JP2000318514A - Headlamp optical axis adjusting device of vehicle - Google Patents
Headlamp optical axis adjusting device of vehicleInfo
- Publication number
- JP2000318514A JP2000318514A JP13014399A JP13014399A JP2000318514A JP 2000318514 A JP2000318514 A JP 2000318514A JP 13014399 A JP13014399 A JP 13014399A JP 13014399 A JP13014399 A JP 13014399A JP 2000318514 A JP2000318514 A JP 2000318514A
- Authority
- JP
- Japan
- Prior art keywords
- optical axis
- road surface
- vehicle
- distance
- headlamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車両のヘッドラン
プ光軸調整装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a headlamp optical axis adjusting device for a vehicle.
【０００２】[0002]
【関連する背景技術】路面に対する車体の傾斜角度は、
乗員数や荷物の積載状態に応じて変化し、これに伴って
路面に対するヘッドランプの光軸の向きが変化する。ヘ
ッドランプが過度に上向きになると対向車を眩惑するこ
とがあり、過度に下向きになると自車の前方の路面を適
切に照明できないことがある。[Related Background Art] The inclination angle of the vehicle body with respect to the road surface is
It changes according to the number of occupants and the state of loading of luggage, and accordingly, the direction of the optical axis of the headlamp with respect to the road surface changes. If the headlamp is excessively upward, the oncoming vehicle may be dazzled. If the headlamp is excessively downward, the road surface in front of the own vehicle may not be properly illuminated.
【０００３】そこで、路面に対する車体傾斜角度に応じ
てヘッドランプの光軸を自動調整することが知られてい
る。例えば、実開平６−７２７４０号公報に記載のヘッ
ドランプ光軸調整装置は、車体の前部下面及び後部下面
から路面までの距離を超音波距離センサによりそれぞれ
検出し、これらの検出距離に基づいて車体傾斜角度を算
出し、この算出傾斜角度に応じてレベリングアクチュエ
ータによりヘッドランプの光軸を調整するようにしてい
る。Therefore, it is known to automatically adjust the optical axis of a headlamp according to the vehicle body inclination angle with respect to a road surface. For example, the headlamp optical axis adjusting device described in Japanese Utility Model Laid-Open Publication No. 6-72740 detects distances from a front lower surface and a rear lower surface of a vehicle body to a road surface using an ultrasonic distance sensor, and based on these detected distances. The vehicle body tilt angle is calculated, and the optical axis of the headlamp is adjusted by the leveling actuator according to the calculated tilt angle.
【０００４】[0004]
【発明が解決しようとする課題】超音波距離センサは、
超音波の発信から受信までに要した時間に基づいて距離
測定を行うものであり、超音波が安定に反射する舗装路
面にあっては、超音波距離センサを用いることにより路
面と車体との間の距離を正確かつ安定に検出できる。し
かしながら、草むらや砂利道などの未舗装路面では超音
波距離センサから投射された超音波が路面で安定に反射
せず、超音波距離センサによる計測距離やこれに基づい
て算出される車体傾斜角度に誤差が生じることがある。
そして、算出角度の誤差が大きい場合、算出角度に基づ
く光軸調整によりヘッドランプの光軸角度が不適切なも
のになり、対向車を眩惑したり路面を適正に照明できな
くなる。SUMMARY OF THE INVENTION An ultrasonic distance sensor is
It measures distance based on the time required from the transmission of ultrasonic waves to the reception.On a pavement surface on which ultrasonic waves are reflected stably, the distance between the road surface and the vehicle body is determined by using an ultrasonic distance sensor. Can be accurately and stably detected. However, on unpaved roads such as grass and gravel roads, the ultrasonic waves projected from the ultrasonic distance sensor do not reflect stably on the road surface, and the distance measured by the ultrasonic distance sensor and the vehicle body inclination angle calculated based on this Errors may occur.
If the error in the calculated angle is large, the optical axis angle of the headlamp becomes inappropriate due to the optical axis adjustment based on the calculated angle, so that the oncoming vehicle is dazzled or the road surface cannot be properly illuminated.
【０００５】本発明は、未舗装路面などにおける路面・
車体間距離の計測誤差に起因する不適切な光軸調整を防
止するようにした車両のヘッドランプ光軸調整装置を提
供することを目的とする。[0005] The present invention is directed to a road surface on an unpaved road surface or the like.
An object of the present invention is to provide a headlamp optical axis adjusting device for a vehicle, which prevents inappropriate optical axis adjustment due to a measurement error of a vehicle body distance.
