CN104648228B - The control device of Vehicular lamp - Google Patents
The control device of Vehicular lamp Download PDFInfo
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- CN104648228B CN104648228B CN201410670325.0A CN201410670325A CN104648228B CN 104648228 B CN104648228 B CN 104648228B CN 201410670325 A CN201410670325 A CN 201410670325A CN 104648228 B CN104648228 B CN 104648228B
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Abstract
The present invention provides a kind of control device of the Vehicular lamp of the precision for the automatic horizontal regulation control for improving Vehicular lamp.The control device of the Vehicular lamp of the present invention has：Acceptance division, receives the output valve of acceleration transducer；The information of the preferable position relationship of positional information maintaining part, the axle of the sensor side in the state of keeping expression acceleration transducer mounted on a vehicle and the axle of vehicle side；Correction unit, the acceleration of vehicle fore-and-aft direction is being set as the 1st axle and the acceleration in left and right vehicle wheel direction or vehicle above-below direction is being set as in the coordinate of the 2nd axle, output valve obtained by marking and drawing in vehicle traveling, and export straight line or vector from multiple points of plotting, come the deviation of the axle of dead reckoning sensor side and the axle of vehicle side from preferable position relationship, and control information using the slope of straight line or vector；Instruction unit is adjusted, using the information being corrected, the angle of inclination of vehicle is exported from current acceleration, the optical axis regulation of Vehicular lamp is indicated.
Description
Technical field
The present invention relates to the control device of Vehicular lamp.The control dress of Vehicular lamp more particularly to used in automobile etc.
Put.
Background technology
In the past, it is known that the optical axis position of automobile head light is automatically adjusted according to the angle of inclination of vehicle, makes headlamp
The automatic horizontal regulation control of direction of illumination change.It is general in automatic horizontal regulation control, based on from the defeated of vehicle height sensor
Go out the luffing angle of vehicle derived from value to adjust the optical axis position of headlamp.In this regard, being disclosed in patent document 1 and 2 makes
Implement the control device of the Vehicular lamp of automatic horizontal regulation control with inclination sensors such as acceleration transducers.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2012-030782 publications
Patent document 2：Japanese Unexamined Patent Publication 2012-030783 publications
The content of the invention
The problem of present invention is to be solved
In the case where having used tilt detecting device of the acceleration transducer as vehicle, with having used vehicle height sensor
Situation compare, automatic horizontal regulating system can be made less expensive, lightweight can be also realized in addition.As a result, can be real
The cost degradation of existing vehicle and lightweight.On the other hand, in the case of acceleration transducer has been used, also it is hopeful height
Implement to precision the such demand of automatic horizontal regulation control.
The present inventor has carried out wholwe-hearted research to realize the high precision int of automatic horizontal regulation control, as a result
Recognize in the control device of conventional Vehicular lamp exist and realize the further high precision int that automatic horizontal regulation is controlled
Leeway.
The present invention be in view of such situation and complete, its object is to provide a kind of technology, improve Vehicular lamp
The precision of automatic horizontal regulation control.
The solution used to solve the problem
To solve the above problems, the technical scheme of the present invention is the control device of Vehicular lamp.The control of the Vehicular lamp
Device processed has：Acceptance division, it is used for the output valve for receiving acceleration transducer；Positional information maintaining part, it keeps representing
The axle of the vehicle side of posture of the axle of sensor side in the state of acceleration transducer is mounted on a vehicle with determining vehicle
The information of preferable position relationship；Correction unit, the acceleration of vehicle fore-and-aft direction is being set as the 1st axle and by left and right vehicle wheel by it
The acceleration of direction or vehicle above-below direction is set as in the coordinate of the 2nd axle, marks and draws output valve resulting in vehicle traveling,
And straight line or vector are exported from multiple points of plotting, the axle and car of dead reckoning sensor side are carried out using the slope of straight line or vector
The axle of side corrects the information for representing preferable position relationship from the deviation of preferable position relationship；And regulation instruction unit,
It exports the angle of inclination of vehicle from current acceleration using the information being corrected, and generates the light for indicating Vehicular lamp
The control signal of axle regulation.According to the technical scheme, it is possible to increase the precision of the automatic horizontal regulation control of Vehicular lamp.
In the above-mentioned technical solutions or, the axle of sensor side includes mutually perpendicular X-axis, Y-axis and Z axis, correction
Slope of the portion based on straight line or vector is come corrected X axle and the position relationship of the antero posterior axis of vehicle side.In addition, in any of the above-described skill
In art scheme or, correction unit in the case where the slope of straight line or vector is higher than predetermined threshold value, with straight line or
The slope of vector only reduces the small corrected value mode of the threshold value more predetermined than this to correct the information.According to these technical schemes,
The precision of the automatic horizontal regulation control of Vehicular lamp can be improved.In addition, in any of the above-described technical scheme or,
Correction unit is in output valve during given travel state in the output valve that be used to export straight line or vector comprising vehicle
In the case of, the output valve is removed and straight line is exported or vector, wherein, the given travel state includes predetermined Qu Hangzhuan
At least one in state and predetermined inclined route transport condition.In addition, in the technical scheme or, correction unit from
The acceleration in the left and right vehicle wheel direction in multiple output valves exports a reference value for judging given travel state, is passed in acceleration
It is in the case that the acceleration in the left and right vehicle wheel direction in the output valve of sensor and the difference of a reference value are higher than predetermined threshold value, this is defeated
Go out value to remove and export straight line or vector.In addition, in any technical scheme or, correction unit is before by vehicle
Rear to acceleration be set as the 1st axle and the acceleration in left and right vehicle wheel direction be set as in the coordinate of the 2nd axle, mark and draw vehicle
Output valve obtained by traveling, and straight line or vector are exported from multiple points of plotting, calculate marked and drawed output valve relative
In the variance of derived straight line or vector, in the case where resulting variance exceedes predetermined threshold value, straight line is exported again
Or vector.According to these technical schemes, the precision of automatic horizontal regulation control can be further improved.In addition, above-mentioned respectively will
The appropriately combined of element is also contained in as in the range of the invention of the patent protection required by the patent application of this part.
