Device and method for detecting an angle of inclination

Abstract

Device for detecting at least one inclination angle of a vehicle, comprising a chassis (3) with several vehicle wheels (10, 11, 12, 13) that stand or roll on a surface (26), a vehicle body (2) supported by the chassis (3) which is connected by vehicle springs (20) to unsprung components of the chassis (3) comprising the vehicle wheels (10, 11, 12, 13) which are articulated to the vehicle body (2) by chassis links (16), several sensor arrangements (27, 34) of which at least one body sensor arrangement (27) is provided on the vehicle body (2) and one or more chassis sensor arrangements (34) are provided on the unsprung components of the chassis (3) and / or the chassis links, wherein each sensor arrangement comprises several acceleration sensors (28, 29, 30;35, 36, 37) comprising translational accelerations in different spatial directions (x, y, z) by means of which acceleration signals (Sx, Sy, Sz; Fx, Fy, Fz) characterizing these accelerations can be provided, and an evaluation device (38) connected to the sensor arrangements (27, 34) by means of which a pitch angle (θ) of the vehicle (1) can be determined from the acceleration signals, wherein the body-mounted sensor arrangement (27) comprises several rotary motion sensors (31, 32, 33) by means of which rotational movements about different axes of rotation can be detected and body-mounted rotary motion signals (Syz, Szx, Sxy) characterizing these rotational movements can be provided, wherein the pitch angle (θ) can be additionally determined by means of the evaluation device (33) taking into account the body-mounted rotary motion signals (Syz, Szx, Sxy) is determinable.;

Description

[0001] The invention relates to a device for detecting at least one angle of inclination of a vehicle having the features of the preamble of claim 1 and to a method having the features of the preamble of claim 7.

[0002] Such a device or method is known from DE 10 2017 207 559 A1.

[0003] DE 10 2018 210 586 B3 discloses a device for automatically adjusting the headlight range of a headlight device of a vehicle having a plurality of vehicle wheels with pneumatic tires, comprising: a control device which is designed to determine a pitch angle of the vehicle and to adjust a 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 ground of the vehicle and a second acceleration sensor arranged on the vehicle in a fixed orientation relative to the headlight device of the vehicle, which are each designed to measure at least the direction of an acceleration present at the location of the respective acceleration sensor, wherein the control device is designed toto determine the pitch angle based on the directions of the accelerations measured by the first and second acceleration sensors.,

[0004] Due to the vehicle's springs, the body can fluctuate relative to the unsprung components of the chassis, so determining the orientation of the vehicle body using translational acceleration sensors may be inaccurate. This also means that the determined pitch angle may be inaccurate.

[0005] Based on this, the invention is based in particular on the object of being able to increase the accuracy in determining the pitch angle.

[0006] This object is achieved according to the invention by a device according to claim 1 and by a method according to claim 7. Preferred developments of the invention are given in the subclaims and in the following description.

[0007] A device for detecting at least one angle of inclination of a vehicle, which comprises a chassis with a plurality of vehicle wheels that rest or roll on a surface, a vehicle body supported by the chassis and connected by vehicle springs to unsprung components of the chassis, which comprise the vehicle wheels that are articulated to the vehicle body by chassis links, a plurality of sensor arrangements, of which at least one body sensor arrangement is provided on the vehicle body and one or more chassis sensor arrangements are provided on the unsprung components of the chassis and / or the chassis links, wherein each sensor arrangement 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 arrangements,The evaluation device, by means of which a pitch angle of the vehicle can be determined from the acceleration signals, is further developed according to the invention in particular in that the body sensor arrangement comprises a plurality of rotational movement sensors, by means of which rotational movements about different axes of rotation can be detected and body rotational movement signals characterizing these rotational movements can be provided. The pitch angle can be determined by means of the evaluation device, additionally taking into account the body rotational movement signals. In particular, the pitch angle of the vehicle can thus be determined from the acceleration signals and the body rotational movement signals by means of the evaluation device.

[0008] If the acceleration sensors of the body sensor array are subjected to a rotational movement due to a swaying vehicle body, the acceleration signals provided by these acceleration sensors may contain not only translational signal components but also rotational signal components, which can reduce the accuracy of the pitch angle determination. By detecting the rotational movements, it is possible to calculate out and / or compensate for these rotational signal components, in particular at least partially, and thus increase the accuracy of the pitch angle.

