JP2011121515A - Apparatus and method for estimating bank angle of motorcycle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide apparatus and method for estimating a bank angle of a motorcycle which obtain a practical bank angle equivalent to an actual bank angle of a vehicle body even in a transient state of traveling in which the bank angle and a bank angular velocity change every moment. <P>SOLUTION: The apparatus for estimating the bank angle of the motorcycle includes: a first operating section 50 having an angle operation part 51 for obtaining an angle based on an angular velocity around the vertical axis of the vehicle body, and a vehicle speed in the advance direction of the vehicle body; an angular acceleration operating section 61 for operating an angular acceleration based on the angular velocity around the advance direction of the vehicle body; an angular acceleration operating section 63 for operating an angular acceleration based on a filtered angular acceleration; an integration operation determination section 65 for determining whether or not the angular velocity around the advance direction of the vehicle body is integrated based on a determination whether the filtered angular acceleration is smaller than a predetermined threshold value and is continued for a predetermined time or more; a second operating section 60 having a numerical integration part 66 for subjecting the angular velocity around the advance direction of the vehicle body to numerical integration based on the determination regarding the integration, and having a zero output part 67 for outputting zero when the integration operation is not executed; and an addition section for obtaining a bank angle by adding the outputs of the first and second operating sections. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention, for example, in a motorcycle headlamp, is used for controlling a motorcycle headlamp that is variable in light distribution by rotating the optical axis in the opposite direction according to the bank angle of the vehicle body to expand the irradiation range. The present invention relates to a bank angle estimation apparatus and method.

  Usually, a motorcycle headlamp is used in a state of being fixed to the vehicle body.When driving a curve with such a motorcycle, if the vehicle body is banked, the optical axis of the headlamp also tilts. In the nighttime, there is a problem that irradiation to the inner side in the traveling direction of the vehicle body is reduced and the visibility of the rider is deteriorated. Recently, the visibility of the rider has been improved by rotating the optical axis in the direction opposite to the direction in which the vehicle body is banked by the driving force of an actuator such as a motor. There is a variable light distribution headlamp to be improved, and a motorcycle headlamp device including such a variable light distribution headlamp is known (for example, see Patent Document 1).

  The headlamp device for a motorcycle shown in Patent Document 1 includes a lamp body in which a light emitter and a lens facing the front surface thereof are rotatably provided around a central axis thereof, and a drive for rotating the lens and the bulb. And a rotation control means for detecting a bank angle of the vehicle body, and a direction in which a bank and a lens and a valve linked to the drive machine are banked based on the bank angle detected by the rotation control means. And rotate in the opposite direction.

  According to the invention of Patent Document 1, the bank angle of the vehicle body is easily and accurately calculated from the angular velocity in the horizontal plane and the vehicle speed, and based on the bank angle, the driving machine, and further the lens and the valve linked to the driving machine are banked. Since it rotates in the opposite direction, the light distribution of the headlamps increases in the direction of travel where the rider's line of sight faces when driving at night, and a wide field of view can be secured.

  On the other hand, a motorcycle headlamp device using a yaw rate sensor that detects an angular velocity around a vehicle body vertical axis and a roll rate sensor that detects an angular velocity around a vehicle body traveling axis is known (for example, see Patent Document 2).

  The headlamp device for a motorcycle shown in Patent Document 2 uses a roll rate sensor around the vehicle body traveling axis in addition to a yaw rate sensor around the vehicle body vertical axis, so that the bank angle at the corner entrance at the start of turning is changed. By detecting the transient behavior with the roll rate sensor, it is possible to eliminate the delay in the estimated bank angle value with respect to the actual bank angle of the vehicle body, which could not be dealt with only by the estimation based on the detected angular velocity around the vertical axis of the vehicle body.

JP 2001-347777 A JP 2006-151239 A

  In the headlamp device for a motorcycle described in Patent Document 1, it is possible to obtain an estimated bank angle value equivalent to the actual bank angle of the vehicle body in a steady state of travel where the bank angle is constant. However, for example, when entering a curve, exiting a curve, or slaloming, when the vehicle body bank angle and the bank angular velocity change from moment to moment, the centrifugal force acting on the vehicle body and the hydrostatic force of gravity However, since the bank angular acceleration, which is a derivative of the bank angular velocity, greatly affects the estimated bank angle, there is a problem that a practical bank angle equivalent to the bank angle of the vehicle body cannot be estimated.

