CN107323350A - It is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror - Google Patents
It is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror Download PDFInfo
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- CN107323350A CN107323350A CN201710483155.9A CN201710483155A CN107323350A CN 107323350 A CN107323350 A CN 107323350A CN 201710483155 A CN201710483155 A CN 201710483155A CN 107323350 A CN107323350 A CN 107323350A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
- B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
- B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
- B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators
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- Mechanical Engineering (AREA)
- Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
Abstract
The present invention relates to it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, including body of backsight mirror, it is characterised in that：Body of backsight mirror is described also to include control unit, drive mechanism, transmission mechanism, the headstock rotational angle detection unit for detecting headstock rotational angle in real time and the vehicle body rotational angle detection unit for detecting vehicle body rotational angle in real time from motion tracking outside rear-view mirror on rotatable main shaft.A kind of passenger-cargo carriage visual field that the present invention is provided is particularly suitable for use in hinged passenger-cargo carriage from motion tracking outside rear-view mirror, when linking towed vehicle traveling, when in particular according to headstock and vehicle body, the change of the relative angle in dynamic is turned round, the rearview mirror of the present invention can rotate different angles simultaneously and implement tracking, so as to effective dead zone-eliminating, meet the safe visual field and require.
Description
Technical field
It is used for the outside rear-view mirror of passenger-cargo carriage (be particularly suitable for use in hinged passenger-cargo carriage), the outside rear-view mirror the present invention relates to a kind of
Rotational angle that can be according to headstock relative to vehicle body is come adjust automatically operating angle, so as to extend the visual field of driver.
Background technology
Hinged towed vehicle (single-unit) is in straight-line travelling, and the visual field that existing outside rear-view mirror can meet driver substantially will
Ask.But when vehicle turning, its anterior headstock pulls vehicle body with rear portion and can not keep that on the same axis, one can be produced relatively
Angle, its scope is at 0 °~90 °.When the relative angle is produced, with the change of its scope, the visual field at vehicle body side and rear portion
Taper into, blind area gradually increases, until the visual field is wholly absent to form whole blind areas.Existing various exterior rear view mirror for automobile are not
Can eliminate Ackermann steer angle formation blind area, can not meet hinged car turning when driver to vehicle body both sides and the rear portion visual field
Requirement, therefore frequently result in the generation of a large amount of pernicious traffic accidents.
In order to increase the visual field, reduce blind area, those skilled in the art generally carry out following improve to outside rear-view mirror：
1) change shape, increase area.Increase area is to solve the conventional method in backsight blind area, but the big picture frame of mirror
Greatly, the problem of producing overall uncoordinated, while may also be made troubles to vision.
2) curvature mirror is changed.Deformation of body is serious, and the judgement to driver is impacted, it is necessary to which certain time adapts to.
The content of the invention
The technical problem to be solved in the present invention is：Prevent passenger-cargo carriage from forming blind area in turning.
In order to solve the above-mentioned technical problem, the technical scheme is that being used to adjust passenger-cargo carriage driver there is provided a kind of
The visual field from motion tracking outside rear-view mirror, including body of backsight mirror, it is characterised in that：Body of backsight mirror is located at rotatable main shaft
On, it is described from motion tracking outside rear-view mirror also include control unit, drive mechanism, transmission mechanism, in real time detect headstock rotate
The headstock rotational angle detection unit of angle and the vehicle body rotational angle detection unit for detecting vehicle body rotational angle in real time,
The data detected are sent to control unit by headstock rotational angle detection unit and vehicle body rotational angle detection unit, by controlling
Unit processed calculates the relative rotation angle of headstock and vehicle body, and control unit is produced for controlling driving according to angle is relatively rotated
The control signal of mechanism, drive mechanism is rotated via transmission mechanism drive shaft under the control of the control unit, is driven by main shaft
Body of backsight mirror is rotated.
