Device for detecting inclination angle

Abstract

The invention relates to a device for detecting at least one tilt angle of a vehicle having: a chassis with a plurality of wheels standing on the ground or rolling on the ground; a vehicle body carried by the chassis, which is connected by means of a vehicle suspension spring to a component of the chassis that is not subjected to the spring action; a plurality of sensor assemblies, at least one of the vehicle body sensor assemblies being disposed on the vehicle body and one or more chassis sensor assemblies being disposed on components of the chassis not affected by the spring, each sensor assembly comprising a plurality of acceleration sensors capable of detecting translational accelerations in different directions and providing acceleration signals; and an evaluation device connected to the sensor assembly which determines the pitch angle of the vehicle from the acceleration signals, the vehicle body sensor assembly comprising a plurality of rotational motion sensors which detect rotational motions about different rotational axes and provide vehicle body rotational motion signals, the evaluation device additionally determines the pitch angle taking into account the vehicle body rotational movement signal.

Description

Technical Field

[0001] The invention relates to a device for detecting at least one tilt angle of a vehicle, the vehicle comprising: a chassis having a plurality of wheels, which stand on the ground or roll on the ground; a vehicle body supported by the chassis, the vehicle body being connected to an unsprung part of the chassis via vehicle suspension springs, the part comprising wheels, which are hinged to the vehicle body via chassis guide rods; a plurality of sensor assemblies, at least one body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on the unsprung part of the chassis and / or the chassis guide rods, wherein each sensor assembly comprises a plurality of acceleration sensors, by means of which translational accelerations in different spatial directions can be detected and acceleration signals characterizing these accelerations can be provided; and an evaluation device connected to the sensor assemblies, by means of which the pitch angle of the vehicle can be determined from the acceleration signals. Background Art

[0002] Patent document DE 10 2018 210 586 B3 discloses a device for automatically adjusting the lighting range of a headlight device of a vehicle, wherein the vehicle has a plurality of wheels with pneumatic tires, and the device comprises: a control device, which is configured to determine the pitch angle of the vehicle and to set the light emission of the headlight device based on the determined pitch angle; a first acceleration sensor arranged on the vehicle in a substantially fixed orientation relative to the bottom of the vehicle and a second acceleration sensor arranged on the vehicle in a fixed orientation relative to the headlight device of the vehicle, wherein the first acceleration sensor and the second acceleration sensor are configured to respectively measure at least the direction of the acceleration present at the position of the corresponding acceleration sensor, wherein the control device is configured to determine the pitch angle based on the acceleration directions measured using the first acceleration sensor and the second acceleration sensor.

[0003] Due to the vehicle suspension springs, the vehicle body may shake in comparison to the unsprung parts of the chassis, so that the orientation of the vehicle body determined by means of the translational acceleration sensor may be inaccurate. Thus, the ascertained pitch angle may also be inaccurate. Summary of the invention

[0004] Based on this, the object of the present invention is in particular to be able to improve the accuracy when determining the pitch angle.

[0005] According to the invention, this object is achieved by a device according to claim 1 and a method according to claim 9. Preferred developments of the invention are given in the dependent claims and in the following description.

[0006] A device for detecting at least one tilt angle of a vehicle, the vehicle comprising: a chassis having a plurality of wheels, the wheels standing on the ground or rolling on the ground; a vehicle body supported by the chassis, the vehicle body being connected to a non-sprung part of the chassis via a vehicle suspension spring, the part comprising wheels, the wheels being hinged to the vehicle body via a chassis guide rod; a plurality of sensor assemblies, wherein at least one body sensor assembly is arranged on the vehicle body and one or more chassis sensor assemblies are arranged on the non-sprung part of the chassis and / or the chassis guide rod, wherein each sensor assembly comprises a plurality of acceleration sensors, With the help of these acceleration sensors, translation accelerations in different spatial directions can be detected and acceleration signals representing these accelerations can be provided; and an evaluation device connected to the sensor assembly, by means of which the pitch angle of the vehicle can be determined from the acceleration signals, according to the invention, the device is developed in particular in the following way, that is, the body sensor assembly includes a plurality of rotational motion sensors, by means of which rotational motions around different rotational axes can be detected and body rotational motion signals representing these rotational motions can be provided, wherein the pitch angle can be determined by means of the evaluation device in addition to taking into account the body rotational motion signals. In particular, the pitch angle of the vehicle can therefore be determined by means of the evaluation device from the acceleration signals and the body rotational motion signals.