  Further, in the motorcycle headlamp device described in Patent Document 2, in the process of calculating the combined angular velocity obtained by multiplying the detection values of the yaw rate sensor and the roll rate sensor by the proportional gain, the proportional gain for the roll rate detection value is speed-dependent. Although the variable gain is used, the yaw and roll are vector quantities of different axes in the first place.As a result of estimating the bank angle by simply adding the angular velocity vectors of such different axes and regarding the angular velocity around the vertical axis of the vehicle body, Even if the delay of the estimated bank angle with respect to the actual bank angle can be eliminated, there is a problem that the practical bank angle cannot be estimated due to the excessive angular velocity at the beginning of turning.

  The present invention has been made to solve the above-mentioned problems, and is not only in a steady state of travel where the bank angle is constant, for example, when entering a curve, exiting a curve, or slaloming. Furthermore, it is an object of the present invention to provide a motorcycle bank angle estimating apparatus and method for obtaining a practical bank angle that is equivalent to the bank angle of a vehicle body even in a running transient state in which the bank angle and the bank angular velocity fluctuate every moment. To do.

  According to the motorcycle bank angle estimating apparatus and method of the present invention, a light distribution variable headlamp that expands an irradiation range by rotating an optical axis in a direction opposite to the bank angle according to a bank angle of a motorcycle body. An apparatus and method for estimating a bank angle of a motorcycle used to control a light, and obtains an angle based on an angular velocity around the vertical axis of the vehicle body detected by a sensor and a vehicle speed in the vehicle body traveling direction, and smoothes the angle calculation output. The first calculation unit (step) that calculates the angular acceleration based on the angular velocity around the vehicle body traveling direction detected by the sensor, calculates the angular jerk based on the angular acceleration after filtering, Integral calculation is performed based on whether integration is possible or not based on whether the angular jerk after processing is smaller than a predetermined threshold and continues for a predetermined time or more. A second computing unit (step) that performs numerical integration of the angular velocity around the vehicle body traveling direction or outputs zero when no integral calculation is performed, and smooths and outputs the numerical integration output or zero output; An adder (step) that obtains a bank angle by adding the outputs of the second calculator (step).

  According to the present invention, the vehicle body bank angle and the bank angular velocity are sometimes not limited to the steady state of travel where the bank angle is constant, for example, when entering a curve, exiting a curve, and slaloming. Even in the transient state of travel that changes every moment, a practical bank angle that is equivalent to the actual bank angle of the vehicle body can be obtained without excessively calculating the bank angle.

It is a figure which shows the headlamp system of a variable light distribution type in Embodiment 1 of this invention. It is a figure which shows the bank angle calculating part in Embodiment 1 of this invention. It is a figure which shows the bank angle calculating part in Embodiment 2 of this invention.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a variable light distribution type headlamp system according to Embodiment 1 of the present invention. In FIG. 1, a headlight mechanism 7 that rotates an optical axis and an actuator 6 that drives the headlight mechanism 7 are controlled by a control device 1 so as to have a predetermined rotation angle. The control device 1 includes a bank angle calculation unit 2 and a control calculation unit 3. In the bank angle calculation unit 2, a detection value of a vehicle speed sensor 4 that detects a speed in a vehicle body traveling direction and a vehicle body vertical axis (yaw axis). The bank angle of the vehicle body is estimated based on the detection value of the gyro sensor 5 that detects the angular velocity around and the detection value of the gyro sensor 5A that detects the angular velocity around the vehicle travel axis (roll axis). The control calculation unit 3 generates a command for controlling the actuator 6 to a predetermined rotation angle based on the output of the bank angle calculation unit 2, and drives the actuator 6 by transmitting the command to a drive circuit (not shown). . Regarding the bidirectional arrow connecting the control calculation unit 3 and the actuator 6, an arrow from the control calculation unit 3 to the actuator 6 indicates a flow of a command for driving the actuator 6, and conversely, an arrow from the actuator 6 to the control calculation unit 3 is illustrated The flow of the detection value by the position detection sensor with which the non-actuator was equipped is each represented.

  Next, a specific bank angle estimation method in the bank angle calculation unit 2 will be described with reference to FIG. As shown in FIG. 2, the bank angle calculation unit 2 mainly includes a first calculation unit 50 and a second calculation unit 60. First, in the angle calculation unit 51 in the first calculation unit 50, an equation is obtained from the vehicle body traveling direction velocity V detected by the vehicle speed sensor 4 and the angular velocity ωy around the vehicle body vertical axis (yaw axis) detected by the gyro sensor 5. The bank angle θy is calculated by (1).