Preferably, in addition to for detecting the rotational angle detection unit of the body of backsight mirror rotational angle in real time, turn
Angle detection unit is moved by the data feedback detected to described control unit, by control unit combination rotational angle detection unit
The data of feedback and the relative rotation angle control the drive mechanism.
Preferably, the drive mechanism includes motor；
The rotational angle detection unit includes Hall IC, and the input of Hall IC is connected with motor, export with it is described
Control unit is connected；
Or the rotational angle detection unit includes potentiometer, the drive mechanism synchronously drives current potential via transmission mechanism
Device, the output of potentiometer is connected with described control unit.
Preferably, the transmission mechanism includes being driven by the drive mechanism output gear, it is meshed with output gear
Transition gear, be connected gear assembly with the main shaft that transition gear is meshed, main shaft connection gear assembly is on the main shaft.
Preferably, the rotational angle detection unit includes the potentiometer and travelling gear, and travelling gear is located at described
On the input shaft of potentiometer, the main shaft connection gear assembly is meshed with travelling gear simultaneously.
Preferably, the vehicle body rotational angle detection unit is fixed on vehicle body, including vehicle body main control unit, vehicle body gyroscope
And the electric compass of vehicle body, the angular velocity omega that vehicle body main control unit is obtained by vehicle body gyroscope measurement2Integration obtains the real-time angle of vehicle body
Degree, vehicle body position coordinates Hx2, Hy2 that vehicle body main control unit is obtained by the electric lining of vehicle body, which are calculated, obtains vehicle body weighting angle
Degree=arctan (Hx2/Hy2)；
The headstock rotational angle detection unit is fixed on headstock, including headstock main control unit, headstock gyroscope and headstock
Electric compass, the angular velocity omega that headstock main control unit is obtained by headstock gyroscope measurement1Integration obtains headstock real-time angular, headstock
Headstock position coordinates Hx1, Hy1 that main control unit is obtained by the electric lining of headstock calculate obtain headstock weighted angular=
arctan(Hx1/Hy1)；
Described control unit calculates that to obtain real-time angular poor according to vehicle body real-time angular and headstock real-time angular, meanwhile, root
Calculate that to obtain weighted angular poor according to vehicle body weighted angular and headstock weighted angular, using weighted angular difference to real-time angular difference progress
The relative rotation angle is obtained after amendment.
Preferably, the headstock rotational angle detection unit is fixed on headstock, including headstock main control unit, headstock gyroscope
And ultrasonic wave transmitting probe, the angular velocity omega that headstock main control unit is obtained by headstock gyroscope measurement1It is real that integration obtains headstock
When angle, ultrasonic wave transmitting probe outwards launches ultrasonic wave；
The vehicle body rotational angle detection unit is fixed on vehicle body, including vehicle body main control unit, vehicle body gyroscope, ultrasonic wave
Receiving unit one and ultrasonic wave receiving unit two, the angular velocity omega that vehicle body main control unit is obtained by vehicle body gyroscope measurement2Product
Get vehicle body real-time angular, vehicle body main control unit obtains ultrasonic wave receiving unit one and ultrasonic wave receiving unit two receives ultrasound
Reception time the Δ t1 and Δ t2 for the ultrasonic wave that ripple transmitting probe is outwards launched, and calculate and obtain weighted angular difference and be：
arccos[((Δt1×340)2+(d/2)2-(Δt×340)2)/(d×Δt1×340)]
+arccos[((Δt1×340)2+(Δt×340)2-(d/2)2)/(2×Δt1×340×Δt×340)]
-π/2
In formula, d represent between the headstock rotational angle detection unit and the vehicle body rotational angle detection unit away from
From Δ t=Δ t1- Δs t2；
Described control unit calculates poor, the utilization simultaneously that obtains real-time angular according to vehicle body real-time angular and headstock real-time angular
The weighted angular difference received obtains the relative rotation angle after being modified to real-time angular difference.