[0009] The invention further relates in particular to a method for detecting at least one angle of inclination of a vehicle, which has a chassis with a plurality of vehicle wheels that stand or roll on a ground, a vehicle body supported by the chassis, which is connected by vehicle springs to unsprung components of the chassis, which comprise the vehicle wheels that are articulated to the vehicle body by chassis links, and a plurality of sensor arrangements, of which at least one body sensor arrangement is provided on the vehicle body and one or more chassis sensor arrangements are provided on the unsprung components of the chassis and / or the chassis links, wherein each sensor arrangement 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 a pitch angle of the vehicle is determined. The method is particularly further developed in that the body sensor arrangement comprises several rotational motion sensors, by means of which rotational movements about different axes of rotation are detected and body rotational motion signals characterizing these rotational movements 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 signals and the body rotational motion signals.

[0010] According to the method, the vehicle preferably has an evaluation device connected to the sensor arrangements, by means of which the pitch angle of the vehicle is determined from the acceleration signals. According to the method, the pitch angle is preferably determined by means of the evaluation device, additionally taking into account the body rotational movement signals. In particular, the pitch angle of the vehicle is thus determined from the acceleration signals and the body rotational movement signals by means of the evaluation device.

[0011] The method according to the invention is preferably carried out using the device according to the invention. In particular, the method according to the invention can be further developed according to all embodiments explained in connection with the device according to the invention. Furthermore, the device according to the invention can be further developed, for example, according to all embodiments explained in connection with the method according to the invention.

[0012] The pitch angle is, in particular, an inclination angle of the vehicle. Preferably, a pitch angle signal characterizing the pitch angle is and / or can be provided, particularly by means of the evaluation device. The expression "at least one" preferably also encompasses the meaning of "one" or "exactly one."

[0013] Preferably, rotational signal components in the acceleration signals provided by the acceleration sensors of the body sensor arrangement are or are, preferably by means of the evaluation device, with the aid of and / or taking into account the body rotational movement signals, in particular at least partially, able to be calculated out and / or compensated and / or calculated out and / or compensated.

[0014] The number of vehicle wheels is preferably four. The vehicle wheels are preferably arranged in corners of the vehicle. Advantageously, the chassis is provided with at least one vehicle axle, which in particular comprises two or at least two of the vehicle wheels. Preferably, the chassis is provided with a plurality of vehicle axles, each of which in particular comprises two or at least two of the vehicle wheels. One of these vehicle axles is in particular a front axle. One or another of these vehicle axles is in particular a rear axle. Preferably, the chassis is provided with the or a front axle, which in particular comprises two or at least two front wheels of the vehicle wheels. Preferably, the chassis is provided with the or a rear axle, which in particular comprises two or at least two rear wheels of the vehicle wheels. The number of vehicle axles is advantageously in particular two or at least two.

[0015] Preferably, each chassis sensor arrangement is provided on one of the vehicle wheels and / or on a wheel suspension of one of the vehicle wheels and / or on a wheel carrier supporting one of the vehicle wheels and / or on one of the chassis links and / or in one of the corners of the vehicle. The number of chassis sensor arrangements 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 arrangements is provided in the region of each vehicle wheel of the at least one vehicle axle or of at least one of the vehicle axles. In particular, one of the chassis sensor arrangements is provided on the at least one vehicle axle or on the wheel carriers supporting the vehicle wheels on at least one of the vehicle axles. For example, the number of chassis sensor arrangements corresponds to the number of front wheels and / or rear wheels.In particular, one of the chassis sensor assemblies is assigned to each front wheel and / or each rear wheel. Preferably, one of the chassis sensor assemblies is provided in the region of each front wheel and / or each rear wheel. For example, one of the chassis sensor assemblies is provided on each wheel carrier supporting the front wheels and / or the rear wheels. Preferably, the number of chassis sensor assemblies corresponds to the number of vehicle wheels. Preferably, one of the chassis sensor assemblies is assigned to each vehicle wheel. In particular, one of the chassis sensor assemblies is provided in the region of each vehicle wheel. For example, one of the chassis sensor assemblies is provided on each wheel carrier supporting the vehicle wheels.