The effect of invention
In accordance with the invention it is possible to provide a kind of technology of the precision for the automatic horizontal regulation control for improving Vehicular lamp.
Brief description of the drawings
Fig. 1 is the control object i.e. headlamp of Vehicular lamp for including the Level tune ECU involved by embodiment
Summary vertical sectional view.
Fig. 2 is to illustrate the functional block diagram that headlamp, Level tune ECU and wagon control ECU action are collaborated.
Fig. 3 is the vehicle for illustrating the acceleration produced by vehicle and can be detected by acceleration transducer
Angle of inclination schematic diagram.
Fig. 4 (A) and Fig. 4 (B) are shown in the state of sensor axis and axle for vehicle are in preferable position relationship, by car
The figure of straight line obtained from the output valve of acceleration transducer detected in traveling is marked and drawed.
Fig. 5 (A) and Fig. 5 (B) are shown in sensor axis and axle for vehicle in the state of the deviation of preferable position relationship, will
The figure of straight line obtained from the output valve of the acceleration transducer detected in vehicle traveling is marked and drawed.
The figure of the output valve of acceleration transducer resulting when being for illustrating vehicle in given travel state Fig. 6.
Fig. 7 is an example for showing the automatic horizontal regulation control that the Level tune ECU involved by embodiment is performed
Flow chart.
The explanation of reference
10 lamp units, 100 Level tune ECU, 102 acceptance divisions, 108 memories, 110 acceleration transducers, 300 cars
, 302 wagon control ECU, 1041 correction units, 1042 regulation instruction units
Embodiment
Below, based on optimal embodiment and referring to the drawings, the present invention will be described.Shown in each accompanying drawing
Identical or equivalent inscape, part, processing are labelled with identical reference, suitably omit explanation repeatedly.Separately
Outside, embodiment is to enumerate rather than limit invention, and all features, its combination described in embodiment are not necessarily inventions
Essence.
Fig. 1 is the control object i.e. headlamp of Vehicular lamp for including the Level tune ECU involved by embodiment
Summary vertical sectional view.The construction of headlamp 210 is：Be formed as symmetrical a pair of headlamps in vehicle
The left and right in overall width direction is respectively configured with 1.Because the headlamp 210R on right side and the headlamp 210L in left side are actual
On be identical constitute, therefore, hereinafter the headlamp 210R on right side construction is illustrated.Headlamp 210R
Have：There is the lamp body 212 of opening portion in vehicle front side；And cover the euphotic cover 214 of the opening portion.Lamp body 212 is in car
Rear side has assembly and disassembly lid 212a.Lamp house 216 is formed by lamp body 212 and euphotic cover 214.Conduct is accommodated with lamp house 216
The lamp unit 10 of Vehicular lamp.
Lamp support 218 is connected with lamp unit 10, lamp support 218 has the side up and down as lamp unit 10
The hinge mechanism 218a at center is moved Xiang Oscillating.Lamp support 218 is with being supported in being screwed up to light adjusting screw 220 for lamp body 212.In lamp
The lower surface of tool unit 10 is fixed with the rotary shaft 222a of revolving actuator 222.Revolving actuator 222 is fixed on unit rack
On 224.Level tune actuator 226 is connected with unit rack 224.Level tune actuator 226 is for example by making bar 226a
Motor stretched on arrow M, N directions etc. is constituted.Lamp unit 10 by bar 226a on arrow M, N directions stretch from into
For hypsokinesis posture, forward lean, thereby, it is possible to enter to exercise optical axis O luffing angle downward, the horizontal adjustment of top.
Lamp unit 10 includes：In being supported in comprising the rotation means for screening 18 of covering 12, light source 14, by reflector 16
The light fixture shell 17 and projecting lens 20 of wall.Light source 14 can use incandescent lamp, Halogen lamp LED, discharge lamp, LED etc..Reflector 16
At least a portion be elliptical shape ball planar, the light launched from light source 14 is reflected.Light from light source 14 and anti-by reflector 16
A part for the light penetrated is guided to projecting lens 20 by rotation covering 12.Rotation covering 12 is can be with rotary shaft 12a
Centered on the cylinder part that rotates, including cutout unit and multiple shields (not shown).It is any in cutout unit or shield
One is moved on optical axis O, so as to form predetermined light distribution patterns.Projecting lens 20 is made up of plano-convex non-spherical lens, by shape
Projected into the light source picture in the focus face of rear as inverted image on the virtual vertical screen in front of light fixture.
Fig. 2 is to illustrate the functional block diagram that headlamp, Level tune ECU and wagon control ECU action are collaborated.This
Outside, headlamp 210R and headlamp 210L are referred to as headlamp 210 in fig. 2.In addition, Level tune
ECU100, wagon control ECU302, are constituted as hardware, by real using the CPU of computer, memory as element, the circuit of representative
It is existing；As software sharing, realized by computer program etc.；But it is depicted as being made up of and software sharing these hardware in fig. 2
The functional module for collaborating to realize.It will be appreciated by those skilled in the art that these functional modules can be by the group of hardware, software
Conjunction is realized in a variety of manners.
Level tune ECU100 as the control device of Vehicular lamp includes acceptance division 102, control unit 104, sending part
106th, memory 108 and acceleration transducer 110.Control unit 104 has correction unit 1041 and regulation instruction unit 1042.Level is adjusted
Section ECU100 is for example arranged near the instrument board of vehicle 300.In addition, Level tune ECU100 set location is not limited especially
It is fixed, it can also such as be located in headlamp 210, in wagon control ECU302.In addition, acceleration transducer 110 can also
It is located at outside Level tune ECU100.Be connected with Level tune ECU100 be equipped on vehicle 300 wagon control ECU302,
Lamp switch 304.The signal exported from wagon control ECU302, lamp switch 304 is received by acceptance division 102.In addition, acceptance division 102
Receive the output valve of acceleration transducer 110.