Preferably, described control unit includes control circuit and the drive circuit being connected with control circuit, and control circuit leads to
Overdrive circuit drives the drive mechanism；
The headstock rotational angle detection unit is integrated in host module with described control unit, the headstock master control list
It is first to share same circuit with the control circuit；
Or the vehicle body rotational angle detection unit and described control unit be integrated in in slave module, the vehicle body master
Control unit shares same circuit with the control circuit.
Present invention contrast prior art has following beneficial effect：A kind of passenger-cargo carriage visual field that the present invention is provided is from motion tracking
Outside rear-view mirror is particularly suitable for use in hinged passenger-cargo carriage, when linking towed vehicle traveling, in particular according to headstock and vehicle body in dynamic
When relative angle change when turning round, rearview mirror of the invention can rotate different angles simultaneously and implement tracking, so as to effectively disappear
Except blind area, meet the safe visual field and require.
Brief description of the drawings
Fig. 1 is using the hinged towed vehicle structural representation after the present invention；
Fig. 2 is the mechanical adjuster structural representation of Hall IC in embodiment 1；
Fig. 3 is the passenger-cargo carriage visual field of the present invention from motion tracking outside rear-view mirror structural representation；
Fig. 4 for the present invention the passenger-cargo carriage visual field from motion tracking outside rear-view mirror turned position side view；
Fig. 5 for the present invention the passenger-cargo carriage visual field from motion tracking outside rear-view mirror turned position top view；
Fig. 6 is the mechanical adjuster structural representation of potentiometer in embodiment 2；
Fig. 7 rotates 30 ° of rearward vision schematic diagrames for the hinging type articulated trailer of the present invention；
Fig. 8 is the host module and slave modular system block diagram in embodiment 1；
Fig. 9 is the host module and slave modular system block diagram in embodiment 3；
Figure 10 is fundamental diagram of the invention.
Embodiment
To become apparent the present invention, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
Embodiment 1
With reference to Fig. 1, Fig. 2, Fig. 3, a kind of passenger-cargo carriage visual field disclosed in the present embodiment includes backsight from motion tracking outside rear-view mirror
Mirror body 1, for detecting that headstock 4 and vehicle body 5 relatively rotate the main frame 3 of angle with slave 6 and positioned at the lower section of body of backsight mirror 1
At least one piece auxiliary mirror.
The minute surface that body of backsight mirror 1 is used can use level crossing, it would however also be possible to employ spherical mirror.Level crossing, spherical mirror
It is the two big series that traditional mirror is used, they have his own strong points, but all there is obvious functional defect.Level crossing：After advantage is
It is undistorted depending on object, it can truly reflect the true profile and actual range of object after car, have to driver and more accurately judge letter
Breath.Have the disadvantage that rear vision area is smaller, cause excessive vision dead zone.Spherical mirror：Feature is that backsight object reduces, rear vision area,
Visual angle expands, it is impossible to article size and actual range after true reflection car, and driver need to be by one section of adaptation comparison process.This hair
It is bright because using one piece of main rearview mirror and some auxiliary mirrors, therefore main rearview mirror and auxiliary mirror can select different mirrors respectively
Face, so as to take into account the advantage of various minute surfaces, such as, the body of backsight mirror 1 is spherical mirror, and lens curvature is SR1200-
SR1800。
With reference to Fig. 2, minute surface adjuster 13 built in body of backsight mirror 1, the effect of minute surface adjuster 13 is adjustment rearview mirror sheet
Eyeglass on body 1, can use existing mechanical minute surface adjuster, it would however also be possible to employ existing light-operated or electric controlled rotating dress
Put, will not be described in detail herein.Minute surface adjuster 13 is connected with clamp 14a, 14b with main shaft 12 respectively.Main shaft is installed on main shaft 12
Connect gear assembly 7.Fixed plate 15 is then installed on minute surface adjuster 13.Fixed plate 15 is used for fixed drive motor 10, output
Be cased with output gear 8a in gear 8a, transition gear 8b, the drive shaft 9 of motor 10, transition gear 8b then simultaneously with output
Gear 8a and main shaft connection gear assembly 7 are meshed.Motor 10 can just pass through output gear 8a, transition gear 8b, master
The axle connection drive shaft 12 of gear assembly 7 is rotated, and drives body of backsight mirror 1 to rotate by main shaft 12.
