SE536851C2 - Determination of the slope of a vehicle - Google Patents

Abstract

(300) (410) (105) Method and calculation unit (5) for determining on a vehicle (100) (120), angular deviation (100), in the horizontal plane of travel of the vehicle, the vehicle (110) (101), comprising a first sensor and a second sensor located at a distance from (110). (A) i. The height direction of the vehicle, the first sensor The method (300) comprises (301) (110) determining a first length (L1) between the first sensor and an object (130) placed in front of the vehicle (100) in the direction of travel of the vehicle ( 101), determining (302) (120) a second length (130), (H) between the second sensor (303) (120) and the object calculating a correlating length (L2) between the second sensor and a correlating distance point (140). ), and determining the angular deviation (Ö) of the vehicle (304) by calculating the arc tangent of the difference between the measured first length (L2), (L1) and. the correlating length divided by the distance (A). (Publ. Fig. 1B)

Description

20 25 30 536 851 Existing solutions for determining the vehicle's inclination relative to the road plane use sensors that measure the distance between the wheel axles and the chassis. These can consist of an angle sensor that is mounted on the chassis and is connected to the wheel axle by an arm, for example.

To regulate the headlight level according to legal requirements, you need to know the inclination of the chassis in relation to the road plane, and also compensate. the headlights. for this. so. that. they illuminate the road surface.

A problem with existing sensors for measuring the vehicle's inclination is that they are affected by> cavities and potholes in the road surface, because they measure the vertical distance between the vehicle and the road surface. These sensors may therefore indicate a tilt of the vehicle, when this indicated tilt is actually due to a single pothole in the road surface, which can lead to incorrect measurement results and possibly incorrect or unnecessary adjustments of the vehicle's headlights.

Another problem with having these sensors for tilt measurement, or distance measurement under the vehicle is that they are then exposed to dirt and damage, which can have a negative impact on the sensitive electronics.

But a vehicle tilt also affects the vehicle's aerodynamics and road holding, to varying degrees depending on the size of the tilt, or the angular deviation, from a horizontal plane. Impaired aerodynamics and increased air resistance lead to increased fuel consumption, which in turn is both economically and environmentally costly. Impaired road holding can lead to an increased risk of an accident occurring, which also poses a danger to surrounding road users. 10 15 20 25 30 536 851 A further problem with the vehicle tilting is that the level reading in fluid tanks such as the fuel tank in the vehicle can be affected, depending on where in the tank the fluid level is read. The driver can thereby be led to believe that there is more, or alternatively less, fuel in the tank than there really is, depending on where/how the fluid level is read. Furthermore, the driver may be tricked into making unnecessary fuel stops, or refrain from refueling at the last gas station on a long journey, believing that there is more fuel in the tank than there actually is, due to the incorrect reading of the fuel level caused by the vehicle's tilt.

It can be stated that much still remains to be done to facilitate the measurement of a vehicle's tilt, and also to counteract or compensate the vehicle and/or various functions in the vehicle for such tilt.

SUMMARY It is therefore an object of this invention to improve the measurement of the inclination of a vehicle, in order to solve at least some of the above-mentioned problems and thereby achieve a vehicle improvement.

According to a first aspect of the invention, this object is achieved by a method for determining angular deviation in the horizontal plane of a vehicle, in the direction of travel of the vehicle. The vehicle comprises a first sensor and a second sensor. This second sensor is located at a distance in the height direction of the vehicle from the first sensor.

The method includes determining a first length between the first sensor and an object placed in front of the vehicle 10 15 20 25 30 536 851 in the direction of travel of the vehicle. This object may be, for example, another vehicle. Furthermore, the method includes determining a second length. between the second sensor and. the object.

The method also includes calculating a correlating length. between the second sensor and a correlating distance point, located at the same. distance. from the vehicle as the object. This calculation is based on the determination of the aforementioned second length between the second sensor and the method also includes determining the object. Furthermore, 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 measured first length and the correlating length, divided by. the distance in. the height 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 computing unit for determining angular deviation in the horizontal plane of a vehicle, in the direction of travel of the vehicle. The vehicle comprises a first sensor and a second sensor. This second sensor is located at a distance in the height direction of the vehicle from the first sensor. The computing unit comprises a signal receiver, arranged to receive a signal from the first sensor, comprising a measured first length between the first sensor and an object placed in front of the vehicle in the direction of travel of the vehicle. This object may be, for example, another vehicle. The signal receiver in the computing unit is also arranged to receive a signal from the second sensor, comprising a measured second length. between the second sensor and the object.

The calculation unit also includes a processor circuit, arranged to calculate a correlating length between the second sensor and a correlating distance point, located at the same distance from the vehicle as the object, based on the measurement of the second length between the second sensor and the object.

The processor circuit is also arranged to 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 length and the correlating length, divided by the distance in the height 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, which are located on the front of the vehicle and separated from each other by a known distance in the vehicle's vertical direction, the vehicle's tilt can be determined.