【０００６】[0006]
【課題を解決するための手段】本発明のヘッドランプ光
軸調整装置は、ヘッドランプの光軸を調整する光軸調整
手段と、車体前部および後部のそれぞれにおける路面ま
での距離を検出する前部距離検出手段および後部距離検
出手段と、検出距離に基づいて路面に対する車体の傾斜
角度を算出する傾斜角度算出手段と、算出傾斜角度に応
じて光軸調整手段を制御する制御手段とを備え、車両走
行中に検出される車体前部または車体後部と路面間の距
離のばらつき度合いが設定値以上の場合には光軸調整を
行わないことを特徴とする。SUMMARY OF THE INVENTION A headlamp optical axis adjusting apparatus according to the present invention comprises: an optical axis adjusting means for adjusting an optical axis of a headlamp; and an optical axis adjusting means for detecting a distance to a road surface at each of a front portion and a rear portion of a vehicle body. Part distance detecting means and rear distance detecting means, an inclination angle calculating means for calculating an inclination angle of the vehicle body with respect to the road surface based on the detected distance, and a control means for controlling the optical axis adjusting means according to the calculated inclination angle, The optical axis adjustment is not performed when the degree of variation in the distance between the vehicle front or the vehicle rear and the road surface detected during traveling of the vehicle is equal to or greater than a set value.
【０００７】本発明のヘッドランプ光軸調整装置によれ
ば、車体・路面間距離のばらつき度合いが小さいとき、
例えば舗装路面である場合には、光軸調整が行われ、ヘ
ッドランプの光軸が車体傾斜角度に適合するものとな
り、対向車に対する眩惑が防止され、また、自車の前方
路面が適切に照明される。また、車体・路面間距離のば
らつき度合いが大きいとき、例えば未舗装路面である場
合には、光軸調整が禁止される。一般に、未舗装路面で
は路面・車体間距離の計測に誤差が生じることがある
が、本発明では計測誤差を生じ易い路面たとえば未舗装
路面での光軸調整を禁止するので、計測距離の誤差に起
因する不適切な光軸調整が確実に防止される。According to the headlamp optical axis adjusting device of the present invention, when the variation degree of the distance between the vehicle body and the road surface is small,
For example, in the case of a paved road surface, the optical axis is adjusted, the optical axis of the headlamp is adapted to the vehicle body inclination angle, dazzling to oncoming vehicles is prevented, and the road surface ahead of the own vehicle is appropriately illuminated. Is done. Further, when the degree of variation in the distance between the vehicle body and the road surface is large, for example, when the road surface is unpaved, the optical axis adjustment is prohibited. In general, an error may occur in the measurement of the distance between the road surface and the vehicle body on an unpaved road surface.However, in the present invention, the optical axis adjustment on a road surface where a measurement error is likely to occur, for example, an unpaved road surface, is prohibited. The resulting inappropriate optical axis adjustment is reliably prevented.
【０００８】[0008]
【発明の実施の形態】以下、本発明の一実施形態による
ヘッドランプ光軸調整装置を説明する。本実施形態の光
軸調整装置は、バス、トラック、トレーラ、乗用車など
の各種車両に搭載可能にされ、車両のヘッドランプの光
軸調整に供される。図１に示すように、光軸調整装置
は、ヘッドランプ１の光軸を調整するレベリングアクチ
ュエータ（光軸調整手段）２と、車体前部に設けられ車
体前部における路面までの距離すなわち前部地上高を測
定する前部超音波距離センサ３と、車体後部に設けられ
車体後部における路面までの距離すなわち後部地上高を
測定する後部超音波距離センサ４と、前部超音波距離セ
ンサおよび後部超音波距離センサ（以下、前部超音波セ
ンサおよび後部超音波センサという）３、４により測定
された前部地上高および後部地上高に基づいてレベリン
グアクチュエータ２を介して光軸調整を行うコントロー
ラ５とを備えている。コントローラ５は、以下に詳述す
る各種要素５１〜６０の機能を奏する回路やコンピュー
タを内蔵している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a headlamp optical axis adjusting device according to an embodiment of the present invention will be described. The optical axis adjusting device of the present embodiment can be mounted on various vehicles such as a bus, a truck, a trailer, and a passenger car, and is used for adjusting the optical axis of a headlamp of the vehicle. As shown in FIG. 1, an optical axis adjusting device includes a leveling actuator (optical axis adjusting means) 2 for adjusting the optical axis of a headlamp 1 and a distance to a road surface at a vehicle body front portion, that is, a front portion. Front ultrasonic distance sensor 3 for measuring the ground height, rear ultrasonic distance sensor 4 provided at the rear of the vehicle body to measure the distance to the road surface at the rear of the vehicle body, that is, rear ground height, front ultrasonic distance sensor and rear ultrasonic wave A controller 5 for adjusting the optical axis via the leveling actuator 2 based on the front ground height and the rear ground height measured by the sound wave distance sensors (hereinafter referred to as front ultrasonic sensor and rear ultrasonic sensor) 3 and 4; It has. The controller 5 has a built-in circuit and a computer that perform the functions of the various elements 51 to 60 described in detail below.
