WO2018134876A1 - Dispositif de mesure d'angle d'inclinaison de véhicule - Google Patents

Dispositif de mesure d'angle d'inclinaison de véhicule Download PDF

Info

Publication number
WO2018134876A1
WO2018134876A1 PCT/JP2017/001362 JP2017001362W WO2018134876A1 WO 2018134876 A1 WO2018134876 A1 WO 2018134876A1 JP 2017001362 W JP2017001362 W JP 2017001362W WO 2018134876 A1 WO2018134876 A1 WO 2018134876A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
vehicle
inflection point
change
unit
Prior art date
Application number
PCT/JP2017/001362
Other languages
English (en)
Japanese (ja)
Inventor
貴夫 福永
亘 辻田
努 朝比奈
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2018562751A priority Critical patent/JP6625246B2/ja
Priority to PCT/JP2017/001362 priority patent/WO2018134876A1/fr
Publication of WO2018134876A1 publication Critical patent/WO2018134876A1/fr

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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/08—Means for compensating acceleration forces due to movement of instrument

Definitions

  • the present invention relates to a vehicle inclination angle measuring device that measures an inclination angle of a vehicle using an acceleration sensor.
  • a control device for a vehicular lamp according to Patent Document 1 includes a receiving unit for receiving an acceleration that can be detected by an acceleration sensor and capable of deriving an acceleration in a vehicle longitudinal direction and a vehicle vertical direction, and when the vehicle is accelerated and decelerated.
  • a transmission unit for transmitting the control signal to the optical axis adjustment unit of the vehicular lamp.
  • the vehicle travels uphill from a flat ground, travels downhill from a flat ground, or travels continuously on a flat ground, uphill, flat ground, downhill and flat ground as it passes through a level crossing.
  • acceleration or deceleration of the vehicle occurs. Therefore, when the vehicle is accelerating or decelerating due to a change in the road surface gradient while the vehicle is running, the amount of change in gravitational acceleration is superimposed on the acceleration data, and the vehicle inclination angle calculated using this acceleration data is added. An error occurs. Further, even when the road surface gradient changes during acceleration or deceleration of the vehicle, the amount of change in gravitational acceleration is superimposed on the acceleration data, and an error occurs in the vehicle inclination angle calculated using this acceleration data.
  • FIG. 14 is an explanatory diagram of the gravitational acceleration g0 applied to the vehicle.
  • the acceleration sensor 1 mounted on the vehicle detects an acceleration ax in the vehicle longitudinal direction and an acceleration az in the vehicle vertical direction.
  • the accelerations ax and az detected by the acceleration sensor 1 are obtained from the equations (1) and (2).
  • the vehicle acceleration a0 is an acceleration in the vehicle front-rear direction calculated using the traveling speed of the vehicle.
  • the road surface gradient angle ⁇ is an inclination angle of the road surface with respect to a horizontal plane.
  • the vehicle inclination angle ⁇ is an inclination angle of the vehicle with respect to the road surface.
  • the temporal change amount of the acceleration ax in the vehicle longitudinal direction is affected by the change amount of the vehicle acceleration a0 in the second term in the equation (1).
  • the time change amount of the acceleration az in the vehicle vertical direction is affected by the change amount of the vehicle acceleration a0 in the second term in the equation (2). Therefore, the vehicle inclination angle ⁇ ′ is accurately calculated from the amount of change in the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az by Equation (3).
  • ⁇ is an actual vehicle tilt angle
  • ⁇ ′ is a vehicle tilt angle derived by calculation.
  • the time change amount of the acceleration ax in the vehicle longitudinal direction is equal to the change amount of the road surface gradient angle ⁇ in the trigonometric function of the first term in the equation (1) and the vehicle of the second term. It is influenced by the change amount of the acceleration a0.
  • the time change amount of the acceleration az in the vehicle vertical direction affects the change amount of the road surface gradient angle ⁇ in the trigonometric function of the first term in the equation (2) and the change amount of the vehicle acceleration a0 of the second term. Is done.
  • Equation (4) ⁇ ⁇ 0. Therefore, Expression (4A) is derived from Expression (1) and Expression (2), and Expression (4B) is derived from Expression (4A). Then, equation (4) is derived from equation (4B).
  • the present invention has been made to solve the above-described problems, and an object thereof is to accurately calculate the inclination angle of the vehicle with respect to the road surface.
  • a vehicle inclination angle measuring apparatus includes a receiving unit that receives accelerations in the vehicle longitudinal direction and the vehicle vertical direction detected by an acceleration sensor, and an inflection point that detects an inflection point of acceleration received by the receiving unit. There is a slope change of the road surface by the slope change determination unit based on the acceleration detected by the point detection unit, the inflection point detection unit based on the detection result of the inflection point detection unit, and the gradient change determination unit that determines the presence or absence of the road surface gradient change.