This can avoid having sensors placed under the vehicle and. measuring the distance between the vehicle chassis and ground level, or vehicle axles. Thereby, by utilizing existing sensors on the vehicle, for example radar, lidar and/or camera, such as for example a "Time of flight" camera, which is used for other purposes, for example measuring distance to the vehicle ahead in order to warn the driver if the distance is too short, and/or* to adapt the vehicle's cruise control to the speed of the vehicle ahead, the number of components in the vehicle can be reduced. Thereby, the manufacturing cost of the vehicle can be reduced through lower material costs. and fewer components need to be stocked and assembled in the vehicle. This achieves an improvement of the vehicle.

Other advantages and further novel features will become apparent from the following detailed description of the invention. 10 15 20 25 536851 LIST OF FIGURES The invention will now be described in further detail with reference to the accompanying figures, which illustrate various embodiments of the invention: Figure 1A illustrates an embodiment of an unloaded vehicle that has no angular deviation from the horizontal plane.

Figure 1B illustrates an embodiment of a loaded vehicle that has an angular deviation from the horizontal plane.

Figure 1C shows a liquid container in a vehicle, which has no angular deviation from the horizontal plane.

Figure 1D shows a fluid reservoir in a vehicle, which has an angular deviation from the horizontal plane.

Figure 2A shows a front part of a vehicle including adjustable headlights according to one embodiment.

Figure 2B shows a vehicle comprising adjustable suspension according to one embodiment.

Figure 3 is a flow chart illustrating an embodiment of the invention.

Figure 4 is an illustration of a computing unit in a system, according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION The invention is defined as a method and a calculation unit for determining angular deviation in the horizontal plane of a vehicle, which can be realized in any of the embodiments described below. This invention can, however, be implemented in many different forms and should not be seen as limited by the embodiments described herein, which are instead intended to illustrate and illustrate various aspects of the invention.

Further aspects and features of the invention will become apparent from the following detailed description when considered in conjunction with the accompanying drawings. The drawings are, however, to be considered only as examples of various embodiments of the invention and are not to be construed as limiting the invention, which is limited only by the appended claims.

Furthermore, the figures are not necessarily drawn to scale and, unless otherwise specifically stated, are intended to conceptually illustrate aspects of the invention.

Figure 1A shows a vehicle 100 in a direction of travel 101. This direction of travel 101 refers to an existing or planned direction of travel 101, that is, the vehicle 100 may be in motion in the direction of travel 101, or be stationary, prepared for a planned movement in the direction of travel 101.

Furthermore, the vehicle 100 is located on a horizontal plane 105, and is configured to move parallel to this horizontal plane 105.

The larger circle, of the two dashed circles in Figure 1A, shows an enlarged view of a front portion of the vehicle 100.

On or in the vehicle 100, a first sensor 110 and a second sensor 120 are mounted. The two sensors 110, 120 are mounted a distance A from each other in the vehicle's vertical direction. The vehicle's vertical direction is approximately perpendicular to the horizontal plane 105. The sensors 110, 120 can 10 15 20 25 30 536 851 comprise, or consist of, for example, a radar meter, a laser meter such as, for example, a Light Detection And Ranging (LIDAR), sometimes also referred to as LADAR or laser radar, a camera such as, for example, a Time-of-Flight camera (ToF camera), a rangefinder based on ultrasonic waves or a similar device configured for distance assessment.

A LIDAR is an optical measuring instrument that measures the properties of reflected light to find the distance (and/or other properties) of a distant object. The technology is very similar to radar, (Radio Detection and Ranging), but instead of radio waves, light is used. Typically, the distance to an object is measured by measuring the time delay between an emitted laser pulse and the registered reflection.

A Time-of-Flight camera (ToF camera) is a camera system that takes a sequence of images and measures a distance to an object based on the known speed of light, by measuring the time it takes for a light signal to travel between the camera and the subject/object. A Time-of-Flight camera can be said to be a type of scannerless LIDAR, where the entire scene is captured with each laser or light pulse, as opposed to point by point with a laser beam as in scanning LIDAR systems.

Furthermore, the first sensor 110 and the second sensor 120 may comprise, or consist of, the same type of sensor or different types of sensors according to different embodiments. In some embodiments, more than two sensors 110, 120 may be mounted on the vehicle 100. An advantage of having more than two sensors 110, 120 is that more reliable distance assessment can be made. Another advantage is that an assessment of the vehicle inclination can be made in several dimensions, such as two or three dimensions according to some embodiments. 10 15 20 25 30 536 851 The sensors 110, 120 are configured to measure a respective distance L1, H to an object 130, in the direction of travel of the vehicle 101. L1 is the length between the first sensor 110 and the object 130 while the length H is the distance between the second sensor 120 and the object 130.

The object 130 may consist of any object, such as another vehicle, a road sign, a wall, a property, a tree or the like. 130 It is irrelevant to the invention whether the object is moving or stationary.

The invention is also independent of whether the own vehicle 100 is stationary or in motion according to certain embodiments.