[0007] If the acceleration sensors of the body sensor assembly experience rotational movements due to the shaking vehicle body, the acceleration signals provided by these acceleration sensors may have rotational signal components in addition to the translational signal components, which can reduce the accuracy when determining the pitch angle. By detecting the rotational movement, these rotational signal components can in particular be at least partially calculated and / or compensated, and the accuracy of the pitch angle can thus be increased.

[0008] The invention also relates in particular to a method for detecting at least one tilt angle of a vehicle, the vehicle comprising: a chassis with a plurality of wheels which stand on the ground or roll on the ground; a vehicle body carried by the chassis, the vehicle body being connected to an unsprung part of the chassis via vehicle suspension springs, the part comprising the wheels, the wheels being articulated to the vehicle body via chassis links; and a plurality of sensor assemblies, at least one body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on the unsprung part of the chassis and / or on the chassis links, wherein each sensor assembly comprises a plurality of acceleration sensors, by means of which translational accelerations in different spatial directions are detected and acceleration signals characterizing these accelerations are provided, from which the pitch angle of the vehicle is determined. The method is characterized in particular in that the body sensor assembly comprises a plurality of rotational motion sensors, by means of which rotational motions about different rotational axes are detected and body rotational motion signals characterizing these rotational motions are provided, wherein the pitch angle is additionally determined taking into account the body rotational motion signals. In particular, the pitch angle of the vehicle is thus determined from the acceleration signal and the body rotational movement signal.

[0009] Preferably, according to the method, the vehicle has an evaluation device connected to the sensor arrangement, by means of which the pitch angle of the vehicle is determined from the acceleration signal. Preferably, according to the method, the pitch angle is determined by means of the evaluation device additionally taking into account the body rotational motion signal. In particular, the pitch angle of the vehicle is thus determined by means of the evaluation device from the acceleration signal and the body rotational motion signal.

[0010] Preferably, the method according to the invention is carried out using the device according to the invention. In particular, the method according to the invention can be improved according to all the design solutions explained in conjunction with the device according to the invention. In addition, the device according to the invention can be improved, for example, according to all the design solutions explained in conjunction with the method according to the invention.

[0011] In particular, the pitch angle is an inclination angle of the vehicle. Preferably, a pitch angle signal characterizing the pitch angle is provided and / or can be provided, in particular by means of the evaluation device. The term "at least one" preferably also includes the meaning of "one" or "exactly one".

[0012] Preferably, a rotational signal component in an acceleration signal provided by an acceleration sensor of the body sensor assembly is preferably at least partially calculated and / or compensated and / or can be calculated and / or compensated with the aid of a body rotational motion signal and / or taking into account the body rotational motion signal.

[0013] The number of wheels is preferably four. The wheels are preferably arranged at the corners of the vehicle. Advantageously, the chassis is provided with at least one axle, which in particular comprises two of the wheels or at least two wheels. Preferably, the chassis is provided with a plurality of axles, which in particular each comprise two wheels or at least two wheels. One of these axles is in particular the front axle. One or the other of these axles is in particular the rear axle. Preferably, the chassis is provided with a front axle, which in particular comprises two of the wheels or at least two front wheels. Preferably, the chassis is provided with a rear axle, which in particular comprises two of the wheels or at least two rear wheels. The number of axles is advantageously two or at least two.

[0014] Preferably, each chassis sensor assembly is arranged at one of the wheels and / or at the wheel suspension of one of the wheels and / or at the wheel support that carries one of the wheels and / or at one of the chassis control arms and / or at one of the corners of the vehicle. The number of chassis sensor assemblies is, for example, one or at least one, or two or at least two, or three or at least three, or four or at least four. Advantageously, one of the chassis sensor assemblies is arranged in the region of each wheel of at least one axle or at least one of the axles. In particular, for at least one axle or for at least one of the axles, one of the chassis sensor assemblies is respectively arranged at the wheel support that carries these wheels. For example, the number of chassis sensor assemblies corresponds to the number of front wheels and / or rear wheels. In particular, each front wheel and / or each rear wheel is assigned one of the chassis sensor assemblies. Preferably, one of the chassis sensor assemblies is arranged in the region of each front wheel and / or each rear wheel. For example, one of the chassis sensor assemblies is respectively arranged at the wheel support that carries the front wheel and / or the rear wheel. Preferably, the number of chassis sensor assemblies corresponds to the number of wheels. Preferably, each wheel is assigned one of the chassis sensor assemblies. In particular, one of the chassis sensor assemblies is arranged in the region of each wheel. For example, one of the chassis sensor assemblies is respectively arranged at the wheel support that carries the wheel.