  • An acceleration output unit that excludes and outputs the acceleration when it is determined, and an inclination angle calculation unit that calculates an inclination angle of the vehicle with respect to the road surface based on the acceleration output from the acceleration output unit.
  • the presence or absence of a change in the road surface gradient is determined based on the detection result of the inflection point of the acceleration, and the vehicle inclination angle is calculated by excluding the acceleration when it is determined that the road surface has a gradient change. Therefore, the influence of the change in the road surface gradient can be eliminated, and the vehicle inclination angle with respect to the road surface can be accurately calculated.
  • FIG. 1 is a block diagram showing a configuration example of a vehicle tilt angle measuring apparatus 10 according to Embodiment 1 of the present invention.
  • the vehicle tilt angle measuring apparatus 10 according to the first embodiment includes a receiving unit 11, an inflection point detecting unit 12, a gradient change determining unit 13, an acceleration output unit 14, a storage unit 15, and a tilt angle calculating unit 16.
  • the vehicle tilt angle measuring device 10 is connected to an acceleration sensor 1 mounted on the vehicle.
  • the acceleration sensor 1 detects the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az shown in FIG. 14 and outputs them to the vehicle tilt angle measuring apparatus 10.
  • the vehicle tilt angle measuring device 10 measures the vehicle tilt angle ⁇ with respect to the road surface using accelerations ax and az.
  • the measured vehicle inclination angle ⁇ is used for adjusting the optical axis of the vehicular lamp.
  • the receiving unit 11 in the vehicle tilt angle measuring device 10 is the receiving device 2.
  • the receiving device 2 receives information on acceleration in the vehicle longitudinal direction and vehicle vertical direction detected by the acceleration sensor 1.
  • the storage unit 15 in the vehicle tilt angle measuring device 10 is the memory 3.
  • the functions of the inflection point detection unit 12, the gradient change determination unit 13, the acceleration output unit 14, and the tilt angle calculation unit 16 in the vehicle tilt angle measurement device 10 are realized by a processing circuit. That is, the vehicle tilt angle measuring apparatus 10 includes a processing circuit for realizing the above functions.
  • the processing circuit may be the processing circuit 4 as dedicated hardware, or may be the processor 5 that executes a program stored in the memory 3.
  • the processing circuit 4 when the processing circuit is dedicated hardware, includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination thereof.
  • the functions of the inflection point detection unit 12, the gradient change determination unit 13, the acceleration output unit 14, and the tilt angle calculation unit 16 may be realized by a plurality of processing circuits 4, or the functions of each unit are combined into one processing circuit. 4 may be realized.
  • the functions of the inflection point detection unit 12, the gradient change determination unit 13, the acceleration output unit 14, and the tilt angle calculation unit 16 are software, firmware, or Realized by a combination of software and firmware.
  • Software or firmware is described as a program and stored in the memory 3.
  • the processor 5 reads out and executes the program stored in the memory 3, thereby realizing the function of each unit. That is, the vehicle tilt angle measuring device 10 includes a memory 3 for storing a program that, when executed by the processor 5, results in the steps shown in the flowchart of FIG. It can also be said that this program causes a computer to execute the procedures or methods of the inflection point detection unit 12, the gradient change determination unit 13, the acceleration output unit 14, and the tilt angle calculation unit 16.
  • the processor 5 is a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or the like.
  • the memory 3 may be a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), or a nonvolatile or volatile semiconductor memory such as a flash memory, a hard disk, a flexible disk, or the like.
  • the magnetic disk may be an optical disk such as a CD (Compact Disc) or a DVD (Digital Versatile Disc).
  • the processing circuit in the vehicle inclination angle measuring apparatus 10 can realize the above-described functions by hardware, software, firmware, or a combination thereof.
  • FIG. 4 is a flowchart showing an operation example of the vehicle tilt angle measuring apparatus 10 according to the first embodiment of the present invention.
  • the vehicle inclination angle measuring apparatus 10 repeats the operation shown in the flowchart of FIG. 4 during the period when the vehicle is traveling.
  • the vehicle tilt angle measuring method described in each embodiment of the present invention relates to a method for measuring the tilt angle of a running vehicle.
  • the vehicle tilt angle measuring device 10 measures the tilt angle of the stopped vehicle by a method different from the following method without performing the following method during the period when the vehicle is stopped. Since the tilt angle of the stopped vehicle may be measured using a known technique, the description thereof is omitted.
  • step ST10 the receiving unit 11 receives the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az detected by the acceleration sensor 1.
  • the reception unit 11 outputs the received accelerations ax and az to the inflection point detection unit 12 and the acceleration output unit 14.