When the distance A between the sensors 110, 120 is known, a correlating length L2 between the second sensor 120 and a correlating distance point 140 can be calculated. The correlating 140 is located at the same distance from the vehicle 100 as the object 130, that is, the length L1 = the distance point when the vehicle 100 is parallel to the horizontal plane 105. The angular deviation of the vehicle is then 0, with correct calibration.

Figure 1B shows the vehicle 100 of Figure 1A, when a load 150 is placed on the vehicle bed. The vehicle 100 will then in some cases, due to, for example, uneven loading on the vehicle's suspension, tilt with an angular deviation 5, in the horizontal plane 105 in the vehicle's direction of travel 101.

Due to the inclination of the vehicle, the distance L2 between the second sensor 120 and the correlating distance point 140 will change, relative to the horizontal situation illustrated in Figure 1A. Thereby. the magnitude of the vehicle's angular deviation ö can be determined by performing a trigonometric calculation. Such trigonometric calculation includes calculating the arc tangent of the difference between the measured first length L1 and the correlating length divided by the distance A in the vehicle's height direction L2 between the first sensor 110 and the second sensor 120.

Or expressed in another way: L2-L1 aICtan A . angular deviation ö = It should be pointed out that the illustrated example of a vehicle's angular deviation ö in Figure 1B is merely an arbitrary illustration. For example, the load 150 may be placed at another arbitrary location in the vehicle 100 in. another embodiment, or have a different size, whereby the slope in the form of the angular deviation ö may have a different size and/or direction.

By being able to determine and calculate the vehicle's angular deviation ö in this way, a compensation for this inclination can be made. For example, the headlight level can thereby be adjusted in relation to the horizontal plane 105, whereby it can be avoided that the vehicle's headlights dazzle surrounding road users and an improved illumination of the road surface can be obtained. Furthermore, the vehicle's headlights can be adjusted to optimize or at least improve the shape of the light cone, that is to say illuminate the road surface in a good way, without dazzling other road users. This will be discussed further in connection with the embodiment shown in Figure 2A.

Furthermore, in some embodiments, the cab, or the entire vehicle 100, can be compensated for the tilt due to the angular deviation ω by adjustable shock absorbers, or equivalent devices, which will be discussed further in connection with the embodiment shown in Figure 2B.

In some embodiments, the reading of the liquid level in a liquid container in the vehicle 100 can also be done with compensation for the inclination of the vehicle. Such an embodiment will be discussed and explained in more detail in connection with the presentation of Figures 1C and 1D.

An advantage of placing the sensors 110, 120, or the distance meters, on the front of the vehicle instead of on the underside of the vehicle, is that they are better protected against external damage as well as dirt, slush and the like. This can improve the reliability of the sensors 110, and the lifespan of these sensors 110 can be extended, compared to if they are placed under the vehicle 100.

Another advantage is that sensors 110, 120 are often placed on the front of the vehicle for other purposes, such as measuring the distance to the vehicle ahead in order to warn the driver if the distance is too short, and/or* to adapt the vehicle's cruise control to the speed of the vehicle ahead. Another is to detect an object 100 possible purpose appearing in front of the vehicle and warn the driver of this, or initiate automatic braking, for example. By reusing these or other similar sensors 110 to measure and determine the vehicle's tilt according to the methods described herein, the number of sensors 110 in the vehicle 100 can be reduced, which leads to lower material costs, fewer assembly steps, and lower manufacturing costs for the vehicle 100 because fewer components need to be stocked and assembled in the vehicle 100. 11 10 15 20 25 30 536 851 1C 160 in the liquid-filled liquid tank of the vehicle 100. 160 Figure 1 The liquid tank consists of a container, for example a fuel tank in the vehicle 100. The liquid tank 160 in the illustrated example has a liquid level 170 and a liquid level gauge 180, which is arranged to read the liquid level. 170 in the liquid tank 160. In the illustrated and thus also liquid 105. example, the vehicle 100, the tank 160 is parallel to a horizontal plane. Furthermore, the liquid tank 160 extends in the direction of travel of the vehicle 101 with a length B, so that the center line 165 of the liquid tank is at a distance B/2 from each side, in the direction of travel of the vehicle 101.

When the liquid tank 160 is parallel to the horizontal plane 105, the read liquid level 170 in the liquid level gauge 180 will be correct.

Figure 1D shows the liquid tank 160 in the vehicle 100, which is illustrated in Figure 1C but where the liquid tank 160 due to, for example, uneven loading in the vehicle 100 forms an angular deviation θ from the horizontal plane 105. Thereby. the liquid level 170 will remain parallel to the horizontal plane 105. due to. gravity, provided that the vehicle 100 has a negligible acceleration at the time of reading.

If the liquid level 170 were to be read by the liquid level gauge 180 without compensation for the above-described angular deviation ω from the horizontal plane 105, the result would be severely misleading, as illustrated in Figure 1D. The magnitude of the deviation depends on the distance D between the liquid level gauge 180 and a center line 165, which center line 165 passes through the geometric center of the liquid level gauge when the liquid level gauge 180 and the vehicle 100 are not inclined, or the angular deviation ω from the horizontal plane 105. Furthermore, the deviation depends on whether the liquid level gauge is located in front of or behind the center line 165 of the liquid tank, in the direction of travel of the vehicle 101.