  Here, g is a gravitational acceleration. Since the actual bank angle of the vehicle body can be considered to be traveling at a substantially constant angle in the steady state of traveling, an equation based on the static balance equation of the centrifugal force vector and the gravity vector acting on the center of gravity of the vehicle body (1 ), The behavior of the vehicle body actual bank angle can be estimated.

  The filter 52 attenuates the observation noise and the AC component of the signal detected by the gyro sensor 5, and obtains θy_f as the output.

  Next, the second calculation unit 60 will be described. Based on the detection value of the gyro sensor 5A that detects the angular velocity around the vehicle body roll axis, the second calculation unit 60 calculates the angular acceleration by the angular acceleration calculation unit 61, and attenuates the noise of the angular acceleration by the filter 62. Then, the angular jerk calculation unit 63 calculates the angular jerk by using the angular acceleration after filtering that is the output of the filter 62, the noise of the jerk is attenuated by the filter 64, and the angle after filtering is calculated. The jerk a_jerk is calculated.

  Based on the angular jerk a_jerk after the filter processing and the detected value ωr of the gyro sensor 5A that detects the angular velocity around the vehicle body roll axis, the integral calculation determination unit 65 performs the following processing. Assuming that the angular jerk threshold is a_jerk_th and the integration possibility determination time is Tcnd, the angular jerk a_jerk <the angular jerk threshold a_jerk_th is satisfied, and the time for which the above condition is satisfied is continued for Tcnd or more, so that the integral calculation is not performed. . On the other hand, in other cases, an integration operation is performed.

  When the integral calculation is performed by the integral calculation determination unit 65 and the integral calculation is performed, the numerical integration is performed by the numerical integration unit 66 according to the equation (2), and when the integral calculation is not performed, the zero output unit 67 is set to zero. Output. That is, the angular jerk a_jerk is used for the purpose of determining whether or not to numerically integrate the detected value ωr of the gyro sensor 5A, and observation noise and calculation noise due to numerical differentiation are superimposed on the angular jerk. In addition, by appropriately setting the integration possibility determination time Tcnd, erroneous determination of numerical integration can be reduced.

  Here, θr corresponds to the bank angle before filtering, and Δt corresponds to the control period of the control device 1.

  Then, the bank angle θr_f after filtering, which is a signal in which noise is attenuated by the filter 68, is obtained.

  Here, θy_f obtained as an output of the first calculation unit 50 is a bank angle in a steady state of travel, and θr_f obtained as an output of the second calculation unit 60 is a bank angle in a transient state of travel. Therefore, the final bank angle θ is given by equation (3).

  As described above, according to the first embodiment of the present invention, the vehicle speed sensor and the two gyro sensors are used, and the centrifugal force vector and the gravity vector are statically balanced based on the detection values of the vehicle speed sensor and the one gyro sensor. Since the first calculation unit for calculating the bank angle from the above and the second calculation unit for calculating the bank angle based on the detection value of the gyro sensor different from the above, the bank angle and the bank angular velocity are constantly changed. A practical bank angle that is equivalent to the bank angle of the vehicle body can be obtained even in a changing state of travel.

  That is, in the traveling of the motorcycle, the first computing unit 50 estimates the bank angle in a motion form that can be regarded as a direct current as in the steady state of traveling at a constant bank angle. Further, when entering the curve, when leaving the curve, the second computing unit 60 estimates the bank angle in a motion form that can be regarded as alternating current, such as a transitional state of travel such as when slaloming. That is, the gyro sensor 5 detects the angular velocity vector around the vehicle body vertical axis and estimates the bank angle DC component based on the detected value, while the gyro sensor 5A detects the angular velocity vector around the vehicle body traveling axis and The bank angle AC component is estimated by integration, and the behavior of the running transient state and the steady state is estimated by frequency separation. Therefore, it is possible to obtain a bank angle equivalent to the actual vehicle bank angle without excessively estimating the angular velocity component of each axis in the running transient state.

  Furthermore, when the bank angle is estimated by a single gyro sensor as a headlamp system, the bank in the transient state of travel is obtained only by the arithmetic expression as described in Patent Document 1 (corresponding to Expression (1)). However, in the present invention, the gyro sensor 5A is added to the angular velocity detection around the vehicle travel axis to estimate the bank angle in the running transient state. The behavior of the car body can be estimated accurately. Further, in the configuration described in Patent Document 1, in addition to the fundamental harmonic of the vehicle body movement that is particularly noticeable in slalom running, even when a harmonic component having a frequency close to the fundamental harmonic is superimposed on the detection value of the gyro sensor, Since the bank angle in the running transient state is obtained by numerical integration of the detected value ωr of the gyro sensor 5A as a separate system, a practical value can be obtained without excessive bank angle (synonymous with θ). .