  • the inflection point detection unit 12 detects the inflection points of the acceleration ax in the vehicle longitudinal direction and the acceleration az in the vehicle vertical direction received by the reception unit 11. Specifically, the inflection point detection unit 12 detects an inflection point from a curve indicating a change amount of the acceleration az in the vehicle vertical direction with respect to the acceleration ax in the vehicle front-rear direction. The inflection point detection unit 12 notifies the gradient change determination unit 13 of the presence or absence of inflection point detection.
  • FIG. 6, and FIG. 7 are graphs of curve examples showing the amount of change in the acceleration az in the vehicle vertical direction with respect to the acceleration ax in the vehicle longitudinal direction in the first embodiment of the present invention.
  • the inflection point detection unit 12 plots, for example, a vehicle longitudinal acceleration ax and a vehicle vertical acceleration az detected every 10 milliseconds into a curve. Subsequently, the inflection point detection unit 12 obtains the slope of the curve every 100 milliseconds using, for example, the least square method, and detects a curve portion where the change amount of the slope exceeds a predetermined range as the inflection point. .
  • the detection cycle of the acceleration sensor 1 is not limited to 10 milliseconds, and may be any cycle. Further, the cycle for obtaining the slope of the curve is not limited to 100 milliseconds, and may be any cycle.
  • the acceleration ax, az detected by the acceleration sensor 1 is affected by the gravitational acceleration g0. Minutes do not overlap. Therefore, the curve is linear as shown in FIG. In the curve of FIG. 5, the inflection point is not detected because the amount of change in inclination is within a predetermined range.
  • the acceleration detected by the acceleration sensor 1 includes the gravitational acceleration g0. The influence is superimposed.
  • the inflection point 100 is a portion where the influence of the gravitational acceleration g0 is superimposed on the accelerations ax and az detected by the acceleration sensor 1.
  • step ST12 the gradient change determination unit 13 receives a notification indicating the presence or absence of an inflection point from the inflection point detection unit 12.
  • the gradient change determination unit 13 determines that there is a change in the road surface gradient in step ST13.
  • the gradient change determination unit 13 determines that there is no change in the road surface gradient in step ST14.
  • the gradient change determination unit 13 notifies the acceleration output unit 14 of the presence or absence of a road surface gradient change.
  • step ST15 the acceleration output unit 14 receives a notification indicating the presence or absence of a road surface gradient change from the gradient change determination unit 13.
  • the acceleration output unit 14 proceeds to step ST16 when the gradient change determination unit 13 determines that there is no change in the road surface gradient ("YES" in step ST15).
  • step ST ⁇ b> 16 the acceleration output unit 14 outputs the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az received from the receiving unit 11 and the acceleration detection time to the storage unit 15.
  • the storage unit 15 adds the acceleration detection time to the accelerations ax and az output from the acceleration output unit 14 and stores them as time series data.
  • the acceleration output unit 14 skips step ST16 when the gradient change determination unit 13 determines that there is a change in the road surface gradient ("NO" in step ST15). Accordingly, the storage unit 15 stores the accelerations ax and az when the gradient change determination unit 13 determines that there is no change in the road surface gradient among the accelerations ax and az detected by the acceleration sensor 1.
  • step ST17 the inclination angle calculation unit 16 reads time-series data of the acceleration ax in the vehicle longitudinal direction and the acceleration az in the vehicle vertical direction, which are stored in the storage unit 15.
  • the tilt angle calculation unit 16 calculates the tilt angle of the vehicle with respect to the road surface using the time series data. Since the method of calculating the vehicle tilt angle based on the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az is a well-known technique, the description thereof is omitted.
  • accelerations ax and az other than the inflection point 100 are stored in the storage unit 15, and the accelerations ax and az included in the inflection point 100 are not stored in the storage unit 15.
  • the tilt angle calculation unit 16 calculates the tilt angle of the vehicle using accelerations ax and az stored in the storage unit 15 during a period when it is determined that there is no change in the road surface gradient. Therefore, the influence of the road surface gradient change is eliminated, and the accuracy of the vehicle inclination angle with respect to the road surface is improved.
  • the inclination angle calculation unit 16 linearly approximates all the accelerations ax and az in FIG. 6 by the least square method or the like and calculates the inclination angle of the vehicle using the approximate straight line 101, the inclination angle is The value is not correct due to the effect of changes in road slope.
  • the vehicle tilt angle measuring apparatus 10 includes the receiving unit 11 that receives the accelerations ax and az in the vehicle longitudinal direction and the vehicle vertical direction, which are detected by the acceleration sensor 1, and the receiving unit 11.
