Determining the inclination of a vehicle

Abstract

Method (300) for determining the angular deviation (Δ) in the horizontal plane (105) of a vehicle (100) in the direction of travel (101) of the vehicle, wherein the vehicle (100) is equipped with a first sensor (110) and a second sensor (120), the second sensor (120) being located at a distance (A) in the vertical direction of the vehicle from the first sensor (110), the method (300) comprising: determining (301) a first distance (L1) between the first sensor (110) and an object (130) located in front of the vehicle (100) in the direction of travel (101) of the vehicle, determining (302) a second distance (H) between the second sensor (120) and the object (130), calculating (303) a correlating distance (L2) between the second sensor (120) and a correlating distance point (140) located by the vehicle (100) has the same distance as the object (130),namely on the basis of the determination (302) of the second distance (H) between the second sensor (120) and the object (130), determination (304) of the angular deviation (Δ) of the vehicle in the horizontal plane (105) in the direction of travel (101) of the vehicle by calculating the arctangent of the difference between the measured first distance (L1) and the correlated distance (L2), divided by the distance (A) in the vertical direction of the vehicle between the first sensor (110) and the second sensor (120).

Description

Technical FieldThe subject matter of the invention is a method and a calculation unit for a vehicle. More specifically, the invention is a mechanism for determining the angular deviation in the horizontal plane, i.e., the inclination, of a vehicle.BackgroundA vehicle may be inclined relative to the roadway plane. Reasons for this can be, for example, a heavy or an asymmetrically placed load.Vehicles in this context include, for example, trucks, trucks, truck trucks, truck trucks, passenger cars, forklifts, recreational vehicles, light truck, work vehicles, emergency vehicles, watercraft, vans, all-wheel vehicles, rear trains, excavators, cars, crane vehicles, fuel tank vehicles, motor wheels, wheel loaders, mopeds, sedans, sport cars, racing cars, strip cars, lawn mowers, tanks, firefighting vehicles, snowmobiles, motor carriages, off-road vehicles, tracked vehicles, tractors, gocars, buses, combines, agricultural vehicles, amphibious vehicles, or other similar manned or unmanned motor-driven means of transportation primarily intended for geographic travel to country.The inclination of a vehicle may lead to many problems. For example, it may cause the headlights of the vehicle not to illuminate the roadway, but to blind the oncoming traffic, or it may entail unfavourable aerodynamic conditions, etc.Current solutions for determining the inclination of the vehicle relative to the plane of the road use sensors which measure the distance between the wheel axles and the chassis. This can be, for example, an angle sensor which is mounted on the chassis and is connected to the wheel axle via a lever.In order to adjust the headlights according to legal regulations, one must know the inclination of the chassis to the roadway plane and adjust the headlights to illuminate the roadway.A problem with current sensors for measuring vehicle inclination is that they are influenced by pinholes and asperities in the roadway because they measure the vertical distance between the vehicle and the roadway. Consequently, these sensors can indicate a gradient of the vehicle when this gradient indication is actually made due to a single depression in the roadway. This may lead to incorrect measurement results and possibly to incorrect or unnecessary settings of the headlights of the vehicle.Another problem with these inclination measurement or distance measurement sensors under the vehicle is that the sensors can become contaminated or damaged, which can have a negative effect on the sensitive electronics.However, an inclination of the vehicle also has a varying effect on aerodynamics and road position depending on the inclination intensity or angle deviation from the horizontal plane. Poorer aerodynamics and increased air resistance lead to higher fuel consumption, which is not only uneconomical but also harmful to the environment. The deterioration of the road position can lead to an increased risk of an accident and thus also jeopardize other road users.Another problem with vehicle inclination is that the fill level measurement in liquid tanks, such as in the fuel tank, of the vehicle can be influenced depending on the location of the tank at which the fill level is measured. Depending on where and how the fill level is measured, the driver may be made to believe that more or less fuel is present in the tank than is actually the case. This allows the driver to be guided to engage unnecessary stops at gas stations or not to tank them at the last possible gas station over a longer distance because he assumes that the tank is full than is actually the case because of the incorrect measurement of the fuel level due to the vehicle inclination.It should be appreciated that there is much to do to simplify and counteract the measurement of the inclination of a vehicle or to adapt the vehicle and / or various functions in the vehicle to the inclination.WO 2008 / 080 951 A1 discloses an evaluation unit for the vertical alignment of a lidar sensor. From GB 2 487 112 A an apparatus for determining a vehicle orientation by measuring a water level relative to the vehicle body is known. CN 101 968 352 B discloses detecting an inclination angle of a vehicle body by means of gyroscopes. DE 41 30 877 A1 discloses sensors for a vehicle for detecting a chassis inclination.SummaryTherefore, an object of the present invention is to improve the measurement of the inclination of a vehicle to solve at least some of the problems mentioned above, thereby achieving vehicle improvement.According to a first aspect of the invention, this object is achieved by a method for determining the angular deviation in the horizontal plane of a vehicle in its direction of travel. The vehicle is equipped with a first sensor and a second sensor. The second sensor is located at a certain distance from the first sensor in the vertical direction of the vehicle. The method includes determining a first distance between the first sensor