[0015] Preferably, the body sensor assembly is arranged in a fixed orientation relative to the vehicle body. Preferably, each chassis sensor assembly is arranged in a fixed orientation relative to an unsprung part of the chassis. Advantageously, each chassis sensor assembly is arranged in an especially substantially fixed orientation relative to the ground. The term "substantially" here relates in particular to the suspension of the unsprung part of the chassis relative to the ground caused by the pneumatic tire. In particular, the influence of this suspension is neglected.

[0016] According to an advantageous development, the rotational motion sensor of the body sensor assembly is designed as a rotational speed sensor, by means of which the rotational motion is detected and / or can be detected, in particular in the form of an angular velocity. The body rotational motion signal is in particular an angular velocity signal and can also be referred to as a body angular velocity signal, for example. In order to determine and / or estimate the rotational signal component in the acceleration signal provided by the acceleration sensor of the body sensor assembly, the body angular velocity signal can be integrated over time, for example.

[0017] Preferably, the vehicle body sensor assembly is configured to detect three translational degrees of freedom. Preferably, the vehicle body sensor assembly is configured to detect three rotational degrees of freedom. In particular, the vehicle body sensor assembly is configured to detect six kinematic degrees of freedom.

[0018] Preferably, the body sensor assembly can detect translational accelerations in three different spatial directions. Preferably, the body sensor assembly can detect translational accelerations in three different body sensor assembly directions. Preferably, each rotation axis of the body sensor assembly extends along one of the body sensor assembly directions. Advantageously, the rotation axes of the body sensor assembly intersect at a common origin.

[0019] The body sensor arrangement is preferably formed by an inertial measurement unit (IMU), in particular in the form of a microsystem (MEMS). A rotational speed sensor is also called a gyroscope, for example. An inertial measurement unit designed as a microsystem takes up only a small installation space, requires little maintenance, and is available at a relatively low price.

[0020] According to an advantageous design, each chassis sensor assembly is configured to detect three or at least three kinematic degrees of freedom. In particular, each chassis sensor assembly is configured to detect three translational degrees of freedom.

[0021] According to an advantageous development, each chassis sensor assembly comprises a plurality of rotational motion sensors, by means of which rotational motions about different rotational axes are detected and / or can be detected and chassis rotational motion signals characterizing these rotational motions are provided and / or can be provided. Preferably, the pitch angle is determined and / or can be determined, in particular by means of an evaluation device, additionally taking into account the chassis rotational motion signals. Preferably, the pitch angle of the vehicle is thus determined and / or can be determined from the acceleration signal, the body rotational motion signal and the chassis rotational motion signal, preferably by means of an evaluation device. In particular, the orientation of the chassis and / or the ground can thereby be determined more accurately, and thus the accuracy in determining the pitch angle is also increased.

[0022] Preferably, a rotational signal component in the acceleration signal provided by the acceleration sensor of the respective chassis sensor component is preferably at least partially calculated and / or compensated and / or can be calculated and / or compensated with the aid of the evaluation device with the aid of and / or taking into account the chassis rotational movement signal of each chassis sensor component.

[0023] According to an advantageous embodiment, the rotary motion sensor of each chassis sensor assembly is designed as a rotational speed sensor, by means of which the corresponding rotary motion is detected and / or can be detected in the form of an angular velocity. The chassis rotary motion signal is in particular an angular velocity signal and can also be referred to as a chassis angular velocity signal, for example. In order to determine and / or estimate the rotary signal component in the acceleration signal provided by the acceleration sensor of each chassis sensor assembly, the corresponding chassis angular velocity signal can be integrated over time, for example.

[0024] Each chassis sensor assembly is, for example, configured to detect three rotational degrees of freedom. Preferably, each chassis sensor assembly is configured to detect six kinematic degrees of freedom.

[0025] Preferably, each chassis sensor assembly can detect translational accelerations in three different spatial directions. Advantageously, each chassis sensor assembly can detect translational accelerations in three different chassis sensor assembly directions. Preferably, for each chassis sensor assembly, each rotation axis extends along one of the chassis sensor assembly directions of the respective chassis sensor assembly. Advantageously, the rotation axes of each chassis sensor assembly, in particular respectively, intersect at a common origin.