Rotation direction sensor 310, vehicle speed sensor 312, navigation system 314, wheel are connected with wagon control ECU302
Velocity sensor 316 etc., and various information can be obtained from these sensors etc., send to Level tune ECU100.Thus, water
Heibei provincial opera section ECU100 can detect the transport condition of vehicle 300.
Lamp switch 304 will indicate the signal for lighting extinguishing of headlamp 210, refer to according to the operation content of driver
Show the signal for the light distribution patterns that formed by headlamp 210, the signal of execution for indicating automatic horizontal regulation control etc.
Send to power supply 306, wagon control ECU302, Level tune ECU100 etc..For example, lamp switch 304 will indicate automatic water Heibei provincial opera
The signal for saving the implementation of control is sent to Level tune ECU100.Thus, Level tune ECU100 starts automatic horizontal regulation control
System.Power supply 306 is the power supply to Level tune ECU100, wagon control ECU302 and the supply electric power of headlamp 210.Example
Such as, if the operation instruction headlamp 210 that passes through lamp switch 304 is lighted, from power supply 306 via power circuit 230
To the supply electric power of light source 14.
Memory 108 can keep angle, θ r in road surface described later a reference value, vehicle attitude angle, θ v a reference value and
The various sensors such as acceleration transducer 110, rotation direction sensor 310, vehicle speed sensor 312, vehicle-wheel speed sensor 316 it is defeated
Go out value.The output valve of acceleration transducer 110 is stored in memory 108 repeatedly at predetermined intervals.In addition, storage
Device 108 plays a role as positional information maintaining part, keeps representing to be mounted on vehicle 300 in acceleration transducer 110
The axle of the vehicle side of posture of the axle (being hereinafter properly called sensor axis) of sensor side under state with determining vehicle 300
The information (being hereinafter properly called position relationship information) of the preferable position relationship of (being hereinafter properly called axle for vehicle).
Acceptance division 102 sends the signal received to control unit 104.Control unit 104 regulation instruction unit 1042 in, with
The output valve of the acceleration transducer 110 come from the transmission of acceptance division 102 and the information being maintained at as needed in memory 108 are
Extremely sent out to export the angle of inclination of vehicle 300, the control signal of the optical axis regulation of generation indicating lamp unit 10, and output on basis
Send portion 106.Sending part 106 exports the control signal to Level tune actuator 226.Level tune actuator 226 is with reception
To control signal based on be driven, on vehicle above-below direction (luffing angle direction) adjust lamp unit 10 optical axis
O。
In addition, control unit 104 implements following correction process in correction unit 1041：Examined using in the traveling of vehicle 300
The sensor values for the acceleration transducer 110 measured corrects the position relationship information being maintained in memory 108.For this
Correction process is described in detail later.
Next, the automatic horizontal regulation control that Level tune ECU100 of the explanation with above-mentioned composition is carried out.Fig. 3 is
For illustrating showing for the acceleration produced by vehicle and the angle of inclination for the vehicle that can be detected by acceleration transducer
It is intended to.
For example, having goods or in the case where back row seat has occupant in vehicle rear placing, vehicle attitude is turned into
Hypsokinesis posture；In the case where the occupant for unloading goods or back row seat gets off, vehicle attitude is before the state of hypsokinesis posture
Incline.The direction of illumination of lamp unit 10 also can up and down change according to the posture of vehicle 300, and front irradiation distance can change.Cause
This, Level tune ECU100 exported from the output valve of acceleration transducer 110 pitch orientation of vehicle angle of inclination or its
Change, the luffing angle for making optical axis O is angle corresponding with vehicle attitude.By implementing to enter portable lighter in real time based on vehicle attitude
Has the automatic horizontal regulation control of the Level tune adjustment of unit 10, even if so that vehicle attitude change, also can most preferably be adjusted
The arrival distance of the light of section front irradiation.
Acceleration transducer 110 is, for example, to accelerate with mutually perpendicular X-axis, Y-axis and Z axis as three axles of sensor axis
Spend sensor.Acceleration transducer 110 is arranged on vehicle 300 with arbitrary posture, the acceleration produced by detection vehicle 300
Vector.Vehicle 300 in traveling can produce acceleration of gravity and the acceleration of motion caused by the movement of vehicle 300.Cause
This, acceleration transducer 110 is as shown in figure 3, be capable of detecting when what acceleration of gravity vector G was synthesized with acceleration of motion vector α
Resultant acceleration vector beta.In addition, in the stopping of vehicle 300, acceleration transducer 110 is capable of detecting when acceleration of gravity vector
G。
Therefore, vehicle 300 can be exported relative to acceleration of gravity vector G's from the output valve of acceleration transducer 110
Slope.That is, the acceleration detected from acceleration transducer 110 can export the angle of inclination of vehicle with respect to the horizontal plane and close
Angle, θ is counted, total angle, θ is road surface angle, θ r and vehicle relative to road comprising the angle of inclination of road surface with respect to the horizontal plane
The angle of inclination in face is vehicle attitude angle, θ v.In addition, road surface angle, θ r, vehicle attitude angle, θ v and total angle, θ are respectively
The angle of the above-below direction of the antero posterior axis of vehicle 300, is in other words the angle of the pitch orientation of vehicle 300.
In addition, acceleration transducer 110 exports the X-axis, Y-axis, the number of each component of Z axis of detected acceleration
Value.As noted previously, as acceleration transducer 110 is installed relative to vehicle 300 with arbitrary posture, therefore acceleration transducer
110 three axles are not necessarily consistent with antero posterior axis, Y-axis and the upper and lower axle of the vehicle 300 as axle for vehicle.Therefore, control unit
104 needs are converted to the numerical value of each component of the X-axis, Y-axis and Z axis that are exported from acceleration transducer 110 before and after vehicle 300
The component of axle, Y-axis and upper and lower axle.In order to which the three of acceleration transducer 110 axis component is converted into three of vehicle 300
Axis component is, it is necessary to the position of the sensor axis and axle for vehicle in the state of representing acceleration transducer 110 on vehicle 300
The information of relation.