An adjusted liquid level 175 in the liquid tank 160 can be calculated by reading the liquid level 170 in the liquid level gauge 180 and adding to this, when the liquid level gauge 180 is located in front of the liquid tank's center line 165, or alternatively subtracting when the liquid level gauge 180 is located behind the liquid tank's center line 165, the distance 1 between the liquid level gauge 180 and the liquid tank's center line 165, multiplied by the tangent of the vehicle's angular deviation ö, that is: adjusted liquid level = read liquid level +/- D-tan ö. This gives the driver correct information about the condition of the liquid tank 160, for example the vehicle's fuel tank, regardless of whether the vehicle 100 is leaning as a result of a heavy and/or uneven load 150 or not. Thanks to this information, the driver can obtain reliable measurement of fluid levels in the vehicle 100, such as fuel level, and thereby plan the vehicle's refueling times in a reliable manner.

Figure 2A shows the front of the vehicle 100, on which the first sensor 110 and the second sensor 120 are mounted, to determine the angular deviation ö of the vehicle according to the previously exemplified method. The vehicle 100 has one or more headlights 210, such as for example two, which are adjustable by an angle adjuster 220 which is arranged to adjust the vehicle headlights 210 with the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the direction of travel 101 of the vehicle, compared to how the vehicle 100 13 10 15 20 25 536 851 is tilted. This can ensure that oncoming or road users are not dazzled as well as that the surroundings of the vehicle 210 are not dazzled, the headlights illuminate in an optimal, a good or at least acceptable way. The road surface is improved. In some embodiments, the angle adjuster 220 can receive control signals from the computing unit via a wireless or wired interface such as the vehicle's bus.

Furthermore, the angle adjuster 220 can adjust the headlights 210 by compensating for the tilt thereof, for example by turning a mounting with teeth, pushing/pulling control rods or cables attached to the respective headlights 210, or similar control device according to various embodiments.

Figure 2B clearly illustrates the vehicle 100 and its suspension 230-1, 230-2, 230-3, which suspension 230-1, 230-2, 230-3 may comprise, for example, air suspension. In these embodiments, when the suspension 230-1, 230-2, 230-3 comprises air suspension, it may be connected to a compressor and an air tank, via valves.

According to some embodiments, the vehicle 100, when it is determined to be tilted by an angular deviation ö relative to the horizontal plane 105, 100 can be arranged to be adjusted by tilting the vehicle by the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the direction of travel of the vehicle 101. According to some embodiments, adjustment of the vehicle tilt can be made by activating at least one adjustable shock absorber 230-1, 230-2, 230-3, which turns the vehicle 100 by the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the direction of travel of the vehicle 14 10 15 20 25 536 851 l0l, in relation to the determined tilt of the vehicle 100.

Here, compressed air can be supplied and evacuated from the front and rear adjustable suspensions 230-1, 230-2, 230-3 to compensate for the vehicle's inclination, or angular deviation ω, when, for example, an air suspension is used. When coil springs are used, for example, the stroke of these can be adjusted in certain embodiments.

This can improve the vehicle's aerodynamic properties in the form of air resistance, which leads to lower fuel consumption and thus reduced fuel costs and also reduced environmental impact in the form of exhaust gases. Furthermore, the vehicle's road holding can also be improved when the vehicle's aerodynamic properties are improved, which can lead to improved driving characteristics, safer driving of the vehicle and reduced risk of accidents as a result.

Figure 3 illustrates an example embodiment of the invention. The flow chart in Figure 3 illustrates a method 300 for determining angular deviation ö in the horizontal plane 105 of a vehicle 100, in the direction of travel 101 of the vehicle. The vehicle 100 includes a first sensor 101 and a second sensor 120, located at a distance A in the height direction of the vehicle, from the first sensor 101.

The method 300 can be performed, in whole or in part, in a computing unit in the vehicle 100. Alternatively, the method 300 can be performed in a system. in the vehicle 300, which system includes at least two sensors 110, 120 and a computing unit. 15 10 15 20 25 536 851 In order to be able to determine the angular deviation ö in the horizontal plane 105 of the vehicle 100 in a correct manner, steps 301-304. the method 300 can include. a number It should be noted, however, that some of the described steps 301-304 can be performed in a somewhat different chronological order than the numerical order suggests and that some of them can be performed in parallel with each other, according to different embodiments. The method 300 includes the following steps: Step 301 A first length L1 between the first sensor 110 and an object 130 is determined, wherein the object 130 is positioned in front of the vehicle 100 in the direction of travel 101 of the vehicle.

The first length L1 between the first sensor 110 and the object 130 can be determined by the first sensor 110 measuring this length L1 and sending this measurement value to the computing unit, according to some embodiments.

Step 302 A second length H is measured between the second sensor 120 and the object 130.