【０００９】前部超音波センサ３は、前部超音波送受信
回路５１を介して前部地上高算出部５２に接続され、送
受信回路５１及び算出部５２と共に前部地上高（車体前
部における路面までの距離）を検出する前部距離検出手
段を構成している。前部超音波センサ３は、例えば送信
用の超音波振動子と受信用の超音波振動子とを含み、前
部送受信回路５１の送信部からパルス状の高電圧信号が
印加されたときにパルス状の超音波を路面に向けて発信
するようになっている。そして、路面で反射された超音
波は、超音波距離センサ３の受信用超音波振動子により
受信され、この受信信号は、送受信回路５１の受信部に
おいて増幅、整形処理される。受信部からの出力は、超
音波が発信されてから受信されるまでの時間に応じてそ
の時間幅が変化し、前部超音波センサ３と路面との間の
距離を表す。前部地上高算出部５２では、送受信回路５
１の受信部からの出力に基づいて前部地上高が算出され
る。The front ultrasonic sensor 3 is connected to a front ground height calculation unit 52 via a front ultrasonic transmission / reception circuit 51, and together with the transmission / reception circuit 51 and the calculation unit 52, the front ground height (road surface at the front of the vehicle body). (A distance to the front) is configured. The front ultrasonic sensor 3 includes, for example, a transmitting ultrasonic vibrator and a receiving ultrasonic vibrator, and receives a pulse when a pulse-like high voltage signal is applied from the transmitting unit of the front transmitting / receiving circuit 51. The ultrasonic waves are transmitted toward the road surface. Then, the ultrasonic wave reflected on the road surface is received by the ultrasonic transducer for reception of the ultrasonic distance sensor 3, and the received signal is amplified and shaped by the receiving unit of the transmitting and receiving circuit 51. The output from the receiving unit changes in width according to the time from when the ultrasonic wave is transmitted to when the ultrasonic wave is received, and indicates the distance between the front ultrasonic sensor 3 and the road surface. The front ground clearance calculator 52 includes a transmitting / receiving circuit 5
The front ground clearance is calculated based on the output from the first receiving unit.
【００１０】後部超音波センサ４は、後部超音波送受信
回路５３を介して後部地上高算出部５４に接続され、送
受信回路５３及び算出部５４と共に後部地上高を検出す
る後部距離検出手段を構成している。後部超音波センサ
４、後部超音波送受信回路５３および後部地上高算出部
５４の各々は、前部超音波センサ３、前部超音波送受信
回路５１および前部地上高算出部５２の対応するものと
同様に構成されている。The rear ultrasonic sensor 4 is connected to a rear ground height calculating section 54 via a rear ultrasonic transmitting / receiving circuit 53, and constitutes a rear distance detecting means for detecting the rear ground height together with the transmitting / receiving circuit 53 and the calculating section 54. ing. Each of the rear ultrasonic sensor 4, the rear ultrasonic transmission / reception circuit 53, and the rear ground height calculation unit 54 corresponds to the corresponding one of the front ultrasonic sensor 3, the front ultrasonic transmission / reception circuit 51, and the front ground height calculation unit 52. It is configured similarly.
【００１１】前部および後部地上高算出部５２、５４は
傾斜角度算出部（傾斜角度算出手段）５５に接続されて
いる。傾斜角度算出部５５では、前部および後部地上高
算出部５２、５４で算出された前後部地上高と既知の車
体長とに基づいて路面に対する車体の傾斜角度が算出さ
れる。傾斜角度算出部５５とライティングスイッチ７は
光軸調整量算出部５６の入力側に接続され、算出部５６
の出力側は駆動回路５７を介してレベリングアクチュエ
ータ２に接続されている。光軸調整量算出部５６及び駆
動回路５７は、傾斜角度算出部５５で算出された傾斜角
度に応じてアクチュエータ２を制御する制御手段を構成
している。ライティングスイッチ７は車両のインストル
メントパネルに取り付けられている。レベリングアクチ
ュエータ２にはヘッドランプ１の位置を検出するポテン
ショメータ８が設けられ、ポテンショメータ８からのヘ
ッドランプ位置信号は駆動回路５７に入力されるように
なっている。The front and rear ground height calculators 52 and 54 are connected to a tilt angle calculator (tilt angle calculator) 55. The inclination angle calculation unit 55 calculates the inclination angle of the vehicle body with respect to the road surface based on the front and rear ground heights calculated by the front and rear ground height calculation units 52 and 54 and the known vehicle length. The tilt angle calculation unit 55 and the lighting switch 7 are connected to the input side of the optical axis adjustment amount calculation unit 56, and the calculation unit 56
Is connected to the leveling actuator 2 via the drive circuit 57. The optical axis adjustment amount calculation unit 56 and the drive circuit 57 constitute a control unit that controls the actuator 2 according to the tilt angle calculated by the tilt angle calculation unit 55. The lighting switch 7 is mounted on an instrument panel of the vehicle. The leveling actuator 2 is provided with a potentiometer 8 for detecting the position of the headlamp 1, and a headlamp position signal from the potentiometer 8 is inputted to a drive circuit 57.