  • An inflection point detection unit 12 for detecting inflection points of accelerations ax and az received by the step, and a gradient change determination unit 13 for determining whether or not there is a gradient change on the road surface based on the detection result of the inflection point detection unit 12.
  • An acceleration output unit 14 that outputs the acceleration ax, az that is output when the gradient change determination unit 13 determines that there is a change in the gradient of the road surface from the acceleration ax, az received by the reception unit 11, and an acceleration output unit And an inclination angle calculation unit 16 that calculates the inclination angle of the vehicle with respect to the road surface based on the accelerations ax and az output from the vehicle 14.
  • the inflection point detection unit 12 of the first embodiment is configured to detect an inflection point from a curve indicating the amount of change in the acceleration az in the vehicle vertical direction with respect to the acceleration ax in the vehicle longitudinal direction.
  • the gradient change determination unit 13 determines that there is a road gradient change when the inflection point is detected by the inflection point detection unit 12, and there is no road gradient change when the inflection point is not detected. Is determined.
  • FIG. FIG. 8 is a block diagram illustrating a configuration example of the vehicle tilt angle measuring apparatus 10 according to the second embodiment of the present invention.
  • the vehicle tilt angle measuring apparatus 10 according to the second embodiment has a configuration in which a similarity determination unit 20 is added to the vehicle tilt angle measuring apparatus 10 according to the first embodiment shown in FIG. 8, parts that are the same as or correspond to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.
  • the similarity determination unit 20 is realized by the processing circuit 4 shown in FIG. Alternatively, the similarity determination unit 20 is realized when the processor 5 illustrated in FIG. 3 executes a program stored in the memory 3. When the inflection point is detected by the inflection point detection unit 12, the similarity determination unit 20 determines the similarity of the curves before and after the inflection point.
  • FIG. 9 is a flowchart showing an operation example of the vehicle tilt angle measuring apparatus 10 according to the second embodiment of the present invention.
  • the vehicle inclination angle measuring apparatus 10 repeats the operation shown in the flowchart of FIG. 9 during the period when the vehicle is traveling. Below, a different part is demonstrated by the flowchart of FIG. 9, and the flowchart of FIG.
  • step ST11 the inflection point detection unit 12 notifies the gradient change determination unit 13 and the similarity determination unit 20 of the presence / absence of inflection point detection.
  • step ST12 when the inflection point is detected by the inflection point detection unit 12 (step ST12 "YES"), the gradient change determination unit 13 notifies the similarity determination result from the similarity determination unit 20. wait.
  • the similarity determination unit 20 receives the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az detected by the acceleration sensor 1 from the reception unit 11 and also notifies the inflection point of the inflection point detection unit 12. Receive from.
  • the inflection point is detected by the inflection point detection unit 12 (step ST12 “YES”), the similarity between the curves before and after the inflection point is determined in step ST20.
  • the similarity determination unit 20 notifies the gradient change determination unit 13 of the similarity determination result.
  • the similarity determination method of the similarity determination unit 20 will be described with reference to FIG. Since the inflection point 100 is detected from the curve in FIG. 6, the similarity determination unit 20 determines the inclination of the curve portion 201 before the inflection point 100 and the inclination of the curve portion 202 after the inflection point 100. The degree of similarity of the slopes of the curve portions 201 and 202 is determined by calculation. The similarity determination unit 20 determines that the curve portions 201 and 202 are similar if the deviation between the inclination of the curve portion 201 and the inclination of the curve portion 202 is less than 5%, and if the deviation is 5% or more. It is determined that the curved portions 201 and 202 are not similar.
  • the curve portions 201 and 202 in FIG. 6 are similar in that the deviation in inclination is less than 5%. Note that the deviation of the inclination for determining the similarity is not limited to 5%, and may be an arbitrary value.
  • the similarity determination unit 20 may calculate the slopes of the curve portions 201 and 202 using the accelerations ax and az received from the reception unit 11, and the inflection point detection unit 12 may detect the inflection point. The calculated inclination may be received from the inflection point detection unit 12.
  • step ST21 the gradient change determination unit 13 receives the determination result of the similarity from the similarity determination unit 20.
  • the similarity determination unit 20 determines that the curves before and after the inflection point are not similar (step ST21 “NO”)
  • the gradient change determination unit 13 determines that there is a change in the road surface gradient in step ST13.