[0026] Each chassis sensor assembly is preferably formed by an inertial measurement unit (IMU), in particular in the form of a microsystem (MEMS). A rotational speed sensor is also called a gyroscope, for example.

[0027] According to an advantageous development, one or more body orientation information about the orientation of the vehicle body is determined and / or can be determined based on signals provided by the body sensor assembly, in particular by means of an evaluation device. Preferably, one or more chassis orientation information or ground orientation information about the orientation of the chassis and / or the ground is determined and / or can be determined based on signals provided by one or more chassis sensor assemblies, in particular by means of an evaluation device. In particular, a pitch angle is determined and / or can be determined from one or more body orientation information and one or more chassis orientation information or ground orientation information. The one or more chassis orientation information corresponds, for example, to one or more ground orientation information.

[0028] One or more body orientation information includes, for example, only directional information in a vehicle longitudinal plane. One or more chassis orientation information or ground orientation information includes, for example, only directional information in the vehicle longitudinal plane or in a vehicle longitudinal plane. If each directional information is present, for example, in the form of an angle, in particular relative to the same reference axis, then the pitch angle is obtained, for example, from the difference of these angles.

[0029] Preferably, the body orientation information characterizes a body plane representing the vehicle body. Preferably, the chassis orientation information or the ground orientation information characterizes a chassis plane or a ground plane representing the chassis and / or the ground. The chassis plane corresponds to the ground plane, for example, or is preferably parallel thereto. In particular, the pitch angle is determined and / or can be determined by the position of the body plane relative to the chassis plane or the ground plane.

[0030] According to an advantageous embodiment, the roll angle of the vehicle is determined and / or can be determined, in particular by means of the evaluation device, from the signal provided by the sensor assembly. For example, the roll angle is determined or can be determined from the position of the vehicle body plane relative to the chassis plane or the ground plane. In particular, the roll angle is another tilt angle of the vehicle. The pitch angle and the roll angle extend, for example, transversely to each other. Preferably, a roll angle signal characterizing the roll angle is provided and / or can be provided, in particular by means of the evaluation device.

[0031] According to a possible development, one of the chassis sensor assemblies is arranged in the region of each wheel of one of the axles or of at least one of the axles, for example the front axle or the rear axle. The chassis orientation information preferably comprises information about the orientation of the wheels of the axle, from which information the wheel travel of the wheels is determined and / or can be determined, in particular with the aid of an evaluation device. Preferably, the roll angle or a roll angle is determined and / or can be determined from the wheel travel, in particular with the aid of an evaluation device. Since the positional relationship between the vehicle body and each wheel is predetermined by the chassis, the wheel travel of the corresponding wheel is also determined from the orientation of each wheel detected and the body orientation information, wherein the roll angle can be determined from the wheel travel of the wheels of the axle.

[0032] The body plane is described, for example, by a body plane vector extending perpendicularly to the body plane. The chassis plane or ground plane is described, for example, by a chassis plane vector or ground plane vector extending perpendicularly to the chassis plane or ground plane. The chassis plane vector corresponds, for example, to the ground plane vector. For example, the angle formed between the body plane vector and the chassis plane vector or ground plane vector results from the superposition of pitch and roll.

[0033] According to an advantageous development, the pitch angle is corrected and / or can be corrected and / or determined or can be determined, in particular by means of an evaluation device, preferably taking into account the roll angle. For example, the corrected body plane vector is given by the projection of the body plane vector onto a height plane extending in the longitudinal direction of the vehicle perpendicular to the chassis plane or the ground plane, wherein the pitch angle, in particular the corrected pitch angle, is given by the angle formed between the corrected body plane vector and the chassis plane vector or the ground plane vector. The projection is preferably performed taking into account and / or using the roll angle. In addition to the above-mentioned vectors, for example, straight lines or straight line segments can also be used, since the determination of the pitch angle is particularly independent of the magnitude of the vector, but only of the direction of the vector.