The second length H between the second sensor 120 and the object 130 can be determined by the second sensor 120 measuring this length H and sending this measurement value to the computing unit, according to some embodiments.

Step 303 A correlating length L2 is calculated between the second sensor 120 and a correlating distance point 140, 100 located at the same distance from the vehicle as the object 130, based on the determination 302 of the second length H between the second sensor 120 and the object 130.

The calculation of the correlating length L2 may include: ,/H2_A2 correlating length L2 = Step 304 The angular deviation ö of the vehicle in the horizontal plane l05 in the vehicle direction of travel l0l is determined by calculating the arc tangent of the difference between the measured first length L1 and the correlating length L2, divided by the distance A in the vehicle height direction, between the first sensor 110 and the second sensor l20. The vehicle height direction is approximately perpendicular to the vehicle direction of travel l0l, as well as to the horizontal plane l05.

The determination of the vehicle's angular deviation ö may, according to certain embodiments, include the calculation: angular deviation Ö = arctan ngn] According to certain embodiments, the determined angular deviation ö may be used to adjust the vehicle's headlights 2l0 with the corresponding angular deviation ö in the opposite direction in the horizontal plane l05 in the vehicle's direction of travel l0l, so that oncoming road users are not dazzled.

Such adjustment of the vehicle headlight 2l0 can be made in some embodiments by activating an angle adjuster 220, which rotates the vehicle headlight 2l0 with the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the vehicle's direction of travel 10l. 17 10 15 20 25 536 851 The determined angular deviation ö can also be used to adjust the vehicle's tilt with the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the vehicle's direction of travel 101, in some embodiments.

Such adjustment of the vehicle's inclination can be made by activating at least one adjustable shock absorber 230-1, 230-2, 230-3, which turns, or influences, the vehicle 100 with the corresponding angular deviation ω in the opposite direction in the horizontal plane 105 in the vehicle's direction of travel 101.

In some embodiments, the determined angular deviation ω is used to calculate an adjusted fluid level 175 for a fluid level gauge 180 in a fluid tank 160 in the vehicle 110, based on the determined 304 angular deviation ω and a distance D in the direction of travel of the vehicle 101, between the fluid level gauge 180 and the centerline 165 of the fluid tank.

The calculation of the adjusted fluid level 175 in the fluid tank 160 according to some embodiments includes determining the read fluid level 170 plus/minus the distance D multiplied by the tangent of the vehicle's angular deviation ö, i.e.: adjusted fluid level = read level +/- D tan ö Figure 4 shows an embodiment of a system 400 including. other a calculation unit 410, arranged to perform at least parts of the method 300 for determining' the' angular deviation δ in the horizontal plane 105 of a vehicle 100, The vehicle 100 120, in the direction of travel of the vehicle 101. comprises a first sensor 110 and a second sensor located at a distance A in the height direction of the vehicle, from the first sensor 110. 18 10 15 20 25 30 536 851 The calculation unit 410 comprises a signal receiver 420, arranged to receive a signal from the first sensor 110, and arranged to receive a signal from the second sensor 120. Such signal reception can be done over a wireless interface according to certain embodiments.

The wireless network may, for example, be based on any 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 any of Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, kn g and/or rn Internet Protocol (IP), Bluetooth and/or Near Field Communication, (NFC), or similar communication technology according to various embodiments.

According to some other embodiments, the signal receiver 420 and the sensors 110, 120 are arranged for communication and information transfer over a wired interface.

Such a wired interface may include a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or control units/controllers, and various components and sensors located on the vehicle 100.

The signal receiver 420 and said sensors 110, 120 are in turn arranged to communicate partly with each other, to receive signals and net values and possibly also trigger a measurement, for example at a certain time interval. Furthermore, the signal receiver 420 and said sensors 110, 120 are arranged to communicate for example via the vehicle's communication bus, which may consist of one or more of a cable; a 19 10 15 20 25 30 536 851 data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or some other bus configuration; or by a wireless connection for example according to one of the above-listed technologies for wireless communication.

The computing unit 410 comprises a signal receiver 420, arranged to receive a signal from the first sensor 110, and arranged to receive a signal from the second sensor 120.

The signal received from the first sensor 110 includes a measured first length L1 between the first sensor 110 and an object 130 located in front of the vehicle 100 in the vehicle's direction of travel 101. The signal received from the second sensor 120 includes a measured second length H between the second sensor 120 and the object 130. Thereby, the computing unit 410 can determine the first length L1, respectively the second length H, based on received measurement values from the first sensor 110, respectively the second sensor 120, according to certain embodiments.

Furthermore, the computing unit 430 comprises a processor circuit. The processor circuit is arranged to calculate a correlating length L2 between the second sensor 120 and a correlating distance point 140, located at the same distance from the vehicle 100 as the object 130, based on the measurement of the second length H between the second sensor 120 and the object 130. The processor circuit 430 is 'further arranged. to determine the angular deviation ö i 105 in the horizontal plane of the vehicle (the direction of travel of the vehicle)' 101, by calculating the arc tangent of the difference between the measured first length L1 and the correlating length L2, divided by the distance A i 20 10 15 20 25 536 851 in the height direction of the vehicle; between the first sensor 110 and the second sensor 120.