【００１２】駆動回路５７は、光軸調整量算出部５６で
算出された光軸調整量が表す目標光軸角度に対応する駆
動信号をレベリングアクチュエータ２に出力し、アクチ
ュエータ２は、駆動信号とポテンショメータ出力が表す
実際光軸角度とに応じてヘッドランプ１の光軸角度を目
標角度にする。すなわち、車体水平状態（傾斜角度ゼ
ロ）でのヘッドランプ光軸角度は予め適正角度に設定さ
れており、この設定光軸角度を上述のように算出光軸調
整量で調整することにより、車体傾斜角度に適合するヘ
ッドランプ光軸角度を得るようになっている。The drive circuit 57 outputs a drive signal corresponding to the target optical axis angle represented by the optical axis adjustment amount calculated by the optical axis adjustment amount calculation unit 56 to the leveling actuator 2, and the actuator 2 comprises a drive signal and a potentiometer. The optical axis angle of the headlamp 1 is set to the target angle according to the actual optical axis angle represented by the output. That is, the headlamp optical axis angle in the horizontal state of the vehicle body (inclination angle is zero) is set to an appropriate angle in advance, and by adjusting the set optical axis angle by the calculated optical axis adjustment amount as described above, the vehicle body inclination is adjusted. A headlamp optical axis angle adapted to the angle is obtained.
【００１３】既に述べたように、未舗装路面では超音波
距離センサ３、４による距離計測に誤差が生じ易く、誤
った計測距離に基づいて算出される車体傾斜角度に基づ
いて光軸調整を行うと、ヘッドランプの光軸角度がかえ
って不適切なものになる。そこで、本実施形態では、前
部超音波距離センサ３による計測距離のばらつき度合い
が設定値以上である場合には光軸調整を禁止するように
している。As described above, an error tends to occur in the distance measurement by the ultrasonic distance sensors 3 and 4 on an unpaved road surface, and the optical axis is adjusted based on the vehicle body inclination angle calculated based on an erroneous measured distance. In this case, the optical axis angle of the headlamp becomes inappropriate. Therefore, in the present embodiment, when the degree of variation of the distance measured by the front ultrasonic distance sensor 3 is equal to or greater than a set value, the optical axis adjustment is prohibited.
【００１４】このため、コントローラ５は、前部超音波
送受信回路５１の出力側および車速センサ６と接続され
停車直前に周期的に算出された前部地上高データのバラ
ツキ度合を表す標準偏差σを算出する地上高バラツキ度
合算出部５８と、前部地上高データの標準偏差σが設定
値σＴ以上である場合に車両直下の路面が未舗装路面
（より一般的には計測距離に誤差を生じやすい路面）で
あると判定する未舗装路面判定部５９と、未舗装路面判
定に応じて光軸調整を禁止する光軸調整禁止部６０とを
有している。For this reason, the controller 5 is connected to the output side of the front ultrasonic transmission / reception circuit 51 and the vehicle speed sensor 6 and calculates a standard deviation σ representing the degree of variation of the front ground clearance data calculated immediately before the vehicle stops and periodically. When the standard deviation σ of the front ground clearance data is equal to or larger than a set value σT, the road surface immediately below the vehicle is an unpaved road surface (more generally, an error is likely to occur in the measured distance) when the standard deviation σ of the front ground clearance data is equal to or greater than a set value σT It has an unpaved road surface determination unit 59 that determines that the road surface is a road surface) and an optical axis adjustment prohibition unit 60 that prohibits optical axis adjustment according to the unpaved road surface determination.
【００１５】前部地上高データの標準偏差の設定値σＴ
は、前後部地上高データに基づく光軸調整を適正に行え
るような種々の路面状態たとえば種々の舗装路面におけ
る前部地上データの標準偏差σの最大値（許容最大標準
偏差）よりも僅かに大きい値に設定されている。換言す
れば、この設定値σＴは、光軸調整を不適正なものにす
るような路面状態たとえば砂利道などの未舗装路面での
地上高データの標準偏差σの最小値に等しいか或いはこ
れよりも僅かに小さい値に設定されている。Set value σT of standard deviation of front ground clearance data
Is slightly larger than the maximum value (allowable maximum standard deviation) of the standard deviation σ of the front ground data on various road surface conditions such as the optical axis adjustment based on the front and rear ground clearance data, for example, on various paved road surfaces. Is set to a value. In other words, the set value σT is equal to or smaller than the minimum value of the standard deviation σ of the ground clearance data on a road surface condition that makes the optical axis adjustment inappropriate, for example, on an unpaved road surface such as a gravel road. Is also set to a slightly smaller value.
【００１６】以下、上記構成のコントローラ５の作用を
説明する。コントローラ５は、図２に示す光軸調整制御
ルーチンを所定周期ｔｐで実施する。この制御ルーチン
は、好ましくは、ライティングスイッチ１３がオン位置
にある場合、すなわちヘッドランプ１の点灯中に実施さ
れる。図２の光軸調整制御ルーチンにおいて、先ず、前
後部地上高算出部５１、５３から前後部地上高データが
読み込まれると共に車速センサ６から車速データが読み
込まれる（ステップＳ１）。前部地上高は、上述のよう
に、前部超音波距離センサ３からのパルス状超音波の発
信時点から超音波センサ３による反射超音波の受信時点
までの時間に応じて変化する前部超音波送受信回路５１
の出力に基づいて前部地上高算出部５２により算出され
る。同様に、後部地上高が後部地上高算出部５４により
算出される。The operation of the controller 5 having the above configuration will be described below. The controller 5 executes the optical axis adjustment control routine shown in FIG. 2 at a predetermined cycle tp. This control routine is preferably executed when the lighting switch 13 is in the ON position, that is, while the headlamp 1 is turned on. In the optical axis adjustment control routine of FIG. 2, first, front and rear ground height data are read from the front and rear ground height calculation units 51 and 53, and vehicle speed data is read from the vehicle speed sensor 6 (step S1). As described above, the front ground clearance changes in accordance with the time from the point in time when the pulsed ultrasonic wave is transmitted from the front ultrasonic distance sensor 3 to the point in time when the reflected ultrasonic wave is received by the ultrasonic sensor 3. Sound wave transmission / reception circuit 51
Is calculated by the front ground height calculator 52 based on the output of the above. Similarly, the rear ground clearance is calculated by the rear ground height calculation unit 54.