In the automatic horizontal regulation control of present embodiment, the information is for example generated as follows.Fig. 4 (A) and Fig. 4
(B) it is to show in the state of sensor axis and axle for vehicle are in preferable position relationship, what is detected during vehicle is travelled adds
The figure of straight line obtained from the output valve of velocity sensor is marked and drawed.Fig. 5 (A) and Fig. 5 (B) is shown in sensor axis and car
Axle is in the state of the deviation of preferable position relationship, and the output valve of the acceleration transducer detected during vehicle is travelled is carried out
The figure of straight line obtained from plotting.Fig. 4 (A) and Fig. 5 (A) show vehicle antero posterior axis being set as the 1st axle (X), by vehicle
Lower axle is set as the output valve marked and drawed in the coordinate of the 2nd axle (Z).Fig. 4 (B) and Fig. 5 (B) show to be set as by vehicle antero posterior axis
1st axle (X), left and right vehicle wheel axle is set as to the output valve marked and drawed in the coordinate of the 2nd axle (Y).
For example, first, when Level tune ECU100 manufacture is dispatched from the factory, representing that acceleration transducer 110 is mounted in vehicle
The position relationship information of the preferable position relationship of sensor axis and axle for vehicle in the state of on 300 is recorded in advance in storage
In device 108.The position relationship information is, for example, in vehicle 300 based on the acceleration transducer 110 obtained from Car design figure etc.
On mounting position design load derived from.In addition, position relationship information is, for example, by the shaft position and car of acceleration transducer 110
300 shaft position sets up corresponding conversion table.
In addition, correction unit 1041 is under the situation that vehicle 300 is actually used, set by the acceleration of vehicle fore-and-aft direction
It is set to the 1st axle and the acceleration in left and right vehicle wheel direction or vehicle above-below direction is set as in the coordinate of the 2nd axle, marks and draws vehicle
The output valve of acceleration transducer 110 obtained by traveling.Moreover, from multiple points of plotting using such as least squares method,
Method of moving average etc. exports straight line (straight line approximate expression) or vector.The acceleration transducer 110 being plotted in coordinate it is defeated
Go out the output valve that value is for example previously stored in memory 108.In addition, around vehicle herein, above-below direction be based on storage
Position relationship information in memory 108.
Vehicle 300 is moved in parallel relative to road surface.Therefore, acceleration of motion vector α is independent of vehicle attitude angle, θ v
And the vector parallel relative to road surface.In addition, in the case where the vehicle attitude angle, θ v of vehicle 300 is 0 °, due in theory
Vehicle antero posterior axis is parallel relative to road surface, therefore acceleration of motion vector α is the vector parallel with the antero posterior axis of vehicle 300.
Therefore, when the size of acceleration of motion vector α changes because of the acceleration and deceleration of vehicle 300, detected by acceleration transducer 110
Resultant acceleration vector beta front end track be the straight line parallel relative to vehicle antero posterior axis.
Therefore, if it is assumed that sensor axis has preferable position relationship with axle for vehicle, then as shown in Fig. 4 (A), if
Vehicle antero posterior axis (acceleration of vehicle fore-and-aft direction) is being set as the 1st axle (X) and by vehicle upper and lower axle (vehicle above-below direction
Acceleration) be set as in the coordinate of the 2nd axle (Z), mark and draw vehicle traveling in obtained by acceleration transducer 110 output
Value, then can export and the approximately parallel straight line of vehicle antero posterior axis (being the straight line shown in dotted line in figure).Equally, such as Fig. 4 (B) institute
Show, if vehicle antero posterior axis is being set as into the 1st axle (X) and is being set as left and right vehicle wheel axle (acceleration in left and right vehicle wheel direction)
The output valve of acceleration transducer 110 is marked and drawed in the coordinate of 2nd axle (Y), then can be exported approximately parallel with vehicle antero posterior axis
Straight line (being the straight line shown in dotted line in figure).
However, be accurately fitted within like that on vehicle 300 according to design because acceleration transducer 110 is not necessarily, because
Sensor axis in this reality has situation about deviateing from preferable position relationship with axle for vehicle.Sensor axis and axle for vehicle from
In the case that preferable position relationship deviates, as shown in Fig. 5 (A), if vehicle antero posterior axis is being set as into the 1st axle (X) and will
Vehicle upper and lower axle is set as marking and drawing the output valve of acceleration transducer 110 in the coordinate of the 2nd axle (Z), then obtains relative to vehicle
The inclined straight line of antero posterior axis.Equally, as shown in Fig. 5 (B), if vehicle antero posterior axis is being set as into the 1st axle (X) and vehicle is left
Right axle is set as marking and drawing the output valve of acceleration transducer 110 in the coordinate of the 2nd axle (Y), then obtains relative to vehicle antero posterior axis
Inclined straight line.
The slope (straight line and vehicle antero posterior axis angulation) of the straight line is to represent the sensor axis and vehicle in reality
The information that the position relationship of axle deviates from both preferable position relationships.In addition, the slope is equivalent in position relationship information
Vehicle antero posterior axis and vehicle traveling in calculate obtained from vehicle antero posterior axis difference.Biography in the slope of straight line, i.e. reality
The vehicle deviateed to be calculated from the output valve of acceleration transducer 110 from preferable position relationship of sensor axle and axle for vehicle
The error of 300 luffing angle.
Therefore, correction unit 1041 marks and draws the output valve of acceleration transducer 110 in above-mentioned coordinate and obtains straight line.So
Afterwards, the deviation of the preferable position relationship from sensor axis and axle for vehicle, and correction position are calculated using the slope of the straight line
Relation information.In addition it is also possible to which the output valve from acceleration transducer 110 calculates acceleration.