In order to realize the accurate control to the rotational angle of body of backsight mirror 1, the present embodiment measures drive using Hall IC 11
The rotational angle of dynamic motor 10, and the signal measured feeds back to the host module 3 for being installed on headstock 4, by host module 3
Motor 10 is controlled according to the signal of feedback.Slave module 6 is then installed on vehicle body 5, and slave module 6 is read after sensor signal
The real-time attitude of vehicle body 5 is drawn by computing, and is sent to host module 3, the one side of host module 3 is used to initialize rearview mirror
1 operating angle, is on the other hand also used for obtaining the real-time attitude of headstock 4, and calculate according to the real-time attitude of the vehicle body 5 got
Obtain the relative rotation angle of headstock 4 and vehicle body 5.
In the present embodiment, the circuit structure of host module 3 and slave module 6 is as shown in Figure 8.It is mono- that host module 3 includes ARM
The electric compass of piece machine, headstock gyroscope, headstock and motor-drive circuit.Host module 3 is driven by motor-drive circuit
Motor 10.Headstock gyroscope is used for measurement angular velocity omega in real time1, ARM single-chip microcomputers pass through angular velocity ω1Integration obtain headstock
Real-time angular, on the premise of integrator drift is not considered, beginning integration is established by cable until power down just terminates from circuit board on.Integration
Angle value afterwards is zero, and corresponding value is produced when there is angle.Headstock electricity compass be used to measuring in real time headstock position coordinates Hx1,
Hy1, ARM single-chip microcomputer calculate according to headstock position coordinates and obtain headstock weighted angular=arctan (Hx1/Hy1).
Slave module 6 includes the electric compass of ARM single-chip microcomputers, vehicle body gyroscope and vehicle body.Vehicle body gyroscope is used for real-time survey
Angulation speed omega2, ARM single-chip microcomputers pass through angular velocity ω2Integration obtain vehicle body real-time angular.Vehicle body electricity compass is used for real-time
Headstock position coordinates Hx2, Hy2 are measured, ARM single-chip microcomputers calculate according to headstock position coordinates and obtain headstock weighted angular=arctan
(Hx2/Hy2)。
The characteristics of real-time angular is that sensitivity is high, but time length has drift phenomenon.The characteristics of weighted angular is signal
Noise is big, and sample rate is low, but not increase produces drift over time.For the advantage of both comprehensive angle detections, the present invention
Signal sensitivity and stability are improved using real-time angular, weighted angular ensures that real-time angular data do not produce big deviation, had
Body technique scheme is：
The ARM single-chip microcomputers of host module 3 calculate according to the vehicle body real-time angular and headstock real-time angular received and obtain reality
When differential seat angle, ∫ (ω1-ω2), meanwhile, calculate that to obtain weighted angular poor according to vehicle body weighted angular and headstock weighted angular,
Arctan (Hx1/Hy1)-arctan (Hx2/Hy2), headstock is obtained after being modified using weighted angular difference to real-time angular difference
With respect to the relative rotation angle of vehicle body.
To sum up, the course of work of the invention is：Motor 10 drives drive shaft 9 and Hall IC 11 to rotate, drive shaft
9 drive output gear 8a, output gear 8a to drive transition gear 8b, transition gear 8b to drive main shaft connection gear assembly 7, main shaft
Connect gear assembly 7 and drive main shaft 12, main shaft 12 drives minute surface adjuster 13 and main rearview mirror 1, while Hall IC 11 sends letter
Cease to host module 3, according to host module 3 and the differential seat angle of slave module 6 come the output control amount of computing motor 10, hold
The servo antrol of row rearview mirror 1.When linking towed vehicle turn, 0 °~45 ° of the rotational angle range of body of backsight mirror 1, so as to have
Dead zone-eliminating is imitated, is required as shown in fig. 7, meeting the safe visual field.