[0034] According to an advantageous embodiment, one or at least one light device, in particular connected to the evaluation device, is provided with at least one light and at least one light adjustment drive, by means of which the inclination of the light and / or the inclination of the light beam emitted by the light can be adjusted and / or adjusted, preferably relative to the vehicle body, as a function of the pitch angle. Preferably, the light device comprises at least one light holder, the at least one light being supported at the at least one light holder in a tiltable and / or pivotable manner. The at least one light is in particular a headlight. For example, the expression of the light beam can also be replaced by the expression of the light cone. Preferably, the body sensor assembly is arranged in a fixed orientation relative to the light device and / or the at least one light holder. The at least one light holder is preferably fixed in position relative to the vehicle body. The light device preferably comprises two lights and / or two light adjustment drives and / or two light holders. For example, the vehicle has one or at least one light device.

[0035] The evaluation device preferably comprises a digital computer and / or is formed by a digital computer.The evaluation device preferably comprises a plurality of analog-to-digital converters, by means of which the sensor signals transmitted by the sensors are / can be digitized.

[0036] The device according to the invention is in particular part of a vehicle. For example, the term "device for detecting at least one tilt angle of a vehicle" can also be replaced by the term "vehicle" or by the term "vehicle with a device for detecting at least one tilt angle" or by the term "vehicle with a device for detecting at least one tilt angle of a vehicle". The device according to the invention preferably comprises at least one body sensor assembly and / or one or more chassis sensor assemblies and / or an evaluation device and / or a light device and / or a chassis and / or a vehicle body and / or a vehicle suspension spring and / or a chassis guide rod and / or each wheel carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be described below according to preferred embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0038] Figure 1 shows a schematic top view of a vehicle,

[0039] Figure 2 shows a schematic view of a wheel suspension of a vehicle,

[0040] Figure 3 shows a schematic illustration of a device for detecting at least one tilt angle according to an embodiment,

[0041] Figure 4 A schematic diagram for illustrating the determination of the pitch angle is shown, and

[0042] Figure 5 A schematic diagram is shown for explaining the determination of the roll angle. DETAILED DESCRIPTION

[0043] Figure 1 A schematic top view of a vehicle 1 is shown, which has a vehicle body 2 and a chassis 3 with a plurality of wheel suspensions 4, 5, 6 and 7, wherein the wheel suspensions 4 and 5 are assigned to a front axle 8 and the wheel suspensions 6 and 7 are assigned to a rear axle 9. Each wheel suspension comprises a wheel, wherein the wheel suspension 4 has a wheel 10, the wheel suspension 5 has a wheel 11, the wheel suspension 6 has a wheel 12 and the wheel suspension 7 has a wheel 13. Furthermore, a coordinate system with a longitudinal direction x, a transverse direction y and a height direction z is shown.

[0044] Figure 2 The schematic view of a wheel suspension 4 is shown, which has a wheel carrier 14, which is connected via a joint part 15, preferably in the form of a ball and socket joint, to a chassis link 16, preferably in the form of a transverse link, the end of which facing away from the wheel carrier 14 is articulated to the vehicle body 2 via at least one joint part 17, preferably in the form of a rubber bearing. The wheel carrier 14 is also particularly firmly connected to a spring strut 18, the end of which facing away from the wheel carrier 14 is connected to the vehicle body 2 via a spring strut seat 19. The spring strut 18 comprises a vehicle suspension spring 20 and a damper 21, which is particularly surrounded by the vehicle suspension spring 20, preferably in the form of a helical spring. A wheel bearing 22 is fixed to the wheel carrier 14, by means of which the wheel 10 is supported on the wheel carrier 14 in a manner rotatable about a wheel axis of rotation 23. Furthermore, a tie rod 24 is connected to the wheel carrier 14 by means of a joint part 25, preferably in the form of a ball and socket joint. The wheel 10 is in contact with a ground surface 26, such as a street or a driveway.

[0045] A body sensor assembly 27 is provided on the vehicle body 2, which has three translation acceleration sensors 28, 29 and 30 and three rotation speed sensors 31, 32 and 33 (see Figure 3 In addition, a chassis sensor assembly 34 having three translation acceleration sensors 35, 36 and 37 is provided at the wheel support 14 (see Figure 3 ). Optionally, the chassis sensor assembly 34 may additionally have three rotation speed sensors.

[0046] The wheel suspension 5 is preferably designed to be opposite to the wheel suspension 4. Furthermore, the wheel suspension 7 is preferably designed to be opposite to the wheel suspension 6. In particular, the front axle 8 is configured to be steerable. The rear axle is configured to be steerable or non-steerable, for example. Apart from this, the wheel suspensions 4, 5, 6 and 7 are configured in particular in the same way.