and an object located in front of the vehicle in its direction of travel. This object can be, for example, another vehicle. The method further includes determining a second distance between the second sensor and the object. The method also includes calculating a correlated distance between the second sensor and a correlated distance point that is the same distance from the vehicle as the object. This calculation is based on the determination of the above-mentioned second distance between the second sensor and the object. Further, the method also includes determining the angular deviation of the vehicle in the horizontal plane in the direction of travel of the vehicle by calculating the arctangent of the difference between the measured first distance and the correlating distance and dividing by the distance in the vertical direction of the vehicle between the first sensor and the second sensor.According to a second aspect of the invention, this object is achieved by a calculation unit for determining the angular deviation in the horizontal plane of a vehicle in its direction of travel. The vehicle is equipped with a first sensor and a second sensor. The second sensor is located at a certain distance from the first sensor in the vertical direction of the vehicle. The calculation unit includes a signal receiver that receives a signal from the first sensor. This signal contains a measured first distance between the first sensor and an object which is located in front of the vehicle in its direction of travel. This object can be, for example, another vehicle. The signal receiver in the calculation unit may also receive a signal from the second sensor that includes a measured second distance between the second sensor and the object. The calculation unit also includes a processing circuit that serves to calculate a correlating distance between the second sensor and a correlating distance point that is at the same distance from the vehicle as the object. This calculation is carried out on the basis of the measurement of the second distance between the second sensor and the object. The processing circuit may also determine the angular deviation of the vehicle in the horizontal plane in the direction of travel of the vehicle by calculating the arc tangent of the difference between the first distance and the correlating distance and dividing it by the distance in the vertical direction of the vehicle between the first sensor and the second sensor.By determining the distance between an object in front of a vehicle and two sensors mounted on the front of the vehicle and separated from each other by a known distance in the vertical direction of the vehicle, the inclination of the vehicle can be determined. This makes it possible to avoid placing sensors under the vehicle which measure the distance between the chassis of the vehicle and the underlying surface or the vehicle axles. By using sensors present in the vehicle, such as radar sensors, lidar sensors and / or a camera in the form of a "time of flight" camera, which are used for other purposes, such as for measuring the distance to the preceding vehicle, in order to warn the driver if the distance is too small, and / or in order to adapt the cruise control of the vehicle to the speed of the preceding vehicle, the number of components in the vehicle can be reduced. This can reduce the manufacturing cost of the vehicle due to lower material cost and a smaller number of components that need to be stored and mounted in the vehicle. This achieves an improvement in the vehicle.Other advantages and other novel features will be apparent from the following detailed description of the invention.Mapping DirectoryThe invention will now be described in more detail with reference to the accompanying drawings, in which various embodiments of the invention are shown: FIG. 1A shows an embodiment of an unloaded vehicle in which there is no angular deviation from the horizontal. FIG. 1B shows an embodiment of a loaded vehicle in which there is an angular deviation from the horizontal. FIG. 1C shows a liquid container in a vehicle in which there is no angular deviation from the horizontal. FIG. 1D shows a liquid container in a vehicle in which there is an angular deviation from the horizontal. FIG. 2A shows the front portion of a vehicle with adjustable headlights according to an embodiment. FIG. 2B shows a vehicle with adjustable suspension according to an embodiment. Fig. 3 is a flow chart illustrating an embodiment of the invention. FIG. 4 is a diagram of a computing unit in a system according to an embodiment of the invention.DETAILED DESCRIPTION OF THE INVENTIONThe invention is defined as a method and a calculation unit for determining the angular deviation in the horizontal plane of a vehicle, which can be realized in one of the embodiments described below. This invention may, however, be embodied in many different forms and is not intended to be limited by the embodiments described herein. Rather, these embodiments are intended to illustrate and explain the various aspects of the invention.Other aspects and features of the invention may be apparent from the following detailed description when considered in connection with the accompanying drawings. However, the figures are only examples of different embodiments of the invention, which are not intended to limit the invention. The invention is limited only by the appended claims. Moreover, the figures are not necessarily to scale. Unless otherwise expressly stated, the figures are intended to conceptually illustrate aspects of the invention.FIG. 1A shows a vehicle 100 in a direction of travel 101. This direction of travel 101 is an existing or planned direction of travel 101, i.e. the vehicle 100 can move in the direction of travel 101 or be at a standstill and be prepared for a planned movement in the direction of travel 101.In addition, the vehicle 100 is located on a horizontal plane 105 and is configured to travel parallel to this horizontal plane 105.The larger circle of the two dashed circles in FIG. 1A shows an enlarged view of a front portion of the vehicle 100.A first sensor 110 and a second sensor 120 are mounted on or in the vehicle 100. The two sensors 110 and 120 are mounted at a distance A from each other in the vertical direction of the vehicle. The vertical axis of the vehicle is approximately