[0016] Preferably, the body sensor arrangement is arranged in a fixed orientation relative to the vehicle body. Preferably, each chassis sensor arrangement is arranged in a fixed orientation relative to the unsprung components of the chassis. Advantageously, each chassis sensor arrangement is arranged in a, particularly substantially, fixed orientation relative to the ground. The term "substantially" refers in particular to the suspension of the unsprung components of the chassis relative to the ground caused by pneumatic tires. The influence of this suspension is, in particular, neglected.

[0017] According to an advantageous development, the rotational motion sensors of the body sensor arrangement are designed as rotational rate sensors, by means of which, in particular, the rotational movements can be and / or are detected in the form of angular velocities. The body rotational motion signals are, in particular, angular velocity signals and can also be referred to, for example, as body angular velocity signals. To determine and / or estimate the rotational signal components in the acceleration signals provided by the acceleration sensors of the body sensor arrangement, the body angular velocity signals can be integrated, for example, over time.

[0018] The built-on sensor arrangement is preferably designed to detect three translational degrees of freedom. The built-on sensor arrangement is preferably designed to detect three rotational degrees of freedom. In particular, the built-on sensor arrangement is designed to detect six kinematic degrees of freedom.

[0019] The assembly sensor arrangement can preferably detect translational accelerations in three different spatial directions. The assembly sensor arrangement can preferably detect translational accelerations in three different assembly sensor arrangement directions. Preferably, each of the rotational axes of the assembly sensor arrangement runs in one of the assembly sensor arrangement directions. Advantageously, the rotational axes of the assembly sensor arrangement intersect at a common origin.

[0020] The built-in sensor arrangement is preferably formed by an inertial measurement unit (IMU), particularly in the form of a microsystem (MEMS). Rotation rate sensors are also referred to as gyroscopes, for example. Inertial measurement units designed as microsystems require little installation space, are low-maintenance, and are relatively inexpensive.

[0021] According to an advantageous embodiment, each chassis sensor arrangement is designed to detect three or at least three kinematic degrees of freedom.

[0022] In particular, each chassis sensor arrangement is designed to detect three translational degrees of freedom.

[0023] According to an advantageous development, each chassis sensor arrangement comprises a plurality of rotational movement sensors, by means of which rotational movements about different axes of rotation can be and / or are detected, and chassis rotational movement signals characterizing these rotational movements can be and / or are provided. Preferably, the pitch angle can be and / or is determined, in particular by means of the evaluation device, additionally taking into account the chassis rotational movement signals. Preferably, the pitch angle of the vehicle can be and / or is determined from the acceleration signals, the body rotational movement signals, and the chassis rotational movement signals, preferably by means of the evaluation device. In particular, this allows the orientation of the chassis and / or the ground to be determined more precisely, thus increasing the accuracy of determining the pitch angle.

[0024] Preferably, rotational signal components in the acceleration signals provided by the acceleration sensors of the respective chassis sensor arrangement are or are, preferably by means of the evaluation device, capable of being calculated out and / or compensated for, in particular at least partially, with the aid of and / or taking into account the chassis rotational movement signals of each chassis sensor arrangement.

[0025] According to an advantageous embodiment, the rotational motion sensors of each chassis sensor arrangement are designed as angular rate sensors, by means of which the respective rotational movements, in particular the respective ones, can be and / or are detected in the form of angular velocities. The chassis rotational motion signals are, in particular, angular velocity signals and can also be referred to, for example, as chassis angular velocity signals. To determine and / or estimate the rotational signal components in the acceleration signals provided by the acceleration sensors of each chassis sensor arrangement, the respective chassis angular velocity signals can be integrated, for example, over time.

[0026] Each chassis sensor arrangement is designed, for example, to detect three rotational degrees of freedom. Preferably, each chassis sensor arrangement is designed to detect six kinematic degrees of freedom.

[0027] Preferably, each chassis sensor arrangement can detect translational accelerations in three different spatial directions. Advantageously, each chassis sensor arrangement can detect translational accelerations in three different chassis sensor arrangement directions. Preferably, each of the rotational axes of each chassis sensor arrangement runs in one of the chassis sensor arrangement directions of the respective chassis sensor arrangement. Advantageously, the rotational axes of each chassis sensor arrangement intersect, in particular, at a common origin.