In the present embodiment, correction unit 1041 is based on the slope of straight line (or vector) come corrected acceleration sensor
110 X-axis and the position relationship of the antero posterior axis of vehicle 300.Specifically, the correction position relation as follows of correction unit 1041
Information：Make straight line relative to vehicle antero posterior axis (the 1st axle) close to parallel, i.e. the slope of straight line is close to zero.In addition, correction unit
1041, in the case where the slope of straight line is higher than predetermined threshold θ th, only reduce the small schools of the threshold θ th more predetermined than this with slope
Mode on the occasion of θ c carrys out correction position relation information.Thus, even in the slope and sensor axis or pair of axle for vehicle of straight line
In the case that the precision that should be related to is low, it can also make the position relationship of the sensor axis and axle for vehicle determined by position relationship information
Edge down upon the position relationship in reality." predetermined threshold θ th " and " corrected value θ c " can be carried out based on designer
Experiment, emulation are suitably set.
Correction unit 1041 for example continuously or at regular intervals exports straight line (or vector), and position is repeated
Put the correction of relation information.For example, correction unit 1041 is stored in the acceleration transducer in memory 108 in vehicle traveling
When the quantity of 110 output valve reaches quantity pre-determined used in the calculating of straight line, straight line (or vector) is exported, and
Correction position relation information.
Then, regulation instruction unit 1042 exports vehicle using the position relationship information being corrected from current acceleration
Angle of inclination, and generate the control signal of the optical axis regulation of indicating lamp unit 10.Thus, due to can avoid sensor axis with
The deviation of optical axis angle caused by the deviation of the position relationship of axle for vehicle, therefore, it is possible to realize the automatic water Heibei provincial opera of higher precision
Section control.
In addition, Level tune ECU100 involved by present embodiment is in order to more precisely implement based on above-mentioned straight line
The correction of position relationship information that carries out of slope, implement control as shown below.Fig. 6 is to be used to illustrate that vehicle is in particular row
Sail the figure of the output valve of acceleration transducer resulting during state.It is regarding vehicle antero posterior axis and left and right vehicle wheel axle as reference axis
It is higher therefore, it is possible to perform because the straight line will not change slope because of vehicle attitude angle, θ v in the case of exporting straight line
The correction process of precision.But, following problem can be produced in this case.
That is, as shown in fig. 6, when vehicle 300 is in straight-going state and level road state, obtaining：Vehicle 300
The value of Y-axis (Y-axis) is roughly equal, i.e., the roughly equal output valve of the distance away from antero posterior axis (X-axis) is (in figure shown in stain
Output valve).In contrast, if vehicle 300 is in comprising in predetermined bent row state and predetermined inclined route transport condition
The given travel state of at least one, then the acceleration of yaw direction put on vehicle 300.Therefore, in given travel state
Under, obtain：Resulting output valve group when being in straight-going state and horizontal road transport condition from vehicle 300 on the direction of principal axis of left and right
The output valve (output valve in figure shown in white point) significantly deviateed.Predetermined bent row state is for example comprising vehicle 300 on detour
State of traveling etc., predetermined inclined route transport condition is comprising vehicle 300 on road surface on the acclivitous road in overall width side
State of traveling etc..
In the correction process of position relation information, if such output valve (output valve shown in white point) is used for straight
The export of line, then straight line will decline with the corresponding precision of sensor axis or axle for vehicle.Therefore, correction unit 1041 will be used for
In the case of exporting in the output valve of straight line or vector comprising vehicle 300 output valve during in given travel state, by this
Output valve removes to export straight line or vector.Thus, straight line and sensor axis or car obtained from marking and drawing output valve
The corresponding precision of antero posterior axis is improved, therefore, it is possible to further improve the precision of automatic horizontal regulation control.
For example, acceleration of the correction unit 1041 from the left and right vehicle wheel direction in the output valve of multiple acceleration transducers 110
To export a reference value E for judging given travel state.Specifically, the vehicle 300 of correction unit 1041 in practice makes
With under situation, the acceleration of vehicle fore-and-aft direction is being set as the 1st axle and the acceleration in left and right vehicle wheel direction is set as the 2nd
In the coordinate of axle, the output valve of acceleration transducer 110 is marked and drawed.Then, a reference value E is calculated from resulting output valve group.
A reference value E is, for example, the Y intercept of the straight line obtained with least squares method.Or, a reference value E can also be the car of each output valve
The average value of the value of left and right directions.The a reference value E being exported is recorded in memory 108.
Under the behaviour in service of vehicle 300 in practice, vehicle 300 it is most be to be kept straight on horizontal road.Therefore, if
Using the output valve group of a certain degree quantity, then it can obtain being estimated as being detected when vehicle 300 is in horizontal road straight-going state
The acceleration in the left and right vehicle wheel direction measured, i.e. a reference value E.In addition, a reference value E can be comprising the sensor axis and car in reality
The deviation of axle from preferable position relationship.However, even in this case, a reference value E also has for judging that acceleration is passed
The output valve of sensor 110 be given travel state output valve for needed for degree precision.For a reference value E export,
It can also use and be obtained in the initialization process implemented in the manufacturing works of vehicular manufacturer, the maintenance factory of dealer
, vehicle 300 be in horizontal road straight-going state when acceleration transducer 110 output valve.
Moreover, the acceleration and base in left and right vehicle wheel direction of the correction unit 1041 in the output valve of acceleration transducer 110
In the case that quasi- value E difference is higher than predetermined threshold value, the output valve is removed to export straight line or vector.That is, correction unit
1041 for vehicle 300 is in into horizontal road straight-going state when the output valve of acceleration transducer 110 marked and drawed and obtained
Straight line approximate expression, using left and right vehicle wheel direction value be included in predetermined scope in output valve, come execution position relation letter
The correction process of breath.The output selected for example in memory 108 is maintained at of the output valve of above-mentioned acceleration transducer 110
Value quantity is when more than predetermined quantity, the operating range of vehicle 300 when having exceeded preset distance etc., a reference value E calculate condition
Start when complete.In addition, the reality that a reference value E, predetermined threshold value, predetermined quantity, preset distance can be carried out based on designer
Test, emulate suitably to set.