【００１７】次に、車速センサ出力が表す車速がゼロで
あるか否かを判定することにより車両が停車しているか
否かが判定される（ステップＳ２）。この判定結果が否
定（Ｎｏ）すなわち停車中でなければ、ステップＳ１で
求めた前部地上高データ、後部地上高データおよび車速
データが、コントローラ５が具備するメモリ（図示略）
の前部地上高データ記憶領域、後部地上高データ記憶領
域および車速データ記憶領域にそれぞれ格納される（ス
テップＳ３）。Next, it is determined whether or not the vehicle is stopped by determining whether or not the vehicle speed represented by the output of the vehicle speed sensor is zero (step S2). If the determination result is negative (No), that is, if the vehicle is not stopped, the front ground height data, the rear ground height data, and the vehicle speed data obtained in step S1 are stored in a memory (not shown) provided in the controller 5.
Are stored in the front ground height data storage area, the rear ground height data storage area, and the vehicle speed data storage area (step S3).
【００１８】前部地上高データ記憶領域は複数個たとえ
ばｍ個設けられ、後部地上高データ記憶領域は１個設け
られ、車速データ記憶領域は前部地上高データ記憶領域
と同数たとえばｍ個設けられている。ステップＳ３での
地上高データの格納では、ステップＳ１で求められた前
部地上高データは、ｍ個の前部地上高データ記憶領域の
第１番目のものに格納され、第１ないし第（ｍ−１）領
域に格納されていた地上高データは第２ないし第ｍ領域
に転送され、第ｍ領域に格納されていた地上高データは
廃棄される。また、ステップＳ１で算出された後部地上
高が後部地上高データ記憶領域に格納され、それまでの
後部地上高データは廃棄される。車速データについては
前部地上高データと同様である。この様にして、車両走
行中は、前後部地上高データおよび車速データが更新さ
れる。すなわち、以下に述べる車両直下の路面状態の判
定に要するデータの収集が、車両走行停止に備えて常時
行われる。A plurality of front ground clearance data storage areas, for example, m, are provided, a rear ground clearance data storage area is provided, and a vehicle speed data storage area is provided in the same number as the front ground clearance data storage area, for example, m. ing. In the storage of the ground clearance data in step S3, the front ground clearance data obtained in step S1 is stored in the first one of the m front ground clearance data storage areas, and the first to (m -1) The ground clearance data stored in the area is transferred to the second to m-th areas, and the ground clearance data stored in the m-th area is discarded. Also, the rear ground clearance calculated in step S1 is stored in the rear ground height data storage area, and the rear ground height data up to that time is discarded. The vehicle speed data is the same as the front ground clearance data. In this way, while the vehicle is running, the front and rear ground clearance data and the vehicle speed data are updated. That is, collection of data required for determination of a road surface state immediately below a vehicle described below is always performed in preparation for stopping the vehicle traveling.
【００１９】ステップＳ２での判別結果が肯定（Ｙｅ
ｓ）すなわち車両が停車すると、前部地上高データのバ
ラツキ度合が算出される（ステップＳ４）。このバラツ
キ度合算出では、第１積和、すなわち第１車速データ領
域に格納された第１車速データｖ（１）と制御ルーチン
実行周期ｔｐとの積ｔｐ×ｖ（１）が、車両全長Ｌより
も小さいか否かが判別される。この判別結果が肯定であ
れば、第２積和すなわち第１積値ｔｐ×ｖ（１）と第２
積値ｔｐ×ｖ（２）との和が車両全長Ｌよりも小さいか
否かが判別される。この様な判別を繰り返すことによ
り、次式を満たす車速データの標本数の最大値Ｎを求め
る。If the determination result in step S2 is affirmative (Ye
s) That is, when the vehicle stops, the degree of variation in the front ground clearance data is calculated (step S4). In this variation degree calculation, the first product sum, that is, the product tp × v (1) of the first vehicle speed data v (1) stored in the first vehicle speed data area and the control routine execution cycle tp is calculated from the total vehicle length L. Is also determined. If the determination result is affirmative, the second product sum, that is, the first product value tp × v (1) and the second product sum
It is determined whether or not the sum of the product value tp × v (2) is smaller than the total vehicle length L. By repeating such determination, the maximum value N of the number of samples of the vehicle speed data that satisfies the following equation is obtained.