[0028] Each landing gear sensor arrangement is preferably formed by an inertial measurement unit (IMU), particularly in the form of a micromechanical system (MEMS). The angular rate sensors are also referred to as gyroscopes, for example.

[0029] According to an advantageous development, one or more body orientation information items about the orientation of the vehicle body can be determined and / or determined, in particular by means of the evaluation device, on the basis of the signals provided by the body sensor arrangement. Preferably, one or more chassis orientation information items or ground orientation information items about the orientation of the chassis and / or the ground can be determined and / or determined, in particular by means of the evaluation device, on the basis of the signals provided by the one or more chassis sensor arrangements. In particular, the pitch angle can be determined and / or determined from the body orientation information item(s) and the chassis orientation information item(s) or ground orientation information item(s). The one or more chassis orientation information items correspond, for example, tothe one or more subsurface orientation information.

[0030] The one or more pieces of body orientation information comprise, for example, only directional information, for example, in a vehicle's longitudinal vertical plane. The one or more pieces of chassis orientation information or ground orientation information comprise, for example, only directional information, for example, in the vehicle's longitudinal vertical plane. If each piece of directional information is present, for example, in the form of an angle, in particular with respect to the same reference axis, the pitch angle results, for example, from the difference between these angles.

[0031] The body orientation information preferably characterizes a body plane representing the vehicle body. The chassis orientation information or ground orientation information advantageously characterizes a chassis plane or ground plane representing the chassis or the ground. The chassis plane corresponds, for example, to the ground plane or runs parallel to it. In particular, the pitch angle is or can be determined from the position of the body plane relative to the chassis plane or ground plane.

[0032] According to an advantageous embodiment, a roll angle of the vehicle can be determined and / or identified from the signals provided by the sensor arrangements, in particular by means of the evaluation device. For example, the roll angle can be determined or identified from the position of the body plane relative to the chassis plane or ground plane. The roll angle is, in particular, another angle of inclination of the vehicle. The pitch angle and the roll angle run, for example, transversely to one another. Preferably, a roll angle signal characterizing the roll angle can be provided and / or identified, in particular by means of the evaluation device.

[0033] According to a possible further development, one of the chassis sensor arrangements is arranged in the area of ​​each vehicle wheel of one or at least one of the vehicle axles, for example, the front axle or the rear axle. The chassis orientation information preferably then includes information about the orientation of the vehicle wheels of the vehicle axle, from which the wheel travels of the vehicle wheels can be determined and / or are determined, in particular by means of the evaluation device. Preferably, the roll angle or a roll angle can be determined and / or is determined from the wheel travels, in particular by means of the evaluation device. Since the positional relationship between the vehicle body and each vehicle wheel is predetermined by the chassis, a wheel travel of the respective vehicle wheel can also be determined from the detected orientation of each vehicle wheel and the body orientation information(s), whereby the roll angle can be determined from the wheel travels of the vehicle wheels of the vehicle axle.

[0034] The superstructure plane, for example, is described by a superstructure plane vector running perpendicular to it. For example, the landing gear plane or the ground plane is described by a landing gear plane vector or ground plane vector running perpendicular to it. The landing gear plane vector corresponds, for example, to the ground plane vector. For example, an angle enclosed between the superstructure plane vector and the landing gear plane vector or ground plane vector results from a superposition of pitch and roll.

[0035] According to the invention, the pitch angle can be corrected and / or corrected and determined or is determined by means of the evaluation device taking the roll angle into account. For example, a corrected body plane vector is given by a projection of the body plane vector onto a plateau running perpendicular to the chassis plane or ground plane in the vehicle's longitudinal direction, wherein the, in particular corrected, pitch angle is given by an angle enclosed between the corrected body plane vector and the chassis plane vector or ground plane vector. The projection is preferably carried out taking the roll angle into account and / or using it. Instead of the aforementioned vectors, straight lines or straight line segments can also be used, for example, since for determining the pitch angle it is not the magnitudes of the vectors that are important, but only their direction.