In addition, correction unit 1041 can also as described below by given travel state when resulting output valve from straight
Removed in the output valve of line export.That is, for example it is more than predetermined quantity in the output valve quantity being maintained in memory 108
When, the acceleration of vehicle fore-and-aft direction is being set as the 1st axle and is setting the acceleration in left and right vehicle wheel direction by correction unit 1041
Output valve is marked and drawed in coordinate for the 2nd axle, and exports straight line or vector.Then, marked and drawed output valve is calculated relative to this
The variance of straight line or vector, in the case where variance is higher than predetermined threshold value, the number of straight line or vector obtained by abandoning
According to.Then, correction unit 1041 exports straight line or vector again when output valve quantity is again more than predetermined quantity.In side
Difference is in the case of below predetermined threshold value, correction unit 1041 performs correction process.By such control, it will can also be in
Resulting output valve is removed from the output valve of straight line export during given travel state.In addition, predetermined threshold value being capable of base
Experiment, the emulation carried out in designer is suitably set.
In addition, Level tune ECU100 can also be in horizontal road straight-going state when institute by using vehicle 300 is detected
The output valve of obtained acceleration transducer 110 exports straight line, during by given travel state resulting output valve from
Removed in the output valve of straight line export.Vehicle 300 can be from rotation direction sensor 310, acceleration transducer in straight-going state
110 or the output valve of vehicle-wheel speed sensor 316 judge.For example, rotation direction sensor 310 output valve be in include 0
The situation of preset range, the acceleration for the yaw direction being worth to from the output of acceleration transducer 110 be in comprising 0 it is pre-
The situation of determining scope, the difference in wheel speed for the left and right being worth to from the output of vehicle-wheel speed sensor 316 be in comprising 0 it is predetermined
In the case of scope, it can interpolate that and be in straight-going state for vehicle 300.Further, since it is general after starting, before parking,
Vehicle 300 is straight-going state mostly, therefore the scheduled time that can also be after starting or before stopping is judged as that vehicle 300 is in
Straight-going state.Vehicle 300 is travelled on horizontal road to be judged from the output valve of acceleration transducer 110.For example, from adding
The acceleration for the yaw direction that the output of velocity sensor 110 is worth to is in the situation for including 0 preset range, can interpolate that
Travelled for vehicle 300 on horizontal road.
Next, an example of the optical axis regulation control for the lamp unit 10 that explanation is implemented by regulation instruction unit 1042.
The purpose of automatic horizontal regulation control is, before the adjoint lamp unit 10 of change at the angle of inclination for absorbing vehicle 300
The change of square irradiation distance, reaches distance by the front of irradiation light and is kept as most preferably.Therefore, needed for automatic horizontal regulation control
The angle of inclination of vehicle 300 is vehicle attitude angle, θ v.Therefore, the automatic horizontal of acceleration transducer 110 is being used to adjust
In control, it is desirable to controlled as follows：It is car in the change of total angle, θ derived from the detected value of acceleration transducer 110
In the case of change caused by posture angle, θ v change, the optical axis position of lamp unit 10 is adjusted, is passed from acceleration
The change of total angle, θ is tieed up in the case of being the change caused by road surface angle, θ r change derived from the detected value of sensor 110
Hold the optical axis position of lamp unit 10.
Therefore, the change of total angle, θ during Level tune ECU100 stops vehicle being estimated as vehicle attitude angle, θ v
Change, the change of total angle, θ during vehicle is travelled is estimated as road surface angle, θ r change.Due to being loaded in vehicle traveling
Lotus amount, number of passengers increase and decrease and make the situation that vehicle attitude angle, θ v changes seldom, therefore, it is possible to total during vehicle is travelled
The change of angle, θ is estimated as road surface angle, θ r change.On the other hand, vehicle 300 is moved and road surface angle in stopping due to vehicle
The situation for spending θ r changes seldom, vehicle attitude angle, θ v is estimated as therefore, it is possible to the change of total angle, θ during vehicle is stopped
Change.
Then, the change optical axis of total angle, θ during regulation instruction unit 1042 stops for vehicle is adjusted, for car
The change of total angle, θ in traveling avoids optical axis from adjusting.Regulation instruction unit 1042 is by avoiding the life of optical axis Regulate signal
Into or output or output indication maintain optical axis position optical axis maintain signal, so as to avoid optical axis from adjusting.
Specifically, first, in manufacturing works of vehicular manufacturer etc., vehicle 300 is placed in the horizontal plane and made
On the basis of state.Then, the switching manipulation of initialization process device, CAN (Controller Area Network, control are passed through
Device Local Area Network) system communication etc., send initializing signal to Level tune ECU100.Control unit 120 receives initialization
Start initially to adjust light after signal, make the optical axis O of lamp unit 10 consistent with initial, set position.In addition, control unit 120 will
From value conduct of the output valve based on total angle, θ obtained from position relationship information of the acceleration transducer 110 of normal condition
Road surface angle, θ r a reference value (θ r=0 °), vehicle attitude angle, θ v a reference value (θ v=0 °), are stored in memory 108.
In the situation of the actual use of vehicle 300, change of the regulation instruction unit 1042 for total angle, θ in vehicle traveling
Change avoids optical axis from adjusting.In addition, output valve of the correction unit 1041 using the acceleration transducer 110 in vehicle traveling, to perform
The correction process of above-mentioned position relationship information.In the correction process, the road being stored in memory 108 can also be corrected
Face angle, θ r a reference value and vehicle attitude angle, θ v a reference value.In addition, adjusting the conjunction during instruction unit 1042 travels vehicle
The change of meter angle, θ is turned to road surface angle, θ r change, updates road surface angle, θ r a reference value.For example, regulation instruction unit 1042
When vehicle stops, vehicle attitude angle, θ v a reference value is subtracted from current total angle, θ, so as to obtain road surface angle, θ r.
