Inclination angle measurement apparatus

• US 6,714,483 B2
• Filed: 02/05/2003
• Issued: 03/30/2004
• Est. Priority Date: 02/15/2002
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Ohsawa, Takashi, Minami, Fumihiro, Katayama, Yoshio
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US10/358,223
• Publication Number:
  US 20030156585A1
• Time in Patent Office: 419 Days
• Field of Search: 367/96, 367/99, 367/188, 367/87, 367/125, 315/82, 342/61, 342/72
• US Class Current: 367/125
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels
• CPC Class Codes: G01S 15/872 Combination of several systems for attitude determination using inertial means G01C9/00, control of attitude G05D1/49

Abstract

An inclination angle measurement apparatus includes a first ultrasonic sensor (3) for sending an ultrasonic wave toward a road surface (2), second and third ultrasonic sensors (4 and 5) each for receiving an ultrasonic wave reflected from the road surface (2), and a calculation control circuit (14) for calculating an angle of inclination of a vehicle with respect to the road surface (2) based on a phase difference between ultrasonic waves received by the second and third ultrasonic sensors (4 and 5). Thus the inclination angle measurement apparatus can accurately measure the angle of inclination of the vehicle with respect to the road surface (2).

Claims

1. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving a wave reflected from said road surface at two discrete locations; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between the reflected wave a received at said two discrete locations, wherein

said wave sent by said sending/receiving means is an electromagnetic wave, and said reflected wave is an electromagnetic wave reflected from said road surface.

2. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving a wave reflected from said road surface at two discrete locations; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between the reflected wave as received at said two discrete locations, wherein

said wave sent by said sending/receiving means is a lightwave, and said reflected waves is a lightwave reflected from said road surface.

3. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving a wave reflected from said road surface at two discrete locations; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between the reflected wave as received at said two discrete locations, wherein

said wave sent by said sending/receiving means is a first ultrasonic wave, and said two reflected wave is a second ultrasonic wave reflected from said road surface, and wherein

said sending/receiving means includes a first ultrasonic sensor for sending an ultrasonic wave toward said road surface and second and third ultrasonic sensors disposed at said two discrete locations at an equal distance from said first ultrasonic sensor, for receiving said second ultrasonic wave reflected from said road surface, respectively, so as to form an isosceles triangle with the first ultrasonic sensor as a vertex, and said inclination angle calculating means calculates the angle of inclination of said vehicle with respect to said road surface based on a phase difference between the detected phases of the reflected wave as received by said second and third ultrasonic sensors.

8. The inclination angle measurement apparatus according to claim 3, wherein each ultrasonic wave that is sent toward said road surface by said sending/receiving means has a frequency of about 20 kHz.

10. The inclination angle measurement apparatus according to claim 3, wherein said sending/receiving means intermittently sends each ultrasonic wave toward said road surface.

14. The inclination angle measurement apparatus according to claim 3, wherein said plurality of ultrasonic sensors are arranged along a length of said vehicle.

16. The inclination angle measurement apparatus according to claim 3, further comprising a means for enabling said inclination angle measurement apparatus while said vehicle is traveling at a speed that falls within a predetermined range.

17. The inclination angle measurement apparatus according to claim 3, wherein said second and third ultrasonic sensors are disposed at a distance from said first ultrasonic sensor that is much smaller than a distance to said road surface and send ultrasonic waves with the same phase as the ultrasonic wave sent by said first ultrasonic sensor toward said road surface and then receiving an ultrasonic wave reflected from said road surface.

18. The inclination angle measurement apparatus according to claim 3, wherein said inclination angle measurement apparatus is placed behind a front bumper of said vehicle and in front of a front wheel.

19. The inclination angle measurement apparatus according to claim 3, wherein at the same time when said phase difference is determined, a second phase difference between a phase of an ultrasonic wave sent by said second ultrasonic sensor and received by said third ultrasonic sensor and a phase of an ultrasonic wave sent by said third ultrasonic sensor and received by said second ultrasonic sensor, is also determined and the angle of inclination of said vehicle is calculated with respect to said road surface according to a third phase difference that is obtained by correcting the first phase difference using the second phase difference.

21. The inclination angle measurement apparatus according to claim 3, further comprising a horn-shaped member for directing the ultrasonic wave sent by said sending/receiving means toward said road surface.

4. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving two waves reflected from said road surface; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between phases of the two reflected waves, wherein

said wave sent by said sending/receiving means is an ultrasonic wave, and said two reflected waves are two ultrasonic waves reflected from said road surface, and, wherein

said sending/receiving means includes a first ultrasonic sensor for sending an ultrasonic wave toward said road surface and second and third ultrasonic sensors disposed at an equal distance from said first ultrasonic sensor, each for sending an ultrasonic wave toward said road surface and then receiving an ultrasonic wave reflected from said road surface, and said inclination angle calculating means determines a first phase difference between phases of two ultrasonic waves sent by said first ultrasonic sensor and received by said second and third ultrasonic sensors, also determines a second phase difference between a phase of an ultrasonic wave sent by said second ultrasonic sensor and received by said third ultrasonic sensor and a phase of an ultrasonic wave sent by said third ultrasonic sensor and received by said second ultrasonic sensor, and calculates the angle of inclination of said vehicle with respect to said road surface according to a phase difference that is obtained by correcting the first phase difference using the second phase difference.

15. The inclination angle measurement apparatus according to claim 4, further comprising a means for enabling said inclination angle measurement apparatus while said vehicle is traveling at a speed that falls within a predetermined range.

26. The inclination angle measurement apparatus according to claim 4, wherein said plurality of ultrasonic sensors are arranged along a length of said vehicle.