[0047] from Figure 3 It can be seen that the sensors of the sensor assemblies 27 and 34 are connected to an evaluation device 38. Optionally, a chassis sensor assembly 39 is also provided, which is constructed identically to the chassis sensor assembly 34 and is arranged at the wheel carrier of the wheel suspension 5 that carries the wheel 11, and the translation acceleration sensors 35, 36 and 37 of which are connected to the evaluation device 38. According to the above option, one chassis sensor assembly is provided at each wheel carrier of the front axle 8.

[0048] The acceleration sensors 28, 29 and 30 of the body sensor assembly 27 provide acceleration signals Sx, Sy and Sz representing the acceleration occurring on the vehicle body 2. In addition, the rotational speed sensors 31, 32 and 33 of the body sensor assembly 27 provide angular velocity signals Syz, Szx and Sxy representing the rotational movement occurring on the vehicle body 2. The acceleration sensors 35, 36 and 37 of the chassis sensor assembly 34 provide acceleration signals Fx, Fy and Fz representing the acceleration occurring on the wheel support 14. In addition, the acceleration sensors 35, 36 and 37 of the optional chassis sensor assembly 39, if present, provide acceleration signals Gx, Gy and Gz representing the acceleration occurring on the wheel support of the wheel 11.

[0049] The orientation of the vehicle body 2 can be detected by means of the body sensor assembly 27. Furthermore, the orientation of the wheel support 14 can be detected by means of the chassis sensor assembly 34. Since the positional relationship between the vehicle body 2 and the wheel support 14 is predetermined by the wheel suspension 4, the detected orientation can be used to detect, for example, the wheel travel h of the wheel 10 relative to a reference position 40, which is, for example, fixed relative to the vehicle body 2. This applies accordingly to the optional chassis sensor assembly 39, by means of which, if present, for example, the wheel travel h of the wheel 11 can be detected. Furthermore, the orientation of the ground 26 can also be detected by means of the detected orientation of the wheel support 14 or of the wheel supports, in particular when the influence of the pneumatic tire is neglected. Preferably, the orientation of the ground 26 corresponds to the orientation of the wheel support 14 and / or the orientation of the ground 26 can be derived from the orientation of the wheel support 14.

[0050] From the detected orientation, the pitch angle θ of the vehicle 1 can be determined, which is done in particular by means of an evaluation device 38 which also provides a pitch angle signal Sθ which is characteristic of the pitch angle θ.

[0051] Preferably, the roll angle of the vehicle 1 can also be determined from the detected orientation and / or from the detected wheel travel. This is done in particular with the aid of the evaluation device 38, which also provides a characteristic of the roll angle Roll angle signal

[0052] The vehicle 1 has a light device 41, which has two lights 42 and two light holders 43, on which the lights 42 are pivotably mounted, and which also has two light adjustment drives 44, by means of which the inclination of the lights 42 can be adjusted, in particular in the zx plane, as a function of the pitch angle θ. For this purpose, the light device 41 connected to the evaluation device 38 is provided with, in particular, a pitch angle signal Sθ, which can be obtained from Figure 1 see.

[0053] Refer to the following Figure 4 and Figure 5 Explain the pitch angle θ and roll angle of determination.

[0054] exist Figure 4 In the diagram marked with a), an unloaded, stationary vehicle 1 is schematically shown in the design position on a non-sloping ground 26. The pitch angle and the roll angle are thus zero.

[0055] In addition, Figure 4In the diagram marked with b), a vehicle 1 is schematically shown, which is preferably additionally loaded at the rear end, on an inclined ground surface 26, so that a pitching of the vehicle 1 occurs. The orientation of the vehicle body 2 in the zx plane is detected by means of a body sensor assembly 27, wherein the orientation is represented by an angle θ'. The angle θ' can be roughly estimated from the acceleration signal of the body sensor assembly 27 as: tanθ'=Sx / Sz. However, due to the possible shaking of the sprung vehicle body 2, this estimation is relatively inaccurate, so that the angular velocity signal of the body sensor assembly 27 is also taken into account for the determination of the angle θ'.

[0056] Furthermore, the orientation of the floor surface 26 in the zx plane is detected by means of the chassis sensor arrangement 34 , wherein the orientation is represented by the angle θ″ for which, in particular, the following holds: tan θ″=Fx / Fz.

[0057] The angle θ′ characterizes the orientation of the vehicle body 2 and thus forms in particular a body orientation information. The angle θ″ characterizes the orientation of the chassis 3 or the ground 26 and thus forms in particular a chassis orientation information or a ground orientation information.