Then, resulting road surface angle, θ r is maintained in memory 108 as new a reference value.Thus, it is estimated as road surface angle, θ
The change of total angle, θ in the vehicle traveling of r change is included into road surface angle, θ r a reference value.In addition, regulation refers to
Show that portion 1042 can also calculate the difference of total angle, θ before and after traveling when vehicle stops, the difference is contributed into road surface
In angle, θ r a reference value, to calculate new road surface angle, θ r a reference value.
In vehicle stopping, regulation instruction unit 1042 subtracts road surface angle, θ r a reference value from current total angle, θ, leads
Go out vehicle attitude angle, θ v.Then, derived vehicle attitude angle, θ v is maintained in memory 108 as new a reference value,
And using the vehicle attitude angle, θ v a reference value of derived vehicle attitude angle, θ v or renewal implement optical axis regulation.
Thus, the change for the total angle, θ being estimated as during the vehicle of vehicle attitude angle, θ v change stops is included into vehicle attitude
In angle, θ v a reference value.In addition, regulation instruction unit 1042 can also calculate total angle, θ of such as last time detection with it is current
The difference of total angle, θ, the difference is contributed in vehicle attitude angle, θ v a reference value to calculate new vehicle attitude angle, θ
V a reference value.
Vehicle 300 can for example be judged by the speed obtained from vehicle speed sensor 312 under steam and in stopping.
" vehicle traveling in " be, for example, from the detected value of vehicle speed sensor 312 more than 0 when, to the detected value of vehicle speed sensor 312
During 0.While stopping " vehicle " be, for example, vehicle speed sensor 312 detected value turn into 0 after, acceleration transducer
When 110 detected value is stabilized.When " during vehicle stops " e.g. stabilizing from the detected value of acceleration transducer 110
Rise, to vehicle speed sensor 312 detected value more than 0 when.It should can be the output valve of acceleration transducer 110 " when stabilizing "
The variable quantity of time per unit turn into scheduled volume below when or vehicle speed sensor 312 detected value turn into 0 after by pre-
After fixing time (such as after 1~2 second).
Fig. 7 is an example for showing the automatic horizontal regulation control that the Level tune ECU involved by embodiment is performed
Flow chart.For example in the state of the execution that automatic horizontal regulation control model is made that by lamp switch 304 is indicated, in igniting
Using control unit 104 in the scheduled time in the case of switch connection, the flow is repeatedly executed at predetermined intervals, and the feelings disconnected in ignition switch
Terminate under condition.
First, control unit 104 judges whether vehicle 300 stops (S101).In the case where vehicle 300 does not stop
(S101's is no), i.e. vehicle 300 under steam in the case of, control unit 104 using vehicle traveling in obtained by acceleration
The output valve of sensor 110 comes the correction process (S102) of execution position relation information, and ending said process.Stop in vehicle 300
In the case of car (S101's be), control unit 104 judges whether vehicle 300 is expert in the parking of step S101 last time judges
In sailing (S101's is no).In the case of during the judgement of last time is traveling (S103's be), control unit 104 is from current total angle
Degree θ subtracts vehicle attitude angle, θ v a reference value, to calculate road surface angle, θ r (S104).Then, by resulting road surface angle, θ
R is updated (S105), ending said process as new road surface angle, θ r a reference value.
Last time judgement for be not in traveling in the case of (S103's is no), control unit 104 is from current total angle, θ
Road surface angle, θ r a reference value is subtracted, to calculate vehicle attitude angle, θ v (S106).Then, by resulting vehicle attitude angle
θ v are updated (S107) as new vehicle attitude angle, θ v a reference value.In addition, using resulting vehicle attitude angle, θ
V or vehicle attitude angle, θ v a reference value come carrying out horizontal regulation control (S108), and ending said process.
As described above, in the Level tune ECU100 involved by present embodiment, acceleration sensing is represented
Device 110 be mounted on vehicle 300 in the state of sensor axis and axle for vehicle preferable position relationship position relationship information
It is maintained in memory 108.Moreover, the acceleration of vehicle fore-and-aft direction is being set as the 1st axle and by car by correction unit 1041
The acceleration of left and right directions or vehicle above-below direction is set as in the coordinate of the 2nd axle, obtained by marking and drawing in vehicle traveling
The output valve of acceleration transducer 110 exports straight line or vector.Moreover, correction unit 1041 uses the oblique of straight line or vector
Rate, comes the deviation of dead reckoning sensor axle and axle for vehicle from preferable position relationship, and correction position relation information.Adjust instruction unit
1042 export the angle of inclination of vehicle 300 using the position relationship information being corrected, and implement the automatic of lamp unit 10
Level tune is controlled.Therefore, it is possible to improve the precision that the automatic horizontal of Vehicular lamp adjusts control.
In addition, by the correction process of position relationship information, the real position relationship of correction sensor axis and axle for vehicle
Relative to the deviation of preferable position relationship.Therefore, it is not required to extremely improve acceleration transducer 110, Level tune ECU100
Installation site precision.Therefore, it is possible to avoid acceleration transducer 110, Level tune ECU100 installation procedure from complicating.
The invention is not restricted to above-mentioned embodiment, the knowledge based on those skilled in the art also can be to embodiment
Apply the deformation such as various design alterations, the embodiment for being applied with such deformation is also contained in the scope of the present invention.By above-mentioned
Embodiment and the combination that deforms and the new embodiment that produces has embodiment combine in the lump and deform it is respective
Effect.