  • the similarity determination unit 20 determines that the curves before and after the inflection point are similar (step ST21 “YES”)
  • step ST21 “YES” the gradient change determination unit 13 determines that there is no change in the road surface gradient in step ST14.
  • the inflection point 100 of the curve shown in FIG. 6 is caused by (a) an acceleration / deceleration operation due to a change in the road surface gradient during vehicle travel or a change in the road surface gradient during vehicle acceleration / deceleration, or ( b) It may be caused by a cause other than a change in the road surface gradient, for example, sudden acceleration / deceleration while the vehicle is running.
  • the vehicle inclination angle measuring apparatus 10 is (a) a change in road surface gradient as a cause of the inflection point 100.
  • step ST13 At least (a) Since there is a possibility of a change in the road surface gradient, it is determined that there is a change in the road surface gradient (step ST13), and the acceleration ax included in the inflection point 100 is determined. , Az were excluded.
  • the similarity determination unit 20 causes the inflection point 100 to be (a) a change in road surface gradient or (b) other than a change in road surface gradient. Can be determined.
  • step ST12 “YES”) the vehicle inclination angle measurement apparatus 10 determines that the curved portions 201 and 202 around the inflection point 100 are similar (step ST21 “ YES ”), it is highly possible that the cause of the inflection point 100 is other than (b) a change in the road surface gradient, so it is determined that there is no change in the road surface gradient (step ST14).
  • step ST21 “NO” the vehicle inclination angle measuring apparatus 10 causes (a) a change in road surface gradient. Therefore, it is determined that there is a change in the road surface gradient (step ST13).
  • the vehicle tilt angle measurement apparatus 10 is configured to include the similarity determination unit 20.
  • the similarity determination unit 20 determines the similarity of the curves before and after the inflection point.
  • the gradient change determination unit 13 determines that there is a change in the gradient of the road surface when the similarity determination unit 20 determines that the curves before and after the inflection point are not similar, and determines that there is no change in the gradient of the road surface when it is determined that they are similar. judge.
  • FIG. 10 is a block diagram showing a configuration example of the vehicle tilt angle measuring apparatus 10 according to Embodiment 3 of the present invention.
  • the vehicle tilt angle measuring apparatus 10 according to the third embodiment has a receiving unit 31, an acceleration calculating unit 32, and a similarity determining unit 33 added to the vehicle tilt angle measuring apparatus 10 of the first embodiment shown in FIG. It is the structure which was made.
  • the vehicle inclination angle measurement apparatus 10 according to the third embodiment includes an inflection point detection unit 12A instead of the inflection point detection unit 12.
  • the vehicle tilt angle measurement apparatus 10 according to the third embodiment is connected to a vehicle speed measurement unit 30 mounted on the vehicle.
  • the vehicle speed measuring unit 30 is a wheel speed sensor, a GPS (Global Positioning System) sensor, or the like, and measures the traveling speed of the vehicle and outputs it to the vehicle tilt angle measuring device 10. 10, parts that are the same as or correspond to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.
  • GPS Global Positioning System
  • the receiving unit 31 is the receiving device 2 shown in FIGS.
  • the receiving unit 31 receives vehicle speed information measured by the vehicle speed measuring unit 30. Note that either the receiving unit 11 or the receiving unit 31 receives both the vehicle longitudinal direction and vehicle vertical direction accelerations ax and az detected by the acceleration sensor 1 and the vehicle speed measured by the vehicle speed measuring unit 30. It may be.
  • the inflection point detection unit 12A, the acceleration calculation unit 32, and the similarity determination unit 33 are realized by the processing circuit 4 shown in FIG. Alternatively, the inflection point detection unit 12A, the acceleration calculation unit 32, and the similarity determination unit 33 are realized by executing the processor stored in the memory 3 by the processor 5 illustrated in FIG.
  • the inflection point detection unit 12A detects an inflection point from a curve indicating the amount of time change of the acceleration ax in the vehicle front-rear direction received by the reception unit 11.
  • the acceleration calculation unit 32 calculates the acceleration of the vehicle based on the vehicle speed measured by the vehicle speed measurement unit 30.
  • the vehicle acceleration calculated by the acceleration calculation unit 32 is the vehicle acceleration a0 shown in FIG.
  • the similarity determination unit 33 When the inflection point is detected by the inflection point detection unit 12A, the similarity determination unit 33 has a curve indicating the time change amount of the acceleration ax in the vehicle longitudinal direction and the time of the vehicle acceleration a0 calculated by the acceleration calculation unit 32. The similarity of the curve indicating the amount of change is determined.
  • FIG. 11 is a flowchart showing an operation example of the vehicle tilt angle measuring apparatus 10 according to the third embodiment of the present invention.