[0058] The pitch angle θ is therefore given by the difference between the ascertained angles θ′ and θ″: θ=θ′−θ″.

[0059] exist Figure 4 , reference symbol g represents the acting gravitational acceleration, F represents “front” and R represents “rear”.

[0060] according to Figure 5 , schematically shows a vehicle 1 located on an inclined ground surface 26, so that the vehicle 1 rolls. The orientation of the vehicle body 2 in the yz plane is detected by means of a body sensor assembly 27, wherein the orientation is determined by the angle Indicates. Angle The acceleration signal of the vehicle body sensor assembly 27 can be roughly estimated as: However, due to the possible shaking of the spring-supported vehicle body 2, this estimate is relatively inaccurate, so that the angle The determination of also takes into account the angular velocity signal of the vehicle body sensor assembly 27 .

[0061] Furthermore, the orientation of the ground surface 26 in the yz plane is detected by means of the chassis sensor assembly 34, wherein the orientation is determined by the angle This is especially true for this angle:

[0062] Therefore, the roll angle From the angle sought and The difference between gives:

[0063] exist Figure 5 , reference symbol g represents the acting gravitational acceleration, FR represents “right front” and FL represents “left front”.

[0064] As from Figure 4 and Figure 5 It can be seen that the optional chassis sensor assembly 39 is not absolutely necessary. However, their presence can improve the determination of the pitch angle θ and / or the roll angle accuracy when.

[0065] List of reference numerals:

[0066] 1 Vehicle

[0067] 2 Vehicle body

[0068] 3 Chassis

[0069] 4 wheel suspension

[0070] 5 wheel suspension

[0071] 6 wheel suspension

[0072] 7 wheel suspension

[0073] 8 Front axle

[0074] 9 Rear axle

[0075] 10. Wheel

[0076] 11. Wheel

[0077] 12 Wheels

[0078] 13. Wheel

[0079] 14 Wheel bracket

[0080] 15 Joints / Ball and Socket Joints

[0081] 16 Chassis guide rod / lateral guide rod

[0082] 17 Joints / Rubber bearings

[0083] 18 Spring support

[0084] 19 Spring support seat

[0085] 20 Vehicle suspension springs

[0086] 21 Buffer

[0087] 22 Wheel bearings

[0088] 23 Wheel rotation axis

[0089] 24 Tie rod

[0090] 25 Joints / Ball and Socket Joints

[0091] 26 Ground

[0092] 27 Body sensor components

[0093] 28 Acceleration sensor

[0094] 29 Accelerometer

[0095] 30 Accelerometer

[0096] 31 Speed ​​sensor

[0097] 32 Speed ​​sensor

[0098] 33 Speed ​​sensor

[0099] 34 Chassis sensor assembly

[0100] 35 Acceleration sensor

[0101] 36 Acceleration sensor

[0102] 37 Accelerometer

[0103] 38 Evaluation device

[0104] 39 Chassis sensor assembly (optional)

[0105] 40 Reference position

[0106] 41. Car lighting equipment

[0107] 42 Headlights

[0108] 43 Headlight retaining device

[0109] 44 Headlight adjustment driver

[0110] Roll Angle

[0111] θ Pitch angle

[0112] Sx acceleration signal

[0113] Sy acceleration signal

[0114] Sz acceleration signal

[0115] Syz angular velocity signal

[0116] Szx angular velocity signal

[0117] Sxy angular velocity signal

[0118] Fx acceleration signal

[0119] Fy acceleration signal

[0120] Fz acceleration signal

[0121] Gx acceleration signal

[0122] Gy acceleration signal

[0123] Gz acceleration signal.

