されている基準加速度を取得し、km点の加速度信号として当基準加速度を使用し、kn点の加速度信号として今回のステップST1で取得した走行時の加速度信号を使用して、上式(1)~(3)により車両角度θを算出する。
停止している状態において計測された加速度信号を基準加速度として使用することで、変化する加速度、つまり差分加速度を容易に検出できるため、確度の高い車両角度θを得ることができる。これにより、前照灯の光軸を高精度に制御可能な前照灯用光軸制御装置10を実現できる。
上記実施の形態1の図7に示したフローチャートのステップST2において、実施の形態2のCPU16は、速度信号入力部13を介して車速センサ3から入力される速度信号に基づいて、車両7が停車中か走行中かを判定するだけでなく、車両7が等速走行中か否かも判定する。実施の形態2のCPU16は、車両7が等速走行中であると判定した場合に、今回のステップST1で取得した等速走行時の加速度信号を基準加速度として記憶部17に記憶させておく。その後、車両7が走行している状態で光軸制御(ステップST12~ST15)を行う際に、実施の形態2のCPU16は、記憶部17に記憶されている基準加速度を使用する。
上記実施の形態1の図7に示したフローチャートのステップST2において、実施の形態2のCPU16は、速度信号入力部13を介して車速センサ3から入力される速度信号に基づいて車両7が走行中であることを判定した場合に、今回のステップST1で取得した走行時の加速度信号を記憶部17に記憶させる。そして、実施の形態2のCPU16は、記憶部17に記憶されている複数個の走行時の加速度信号を平均化して、基準加速度とする。
Claims (12)
- 車両に搭載された加速度センサによって計測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である車両角度を算出し、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、前記車両が走行している状態において、
第1の2時点で計測された前後方向の加速度信号の差分に対する、当該第1の2時点で計測された上下方向の加速度信号の差分の比から第1の車両角度を算出し、
前記第1の2時点とは異なる第2の2時点で計測された前後方向の加速度信号の差分に対する、当該第2の2時点で計測された上下方向の加速度信号の差分の比から第2の車両角度を算出し、
前記第1の車両角度および前記第1の車両角度の算出に使用した前後方向の加速度信号の差分と、前記第2の車両角度および前記第2の車両角度の算出に使用した前後方向の加速度信号の差分とを用いて、前後方向の加速度信号の差分が零になるときの第3の車両角度を算出し、
前記第3の車両角度を複数個算出しその分布に基づいて前記第3の車両角度の代表値を算出し、当該代表値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。 - 前記制御部は、前記代表値として、複数個の前記第3の車両角度の平均値、中央値あるいは最頻値を算出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2時点で計測された加速度信号のいずれか一方として、予め定められた基準加速度に相当する加速度信号を用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。
- 前記基準加速度は、前記車両が停止している状態において計測された加速度信号、等速走行している状態において計測された加速度信号、あるいは、前記第1の2時点間もしくは前記第2の2時点間の時間間隔より長い時間において計測された複数個の加速度信号の平均値であることを特徴とする請求項3記載の前照灯用光軸制御装置。
- 前記制御部は、前記車両に搭載された車速センサによって計測された速度信号を用いて、前記車両が停止している状態、あるいは等速走行している状態を判断することを特徴とする請求項4記載の前照灯用光軸制御装置。
- 前記制御部は、前記第1の車両角度および前記第2の車両角度の算出に、予め定められた範囲内の加速度信号、あるいは予め定められた範囲内の加速度信号の差分を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。
- 2時点で計測された前後方向の加速度信号の差分に対する当該2時点で計測された上下方向の加速度信号の差分の比から算出された車両角度と、前記車両角度の算出に使用された前後方向の加速度信号の差分とを1組のデータとして、複数組のデータを記憶する記憶部を備え、
前記制御部は、前記第3の車両角度の算出に、前記記憶部が記憶している複数組のデータの中から少なくとも1組のデータを選択して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、前記第3の車両角度の算出に、前記記憶部が記憶している複数組のデータの中から2組のデータを選択して使用することを特徴とする請求項7記載の前照灯用光軸制御装置。
- 前記制御部は、前記記憶部が記憶している複数組のデータの中から、前後方向の加速度信号の差分間の差が最も大きい2組のデータを選択して、前記第3の車両角度を算出することを特徴とする請求項8記載の前照灯用光軸制御装置。
- 前記制御部は、前記代表値を、前記車両が停止したときにリセットし、前記車両が走行を開始したときに改めて算出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。
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US (1) | US10513217B2 (ja) |
JP (1) | JP6180690B2 (ja) |
CN (1) | CN107614323B (ja) |
DE (1) | DE112015006569B4 (ja) |
WO (1) | WO2016189707A1 (ja) |
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JP2019200196A (ja) * | 2018-02-14 | 2019-11-21 | ジョンソン エレクトリック インターナショナル アクチェンゲゼルシャフト | 自動車の全体傾斜を自律的に求めるための方法及び装置 |
WO2020031255A1 (ja) * | 2018-08-07 | 2020-02-13 | 三菱電機株式会社 | 前照灯用光軸制御装置 |
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 |
WO2023276137A1 (ja) * | 2021-07-02 | 2023-01-05 | 三菱電機株式会社 | 光軸調整装置、光軸調整システム、及び光軸調整方法 |
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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 |
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JP2023049793A (ja) * | 2021-09-29 | 2023-04-10 | 株式会社Subaru | 光軸調整装置 |
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Also Published As
Publication number | Publication date |
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DE112015006569T5 (de) | 2018-03-15 |
CN107614323A (zh) | 2018-01-19 |
JP6180690B2 (ja) | 2017-08-16 |
DE112015006569B4 (de) | 2019-05-29 |
CN107614323B (zh) | 2020-05-22 |
US10513217B2 (en) | 2019-12-24 |
JPWO2016189707A1 (ja) | 2017-07-06 |
US20180065539A1 (en) | 2018-03-08 |
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