Embodiment 2. FIG.
In the second embodiment of the present invention, in order to suppress the discontinuity of the integral value that occurs when the numerical integration unit 66 and the zero output unit 67 are switched in the output of the integral calculation determination unit 65, as shown in FIG. The change rate limiting unit 70 is provided in the second calculation unit 60A. The processing in other parts is the same as in the first embodiment. The change rate limiting unit 70 detects the edge of the integration determination flag and increases or decreases the roll rate integrated value at a predetermined time change rate. By providing such processing, it is possible to suppress the discontinuity of the integral value that occurs when switching the integral calculation.

  In the first and second embodiments of the present invention, it is rare for a normal motorcycle to travel with the vehicle body deeply banked. Therefore, the trigonometric function expression of equation (1) shown in the first embodiment is expressed as follows. Alternatively, approximated expression (4) may be used without using a trigonometric function.

  By doing so, it is possible to reduce the processing load of the angle calculation unit 51 and obtain a practical numerical value without an excessive bank angle.

  DESCRIPTION OF SYMBOLS 1 Control apparatus, 2 and 2A bank angle calculating part, 3 control calculating part, 4 vehicle speed sensor, 5, 5A gyro sensor, 6 actuator, 7 mechanism, 50 1st calculating part, 51 angle calculating part, 52 filter, 60, 60A 2nd calculation part, 61 Angular acceleration calculation part, 62 Filter, 63 Angular jerk calculation part, 64 Filter, 65 Integration calculation determination part, 66 Numerical integration part, 67 Zero output part, 68 Filter, 70 Change rate restriction part .

Claims (3)

This is a motorcycle bank angle estimating device used for controlling a headlamp with variable light distribution by rotating the optical axis in the direction opposite to the bank angle of the motorcycle body to expand the irradiation range according to the bank angle of the motorcycle body. And
An angle calculation unit for obtaining an angle based on the angular velocity around the vehicle body vertical axis detected by the sensor and the vehicle speed in the vehicle body traveling direction, a first calculation unit comprising a filter for smoothing the output of the angle calculation unit;
An angular acceleration calculation unit that calculates angular acceleration based on the angular velocity around the vehicle body direction detected by the sensor, a filter that attenuates the noise of the calculated angular acceleration, and angular jerk based on the angular acceleration after filtering Based on a determination condition as to whether or not the angular jerk after the filter processing is smaller than a predetermined threshold and continues for a predetermined time or more. An integral calculation determination unit that determines whether or not numerical integration of angular velocities around the traveling direction is possible; a numerical integration unit that numerically integrates angular velocities around the vehicle traveling direction when performing an integration calculation based on the integration determination of the integral calculation determination unit; A zero output unit that outputs zero when the integral calculation is not performed, a second calculation unit including a filter that smoothes the output of the numerical integration unit or the zero output unit, and
An apparatus for estimating a bank angle of a motorcycle, comprising: an adder that obtains a bank angle by adding the output of the first calculator and the output of the second calculator. In the motorcycle bank angle estimation device according to claim 1,
A change rate limiting unit that detects an edge of an integration determination flag and increases or decreases the integral value of the roll rate at a predetermined time change rate between the integration calculation determination unit and the numerical integration unit and the zero output unit. A bank angle estimating device for a motorcycle, characterized by being provided. This is a method for estimating the bank angle of a motorcycle, which is used for controlling a headlamp with variable light distribution by rotating the optical axis in the direction opposite to the bank angle of the motorcycle body to expand the irradiation range. And
A first calculation step for obtaining an angle based on the angular velocity around the vehicle body vertical axis detected by the sensor and the vehicle speed in the vehicle body traveling direction, and smoothing the obtained angle;
Calculate the angular acceleration based on the angular acceleration around the vehicle traveling direction detected by the sensor, calculate the angular jerk based on the angular acceleration after filtering to attenuate the calculated noise of the angular acceleration, and calculate Based on the determination condition whether the angular jerk after the filter processing for attenuating the noise of the angular jerk is smaller than a predetermined threshold value and continues for a predetermined time or more, the integration of the angular velocity around the vehicle body traveling direction is determined. The second calculation that performs numerical integration of the angular velocity around the vehicle body traveling direction when performing integration calculation based on whether integration is possible, or outputs zero when integration calculation is not performed, and smooths and outputs the numerical integration or zero output Steps,
A bank angle estimation method for a motorcycle, comprising: an addition step of obtaining a bank angle by adding the output of the first calculation step and the output of the second calculation step.

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