With reference to Figure 10, outside rear-view mirror control method of the invention comprises the following steps：
(a) when the relative rotation angle of headstock and vehicle body is more than 10 °, rearview mirror is synchronous successively or rotates different angles in advance
Degree；(b) when car returns to straight-line travelling, all mirrors return to initial position.The rotational angle range of rearview mirror phase successively
Poor 15 °~5 °.
Embodiment 2
The present embodiment and the difference of embodiment 1 are：The present embodiment measures turning for body of backsight mirror 1 using potentiometer 16
Dynamic angle, and embodiment 1 measures the rotational angle of body of backsight mirror 1 using Hall IC 11.
With reference to Fig. 6, in the present embodiment, motor 10 drives drive shaft 9 to rotate, and drive shaft 9 drives output gear 8a rotations
Turn, output gear 8a drives transition gear 8b, transition gear 8b to drive main shaft connection gear assembly 7, main shaft connection gear assembly 7
Band nutating gear 8c, potentiometer 16 is driven by travelling gear 8c again.Potentiometer 16 provides angle signal and sends information to main frame
Module 3, according to host module 3 and the differential seat angle of slave module 6 come the output control amount of computing motor 10, performs rearview mirror
The servo antrol of body 1, it is ensured that camera lens rotates in normal range (NR).
The other structures and operation principle be the same as Example 1 of the present embodiment.
Embodiment 3
The present embodiment and the difference of embodiment 1 are：Host module 3 and slave module 6 use ultrasonic wave in the present embodiment
It is poor to calculate weighted angular.
With reference to Fig. 9, host module 3 includes ARM single-chip microcomputers, headstock gyroscope, ultrasonic wave transmitting probe and motor driving
Circuit.Host module 3 drives motor 10 by motor-drive circuit.Headstock gyroscope is used for measurement angular velocity omega in real time1,
ARM single-chip microcomputers pass through angular velocity ω1Integration obtain headstock real-time angular.Ultrasonic wave transmitting probe is used to outwards launch ultrasound
Ripple.
Slave module 6 includes ARM single-chip microcomputers, vehicle body gyroscope, ultrasonic wave receiving unit one, ultrasonic wave receiving unit two.
Vehicle body gyroscope is used for measurement angular velocity omega in real time2, ARM single-chip microcomputers pass through angular velocity ω2Integration obtain the real-time angle of vehicle body
Degree.The ARM single-chip microcomputers of slave module 6 obtain ultrasonic wave receiving unit one and ultrasonic wave receiving unit two receives ultrasonic wave transmitting and visited
Reception time the Δ t1 and Δ t2 of ultrasonic wave that head is outwards launched, and calculate and obtain weighted angular difference and be：
arccos[((Δt1×340)2+(d/2)2-(Δt×340)2)/(d×Δt1×340)]
+arccos[((Δt1×340)2+(Δt×340)2-(d/2)2)/(2×Δt1×340×Δt×340)]
-π/2
In formula, d represent between the headstock rotational angle detection unit and the vehicle body rotational angle detection unit away from
From Δ t=Δ t1- Δs t2.
The ARM single-chip microcomputers of host module 3 calculate according to the vehicle body real-time angular and headstock real-time angular received and obtain reality
When differential seat angle, ∫ (ω1-ω2), meanwhile, according to receiving, weighted angular is poor, and real-time angular difference is modified using weighted angular difference
Relative rotation angle of the headstock with respect to vehicle body is obtained afterwards.
The other structures and operation principle be the same as Example 1 of the present embodiment.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification can be made and perfect, therefore the protection model of the present invention
Enclose when by being defined that claims are defined.