Claims

1. A device for detecting at least one tilt angle of a vehicle, the vehicle comprising: a chassis (3) having a plurality of wheels (10, 11, 12, 13), the wheels standing on a ground (26) or rolling on the ground (26); a vehicle body (2) supported by the chassis (3), the vehicle body being connected to an unsprung part of the chassis (3) via a vehicle suspension spring (20), the part comprising the wheels (10, 11, 12, 13), the wheels being articulated to the vehicle body (2) via a chassis guide rod (16); a plurality of sensor assemblies (27, 34), at least one body sensor assembly (27) being arranged on the vehicle body (2) and one or more chassis sensor assemblies (34) being arranged on an unsprung part of the chassis (3) and / or on the chassis guide rod, wherein: Each of the sensor assemblies comprises a plurality of acceleration sensors (28, 29, 30; 35, 36, 37), by means of which translational accelerations along different spatial directions (x, y, z) can be detected and acceleration signals (Sx, Sy, Sz; Fx, Fy, Fz) characterizing these accelerations can be provided; and an evaluation device (38) connected to the sensor assemblies (27, 34), by means of which a pitch angle (θ) of the vehicle (1) can be determined from the acceleration signals, characterized in that the body sensor assembly (27) comprises a plurality of rotational motion sensors (31, 32, 33), by means of which rotational motions around different rotational axes can be detected and body rotational motion signals (Syz, Szx, Sxy) characterizing these rotational motions can be provided, wherein the pitch angle (θ) can be determined by means of the evaluation device (33) in addition to taking into account the body rotational motion signals (Syz, Szx, Sxy).

2. The device according to claim 1, characterized in that The rotary motion sensors (31, 32, 33) of the body sensor arrangement are designed as rotational speed sensors, by means of which the rotary motion can be detected in the form of angular velocity.

3. The device according to claim 1 or 2, characterized in that: The vehicle body sensor assembly (27) is configured to detect six kinematic degrees of freedom.

4. A device according to any one of the preceding claims, characterised in that Each chassis sensor assembly (34) is configured to detect at least three kinematic degrees of freedom.

5. A device according to any one of the preceding claims, characterised in that With the aid of the evaluation device (38), body orientation information (θ') about the orientation of the vehicle body (2) can be determined based on the signal provided by the body sensor assembly (27), and ground orientation information (θ") about the orientation of the ground (26) can be determined based on the signal provided by one or more chassis sensor assemblies (34), and the pitch angle (θ) can be determined from the orientation information (θ', θ").

6. A device according to any one of the preceding claims, characterised in that The roll angle (φ) of the vehicle can be determined by means of the signals provided by the sensor arrangement (27, 34) of the evaluation device.

7. A device according to any one of the preceding claims, characterised in that The pitch angle (θ) can be corrected taking into account the roll angle (φ).

8. A device according to any one of the preceding claims, characterised in that The vehicle has at least one light device (41) connected to the evaluation device (38), the light device having at least one light (42) and at least one light adjustment drive (44), by means of which the light (42) and / or the inclination of a light beam emitted by the light can be adjusted as a function of the pitch angle (θ).

9. A method for detecting at least one tilt angle of a vehicle, the vehicle comprising: a chassis (3) having a plurality of wheels (10, 11, 12, 13) which stand on a ground surface (26) or roll on the ground surface (26); a vehicle body (2) supported by the chassis (3), the vehicle body being connected to an unsprung part of the chassis (3) via a vehicle suspension spring (20), the part comprising the wheels (10, 11, 12, 13) which are articulated to the vehicle body (2) via a chassis guide rod (16); and a plurality of sensor assemblies (27, 34), wherein at least one body sensor assembly (27) is arranged on the vehicle body (2) and one or more chassis sensor assemblies (34) are arranged on an unsprung part of the chassis (3) and / or on the chassis guide rod, wherein: Each sensor assembly (27, 34) includes a plurality of acceleration sensors (28, 29, 30; 35, 36, 37), with the aid of which translational accelerations along different spatial directions (x, y, z) are detected and acceleration signals (Sx, Sz, Sy; Fx, Fy, Fz) characterizing these accelerations are provided, and the pitch angle (θ) of the vehicle is determined from the acceleration signals. It is characterized in that the vehicle body sensor assembly (27) includes a plurality of rotational motion sensors (31, 32, 33), with the aid of which rotational motions around different rotational axes are detected and vehicle body rotational motion signals (Syz, Szx, Sxy) characterizing these rotational motions are provided, wherein the pitch angle (θ) is determined additionally while taking into account the vehicle body rotational motion signals (Syz, Szx, Sxy).

10. The method according to claim 9, characterized in that The roll angle (φ) of the vehicle is determined based on the signals provided by the sensor assembly (27, 34).

11. The method according to claim 9 or 10, characterized in that: The pitch angle (θ) is corrected taking into account the roll angle (φ).

12. The method according to any one of claims 9 to 11, characterized in that The vehicle has at least one light device (41), which has at least one light (42) and at least one light adjustment drive (44), by means of which the light (42) and / or the inclination of a light beam emitted by the light are adjusted according to the pitch angle (θ).

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