[0036] According to an advantageous embodiment, a headlight device or at least one headlight device, in particular one connected to the evaluation device, is provided with at least one headlight and at least one headlight adjustment drive, by means of which the inclination of the headlight and / or a light beam emitted by the headlight can be adjusted and / or is adjusted as a function of the pitch angle, preferably relative to the vehicle body. The headlight device preferably comprises at least one headlight holding device, on which the at least one headlight is mounted, in particular in an inclinable and / or pivotable manner. The at least one headlight is in particular a headlight. Instead of the term light beam, the term light cone can also be used, for example.The body sensor arrangement is preferably arranged in a fixed orientation relative to the headlight device and / or to the at least one headlight mounting device. The at least one headlight mounting device is preferably fixed to the vehicle body. The headlight device preferably comprises two headlights and / or two headlight adjustment drives and / or two headlight mounting devices. For example, the vehicle has the one or at least one headlight device.

[0037] The evaluation device preferably comprises and / or is formed by a digital computer. The evaluation device preferably comprises a plurality of analog-to-digital converters, by means of which sensor signals supplied by the sensors can be digitized and / or are digitized.

[0038] The device according to the invention is, in particular, part of the vehicle. For example, the expression "device for detecting at least one inclination angle of a vehicle" can also be replaced by the expression "vehicle" or by the expression "vehicle with a device for detecting at least one inclination angle" or by the expression "vehicle with a device for detecting at least one inclination angle of the vehicle." The device according to the invention preferably comprises the at least one body sensor arrangement and / or the one or more chassis sensor arrangements and / or the evaluation device and / or the headlight device and / or the chassis, and / or the vehicle body and / or the vehicle springs and / or the chassis control arms and / or each wheel carrier.

[0039] The invention is described below using a preferred embodiment with reference to the drawing. In the drawing: Fig. 1 a schematic plan view of a vehicle, Fig. 2 a schematic view of a wheel suspension of the vehicle, Fig. 3 a schematic representation of a device for detecting at least one angle of inclination according to an embodiment, Fig. 4 a schematic representation to illustrate the determination of a pitch angle and Fig. 5 a schematic representation to illustrate the determination of a roll angle.

[0040] Out of Fig. 1 shows a schematic plan view of a vehicle 1 having a vehicle body 2 and a chassis 3 with multiple wheel suspensions 4, 5, 6, and 7, of which wheel suspensions 4 and 5 are assigned to a front axle 8, and wheel suspensions 6 and 7 are assigned to a rear axle 9. Each wheel suspension comprises a vehicle wheel, with wheel suspension 4 comprising vehicle wheel 10, wheel suspension 5 comprising vehicle wheel 11, wheel suspension 6 comprising vehicle wheel 12, and wheel suspension 7 comprising vehicle wheel 13. Furthermore, a coordinate system having a longitudinal direction x, a transverse direction y, and a vertical direction z is shown.

[0041] Out of Fig. Figure 2 shows a schematic view of the wheel suspension 4, which has a wheel carrier 14 connected by a joint 15, preferably designed as a ball joint, to a chassis link 16, preferably designed as a wishbone, the end of which remote from the wheel carrier 14 is articulated to the vehicle body 2 by at least one joint 17, preferably designed as a rubber bearing. Furthermore, the wheel carrier 14 is connected, in particular fixedly, to a spring strut 18, the end of which remote from the wheel carrier 14 is connected to the vehicle body 2 by a spring strut support bearing 19. The spring strut 18 comprises a vehicle spring 20 and a damper 21, which is surrounded in particular by the vehicle spring 20, preferably designed as a helical spring. A wheel bearing 22 is fastened to the wheel carrier 14, by means of which wheel bearing the vehicle wheel 10 is mounted on the wheel carrier 14 so as to be rotatable about a wheel rotation axis 23.Furthermore, a tie rod 24 is connected to the wheel carrier 14 by means of a joint 25, preferably designed as a ball joint. The vehicle wheel 10 is in contact with a ground 26, which is, for example, a road or carriageway.

[0042] A body sensor arrangement 27 is provided on the vehicle body 2, which has three translational acceleration sensors 28, 29 and 30 as well as three rotation rate sensors 31, 32 and 33 (see Fig. 3). Furthermore, a chassis sensor arrangement 34 is provided on the wheel carrier 14, which has three translational acceleration sensors 35, 36 and 37 (see Fig. 3). Optionally, the chassis sensor assembly 34 may additionally include three yaw rate sensors.