perpendicular to the horizontal plane 105. The sensors 110 and 120 may include, for example, or consist of, the following devices: radar measurement device, laser measurement device such as a light detection and ranging (LIDAR), sometimes referred to as a LADAR or laser radar, camera such as a time-of-flight (ToF) camera, ultrasonic wave-based distance measurement device, or similar device configured to measure distance.A LIDAR is an optical measurement instrument that measures the characteristics of reflected light to determine the distance (and / or other characteristics) of an object at a particular distance. This technique is similar to radar (radio detection and ranging), but instead of radio waves, light is used.Normally, the distance to an object is determined by measuring the time from the emission of the laser pulse to the registration of the reflection.A time-of-flight (ToF) camera is a camera system that captures a sequence of photos and determines a distance to an object based on the known speed of light by measuring the time required for a light signal to travel the path between the camera and the subject / object. A time-of-flight camera is, as it were, a type of scannerless LIDAR in which, in contrast to scanning with a LIDAR system in which individual points are detected with a laser beam, the entire scene is recorded with each laser or light pulse.In addition, the first sensor 110 and the second sensor 120 may be the same sensor type or different sensor types, depending on the embodiment. In certain embodiments, more than two sensors 110 and 120 may be mounted on the vehicle 100. An advantage of using more than two sensors 110 and 120 is that more reliable distance measurement can be made. A further advantage is that a measurement of the inclination of the vehicle can be made in several dimensions, for example in two or three dimensions according to certain embodiments.The sensors 110 and 120 are configured to measure the respective distance L 1 and H to an object 130 in the direction of travel 101 of the vehicle. L 1 is the distance between the first sensor 110 and the object 130, while the distance H is the distance between the second sensor 120 and the object 130.The object 130 may be any object, such as another vehicle, traffic sign, wall, building, tree, or the like. For the invention, it does not matter whether the object 130 is in motion or at a standstill. Depending on the embodiment, the invention is also independent of whether the host vehicle 100 is stationary or in motion.If the distance A between the sensors 110 and 120 is known, a correlating distance L2 between the second sensor 120 and a correlating distance point 140 may be calculated. The correlating distance point 140 has the same distance to the vehicle 100 as the object 130, i.e. distance L1=travel L2, when the vehicle 100 is parallel to the horizontal plane 105. The angular deviation of the vehicle is then equal to 0 when the calibration is correct.FIG. 1B shows the vehicle 100 in FIG. 1A, on whose bed a load 150 is placed. The vehicle 100 may then in certain cases, for example due to an uneven load of the vehicle suspension, incline with an angular deviation δ in the horizontal plane 105 in the direction of travel of the vehicle 101.Due to the inclination of the vehicle, the distance L 2 between the second sensor 120 and the correlating distance point 140 changes from the horizontal situation illustrated in FIG. 1A. As a result, the angular deviation δ of the vehicle can be determined by means of a trigonometric calculation. This trigonometric calculation includes calculating the arctangent of the difference between the measured first distance L 1 and the correlating distance L 2 divided by the distance A in the vertical direction of the vehicle between the first sensor 110 and the second sensor 120. In other words, this means:Note that the illustrated example of the angular deviation δ of the vehicle in FIG. 1B is only an arbitrary illustration. For example, in another embodiment, the load 150 may be placed at any other location in the vehicle 100 or may have a different magnitude, wherein the slope in the form of the angular deviation δ may have a different magnitude and / or direction.By thus determining and calculating the angular deviation δ of the vehicle, it is possible to compensate for this inclination. For example, the headlight height can thereby be adjusted in relation to the horizontal plane 105. This makes it possible to avoid the headlights of the vehicle masking other road users and to achieve better illumination of the roadway. In addition, the headlights of the vehicle can be adjusted in such a way that the shape of the light cone is optimized or at least improved, i.e. the roadway is illuminated well without other road users being blinded. This will be explained in more detail in connection with the embodiment shown in FIG. 2A.Additionally, in certain embodiments, the cab or the entire vehicle 100 may be adjusted to the inclination due to the angular deviation δ using controllable shock absorbers or similar devices, as will be explained in more detail in connection with the embodiment shown in FIG. 2B.In some embodiments, the measurement of the level in a liquid container in the vehicle 100 may also be adapted to the inclination of the vehicle. Such an embodiment will be explained in more detail with reference to Figs. 1C and 1D.An advantage of placing the sensors 110 and 120 or the distance gauges on the front of the vehicle rather than on the underside thereof is that the sensors are better protected there from external damage, dirt, snowmats, etc. This can improve the reliability of the sensors 110 and 120 against their placement under the vehicle 100, and extend the life of these sensors 110 and 120.Another advantage is that the sensors 110 and 120 are often mounted on the front side of the vehicle for other purposes, for example to measure the distance from the vehicle driving ahead, so that the driver can be warned if the distance is too small and / or so that the cruise control of the vehicle can be adapted to the speed of the vehicle driving ahead. A further conceivable application is, for example, the detection of an object appearing in front of the vehicle 100 and the warning of the driver of this object or the triggering of an automatic braking process.By