【００２０】 ｔｐ×｛ｖ（１）＋ｖ（２）＋・・・＋ｖ（Ｎ）｝≦Ｌ 最大標本数Ｎは、停車直前での減速状態すなわち停車直
前において急減速が行われたか或いは緩減速が行われた
かによって相違し、減速が急峻なほど最大標本数Ｎは小
さくなる。なお、上記の車速データ領域は、停車直前で
の減速が緩やかに行われた場合の最大標本数Ｎを上回る
領域数ｍだけ設けられている。Tp × {v (1) + v (2) +... + V (N)} ≦ L The maximum number of samples N is a deceleration state immediately before stopping, that is, a sudden deceleration was performed immediately before stopping or a slow deceleration. The maximum sample number N decreases as the deceleration becomes steeper. The above-mentioned vehicle speed data area is provided for the number m of areas exceeding the maximum number N of samples when the deceleration is performed gently immediately before stopping.
【００２１】次に、第１ないし第Ｎの前部地上高データ
領域からＮ個の前部地上高データｘが読み出され、Ｎ個
の前部地上高データのバラツキ度合を表す標準偏差σが
次式から算出される（ステップＳ４）。 σ＝√｛ＮΣｘ2−（Σｘ）2｝／Ｎ2 次に、ステップＳ４で算出した標準偏差σが設定値σＴ
以上であるか否かを判別することにより、停車している
車両の直下の路面が未舗装路面であるか否かが判別され
る（ステップＳ５）。Next, N front ground clearance data x are read from the first to Nth front ground clearance data areas, and a standard deviation σ representing the degree of variation of the N front ground clearance data is obtained. It is calculated from the following equation (step S4). σ = {NΣx 2 − (Σx) 2 } / N 2 Next, the standard deviation σ calculated in step S4 is the set value σT
By determining whether or not the above is true, it is determined whether or not the road surface immediately below the stopped vehicle is an unpaved road surface (step S5).
【００２２】ステップＳ５での判別結果が否定すなわち
舗装路面であれば、第１前部地上高データおよび第１後
部地上高データとに基づいて、路面に対する車体の傾斜
角度が算出される（ステップＳ６）。次に、ステップＳ
６で算出された車体傾斜角度に適したヘッドランプ光軸
角度が算出され、このヘッドランプ光軸角度が調整可能
範囲内に入っているか否かが判別される。ステップＳ６
で算出した光軸角度が調整可能範囲内に入っていればこ
の算出角度を目標ヘッドランプ光軸角度として設定し、
調整可能範囲外であれば算出角度に代えて最大または最
小ヘッドランプ光軸角度を目標ヘッドランプ光軸角度と
して設定する。そして、目標ヘッドランプ光軸角度に基
づいて光軸調整量が算出される（ステップＳ７）。If the determination result in step S5 is negative, that is, if the road surface is paved, the inclination angle of the vehicle body with respect to the road surface is calculated based on the first front ground clearance data and the first rear ground clearance data (step S6). ). Next, step S
The headlamp optical axis angle suitable for the vehicle body inclination angle calculated in 6 is calculated, and it is determined whether or not the headlamp optical axis angle is within the adjustable range. Step S6
If the optical axis angle calculated in is within the adjustable range, set this calculated angle as the target headlamp optical axis angle,
If the angle is outside the adjustable range, the maximum or minimum headlamp optical axis angle is set as the target headlamp optical axis angle instead of the calculated angle. Then, the optical axis adjustment amount is calculated based on the target headlamp optical axis angle (step S7).
【００２３】次に、ステップＳ７で算出された光軸調整
量に対応する駆動信号がレベリングアクチュエータ２に
送出され、ポテンショメータ出力が表す実際ヘッドラン
プ光軸角度を参照しつつ、レベリングアクチュエータ２
によりヘッドランプ１の光軸角度が目標角度になるよう
に調整される（ステップＳ８）。上記の光軸調整によれ
ば、車両への積載重量の増減などによる車体傾斜角度の
変化によりヘッドランプ１の光軸が不適切になると、ヘ
ッドランプ光軸が自動的に適切な向きに調整される。し
かも、光軸調整の要否判定を車両直下の路面状態に基づ
いて実施するので、光軸調整要否判定を適正に行える。
すなわち、光軸調整の要否判定の対象となる路面状態を
車両直下のものに限定せずに、停車に至るまでに車両が
走行した路面のうちのかなり長い路面に係る路面状態を
判定対象とすると、この様な長い路面には種々の路面状
態が含まれることがある。この場合、長い路面について
平均化した路面状態に基づいて光軸調整要否判定を行う
ことになり、判定結果が不適正なものになることがあ
る。車両直下の路面状態（より一般的には停車直前まで
に走行した路面の状態）に基づく光軸調整要否判定によ
れば、この様な不具合は生じない。Next, a drive signal corresponding to the optical axis adjustment amount calculated in step S7 is sent to the leveling actuator 2, and the leveling actuator 2 is referred to by referring to the actual headlamp optical axis angle indicated by the potentiometer output.