Claims (9)
1. a kind of control device of Vehicular lamp, it is characterised in that have：
Acceptance division, the acceptance division is used for the output valve for receiving acceleration transducer；
Positional information maintaining part, the positional information maintaining part keeps representing the information of the preferable position relationship of axle, wherein, institute
The preferable position relationship for stating axle be the sensor side in the state of the acceleration transducer is mounted on a vehicle axle, with
Determine the preferable position relationship of the axle of the vehicle side of the posture of the vehicle；
Correction unit, the correction unit the acceleration of vehicle fore-and-aft direction is set as the 1st axle and by left and right vehicle wheel direction or
The acceleration of vehicle above-below direction is set as in the coordinate of the 2nd axle, the output valve obtained by marking and drawing in vehicle traveling, and from
The multiple points export straight line or vector marked and drawed, the axle of the sensor side is calculated using the slope of the straight line or vector
With the axle of the vehicle side from the deviation of preferable position relationship, and correct described information；And
Instruction unit is adjusted, the regulation instruction unit is using the described information being corrected, from current acceleration export vehicle
Angle of inclination, and generate the control signal for the optical axis regulation for indicating Vehicular lamp.
2. the control device of Vehicular lamp as claimed in claim 1, it is characterised in that
The axle of the sensor side includes mutually perpendicular X-axis, Y-axis and Z axis,
The correction unit corrects the X-axis and the position relationship of the antero posterior axis of the vehicle side based on the slope.
3. the control device of Vehicular lamp as claimed in claim 1, it is characterised in that
The correction unit only reduces the threshold value more predetermined than this with the slope in the case where the slope is higher than predetermined threshold value
The mode of small corrected value correct described information.
4. the control device of Vehicular lamp as claimed in claim 2, it is characterised in that
The correction unit only reduces the threshold value more predetermined than this with the slope in the case where the slope is higher than predetermined threshold value
The mode of small corrected value correct described information.
5. the control device of the Vehicular lamp as described in any one of Claims 1-4, it is characterised in that
The correction unit is in given travel state in the output valve that be used to export the straight line or vector comprising vehicle
When the output valve in the case of, the output valve is removed and the straight line or vector is exported, wherein, the given travel
State includes at least one in predetermined bent row state and predetermined inclined route transport condition.
6. the control device of Vehicular lamp as claimed in claim 5, it is characterised in that
Acceleration of the correction unit from the left and right vehicle wheel direction in multiple output valves is exported for judging the particular row
The a reference value of state is sailed, the acceleration in the left and right vehicle wheel direction in the output valve of acceleration transducer and the difference of a reference value
In the case of higher than predetermined threshold value, the output valve is removed and the straight line or vector is exported.
7. the control device of the Vehicular lamp as described in any one of Claims 1-4, it is characterised in that
The acceleration of vehicle fore-and-aft direction is being set as the 1st axle and is setting the acceleration in left and right vehicle wheel direction by the correction unit
In coordinate for the 2nd axle, the output valve obtained by marking and drawing in vehicle traveling exports straight line or arrow from multiple points of plotting
Amount, and the variance of marked and drawed output valve relative to the derived straight line of institute or vector is calculated, exceed in advance in resulting variance
In the case of fixed threshold value, straight line or vector are exported again.
8. the control device of Vehicular lamp as claimed in claim 5, it is characterised in that
The acceleration of vehicle fore-and-aft direction is being set as the 1st axle and is setting the acceleration in left and right vehicle wheel direction by the correction unit
In coordinate for the 2nd axle, the output valve obtained by marking and drawing in vehicle traveling exports straight line or arrow from multiple points of plotting
Amount, and the variance of marked and drawed output valve relative to the derived straight line of institute or vector is calculated, exceed in advance in resulting variance
In the case of fixed threshold value, straight line or vector are exported again.
9. the control device of Vehicular lamp as claimed in claim 6, it is characterised in that
The acceleration of vehicle fore-and-aft direction is being set as the 1st axle and is setting the acceleration in left and right vehicle wheel direction by the correction unit
In coordinate for the 2nd axle, the output valve obtained by marking and drawing in vehicle traveling exports straight line or arrow from multiple points of plotting
Amount, and the variance of marked and drawed output valve relative to the derived straight line of institute or vector is calculated, exceed in advance in resulting variance
In the case of fixed threshold value, straight line or vector are exported again.
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| JP2013-242563 | 2013-11-25 |
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| US20200039531A1 (en) * | 2017-03-21 | 2020-02-06 | Koito Manufacturing Co., Ltd. | Sensor module, sensor system, and method of installing sensor system in vehicle |
| CN110360524B (en) * | 2018-04-10 | 2021-09-14 | 株式会社小糸制作所 | Lamp device |
| CN113928213A (en) * | 2021-08-30 | 2022-01-14 | 优华劳斯汽车设计(上海)有限公司 | Automatic adjusting control system and control method for angle of automobile headlamp |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102537854A (en) * | 2010-12-15 | 2012-07-04 | 株式会社小糸制作所 | Vehicle lamp control apparatus |
| CN102806868A (en) * | 2011-06-03 | 2012-12-05 | 株式会社小糸制作所 | Vehicle lamp control device and vehicle lamp system |
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| EP2402212B1 (en) * | 2010-07-01 | 2014-08-06 | Koito Manufacturing Co., Ltd. | Control device for vehicle lamp, vehicle lamp, and method of controlling vehicle lamp |
| JP5787649B2 (en) * | 2010-10-26 | 2015-09-30 | 株式会社小糸製作所 | Vehicle lamp control device and vehicle lamp system |
| JP5780846B2 (en) * | 2011-06-13 | 2015-09-16 | 株式会社小糸製作所 | Vehicle lamp control device and vehicle lamp system |
| JP6008573B2 (en) * | 2012-05-17 | 2016-10-19 | 株式会社小糸製作所 | Vehicle lamp control device and vehicle lamp system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102537854A (en) * | 2010-12-15 | 2012-07-04 | 株式会社小糸制作所 | Vehicle lamp control apparatus |
| CN102806868A (en) * | 2011-06-03 | 2012-12-05 | 株式会社小糸制作所 | Vehicle lamp control device and vehicle lamp system |
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