  • the vehicle inclination angle measuring apparatus 10 repeats the operation shown in the flowchart of FIG. 11 during the period when the vehicle is traveling. Below, a different part is demonstrated by the flowchart of FIG. 11, and the flowchart of FIG.
  • step ST30 the receiving unit 11 receives the vehicle longitudinal acceleration ax and the vehicle vertical acceleration az detected by the acceleration sensor 1.
  • the reception unit 11 outputs the received accelerations ax and az to the inflection point detection unit 12A, the acceleration output unit 14, and the similarity determination unit 33.
  • the receiving unit 31 receives the vehicle speed measured by the vehicle speed measuring unit 30.
  • the receiving unit 31 outputs the received vehicle speed to the acceleration calculating unit 32.
  • step ST31 the acceleration calculating unit 32 calculates the vehicle acceleration a0 based on the vehicle speed received by the receiving unit 31.
  • the acceleration calculation unit 32 outputs the vehicle acceleration a0 to the similarity determination unit 33.
  • the inflection point detection unit 12A detects the inflection point of the acceleration ax in the vehicle longitudinal direction received by the reception unit 11. Specifically, the inflection point detection unit 12A detects an inflection point from a curve indicating the amount of time change of the acceleration ax in the vehicle longitudinal direction. The inflection point detection unit 12A notifies the gradient change determination unit 13 and the similarity determination unit 33 of the presence or absence of inflection point detection.
  • FIGS. 12 and 13 are graphs of curve examples showing the time variation of the acceleration ax in the vehicle longitudinal direction and the vehicle acceleration a0 in Embodiment 3 of the present invention.
  • the inflection point detection unit 12A plots the acceleration ax in the vehicle front-rear direction detected every 10 milliseconds in the order of detection time to form a curve. Subsequently, the inflection point detection unit 12A obtains the slope of the curve every 100 milliseconds using, for example, the least square method, and detects a curve portion where the change amount of the slope exceeds a predetermined range as the inflection point.
  • the detection cycle of the acceleration sensor 1 is not limited to 10 milliseconds, and may be any cycle. Further, the cycle for obtaining the slope of the curve is not limited to 100 milliseconds, and may be any cycle.
  • the acceleration ax detected by the acceleration sensor 1 includes the gravitational acceleration g0.
  • the effect of is not superimposed. Therefore, as shown in FIG. 12, the curve indicating the time change amount of the acceleration ax is linear. In the curve of FIG. 12, the inflection point is not detected because the amount of change in the slope is within a predetermined range.
  • the inflection point 300 is generated in the curve of the acceleration ax even when the vehicle is suddenly accelerated or decelerated. That is, the inflection point 300 is a portion where the influence of the gravitational acceleration g0 is superimposed on the acceleration ax detected by the acceleration sensor 1, or a portion where the change of the vehicle acceleration a0 is superimposed.
  • step ST33 the gradient change determination unit 13 receives a notification indicating the presence or absence of an inflection point from the inflection point detection unit 12A. If the inflection point is not detected by the inflection point detector 12A (step ST33 “NO”), the gradient change determination unit 13 determines that there is no change in the road surface gradient in step ST14. On the other hand, when the inflection point is detected by the inflection point detection unit 12A (step ST33 “YES”), the gradient change determination unit 13 waits for the similarity determination result to be notified from the similarity determination unit 33.
  • the similarity determination unit 33 receives the vehicle longitudinal acceleration ax detected by the acceleration sensor 1 from the reception unit 11 and also receives a notification indicating the presence or absence of an inflection point from the inflection point detection unit 12A. Further, the similarity determination unit 33 receives the vehicle acceleration a0 from the acceleration calculation unit 32. When the inflection point is detected by the inflection point detection unit 12A (step ST33 “YES”), the similarity determination unit 33 determines the time variation of the acceleration ax in the vehicle longitudinal direction and the vehicle acceleration in step ST34. The degree of similarity of the curve indicating the time change amount of a0 is determined. The similarity determination unit 33 notifies the gradient change determination unit 13 of the similarity determination result.
  • the similarity determination method of the similarity determination unit 33 will be described with reference to FIG. Since the inflection point 300 is detected from the acceleration ax curve in FIG. 13, the similarity determination unit 33 calculates the slope of the acceleration ax curve. In addition, the similarity determination unit 33 plots the vehicle acceleration a0 received from the acceleration calculation unit 32 in the order of measurement time into a curve, and calculates the slope of the curve. Subsequently, the similarity determination unit 33 determines that the difference is less than 5% between the inclination of the curve of the acceleration ax in the vehicle longitudinal direction and the inclination of the curve of the vehicle acceleration a0, and the difference is 5% or more. If so, it is determined that they are not similar.