Is adjusted so that the optical axis angle of the headlamp 1 becomes the target angle (step S8). According to the above-described optical axis adjustment, if the optical axis of the headlamp 1 becomes inappropriate due to a change in the vehicle body tilt angle due to an increase or decrease in the weight loaded on the vehicle, the headlamp optical axis is automatically adjusted to an appropriate direction. You. In addition, since the necessity of the optical axis adjustment is determined based on the road surface condition immediately below the vehicle, the necessity of the optical axis adjustment can be properly determined.
In other words, the road surface state to be determined whether or not the optical axis adjustment is necessary is not limited to the road surface state immediately below the vehicle, and the road surface state related to a considerably long road surface of the road surface on which the vehicle traveled before reaching the stop is determined. Then, such a long road surface may include various road surface conditions. In this case, the optical axis adjustment necessity determination is performed based on the averaged road surface state for a long road surface, and the determination result may be inappropriate. According to the determination of the necessity of the optical axis adjustment based on the road surface condition immediately below the vehicle (more generally, the condition of the road surface traveled immediately before stopping), such a problem does not occur.
【００２４】ステップＳ５での判別結果が肯定すなわち
車両直下の路面が未舗装路面であれば、舗装路面の場合
に実施されるステップＳ６、Ｓ７及びＳ８をスキップ
し、傾斜角度算出、光軸調整量算出および光軸調整を禁
止する（ステップＳ９）。この結果、未舗装路面での超
音波センサによる計測距離や算出傾斜角度の誤差に起因
する不適切な光軸調整が確実に回避される。If the determination result in step S5 is affirmative, that is, if the road surface immediately below the vehicle is an unpaved road surface, steps S6, S7, and S8 performed for a paved road surface are skipped, and the inclination angle calculation and the optical axis adjustment amount are performed. The calculation and the optical axis adjustment are prohibited (step S9). As a result, inappropriate adjustment of the optical axis due to errors in the measurement distance and the calculated inclination angle by the ultrasonic sensor on the unpaved road surface is reliably avoided.
【００２５】本発明のヘッドランプ光軸調整装置は、上
記実施形態のものに限定されず、種々に変形可能であ
る。例えば、上記実施形態では、光軸調整要否判定を停
車中の車両の直下の路面状態に基づいて実施したが、判
定対象路面を車両直下の路面に限ることは必須ではな
い。すなわち、有効な光軸調整要否判定を行える限りに
おいて、停車までに走行した路面のうち停車直前の比較
的短い路面を光軸調整要否判定対象としても良い。そし
て、停車した車両の直下の路面を判定対象路面に含める
ことが望ましいが、車両直下の路面を含めることは必須
ではない。車両直下の路面を判定対象路面に含めない場
合には、後部距離検出手段により周期的に検出した距離
に基づいて路面状態判定を行うようにしても良い。ま
た、実施形態では検出距離の標準偏差に基づいて距離の
ばらつき度合を判定したが、標準偏差に代えて距離の分
散（標準偏差の二乗）などを用いても良い。The headlamp optical axis adjusting device of the present invention is not limited to the above embodiment, but can be variously modified. For example, in the above-described embodiment, the optical axis adjustment necessity determination is performed based on the road surface state immediately below the stopped vehicle, but it is not essential that the determination target road surface is limited to the road surface immediately below the vehicle. That is, as long as the effective optical axis adjustment necessity determination can be performed, a relatively short road surface immediately before the stop of the road surface that has traveled until the stop may be the optical axis adjustment necessity determination target. It is desirable that the road surface immediately below the stopped vehicle be included in the determination target road surface, but it is not essential that the road surface immediately below the vehicle be included. When the road surface immediately below the vehicle is not included in the determination target road surface, the road surface state determination may be performed based on the distance periodically detected by the rear distance detection unit. Further, in the embodiment, the degree of distance variation is determined based on the standard deviation of the detection distance, but a variance of the distance (square of the standard deviation) or the like may be used instead of the standard deviation.
【００２６】[0026]
【発明の効果】本発明のヘッドランプ光軸調整装置は、
車体前部または後部における路面までの距離の検出値の
ばらつき度合が設定以上の場合にはヘッドランプの光軸
調整を行わないので、検出距離のばらつき度合が大きく
ない場合には路面に対する車体の傾斜角度に応じた光軸
調整を行うことによりヘッドランプの向きを適正にで
き、また、距離検出に誤差を来たし易い路面たとえば未
舗装路面での光軸調整を禁止して、検出距離の誤差によ
る不適切な光軸調整を未然に防止できる。The headlamp optical axis adjusting device of the present invention is
If the degree of variation of the detected value of the distance to the road surface at the front or rear of the vehicle is greater than the set value, the optical axis of the headlamp is not adjusted.If the degree of variation of the detected distance is not large, the inclination of the vehicle with respect to the road surface By adjusting the optical axis in accordance with the angle, the direction of the headlamp can be adjusted appropriately.In addition, the optical axis adjustment on a road surface that is likely to cause an error in distance detection, for example, on an unpaved road surface, is prohibited. Appropriate optical axis adjustment can be prevented beforehand.