The calculation unit 410 is according to some embodiments arranged to determine the vehicle's angular deviation ö by calculating: LZ-Ll angular deviation ö = arctan According to some embodiments, the calculation unit 410 is arranged. to determine. the correlating length L2 by calculating: ,/H2_A2 correlating length L2 = According to some embodiments, the calculation unit 410 may also include a signal transmitter 440. The signal transmitter 440 may be arranged to send to 220, control signals an angle adjuster to control this to rotate the vehicle's headlights 210 with the corresponding angular deviation ö as that calculated for the vehicle 100, in the opposite direction in the horizontal plane 105 in the direction of travel of the vehicle 101.

In various embodiments, these signals may be sent over a wireless, or alternatively a wired interface as previously described.

The signal transmitter 440 may further, according to certain embodiments, be arranged to send control signals to at least one adjustable shock absorber 230-1, 230-2, 230-3, in order to control it to turn the vehicle 100 by the corresponding angular deviation ö in the opposite direction' in the horizontal plane 105 in the direction of travel of the vehicle 101.

The processor circuit 430 may also in some embodiments be arranged to calculate an adjusted liquid level 175 for a liquid level gauge 180 in a liquid tank 160 in the vehicle 110, the determined angular deviation ö and a 101, based on the distance D in the direction of travel of the vehicle between the liquid level gauge 180 and the centerline 165 of the liquid tank. 430 these 175 in the processor circuit can according to embodiments calculate the adjusted liquid level in the liquid tank 160 by determining the read liquid level 170 plus/minus the distance D multiplied by the tangent of the vehicle's angular deviation ö, that is: adjusted liquid level = read level +/- D tan ö The processor circuit 410 may consist of, for example, one or more Central Processing' Unit (CPU), microprocessor or other logic designed to interpret and execute instructions and/or to read and write data. The processor circuit 410 can handle data for input, output or data processing including buffering of data, control functions and the like.

The computing unit 410 may further comprise, according to certain embodiments, a memory unit 425 which may in certain embodiments be a storage medium for data.

The memory unit 425 may consist of, for example, a memory card, flash memory, USB memory, hard drive or other similar data storage unit, for example one of the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), etc. in various embodiments.

Furthermore, according to certain embodiments, the invention comprises angular deviation ö i 100, i for 105 a computer program determining the horizontal plane of a vehicle the direction of travel of the vehicle 101. 22 10 15 20 25 536 851 The computer program is arranged to carry out 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 computing unit 410.

The computer program can further, in certain embodiments 210 Valfa arranged to adjust the vehicle's headlights with the corresponding angular deviation ö calculated for the vehicle 100, in the opposite direction in the horizontal plane 105 in the vehicle's direction of travel 101, so that oncoming road users are not dazzled.

For example, the computer program can do this by activating an angle adjuster 220, which rotates the vehicle's headlights 210.

The computer program may further, in certain embodiments, be arranged to adjust the vehicle's inclination by the corresponding angular deviation ö in the opposite direction in the horizontal plane 105 in the vehicle's direction of travel 101. For example, such adjustment of the vehicle's inclination can be made by activating at least one adjustable shock absorber 230-1, 230-2, 230-3, which turns the vehicle 100 by the corresponding angular deviation ö.

The computer program may further, in certain embodiments 175 be arranged to calculate an adjusted liquid level for a liquid level gauge 180 in a liquid tank 160 in the vehicle 110, based on the determined angular deviation θ and a distance D in the direction of travel of the vehicle 101, between the liquid level gauge 180 and the centerline 165 of the liquid tank. Such calculation of the adjusted liquid level 175 in the liquid tank 160 may include determining the read liquid level 170 plus/minus the distance D multiplied by the tangent of the vehicle's angular deviation θ, according to certain embodiments. 23 10 15 20 25 30 536 851 The method 300 according to at least one of the steps 301-304 for determining angular deviation θ i. the horizontal plane 105 a vehicle 100, in the direction of travel of the vehicle 101 can be implemented by one or more. processor circuits 430 in the computing unit 410 together with computer program code to perform any, some, certain or all of the steps 301-304 as. described above. Thereby. a computer program comprising instructions for performing the steps 301-304 when the program is loaded into the processor circuit 430.

This above-described computer program in the vehicle 100 is, in certain embodiments, arranged to be installed in the memory unit 425 in the computing unit 410, for example over a wireless interface.

The above-described and discussed signal receivers 420, and/or signal transmitters 440 may in some embodiments consist of separate transmitters and. receivers. However, signal receivers 420 and signal transmitters 440 in the computing unit 410 may in some embodiments consist of a transceiver, which is adapted to transmit and receive radio signals, and where parts of the construction, for example the antenna, are common to the transmitter and receiver.

Said communication may be adapted for wireless information transmission, via radio waves, WLAN, Bluetooth or Dock, 440 in infrared 420, transmitter/receiver module. signal receiver and/or signal transmitter, in some embodiments, alternatively be specifically adapted for wired information exchange, or alternatively for both wireless and wired communication according to some embodiments.