  • the slopes of the curve portions 301 and 302 in the acceleration ax curve in FIG. 13 are similar to the slope of the vehicle acceleration a0 curve. Note that the deviation of the inclination for determining the similarity is not limited to 5%, and may be an arbitrary value. Further, the similarity determination unit 33 may calculate the slope of the curve by using the acceleration ax received from the receiving unit 11, or the inflection point detection unit 12A may change the inclination calculated for detecting the inflection point. You may receive from 12 A of point detection parts.
  • step ST35 the gradient change determining unit 13 receives the similarity determination result from the similarity determining unit 33. If the similarity determination unit 33 determines that the curve of the acceleration ax in the vehicle front-rear direction and the curve of the vehicle acceleration a0 are not similar (step ST35 “NO”), the gradient change determination unit 13 changes the road surface gradient in step ST13. Judge that there is. On the other hand, when the similarity determination unit 33 determines that the curve of the acceleration ax in the vehicle front-rear direction and the curve of the vehicle acceleration a0 are similar (step ST35 “YES”), the gradient change determination unit 13 determines the road surface gradient in step ST14. It is determined that there is no change.
  • the vehicle acceleration a0 calculated from the vehicle speed is not affected by (a) the gravitational acceleration g0 accompanying the change in the road surface gradient. Therefore, even if the road gradient changes, no inflection point occurs in the curve of the time change amount of the vehicle acceleration a0.
  • a vehicle acceleration a0 ′ indicated by a broken line in FIG. 13 is a curve example of a time change amount of the vehicle acceleration when the vehicle is suddenly accelerated or suddenly decelerated while traveling.
  • an inflection point 300 is generated in the curve of acceleration ax, but no inflection point is generated in the curve of vehicle acceleration a0. It is determined that the portions 301 and 302 are similar to the curve of the vehicle acceleration a0.
  • the inflection point detection unit 12A of the third embodiment is configured to detect an inflection point from a curve indicating the amount of time change of the acceleration ax in the vehicle longitudinal direction.
  • the vehicle tilt angle measurement apparatus 10 is configured to include an acceleration calculation unit 32 and a similarity determination unit 33.
  • the acceleration calculation unit 32 calculates the vehicle acceleration a0 based on the traveling speed of the vehicle.
  • the similarity determination unit 33 has a curve indicating the time change amount of the acceleration ax in the vehicle longitudinal direction and the time of the vehicle acceleration a0 calculated by the acceleration calculation unit 32. The similarity of the curve indicating the amount of change is determined.
  • the gradient change determination unit 13 determines that there is a change in the gradient of the road surface when the similarity determination unit 33 determines that the curves of the two accelerations ax and a0 are not similar, and changes the gradient of the road surface when it is determined that they are similar. Judged as none. With this configuration, it is possible to more accurately eliminate the influence of the change in the road surface gradient, and to calculate the vehicle inclination angle with respect to the road surface more accurately.
  • the vehicle inclination angle measuring device measures the vehicle inclination angle by eliminating the influence of the change in the road surface gradient during vehicle traveling or vehicle acceleration / deceleration. Suitable for use in levelizers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif de mesure (10) d'angle d'inclinaison de véhicule qui comporte : une unité de réception (11) pour la réception d'accélération dans une direction avant-arrière de véhicule et dans une direction verticale de véhicule, détectée par un capteur d'accélération (1) ; une unité de détection (12) de point d'inflexion pour la détection d'un point d'inflexion de l'accélération reçue par l'unité de réception (11) ; une unité de détermination (13) de changement d'inclinaison pour la détermination de la présence/de l'absence d'un changement d'inclinaison d'une surface routière, sur la base d'un résultat de détection de l'unité de détection (12) de point d'inflexion ; une unité de transmission (14) d'accélération pour la transmission d'accélération en excluant, de l'accélération reçue par l'unité de réception (11), l'accélération lorsqu'il est déterminé par l'unité de détermination (13) de changement d'inclinaison qu'un changement d'inclinaison d'une surface routière est présent ; et une unité de calcul (16) d'angle d'inclinaison pour le calcul d'un angle d'inclinaison de véhicule par rapport à la surface routière sur la base de l'accélération transmise par l'unité de transmission (14) d'accélération.
PCT/JP2017/001362 2017-01-17 2017-01-17 Dispositif de mesure d'angle d'inclinaison de véhicule WO2018134876A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018562751A JP6625246B2 (ja) 2017-01-17 2017-01-17 車両傾斜角度計測装置
PCT/JP2017/001362 WO2018134876A1 (fr) 2017-01-17 2017-01-17 Dispositif de mesure d'angle d'inclinaison de véhicule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/001362 WO2018134876A1 (fr) 2017-01-17 2017-01-17 Dispositif de mesure d'angle d'inclinaison de véhicule