[0043] The wheel suspension 5 is preferably constructed laterally inverted to the wheel suspension 4. Furthermore, the wheel suspension 7 is preferably constructed laterally inverted to the wheel suspension 6. In particular, the front axle 8 is designed to be steerable. The rear axle is designed, for example, to be steerable or non-steerable. Apart from this, the wheel suspensions 4, 5, 6, and 7 are, in particular, constructed similarly.

[0044] As from Fig. 3, the sensors of the sensor assemblies 27 and 34 are connected to an evaluation device 38. Optionally, a chassis sensor assembly 39 is provided, which is identical to the chassis sensor assembly 34 and arranged on a wheel carrier of the wheel suspension 5 supporting the vehicle wheel 11. The translational acceleration sensors 35, 36, and 37 of the chassis sensor assembly are connected to the evaluation device 38. According to the aforementioned option, one of the chassis sensor assemblies is thus provided on each wheel carrier of the front axle 8.

[0045] The acceleration sensors 28, 29, and 30 of the body sensor arrangement 27 provide acceleration signals Sx, Sy, and Sz characterizing accelerations occurring on the vehicle body 2. Furthermore, the yaw rate sensors 31, 32, and 33 of the body sensor arrangement 27 provide angular velocity signals Syz, Szx, and Sxy characterizing rotational movements occurring on the vehicle body 2. The acceleration sensors 35, 36, and 37 of the chassis sensor arrangement 34 provide acceleration signals Fx, Fy, and Fz characterizing accelerations occurring on the wheel carrier 14. Furthermore, the acceleration sensors 35, 36, and 37 of the optional chassis sensor arrangement 39, if present, provide acceleration signals Gx, Gy, and Gz characterizing accelerations occurring on the wheel carrier of the vehicle wheel 11.

[0046] The orientation of the vehicle body 2 can be detected with the help of the body sensor arrangement 27. Furthermore, the orientation of the wheel carrier 14 can be detected with the help of the chassis sensor arrangement 34. Since the positional relationship between the vehicle body 2 and the wheel carrier 14 is predetermined by the wheel suspension 4, a wheel stroke h of the vehicle wheel 10 relative to a reference position 40, which is, for example, fixed to the vehicle body 2, can be detected from the detected orientations. The same applies to the optional chassis sensor arrangement 39, by means of which, if present, a wheel stroke h of the vehicle wheel 11 can be detected. Furthermore, the orientation of the ground 26 can also be detected from the detected orientation of the wheel carrier 14 or the wheel carriers, in particular if the influence of pneumatic tires is neglected.Preferably, the orientation of the substrate 26 corresponds to the orientation of the wheel carrier 14 and / or the orientation of the substrate 26 can be derived from the orientation of the wheel carrier 14.

[0047] From the detected orientations, a pitch angle θ of the vehicle 1 can be determined, which is done in particular by means of the evaluation device 38, which further provides a pitch angle signal Sθ characterizing the pitch angle θ.

[0048] Preferably, a roll angle φ of the vehicle 1 can also be determined from the detected orientations and / or from the detected wheel strokes, which is carried out in particular by means of the evaluation device 38, which preferably provides a roll angle signal Sφ characterizing the roll angle φ.

[0049] The vehicle 1 has a headlight device 41 with two headlights 42, two headlight holders 43, on which the headlights 42 are pivotably mounted, and two headlight adjustment drives 44, by means of which the inclination of the headlights 42, in particular in the zx plane, can be adjusted depending on the pitch angle θ. For this purpose, the headlight device 41 connected to the evaluation device 38 is provided with, in particular, the pitch angle signal Sθ, which consists of Fig. 1 is evident.

[0050] A determination of the pitch angle θ and the roll angle φ is described below with reference to the Fig. 4 and Fig. 5 illustrates.

[0051] In Fig. In Figure 4, on the left side labeled a), the unloaded, stationary vehicle 1 is shown schematically in its design position on a non-inclined surface 26. The pitch and roll angles are therefore zero.