additionally utilizing these or other similar sensors 110 and 120 to measure and determine the inclination of the vehicle according to the methods described herein, one may reduce the number of sensors 110 and 120 in the vehicle 100, resulting in lower material costs, less assembly effort, and lower manufacturing costs for the vehicle 100, because fewer components need to be stored and assembled in the vehicle 100.FIG. 1C shows a liquid tank 160 in the vehicle 100. The liquid tank 160 is a container filled with liquid, for example, a fuel tank, in the vehicle 100. In the example shown, the liquid tank 160 has a fill level 170 and is equipped with a fill level meter 180 which serves to indicate the fill level 170 in the liquid tank 160. In the example shown, the vehicle 100 and thereby also the liquid tank 160 is located parallel to a horizontal plane 105. In addition, the liquid tank 160 has the length B in the vehicle heading direction 101 such that the center axis 165 of the liquid tank is spaced from each side of the vehicle in the vehicle heading direction 101 by the distance B / 2.Since the liquid tank 160 is arranged parallel to the horizontal plane 105, the fill level 170 indicated by the fill level meter 180 is correct.FIG. 1D shows the liquid tank 160 in the vehicle 100 also shown in FIG. 1C. However, the liquid tank 160 here has an angular deviation of δ relative to the horizontal plane 105, for example due to an uneven load of the vehicle 100. In this case, the fill level 170 remains parallel to the horizontal plane 105 due to the force of gravity, provided that the vehicle 100 has a negligible acceleration at the time of the measurement.If the fill level 170 were measured by the fill level meter 180 without compensating for the above-described angular deviation δ with respect to the horizontal 105, the measurement result would be completely incorrect, as shown in FIG. 1D. The extent of the false indication is also dependent on the distance D between the level gauge 180 and a central axis 165 of the liquid tank. The central axis 165 runs through the geometric center point when the fill level gauge 180 and the vehicle 100 do not have an inclination or angular deviation δ with respect to the horizontal plane 105. In addition, the measurement deviation depends on whether the level gauge 180 is located in front of or behind the central axis 165 of the liquid tank in the direction of travel 101 of the vehicle.A corrected level 175 in the liquid tank 160 may be calculated. This calculation is based on the fill level 170 measured by the fill level meter 180. If the level gauge 180 is located in front of the central axis 165 of the liquid tank, the distance D between the level gauge 180 and the central axis 165 of the liquid tank is added to the measured value, if the level gauge 180 is located behind the central axis 165, the distance D is subtracted from the measured value. The result of this calculation is multiplied by the tangent of the angular deviation δ of the vehicle, so that the following applies:This provides the driver with correct information about the level in the liquid tank 160, for example in the vehicle's fuel tank, regardless of whether or not the vehicle 100 is inclined due to a heavy and / or non-uniform load 150. Thanks to this information, the driver can obtain a reliable measurement of the fill levels, for example the fuel level, in the vehicle 100, and can plan the refueling of the vehicle reliably.FIG. 2A shows the front side of the vehicle 100 on which the first sensor 110 and the second sensor 120 are mounted in order to determine the angular deviation δ of the vehicle according to the method already described. The vehicle 100 has one or more headlights 210, for example two, which can be adjusted with an angle adjuster 220, which allows the headlights 210 of the vehicle to be adjusted with a corresponding angle deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle depending on the inclination of the vehicle 100. This makes it possible to ensure that other road users are not blinded and that headlights 210 of the vehicle illuminate the roadway in an optimal, better, good or at least acceptable manner.The angle adjuster 220 may, in certain embodiments, receive control signals from the computing unit via a wireless or wired interface, such as the bus of the vehicle. In addition, the angle adjuster 220 may adjust the headlights 210 by adjusting their inclination. This is done, for example, by rotating a holder with teeth, pushing / pulling a control rod or wire cables fastened to the respective headlight 210, or by a comparable control device according to different embodiments.FIG. 2B shows an overview of the vehicle 100 and its suspension 230- 1, 230- 2, 230- 3. This suspension 230- 1, 230- 2, 230- 3 can be, for example, an air suspension. In these embodiments, where suspension 230- 1, 230- 2, 230- 3 is an air suspension, this air suspension may be connected to a compressor and an air tank via valves.According to certain embodiments, when the vehicle 100 is determined to be tilted with an angular deviation δ from the horizontal 105, it may be adjusted by tilting the vehicle 100 with a corresponding angular deviation δ in an opposite direction in the horizontal plane 105 in the vehicle's direction of travel 101. According to certain embodiments, the adjustment of the inclination of the vehicle may be performed by activating at least one adjustable shock absorber 230- 1, 230- 2, 230- 3 that rotates the vehicle 100 with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle in relation to the detected inclination of the vehicle 100.In this case, if, for example, an air suspension is used, compressed air can be supplied or discharged from the front or rear adjustable suspension 230- 1, 230- 2, 230- 3 in order to compensate for the inclination or the angular deviation δ of the vehicle. For example, when coil springs are used, their stroke length may be adjusted in certain embodiments.As a result, the aerodynamic properties in the form of air resistance can be improved, which leads to less fuel consumption and thus to lower fuel costs and also to lower environmental pollution by exhaust gases. In addition, the road position of the vehicle can also be improved by improving the aerodynamic properties. This may result in better driving behavior and more driving safety