Claims (8)
1. it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, including body of backsight mirror (1), its feature
It is：Body of backsight mirror (1) on the rotatable main shaft (12), it is described also include from motion tracking outside rear-view mirror control unit,
Drive mechanism, transmission mechanism, in real time detect headstock rotational angle headstock rotational angle detection unit and for real-time
Detect the vehicle body rotational angle detection unit of vehicle body rotational angle, headstock rotational angle detection unit and the inspection of vehicle body rotational angle
Survey unit and the data detected be sent to control unit, the relative rotation angle of headstock and vehicle body is calculated by control unit,
Control unit produces the control signal for controlling drive mechanism, control of the drive mechanism in control unit according to relative rotation angle
Rotated under system via transmission mechanism drive shaft (12), drive body of backsight mirror (1) to rotate by main shaft (12).
2. it is as claimed in claim 1 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：Also include the rotational angle detection unit for being used to detect the body of backsight mirror (1) rotational angle in real time, rotational angle inspection
Unit is surveyed by the data feedback detected to described control unit, the number fed back by control unit combination rotational angle detection unit
According to and the relative rotation angle control the drive mechanism.
3. it is as claimed in claim 2 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：The drive mechanism includes motor (10)；
The rotational angle detection unit includes Hall IC (11), and the input of Hall IC (11) is connected with motor (10), defeated
Go out and be connected with described control unit；
Or the rotational angle detection unit includes potentiometer (16), the drive mechanism synchronously drives current potential via transmission mechanism
Device (16), the output of potentiometer (16) is connected with described control unit.
4. it is as claimed in claim 3 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：Output gear (8a) that the transmission mechanism includes being driven by the drive mechanism, it is meshed with output gear (8a)
Transition gear (8b), the main shaft being meshed with transition gear (8b) are connected gear assembly (7), and main shaft connection gear assembly (7) is set
In on the main shaft (12).
5. it is as claimed in claim 4 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：The rotational angle detection unit includes the potentiometer (16) and travelling gear (8c), and travelling gear (8c) is located at institute
On the input shaft for stating potentiometer (16), the main shaft connection gear assembly (7) with travelling gear (8c) while be meshed.
6. it is as claimed in claim 1 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：The vehicle body rotational angle detection unit is fixed on vehicle body, including electric sieve of vehicle body main control unit, vehicle body gyroscope and vehicle body
Disk, the angular velocity omega that vehicle body main control unit is obtained by vehicle body gyroscope measurement2Integration obtains vehicle body real-time angular, vehicle body master control
Vehicle body position coordinates Hx2, Hy2 that unit is obtained by the electric lining of vehicle body, which are calculated, obtains vehicle body weighted angular=arctan
(Hx2/Hy2)；
The headstock rotational angle detection unit is fixed on headstock, including electric sieve of headstock main control unit, headstock gyroscope and headstock
Disk, the angular velocity omega that headstock main control unit is obtained by headstock gyroscope measurement1Integration obtains headstock real-time angular, headstock master control
Headstock position coordinates Hx1, Hy1 that unit is obtained by the electric lining of headstock, which are calculated, obtains headstock weighted angular=arctan
(Hx1/Hy1)；
Described control unit calculates that to obtain real-time angular poor according to vehicle body real-time angular and headstock real-time angular, meanwhile, according to car
Body weighted angular and headstock weighted angular calculate that to obtain weighted angular poor, and real-time angular difference is modified using weighted angular is poor
After obtain the relative rotation angle.