[0052] Furthermore, Fig. 4 on the right-hand side designated b) the vehicle 1, which is preferably additionally loaded at the rear, is schematically shown on an inclined surface 26, so that a pitching of the vehicle 1 occurs. By means of the body sensor arrangement 27, an orientation of the vehicle body 2 in the zx plane is detected, whereby this orientation is represented by an angle θ'. The angle θ' could be roughly estimated from the acceleration signals of the body sensor arrangement 27 with: tan θ' = Sx / Sz. Due to a possible swaying of the spring-mounted vehicle body 2, however, this estimate is relatively inaccurate, so that the angular velocity signals of the body sensor arrangement 27 are also taken into account for determining the angle θ'.

[0053] Furthermore, an orientation of the ground 26 in the zx plane is detected by means of the chassis sensor arrangement 34, this orientation being represented by an angle θ'', for which the following applies in particular: tan θ'' = Fx / Fz.

[0054] The angle θ' characterizes an orientation of the vehicle body 2 and thus forms, in particular, body orientation information. The angle θ'' characterizes an orientation of the chassis 3 or ground 26 and thus forms, in particular, chassis or ground orientation information.

[0055] Thus, the pitch angle θ results from the difference between the determined angles θ' and θ'': θ = θ' - θ''.

[0056] In Fig. 4, the reference symbols g stand for the effective acceleration due to gravity, F for “front” and R for “rear”.

[0057] According to Fig. 5 schematically shows the vehicle 1 on an inclined surface 26, causing the vehicle 1 to roll. The body sensor arrangement 27 detects the orientation of the vehicle body 2 in the yz-plane, with this orientation being represented by an angle φ'. The angle φ' can be roughly estimated from the acceleration signals of the body sensor arrangement 27 using: tan φ' = Sy / Sz. However, due to a possible swaying of the spring-mounted vehicle body 2, this estimate is relatively inaccurate, so that the angular velocity signals of the body sensor arrangement 27 are also taken into account to determine the angle φ'.

[0058] Furthermore, the orientation of the ground 26 in the yz-plane is detected by means of the chassis sensor arrangement 34, this orientation being represented by an angle φ'', for which the following applies in particular: tan φ'' = Fy / Fz.

[0059] Thus, the roll angle φ results from the difference between the determined angles φ' and φ'': φ = φ' - φ''.

[0060] In Fig. 5, the reference symbols g stand for the effective acceleration due to gravity, FR for “front right” and FL for “front left”.

[0061] As can be seen from the Fig. 4 and Fig. As can be seen in Figure 5, the optional chassis sensor assembly 39 is not mandatory. However, its presence can increase the accuracy of determining the pitch angle θ and / or the roll angle φ. Reference symbol 1 vehicle 2 Vehicle body 3 Chassis 4 wheel suspension 5 Wheel suspension 6 Wheel suspension 7 Wheel suspension 8 front axle 9 Rear axle 10 vehicle wheel 11 Vehicle wheel 12 vehicle wheel 13 Vehicle wheel 14 wheel carriers 15 Joint / ball joint 16 suspension links / wishbones 17 Joint / rubber bearing 18 shock absorber 19 strut support bearings 20 vehicle spring 21 dampers 22 wheel bearings 23 Wheel rotation axis 24 Tie rod 25 Joint / ball joint 26 Underground 27 Surface sensor arrangement 28 Accelerometer 29 Accelerometer 30 Accelerometer 31 yaw rate sensor 32 yaw rate sensor 33 yaw rate sensor 34 Chassis sensor arrangement 35 Accelerometer 36 Accelerometer 37 Accelerometer 38 Evaluation device 39 Chassis sensor arrangement (optional) 40 Reference position 41 Headlight device 42 headlights 43 Headlight holder 44 Headlight adjustment drive φ roll angle θ pitch angle Sx acceleration signal Sy acceleration signal Sz acceleration signal Syz angular velocity signal Szx angular velocity signal Sxy angular velocity signal Fx acceleration signal Fy acceleration signal Fz acceleration signal Gx acceleration signal Gy acceleration signal Gz acceleration signal