of the vehicle 100 and thereby in a reduction of the risk of an accident.Fig. 3 shows an example of an embodiment of the invention. The flow chart in FIG. 3 illustrates a method 300 for determining the angular deviation δ in the horizontal plane 105 of a vehicle 100 in the direction of travel 101 of the vehicle. The vehicle 100 has a first sensor 110 and a second sensor 120. The latter is spaced from the first sensor by a distance A in the vertical direction of the vehicle. The method 300 may be performed wholly or partly in a calculation unit of the vehicle 100. Alternatively, the method 300 may be performed in an in-vehicle system 100. This system consists of at least two sensors 110 and 120 and a calculation unit.In order to be able to correctly determine the angular deviation δ in the horizontal plane 105 of the vehicle 100, the method 300 can include a plurality of steps 301- 304. However, it should be appreciated that some of the described steps 301- 304 may be performed in a different chronological order than the numbering indicates, depending on the embodiment, and some of them may be performed in parallel with each other. The method 300 includes the following steps:Step 301A first distance L 1 between the first sensor 110 and an object 130 is determined, wherein the object 130 is located in front of the vehicle 100 in the direction of travel 101 of the vehicle.The first distance L 1 between the first sensor 110 and the object 130 may be determined in some embodiments by the first sensor 110 measuring this distance L 1 and transmitting the measurement value to the calculation unit.Step 302A second distance H is measured between the second sensor 120 and the object 130.The second distance H between the second sensor 120 and the object 130 may be determined in some embodiments by the second sensor 120 measuring this distance H and transmitting the measurement value to the calculation unit.Step 303A correlating distance L 2 is calculated between the second sensor 120 and a correlating distance point 140 that is the same distance from the vehicle 100 as the object 130 based on the determination 302 of the second distance H between the second sensor 120 and the object 130.The calculation of the correlating distance L2may include:Step 304The angular deviation δ of the vehicle in the horizontal plane 105 in the vehicle heading 101 is determined by calculating the arctangent of the difference between the measured first distance L 1 and the correlating distance L 2 and divided by the vehicle vertical distance A between the first sensor 110 and the second sensor 120. The vertical of the vehicle runs approximately at right angles to the direction of travel 101 of the vehicle and to the horizontal plane 105.The determination of the angular deviation δ may include the following calculation in certain embodiments:In certain embodiments, the determined angular deviation δ may be used to adjust the headlights 210 of the vehicle with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 such that oncoming traffic participants are not blinded.This adjustment of the headlights 210 of the vehicle may be made, in certain embodiments, by activating an angle adjuster 220 that rotates the headlights 210 of the vehicle with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle.The determined angular deviation δ may also be used to adjust the inclination of the vehicle with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle in certain embodiments.This adjustment of the vehicle inclination can be performed by activating at least one adjustable shock absorber 230- 1, 230- 2, 230- 3 which rotates the vehicle 100 with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle or acts accordingly on the vehicle.In certain embodiments, the determined angular deviation δ is used to calculate a corrected fill level 175 for a fill level gauge 180 in a liquid tank 160 in the vehicle 100 based on the determined angular deviation δ and a distance D in the vehicle heading 101 between the fill level gauge 180 and the liquid tank central axis 165.The calculation of the corrected fill level 175 in the liquid tank 160 according to certain embodiments includes determining the measured fill level 170 plus / minus distance D multiplied by the tangent of the angular deviation δ of the vehicle, i.e.:FIG. 4 shows an embodiment of a system 400, including, among other things, a calculation unit 410 that serves to execute at least parts of the method 300 for determining the angular deviation δ in the horizontal plane 105 of a vehicle 100 in the direction of travel 101 of the vehicle. The vehicle 100 has a first sensor 110 and a second sensor 120. The latter is spaced from the first sensor by a distance A in the vertical direction of the vehicle.The calculation unit 410 has a signal receiver 420 that can receive a signal from the first sensor 110 and the second sensor 120. In certain embodiments, this signal transmission can take place via a wireless interface.The wireless network may be based on, for example, one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless fidelity (Wi-Fi) as defined by an Institute of Electrical and Electronics Engineers (IEEE) in 802.11 a, ac, b, g and / or n standards, Internet Protocol (IP), Bluetooth and / or Near Field Communication (NFC), or similar communication technologies, in accordance with various embodiments.In certain other embodiments, the signal receiver 420 and the sensors 110, 120 are used for communication and information transmission over a wired interface. Such a wired interface may include a communication bus system that is comprised of one or more communication buses that connect multiple electronic control units (ECUs) or monitoring devices / controllers, as well as various components and sensors mounted on the vehicle 100.The signal receiver 420 and the mentioned sensors 110 and 120 are in turn capable of communicating with one another on the one hand in order to receive signals and measured values and possibly also to initiate a measurement, for example in a specific time interval. On the other hand, the signal receiver 420 and the mentioned sensors 110 and 120 can communicate, for example, via the communication bus of the vehicle, which can consist of one or more cables, a data bus, such as, for example, a CAN bus (CAN=Controller Area Network), a MOST bus (Media