The invention further comprises a system 400 for determining angular deviation δ in the horizontal plane 105 of a vehicle 100, in the direction of travel 101 of the vehicle. The system 400 comprises 24 10 15 20 25 536 851 a first sensor 110 and a second sensor 120, which are included in the vehicle 100 and where the second sensor 120 is located at a distance A in the height direction of the vehicle, from the first sensor 110. The first sensor 110 is arranged to measure a first length L1 between the first sensor 110 and the vehicle 100 in an object 130 placed in front of the vehicle's direction of travel 101.

The second sensor 120 is arranged to measure a second length H between the second sensor 120 and the object 130.

Furthermore, the system 400 comprises a computing unit 410, according to any of the embodiments described above.

The system 400 may further, according to certain embodiments, comprise one or more angle adjusters 220, arranged to rotate the vehicle's headlights 210 with the corresponding angular deviation ω 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.

Furthermore, the system 400 according to certain embodiments may include at least one adjustable shock absorber 230-1, 230-2, 230-3, which turns the vehicle 100 by the corresponding angular deviation ö in the opposite direction' in the horizontal plane 105 in the direction of travel of the vehicle 101.

The system 400 may also include a fluid level gauge 180 in a fluid tank 160 in the vehicle 110 according to some embodiments.

The first sensor 110 and the second sensor 120, respectively, included in the system 400 can in various embodiments consist of a radar meter, a laser meter, a camera, a distance meter based on ultrasonic waves, or other similar device that enables distance assessment to the object 130.

Some embodiments of the invention also include a vehicle 100, which includes a system 400 installed in the vehicle 100 for determining angular deviation ö in the horizontal plane 105 of the vehicle 100, in the direction of travel of the vehicle 101.

The system 400 includes, among other things, a computing unit 410, arranged to perform at least parts of a method 300 for determining angular deviation ö in the horizontal plane 105 of the vehicle 100. 26

Claims (22)