Claims

[1] Device for detecting at least one angle of inclination of a vehicle, which has a chassis (3) with a plurality of vehicle wheels (10, 11, 12, 13) which stand or roll on a ground (26), a vehicle body (2) carried by the chassis (3) and connected by vehicle springs (20) to unsprung components of the chassis (3), which comprise the vehicle wheels (10, 11, 12, 13) which are articulated to the vehicle body (2) by chassis links (16), a plurality of sensor arrangements (27, 34), of which at least one body sensor arrangement (27) is provided on the vehicle body (2) and one or more chassis sensor arrangements (34) are provided on the unsprung components of the chassis (3) and / or the chassis links, each sensor arrangement comprising a plurality of acceleration sensors (28, 29, 30;35, 36, 37), by means of which translational accelerations in 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 arrangements (27, 34), by means of which a pitch angle (θ) of the vehicle (1) can be determined from the acceleration signals, wherein the body sensor arrangement (27) comprises a plurality of rotational movement sensors (31, 32, 33), by means of which rotational movements about different axes of rotation can be detected and body rotational movement signals (Syz, Szx, Sxy) characterizing these rotational movements can be provided, wherein the pitch angle (θ) is determined by means of the evaluation device (33) additionally taking into account the body rotational movement signals (Syz, Szx, Sxy) can be determined; characterized bythat a roll angle (φ) of the vehicle can be determined by means of the evaluation device from the signals provided by the sensor arrangements (27, 34), wherein the pitch angle (θ) can be corrected taking into account the roll angle (φ). [2] Device according to claim 1, characterized by that the rotational movement sensors (31, 32, 33) of the built-on sensor arrangement are designed as rotation rate sensors, by means of which the rotational movements can be detected in the form of angular velocities. [3] Device according to claim 1 or 2, characterized by that the built-up sensor arrangement (27) is designed to detect six kinematic degrees of freedom. [4] Device according to one of the preceding claims, characterized by that each chassis sensor arrangement (34) is designed to detect at least three kinematic degrees of freedom. [5] Device according to one of the preceding claims, characterized bythat by means of the evaluation device (38) on the basis of the signals provided by the body sensor arrangement (27), body orientation information (θ') about the orientation of the vehicle body (2) and on the basis of the signals provided by the one or more chassis sensor arrangements (34), ground orientation information (θ'') about the orientation of the ground (26) can be determined and the pitch angle (θ) can be determined from this orientation information (θ', θ''). [6] Device according to one of the preceding claims, characterized by that the vehicle has at least one headlight device (41) connected to the evaluation device (38) with at least one headlight (42) and at least one headlight adjustment drive (44), by means of which the inclination of the headlight (42) and / or a light beam emitted by it can be adjusted as a function of the pitch angle (θ). [7] Method for detecting at least one angle of inclination of a vehicle, which has a chassis (3) with a plurality of vehicle wheels (10, 11, 12, 13) which stand or roll on a ground (26), a vehicle body (2) carried by the chassis (3) and connected by vehicle springs (20) to unsprung components of the chassis (3), which comprise the vehicle wheels (10, 11, 12, 13) which are articulated to the vehicle body (2) by chassis links (16), and a plurality of sensor arrangements (27, 34), of which at least one body sensor arrangement (27) is provided on the vehicle body (2) and one or more chassis sensor arrangements (34) are provided on the unsprung components of the chassis (3) and / or the chassis links, wherein each sensor arrangement (27, 34) has a plurality of acceleration sensors (28, 29, 30;35, 36, 37), by means of which translational accelerations in different spatial directions (x, y, z) are detected and acceleration signals (Sx, Sz, Sy; Fx, Dy, Fz) characterising these accelerations are provided, from which a pitch angle (θ) of the vehicle is determined, wherein the body sensor arrangement (27) comprises a plurality of rotational movement sensors (31, 32, 33), by means of which rotational movements about different axes of rotation are detected and body rotational movement signals (Syz, Szx, Sxy) characterising these rotational movements are provided, wherein the pitch angle (θ) is additionally determined taking into account the body rotational movement signals (Syz, Szx, Sxy), ; characterized by that a roll angle (φ) of the vehicle is determined from the signals provided by the sensor arrangements (27, 34), wherein the pitch angle (θ) is corrected taking into account the roll angle (φ). [8] Method according to claim 7, characterized bythat the vehicle has at least one headlight device (41) with at least one headlight (42) and at least one headlight adjustment drive (44), by means of which the inclination of the headlight (42) and / or a light beam emitted by it is adjusted as a function of the pitch angle (θ).

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