【図１】本発明の一実施形態によるヘッドランプ光軸調
整装置を示す概略ブロック図である。FIG. 1 is a schematic block diagram showing a headlamp optical axis adjusting device according to an embodiment of the present invention.
【図２】図１に示したコントローラにより実行される光
軸調整制御ルーチンのフローチャートである。FIG. 2 is a flowchart of an optical axis adjustment control routine executed by a controller shown in FIG. 1;
１ ヘッドランプ ２ レベリングアクチュエータ ３ 前部超音波距離センサ ４ 後部超音波距離センサ ５ コントローラ ５１ 前部超音波送受信回路 ５２ 前部地上高算出部 ５３ 後部超音波送受信回路 ５４ 後部地上高算出部 ５５ 傾斜角度算出部 ５６ 光軸調整量算出部 ５７ 駆動回路 ５８ 地上高ばらつき度合算出部 ５９ 未舗装路面判定部 ６０ 光軸調整禁止部 REFERENCE SIGNS LIST 1 headlamp 2 leveling actuator 3 front ultrasonic distance sensor 4 rear ultrasonic distance sensor 5 controller 51 front ultrasonic transmission / reception circuit 52 front ground height calculation unit 53 rear ultrasonic transmission / reception circuit 54 rear ground height calculation unit 55 inclination angle Calculation unit 56 Optical axis adjustment amount calculation unit 57 Drive circuit 58 Ground height variation degree calculation unit 59 Unpaved road surface determination unit 60 Optical axis adjustment prohibition unit
Claims (1)
手段と、 車体前部における路面までの距離を検出する前部距離検
出手段と、 車体後部における路面までの距離を検出する後部距離検
出手段と、 上記前部距離検出手段により検出された距離と上記後部
距離検出手段により検出された距離とに基づいて路面に
対する車体の傾斜角度を算出する傾斜角度算出手段と、 前記傾斜角度算出手段により算出された傾斜角度に応じ
て前記光軸調整手段を制御する制御手段とを備え、 車両走行中に上記前部距離検出手段または上記後部距離
検出手段により検出された距離のばらつき度合いが設定
値以上の場合には上記ヘッドランプの光軸調整を行わな
いことを特徴とする車両のヘッドランプ光軸調整装置。1. An optical axis adjusting means for adjusting an optical axis of a headlamp, a front distance detecting means for detecting a distance to a road surface at a front part of a vehicle body, and a rear distance detecting means for detecting a distance to a road surface at a rear part of the vehicle body. Means, an inclination angle calculating means for calculating an inclination angle of the vehicle body with respect to a road surface based on the distance detected by the front distance detecting means and the distance detected by the rear distance detecting means, Control means for controlling the optical axis adjusting means in accordance with the calculated inclination angle, wherein the degree of dispersion of the distance detected by the front distance detecting means or the rear distance detecting means during running of the vehicle is equal to or greater than a set value. In the case of (1), the optical axis adjustment of the headlamp is not performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13014399A JP2000318514A (en) | 1999-05-11 | 1999-05-11 | Headlamp optical axis adjusting device of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13014399A JP2000318514A (en) | 1999-05-11 | 1999-05-11 | Headlamp optical axis adjusting device of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000318514A true JP2000318514A (en) | 2000-11-21 |
Family
ID=15027009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13014399A Pending JP2000318514A (en) | 1999-05-11 | 1999-05-11 | Headlamp optical axis adjusting device of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000318514A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030047721A (en) * | 2001-10-30 | 2003-06-18 | 미츠비시 후소 트럭 앤드 버스 코포레이션 | Optical axis adjusting device of vehicle headlamp |
| US7093963B2 (en) * | 2003-03-18 | 2006-08-22 | Mitsubishi Fuso Truck And Bus Corporation | Light axis adjusting apparatus for vehicle headlamp |
| CN113697124A (en) * | 2021-08-30 | 2021-11-26 | 南通华夏飞机工程技术股份有限公司 | Intelligent trailer and method for towing airplane by using same |
-
1999
- 1999-05-11 JP JP13014399A patent/JP2000318514A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030047721A (en) * | 2001-10-30 | 2003-06-18 | 미츠비시 후소 트럭 앤드 버스 코포레이션 | Optical axis adjusting device of vehicle headlamp |
| EP1321332A2 (en) | 2001-10-30 | 2003-06-25 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Optical axis adjusting device of vehicle headlamp |
| US7093963B2 (en) * | 2003-03-18 | 2006-08-22 | Mitsubishi Fuso Truck And Bus Corporation | Light axis adjusting apparatus for vehicle headlamp |
| CN113697124A (en) * | 2021-08-30 | 2021-11-26 | 南通华夏飞机工程技术股份有限公司 | Intelligent trailer and method for towing airplane by using same |
| CN113697124B (en) * | 2021-08-30 | 2023-06-09 | 南通华夏飞机工程技术股份有限公司 | Intelligent trailer and method for towing aircraft by using same |
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