29. The inclination angle measurement apparatus according to claim 4, wherein said inclination angle measurement apparatus is placed behind a front bumper of said vehicle and in front of a front wheel.

33. The inclination angle measurement apparatus according claim 4, further comprising a horn-shaped member for directing the ultrasonic wave sent by said sending/receiving means toward said road surface.

5. An inclination angle measurement apparatus comprising:

a sending/receiving means from sending a wave toward a road surface and for receiving two waves reflected from said road surface; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between phases of the two reflected waves, wherein

said wave sent by said sending/receiving means is first ultrasonic wave, and said two reflected waves are two ultrasonic waves reflected from said road surface, and wherein

said sending/receiving means includes a first ultrasonic sensor for sending an ultrasonic wave toward said road surface and then receiving an ultrasonic wave reflected from said road surface, and a second ultrasonic sensor disposed at a distance from said first ultrasonic sensor that is much smaller than a distance to said road surface, for sending an ultrasonic wave in phase with the ultrasonic wave sent by said first ultrasonic sensor toward said road surface and then receiving an ultrasonic wave reflected from said road surface, and said inclination angle calculating means calculates the angle of inclination of said vehicle with respect to said road surface based on a phase difference between phases of the two reflected ultrasonic waves received by said first and second ultrasonic sensors.

12. The inclination angle measurement apparatus according to claim 5, further comprising a means for enabling said inclination angle measurement apparatus while said vehicle is traveling at a speed that falls within a predetermined range.

27. The inclination angle measurement apparatus according to claim 5, wherein said plurality of ultrasonic sensors are arranged along a length of said vehicle.

30. The inclination angle measurement apparatus according to claim 5, wherein said inclination angle measurement apparatus is placed behind a front bumper of said vehicle and in front of a front wheel.

34. The inclination angle measurement apparatus according claim 5, further comprising a horn-shaped member for directing the ultrasonic wave sent by said sending/receiving means toward said road surface.

6. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving two waves reflected from said road surface; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between phases of the two reflected waves, wherein

said wave sent by said sending/receiving means is an ultrasonic wave, and said two reflected waves are two ultrasonic waves reflected from said road surface, and wherein

said sending/receiving means includes first and second ultrasonic sensors each for sending an ultrasonic wave toward said road surface, a third ultrasonic sensor for receiving the ultrasonic wave sent by said first ultrasonic sensor and reflected from said road surface, a fourth ultrasonic sensor disposed at a distance from said second ultrasonic sensor that is equal to a distance between said first and third ultrasonic sensors, for receiving the ultrasonic wave sent by said second ultrasonic sensor and reflected from said road surface, and said inclination angle calculating means calculates the angle of inclination of said vehicle with respect to said road surface based on a phase difference between phases of the two reflected ultrasonic waves received by said third and fourth ultrasonic sensors.

7. The inclination angle measurement apparatus according to claim 6, further comprising a means for enabling said inclination angle measurement apparatus while said vehicle is traveling at a speed that falls within a predetermined range.

22. The inclination angle measurement apparatus according claim 6, further comprising a horn-shaped member for directing the ultrasonic wave sent by said sending/receiving means toward said road surface.

24. The inclination angle measurement apparatus according to claim 6, wherein each-ultrasonic wave that is sent toward said road surface by said sending/receiving means has a frequency of about 20 kHz.

25. The inclination angle measurement apparatus according to claim 6, wherein said sending/receiving means intermittently sends each ultrasonic wave toward said road surface.

28. The inclination angle measurement apparatus according to claim 6, wherein said plurality of ultrasonic sensors are arranged along a length of said vehicle.

31. The inclination angle measurement apparatus according to claim 6, wherein said inclination angle measurement apparatus is placed behind a front bumper of said vehicle and in front of a front wheel.

9. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving two waves reflected from said road surface; and

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between phases of the two reflected waves, wherein

said wave sent by said sending/receiving means is an ultrasonic wave, and said two reflected waves are two ultrasonic waves reflected from said road surface, and wherein

said sending/receiving means includes a means for switching between two or more different frequencies for each ultrasonic wave that is sent toward said road surface thereby when each received ultrasonic wave has a small amplitude.

11. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving two waves reflected from said road surface;

received ultrasonic wave, a clock terminal for receiving an electric signal acquired from another received ultrasonic wave, and an output terminal for outputting a signal representing a direction in which said inclination angle measurement apparatus is inclined, wherein

said wave sent by said sending/receiving means is an ultrasonic wave, and said two reflected waves are ultrasonic waves reflected from said road surface.

13. An inclination angle measurement apparatus comprising:

a sending/receiving means for sending a wave toward a road surface and for receiving two waves reflected from said road surface;

an inclination angle calculating means for calculating an angle of inclination of a vehicle with respect to said road surface based on a phase difference between phases of the two reflected waves; and

a means for enabling said inclination angle measurement apparatus while said vehicle is traveling at a speed that falls within a predetermined range.

20. The inclination angle measurement apparatus according claim 13, further comprising a horn-shaped member for directing the ultrasonic wave sent by said sending/receiving moans toward said road surface.

23. The inclination angle measurement apparatus according to claim 13, wherein said sending/receiving means and said inclination angle calculating means are respectively included in a plurality of inclination angle measurement means disposed at different locations of a vehicle, and further comprising a means for calculating an average of angles of inclination of said vehicle calculated by said plurality of inclination angle measurement means.

32. The inclination angle measurement apparatus according to claim 13, wherein said inclination angle measurement apparatus is placed behind a front bumper of said vehicle and in front of a front wheel.