7. it is as claimed in claim 1 it is a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, its feature
It is：
The headstock rotational angle detection unit is fixed on headstock, including headstock main control unit, headstock gyroscope and ultrasonic wave hair
Penetrate probe, the angular velocity omega that headstock main control unit is obtained by headstock gyroscope measurement1Integration obtains headstock real-time angular, ultrasound
Ripple transmitting probe outwards launches ultrasonic wave；
The vehicle body rotational angle detection unit is fixed on vehicle body, including vehicle body main control unit, vehicle body gyroscope, ultrasonic wave are received
Unit one and ultrasonic wave receiving unit two, the angular velocity omega that vehicle body main control unit is obtained by vehicle body gyroscope measurement2Integrate
To vehicle body real-time angular, vehicle body main control unit obtains ultrasonic wave receiving unit one and ultrasonic wave receiving unit two receives ultrasonic wave hair
Reception time the Δ t1 and Δ t2 of ultrasonic wave that probe is outwards launched are penetrated, and is calculated and is obtained weighted angular difference and be：
arccos[((Δt1×340)2+(d/2)2-(Δt×340)2)/(d×Δt1×340)]
+arccos[((Δt1×340)2+(Δt×340)2-(d/2)2)/(2×Δt1×340×Δt×340)]
-π/2
In formula, d represents the distance between the headstock rotational angle detection unit and described vehicle body rotational angle detection unit, Δ
T=Δ t1- Δs t2；
Described control unit calculates that to obtain real-time angular poor according to vehicle body real-time angular and headstock real-time angular, while utilizing reception
To weighted angular difference real-time angular difference is modified after obtain the relative rotation angle.
8. as claimed in claims 6 or 7 a kind of be used to adjusting passenger-cargo carriage driver's seat from motion tracking outside rear-view mirror, it is special
Levy and be：
Described control unit includes control circuit and the drive circuit being connected with control circuit, and control circuit is driven by drive circuit
Move the drive mechanism；
The headstock rotational angle detection unit is integrated in host module (3) with described control unit, the headstock master control list
It is first to share same circuit with the control circuit；
Or the vehicle body rotational angle detection unit is integrated in, the vehicle body master interior with slave module (6) with described control unit
Control unit shares same circuit with the control circuit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710483155.9A CN107323350B (en) | 2017-06-22 | 2017-06-22 | Automatic tracking external rearview mirror for adjusting field of vision of driver of passenger and freight car |
| PCT/CN2017/095380 WO2018232840A1 (en) | 2017-06-22 | 2017-08-01 | Automatic tracking outer rearview mirror used for adjusting field of vision of truck driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710483155.9A CN107323350B (en) | 2017-06-22 | 2017-06-22 | Automatic tracking external rearview mirror for adjusting field of vision of driver of passenger and freight car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107323350A true CN107323350A (en) | 2017-11-07 |
| CN107323350B CN107323350B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710483155.9A Active CN107323350B (en) | 2017-06-22 | 2017-06-22 | Automatic tracking external rearview mirror for adjusting field of vision of driver of passenger and freight car |
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| Country | Link |
|---|---|
| CN (1) | CN107323350B (en) |
| WO (1) | WO2018232840A1 (en) |
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| CN107878493A (en) * | 2017-12-14 | 2018-04-06 | 株洲联诚集团控股股份有限公司 | A kind of manual side mirror of the locomotive stepped tooth with limit function |
| CN108891376A (en) * | 2018-08-10 | 2018-11-27 | 上海申视汽车新技术有限公司 | A kind of automotive safety lane change early warning system and method being integrated in rearview mirror |
| CN109738166A (en) * | 2019-02-26 | 2019-05-10 | 华东交通大学 | A kind of vision range detecting device and detection method of tractor truck rearview mirror |
| CN110341603A (en) * | 2019-08-20 | 2019-10-18 | 王厚朋 | Drive the right turn non-blind area rearview mirror of an artic in a left side |
| CN111175733A (en) * | 2020-02-05 | 2020-05-19 | 北京小马慧行科技有限公司 | Method and device for recognizing angle of vehicle body, storage medium and processor |
| CN112061031A (en) * | 2019-06-10 | 2020-12-11 | 北汽福田汽车股份有限公司 | Rearview mirror assembly and vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107323350B (en) | 2023-07-28 |
| WO2018232840A1 (en) | 2018-12-27 |
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