10 15 20 25 536 851 PATENT REQUIREMENTS A method (300) for determining angular deviation (Ö) in the horizontal plane (105) of a vehicle (100), in the direction of travel (101) of the vehicle, the vehicle (100) comprising a first sensor (110) and a second sensor (120). ), located at a distance (A) in the height direction of the vehicle, from the first sensor (110), the method (300) being characterized by: determining '(301) a' first. length. (L1) between the first sensor (110) and an object (130) placed in front of the vehicle (100) in the direction of travel (101) of the vehicle, determining (302) a second length (H) between the second sensor (120) and the object ( 130), calculating (303) a correlating length (L2) between the second sensor (120) and. a correlating distance point (140), located at the same distance from the vehicle (100) as the object (130), based on the determination (302) of the second length (H) between the second sensor (120) and the object (130), determining ( 304) of the angular deviation (ö) of the vehicle in the horizontal plane (105) in the direction of travel of the vehicle (101), by calculating the arc tangent of the difference between the measured first length (L1) and the correlating length (L2), divided by the distance (A) in the height direction of the vehicle, between the first sensor (110) and the second sensor (120). The method (300) of claim 1, wherein the determination (304) of the angular deviation (δ) of the vehicle comprises the calculation: L 2 -L 1 is C tan. (5) = A angular deviation (300) (303) A method according to any one of claims 1 or claim 2, wherein the calculation of the correlating length (L2) comprises the calculation:, / H2_A2 correlating length (L2) = (300) according to any one of 'claims' 1-3, wherein the (Ö ) (210) 4. The angle deviation determined (304) is used to adjust the headlamp of the vehicle with the corresponding (Ö) in the opposite direction in (101), the angular deviation of the horizontal plane (105) in the direction of travel of the vehicle so that oncoming road users are not blinded. The method (300) of claim 4, wherein (210) the adjustment of the headlights (220) of the vehicle is made through. activating a vehicle headlamp (5) in an angle adjuster that rotates (210) the angular deviation opposite (105) in the corresponding direction in the horizontal plane in the direction of travel of the vehicle (101). (300) according to any one of 'claims' 1-5, wherein the (Ö) Method The angular deviation determined (304) is used to adjust the inclination of the vehicle with the corresponding angular deviation (105) in the opposite direction in the horizontal plane in the direction of travel of the vehicle (101). The method (300) of claim 6, wherein adjusting the vehicle genome. activation of at least one (230-1, 230-2, 230-3), inclination is made as a rotary (Ö) adjustable shock absorber (100) with a corresponding angular deviation in the opposite (105) direction of the vehicle in. the horizontal plane in the direction of travel of the vehicle (101). 28 10 15 20 25 30 536 851 A method (300) wherein the (304) angular deviation (δ) determined according to any one of claims 1-7 is used to calculate an adjusted liquid level (175) for a liquid level meter (180) in a liquid tank (160) in the vehicle ( 110), based on the determined (304) angular deviation (ö) and a distance (D) in the direction of travel of the vehicle (101), between the liquid level gauge (180) and the center line (165) of the liquid tank. The method (300) of claim 8, wherein the calculation of the adjusted liquid level (175) in the liquid tank (160) comprises determining the read liquid level (170) plus / minus the distance (D) multiplied by. tangent vehicle angular deviation (5): adjusted fluid level (175) = read level (170) +/- D tan ö angular- (100), (100) (120), Calculation unit for (ö) (410) determination (105) (101), (110) of deviation in the horizontal plane of a vehicle in the direction of travel of the vehicle, the vehicle comprising a first sensor and a second sensor from (410) located at a distance in the height direction of the vehicle (110), (A), the first sensor wherein the calculation unit is characterized by: arranged to receive (110), a signal receiver (420), a comprising (110) (100) in signal from the first sensor a measured first length (L1) between the first sensor and an object (130) located in front of the vehicle (101); and arranged to receive a (120), the direction of travel of the vehicle from the second sensor comprising a measured second length (H) between the second sensor (120) and the object (130), a processor circuit (430), arranged to calculate a correlating length (L2) between the second sensor (120) and 296 15 20 25 536 851 (140), the same based on the distance point (100) a correlating distance from the vehicle as the object (130), the measurement of the second length (H) between the second sensor (120) and the object (130); and also arranged to determine the angular deviation (ö) of the vehicle in the horizontal plane (105) in the direction of travel of the vehicle (101), by calculating the arc tangent of the difference between the first length (L1) and the correlating length (L2), divided by the distance (A) in the height direction of the vehicle, between the first sensor (110) and the second sensor (120). Calculation unit (410) according to claim 10, wherein the calculation unit (410) is arranged to determine the angular deviation (ö) of the vehicle by calculating: angular deviation (ö) = arctan Lßil. A calculation unit (410) according to claim 10 or claim 11, wherein the calculation unit (410) is arranged to determine the correlating length (L2) by calculating: correlating length (L2) = VH? -A2 A calculation unit (410) according to any one of claims 10-12, wherein the calculation unit (410) further comprises: a signal transmitter (440), arranged to send control signals to an angle adjuster (220), for controlling it to turn the headlight (210) of the vehicle with the corresponding angular deviation (ö) as that calculated for the vehicle (100), in the opposite direction in the horizontal plane (105) in the direction of travel of the vehicle (101). 30 10 15 20 25 536 851 The calculation unit (410) according to claims 10-13, wherein the calculation unit (410) further comprises: a signal transmitter (440), arranged to send control signals to at least one adjustable shock absorber (230-1, 230-2, 230-3), for to control it to turn the vehicle (100) with. corresponding to the angular deviation (ö) in the opposite direction in the horizontal plane (105) in the direction of travel of the vehicle (101). The calculation unit (410) according to claims 10-14, wherein the processor circuit (430) is arranged to calculate an adjusted liquid level (175) for a liquid level meter (180) in a liquid tank (160) in the vehicle (110), based on the determined the angular deviation (5) and a distance (D) in the direction of travel (101) of the vehicle, between the liquid level gauge (180) and the center line (165) of the liquid tank. Computer program fl 1 for determining 'angular deviation (ö) in the horizontal plane (105) of a vehicle (100), in the direction of travel (101) of the vehicle, by a method (300) according to any one of claims 1-7, when the computer program is executed in a processor circuit (430) in a computing unit (410) according to any one of claims 10-15. A system (400) for determining angular deviation (δ) in the horizontal plane (105) of a vehicle (100), in the direction of travel of the vehicle (101), the system (400) 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 height direction of the vehicle, from the first sensor (110), wherein. the first sensor (110) is arranged. measuring a first length (L1) between the first sensor (110) and an object (130) placed in front of the vehicle (100) in the direction of travel (101) of the vehicle, and that the second sensor (120) is arranged to measure a second length (H) between the second sensor (120) and the object (130), and a computing unit (410) according to any one of claims 10-15. (400) further comprising a (220) system according to claim 17, arranged to turn the vehicle's beam (Ö) angle adjuster (210) with the corresponding angular deviation as that of the vehicle opposite (105) (100), in the direction of ( 101). further calculated the horizontal plane in the direction of travel of the vehicle (230-1, A system (400) according to any one of claims 17-18, comprising at least 230-2, 230-3), an adjustable shock absorber which rotates the vehicle (100) with the corresponding angular deviation (δ) in the opposite direction in the horizontal plane (105) in direction of travel of the vehicle (101). further (160) A system according to claim 17-18, (180) a system comprising a liquid level gauge in a liquid tank of the vehicle (110). the (120) The (400) of claims 17-20, wherein the (110) system of any first sensor and the second sensor, respectively, comprises: a radar meter, a laser meter, a camera, a rangefinder based on ultrasonic waves. one in (100) 17-21, comprising the vehicle (400) Vehicle (100) installed according to any one of claims (300) system according to arranged to perform a method 1-9 according to any of angular deviation (ö) in (100). requirements for determining the horizontal plane (105) of the vehicle 32