Oriented Systems Transport) or a wireless connection, for example according to one of the above-mentioned technologies for wireless communication.The calculation unit 410 has a signal receiver 420 that can receive a signal from the first sensor 110 and the second sensor 120.The signal received by the first sensor 110 includes a measured first distance L 1 between the first sensor 110 and an object 130 located in front of the vehicle 100 in the direction of travel 101 of the vehicle. The signal received by the second sensor 120 includes a measured second distance H between the second sensor 120 and the object 130. As a result, in certain embodiments, the calculation unit 410 may determine the first distance L 1 or the second distance H on the basis of the received measurement value of the first sensor 110 or the second sensor 120, respectively.The calculation unit 410 also has a processing circuit 430. The processing circuit 430 is to calculate a correlated distance L 2 between the second sensor 120 and a correlated distance point 140 that is at the same distance from the vehicle 100 as the object 130, based on the measurement of the second distance H between the second sensor 120 and the object 130. The processing circuit 430 is also capable of determining the angular deviation δ of the vehicle in the horizontal plane 105 in the vehicle heading direction 101 by calculating the arc tangent of the difference between the measured first distance L 1 and the correlating distance L 2 and dividing it by the distance A in the vehicle vertical direction between the first sensor 110 and the second sensor 120.In certain embodiments, the calculation unit 410 may determine the angular deviation δ by calculating:In certain embodiments, the calculation unit 410 may determine the correlating distance L 2 by calculating:In certain embodiments, the computing unit 410 may also include a signal transmitter 440. The signal transmitter 440 may be used to transmit control signals to an angle adjuster 220 that instructs it to turn the headlights 210 of the vehicle with the corresponding angular deviation δ calculated for the vehicle 100, in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle.In various embodiments, these signals may be transmitted over a wireless or alternatively over a wired interface, as described above.The signal transmitter 440 may also transmit control signals to at least one adjustable shock absorber 230- 1, 230- 2, 230- 3 to instruct the same to turn the vehicle 100 with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle, according to certain embodiments.The processor circuit 430 may also be used in certain embodiments to calculate a corrected fill level 175 for a fill level gauge 180 in a liquid tank 160 in the vehicle 100 based on the determined angular deviation δ and a distance D in the vehicle heading 101 between the fill level gauge 180 and the liquid tank central axis 165.The processing circuit 430 may calculate the corrected level 175 in the liquid tank 160 by determining the measured level 170 plus / minus distance D multiplied by the tangent of the angular deviation δ, i.e., according to these embodiments:The processor circuit 430 may be comprised of, for example, one or more central processing units (CPUs), microprocessors, or other logic units that interpret and execute instructions and / or read or write data. The processing circuit 410 may process input and output data or perform data processing including buffering of data, control functions, or the like.The computing unit 410 may also include a storage unit 425, which may consist of a storage medium for data in certain embodiments, in accordance with certain embodiments. The memory unit 425 may consist, for example, of a memory card, a flash memory, a USB memory, a hard disk or another similar data storage unit, for example from the following group: ROM (read-only memory), PROM (programmable read-only memory), EPROM (erasable PROM), flash memory, EEPROM (electrically erasable PROM), etc., in various embodiments.In addition, according to certain embodiments, the invention comprises a computer program for determining the angular deviation δ in the horizontal plane 105 of a vehicle 100 in the direction of travel 101 of the vehicle.The computer program serves to perform the method 300 according to at least one of the previously described steps 301- 304 when the program is executed in a processor circuit 430 in the calculation unit 410.The computer program may also be used, in certain embodiments, to adjust the headlights 210 of the vehicle with the corresponding angular deviation δ calculated for the vehicle 100 in the opposite direction in the horizontal plane 105 in the direction of travel 101 such that oncoming traffic participants are not blinded. For example, the computer program may achieve this by activating an angle adjuster 220 that rotates headlights 210 of the vehicle.The computer program may also serve, in certain embodiments, to adjust the inclination of the vehicle with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle. For example, such adjustment of the vehicle pitch may be achieved by activating at least one adjustable shock absorber 230- 1, 230- 2, 230- 3 that rotates the vehicle 100 with the corresponding angular deviation δ.The computer program may also be used in certain embodiments to calculate a corrected fill level 175 for a fill level gauge 180 in a liquid tank 160 in the vehicle 100 based on the determined angular deviation δ and a distance D in the vehicle heading 101 between the fill level gauge 180 and the center axis 165 of the liquid tank. Such a calculation of the corrected fill level 175 in the liquid tank 160 may include, according to certain embodiments, determining the measured fill level 170 plus / minus distance D multiplied by the tangent of the angular deviation δ of the vehicle.The method 300 according to at least one of the steps 301- 304 for determining the angular deviation δ in the horizontal plane 105 of a vehicle 100 in the direction of travel 101 of the vehicle can be realized by one or more processor circuits 430 in the calculation unit 410 together with a program code for executing one, more, specific or all of the steps 301- 304 described above. Thereby, a computer program including instructions for executing steps 301- 304 may be executed when the program is loaded