Publications (1)

Publication Number Publication Date
WO2018134876A1 true WO2018134876A1 (fr) 2018-07-26

Family

ID=62907830

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/001362 WO2018134876A1 (fr) 2017-01-17 2017-01-17 Dispositif de mesure d'angle d'inclinaison de véhicule

Country Status (2)

Country Link
JP (1) JP6625246B2 (fr)
WO (1) WO2018134876A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2020250756A1 (fr) * 2019-06-14 2020-12-17

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011116201A (ja) * 2009-12-02 2011-06-16 Stanley Electric Co Ltd ヘッドランプの光軸調整装置
JP2014101109A (ja) * 2012-10-24 2014-06-05 Koito Mfg Co Ltd 車両用灯具の制御装置
JP2015141157A (ja) * 2014-01-30 2015-08-03 三菱電機株式会社 車両傾斜角度計測装置及び光軸制御信号生成装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011116201A (ja) * 2009-12-02 2011-06-16 Stanley Electric Co Ltd ヘッドランプの光軸調整装置
JP2014101109A (ja) * 2012-10-24 2014-06-05 Koito Mfg Co Ltd 車両用灯具の制御装置
JP2015141157A (ja) * 2014-01-30 2015-08-03 三菱電機株式会社 車両傾斜角度計測装置及び光軸制御信号生成装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2020250756A1 (fr) * 2019-06-14 2020-12-17
WO2020250756A1 (fr) * 2019-06-14 2020-12-17 株式会社小糸製作所 Dispositif de commande pour phare de véhicule, système de phare de véhicule et procédé de commande pour phare de véhicule
US11686447B2 (en) 2019-06-14 2023-06-27 Koito Manufacturing Co., Ltd. Control device for vehicle lamp, vehicle lamp system, and control method for vehicle lamp

Also Published As

Publication number Publication date
JPWO2018134876A1 (ja) 2019-04-18
JP6625246B2 (ja) 2019-12-25

Similar Documents

Publication Publication Date Title
US8989913B2 (en) Travel route estimation device and travel route estimation method used in the same device
JP5402335B2 (ja) 信頼度評価装置、信頼度評価方法および信頼度評価プログラム
US10870448B2 (en) Driving support control system
JP5678873B2 (ja) 車両用前照灯制御装置
JP2015506474A5 (fr)
US9925986B2 (en) Driving state estimation device
JP2015205570A (ja) ピッチング角算出装置及び光軸調整装置
WO2018134876A1 (fr) Dispositif de mesure d'angle d'inclinaison de véhicule
US10272915B2 (en) Driving support apparatus
KR20080100028A (ko) 센서를 이용한 주행상태 판단 방법 및 장치
RU2016110884A (ru) Способ и система для определения основного направления силы, являющейся результатом столкновения транспортного средства
JP5956796B2 (ja) 車両追従装置
US20140046623A1 (en) Method and device for determining the inclined position of a vehicle
JP2018114850A (ja) 異常検出装置
US11358670B2 (en) Straddle-type vehicle information processor and straddle-type vehicle information processing method
JP2014038003A (ja) 加速度センサのオフセット値導出装置、加速度センサのオフセット値導出方法、およびプログラム
KR20170031450A (ko) 차량 제어 장치 및 차량 제어 방법
JP6671561B2 (ja) 光軸制御装置
JP2006275748A (ja) レーダの軸ずれ量決定装置
CN113810877A (zh) 车辆及其车速确定方法及装置、存储介质、终端
JP6045517B2 (ja) 車両傾斜角度計測装置及び光軸制御信号生成装置
JP2013075592A (ja) 走行制御装置
WO2019097724A1 (fr) Dispositif de mesure d'angle d'inclinaison et dispositif de commande d'axe optique
JP6597153B2 (ja) 運転状態判定装置
JP2018048985A (ja) 取付角算出装置、取付角評価装置、取付角算出方法および取付角評価方法

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: 17892854

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018562751

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17892854

Country of ref document: EP

Kind code of ref document: A1