into the processing circuit 430.The computer program in the vehicle 100 described above is provided, in particular embodiments, for being installed in the storage unit 425 in the calculation unit 410, for example via a wireless interface.The signal receiver 420 and / or signal transmitter 440 described and discussed above may consist of separate transmitters and receivers in certain embodiments. However, in certain embodiments, the signal receiver 420 and the signal transmitter 440 in the calculation unit 410 may consist of a transceiver that is configured to transmit and receive radio signals and in which parts of the construction, for example the antenna, are shared between transmitter and receiver. The mentioned communication can be designed for wireless information transmission via radio waves, WLAN, Bluetooth or infrared transmitter / receiver module. However, in certain embodiments, the signal receiver 420 and / or signal transmitter 440 may alternatively be dedicated to wired information exchange or alternatively, both for wireless and wired communication.The invention also comprises a system 400 for determining the angular deviation δ in the horizontal plane 105 of a vehicle 100 in the direction of travel 101 of the vehicle. The system 400 includes a first sensor 110 and a second sensor 120 mounted on the vehicle 100, the second sensor 120 being located a distance A away from the first sensor 110 in the vertical direction of the vehicle. The first sensor 110 is provided to measure a first distance L 1 between the first sensor 110 and an object 130 located in front of the vehicle 100 in the direction of travel 101 of the vehicle.The second sensor 120 is provided to measure a second distance H between the second sensor 120 and the object 130.In addition, the system 400 comprises a calculation unit 410 according to one of the embodiments described above.The system 400 may also include one or more angle adjusters 220 configured to rotate the headlights 210 of the vehicle with a corresponding angular deviation δ, such as that calculated for the vehicle 100, in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle, according to certain embodiments.The system 400 may also include at least one adjustable shock absorber 230- 1, 230- 2, 230- 3 that rotates the vehicle 100 with the corresponding angular deviation δ in the opposite direction in the horizontal plane 105 in the vehicle heading direction 101, according to certain embodiments.The system 400 may also include a level gauge 180 in a liquid tank 160 in the vehicle 100, according to certain embodiments.The first sensor 110 or the second sensor 120 belonging to the system 400 can consist, in various embodiments, of a radar measuring device, a laser measuring device, a camera, a distance measuring device based on ultrasonic waves or another comparable device which enables the distance to the object 130 to be determined.Some embodiments of the invention also include a vehicle 100 that includes a system 400 installed in the vehicle 100 for determining the angular deviation δ in the horizontal plane 105 of the vehicle 100 in the direction of travel 101 of the vehicle. The system 400 comprises, inter alia, a calculation unit 410 which serves to carry out at least parts of a method 300 for determining the angle deviation δ in the horizontal plane 105 of the vehicle 100.

Claims

Method (300) for determining the angular deviation (δ) in the horizontal plane (105) of a vehicle (100) in the direction of travel (101) of the vehicle, wherein the vehicle (100) is equipped with a first sensor (110) and a second sensor (120), wherein the second sensor (120) is attached at a distance (A) in the vertical direction of the vehicle from the first sensor (110), wherein the method (300) comprises: determining (301) a first distance (L1) between the first sensor (110) and an object (130) which is located in front of the vehicle (100) in the direction of travel (101) of the vehicle, determining (302) a second distance (H) between the second sensor (120) and the object (130), Calculation (303) of a correlated distance (L2) between the second sensor (120) and a correlated distance point (140) which is the same distance from the vehicle (100) as the object (130), on the basis of the determination (302) of the second distance (H) between the second sensor (120) and the object (130), determination (304) of the angular deviation (δ) of the vehicle in the horizontal plane (105) in the direction of travel (101) of the vehicle by calculation of the arctangent of the difference between the measured first distance (L1) and the correlated distance (L2) divided by the distance (A) in the vertical direction of the vehicle between the first sensor (110) and the second sensor (120).Method (300) according to Claim 1, in which the determination (304) of the angle deviation (δ) comprises the following calculation: angle deviation δ = arctan L 2 - L 1 A. Method (300) according to either of Claims 1 and 2, in which the calculation (303) of the correlating route (L2) comprises the following calculation: correlating route L 2 = H 2 - A 2 Method (300) according to one of Claims 1 - 3, in which the determined (304) angular deviation (δ) is used to set the headlights (210) of the vehicle with the corresponding angular deviation (δ) in the opposite direction in the horizontal plane (105) in the direction of travel (101) such that oncoming traffic participants are not blinded.Method (300) according to claim 4, wherein the adjustment of the headlights (210) of the vehicle is performed by activating an angle adjuster (220), which rotates the headlights (210) of the vehicle with the corresponding angle deviation (δ) in the opposite direction in the horizontal plane (105) in the direction of travel (101) of the vehicle.Method (300) according to one of claims 1 - 5, wherein the determined (304) angular deviation (δ) is used to adjust the inclination of the vehicle with the corresponding angular deviation (δ) in the opposite direction in the horizontal plane (105) in the direction of travel (101).Method (300) according to claim 6, wherein the adjustment of the inclination of the vehicle is made by activation of at least one adjustable shock absorber (230-1, 230-2, 230-3) rotating the vehicle (100) with the corresponding angular deviation (δ) in opposite direction in the horizontal plane (105) in the direction of travel (101) of the vehicle.Method (300) according to one of claims 1 - 7, wherein the determined (304) angular deviation (δ) is used to calculate a corrected fill level (175) for a fill level meter (180) in a liquid tank (160) in the vehicle (110) on the basis of the determined (304) angular deviation (δ) and a distance (D) in the direction of travel (101) of the vehicle between the fill level meter (180) and the central axis (165) of the liquid tank.Method (300) according to claim 8, wherein the calculation of the corrected fill level (175) in the liquid tank (160) comprises the determination of the measured fill level (170) plus / minus distance (D) multiplied by the tangent of the angle deviation (δ): corrected F u%0020̈ LLbase (175) = measured F u%0020̈ LLbase (170) + / - D ⋅ tand A calculation unit (410) for determining the angular deviation (δ) in the horizontal plane (105) of a vehicle (100) in the direction of travel (101) of the vehicle, the vehicle (100) being equipped with a first sensor (110) and a second sensor (120), the second sensor (120) being mounted at a distance (A) in the vertical direction of the vehicle from the first sensor (110), the calculation unit (410) comprising: a signal receiver (420) receiving a signal from the first sensor (110), including a measured first distance (L1) between the first sensor (110) and an object (130) located in front of the vehicle (100) in the direction of travel (101) thereof, and receiving a signal from the second sensor (120), a measured second distance (H) between the second sensor (120) and the object (130), a processing circuit (430) that calculates a correlated distance (L2) between the second sensor (120) and a correlated distance point (140) that is the same distance from the vehicle (100) as the object (130), the calculation being based on the measurement of the second distance (H) between the second sensor (120) and the object (130), and that also determines the angular deviation (δ) of the vehicle in the horizontal plane (105) in the direction of travel (101) by determining the arctangent of the difference between the first distance (L1) and the correlated distance (L2), divided by the distance (A) in the vertical direction of the vehicle between the first sensor (110) and the second sensor (120), calculated.The calculation unit (410) according to claim 10, wherein the calculation unit (410) is for obtaining the angular deviation (δ) of the vehicle by calculation of: angular deviation δ = arctan L 2 - L 1 A. The calculation unit (410) according to claim 10 or claim 11, wherein the calculation unit (410) is for determining the correlating distance (L2) by the following calculation: correlating distance L 2 = H 2 - A 2 The calculation unit (410) according to any of claims 10-12, wherein the calculation unit (410) also comprises: a signal transmitter (440), which serves to transmit control signals to an angle adjuster (220), which instructs it to rotate the headlights (210) of the vehicle with the corresponding angular deviation (δ) calculated for the vehicle (100), in the opposite direction in the horizontal plane (105) in the direction of travel (101) of the vehicle.The calculation unit (410) according to any of claims 10-13, wherein the calculation unit (410) further comprises: a signal transmitter (440), which transmits control signals to at least one adjustable shock absorber (230-1, 230-2, 230-3) to instruct it to turn the vehicle (100) with the corresponding angular deviation (δ) in the opposite direction in the horizontal plane (105) in the direction of travel (101).The calculation unit (410) according to any one of claims 10 - 14, wherein the processor circuit (430) calculates a corrected fill level (175) for a fill level meter (180) in a liquid tank (160) in the vehicle (110) on the basis of the determined angular deviation (δ) and a distance (D) in the direction of travel (101) of the vehicle between the fill level meter (180) and the central axis (165) of the liquid tank.Computer program for determining the angular deviation (δ) in the horizontal plane (105) of a vehicle (100) in the direction of travel (101) of the vehicle by a method (300) according to one of Claims 1 - 9, wherein the computer program is executed in a processor circuit (430) in a calculation unit (410) according to one of Claims 10 - 15.A system (400) for determining the angular deviation (δ) in the horizontal plane (105) of a vehicle (100) in the direction of travel (101) of the vehicle, the system comprising: a first sensor (110) located in or on the vehicle (100), a second sensor (120) located in or on the vehicle (100) at a distance (A) in the vertical direction of the vehicle from the first sensor (110), wherein the first sensor (110) measures a first distance (L1) between the first sensor (110) and an object (130) located in front of the vehicle (100) in its direction of travel (101), and the second sensor (120) measures a second distance (H) between the second sensor (120) and the object (130), and a calculation unit (410) according to any one of claims 10 - 15.The system (400) of claim 17, further comprising an angle adjuster (220) that rotates the headlights (210) of the vehicle with the corresponding angular deviation (δ) calculated for the vehicle (100) in the opposite direction in the horizontal plane (105) in the direction of travel (101) of the vehicle.The system (400) according to any of claims 17-18, further comprising at least one adjustable shock absorber (230-1, 230-2, 230-3) rotating the vehicle (100) with the corresponding angular deviation (δ) in opposite direction in the horizontal plane (105) in the direction of travel (101) of the vehicle.The system (400) of any of claims 17-19, further comprising a level gauge (180) in a liquid tank (160) in the vehicle (110).The system (400) of any of claims 17-20, wherein the first sensor (110) and the second sensor (120), respectively, comprises: a radar meter, a laser meter, a camera, a distance meter based on ultrasonic waves.Vehicle (100) comprising a system (400) according to any of claims 17-21 installed in the vehicle (100), which is used to carry out a method (300) according to any of claims 1-9 for determining the angular deviation (δ) in the horizontal plane (105) of the vehicle (100).

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