(19) Japan Patent Office (JP)
`
`
`
`
`
`(12) PATENT
`APPLICATION PUBLICATION (A)
`
`(11) Patent Application
`Publication No.
`H10-324191
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`(43) Publication Date December 8, 1998 (Heisei 10)
`FI
`
` B 60 Q
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` 1/06
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`D
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` (51) Int. Cl.6 Ident. Code
` B 60 Q 1/076
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`Examination Request: Not Made Total No. of Claims: 4 FD (Total 8 pages)
`(71) Applicant
`000002082
`(21) Application No. H9-151649
` Suzuki Motor Corporation
`
`300 Takatsuka-cho
`(22) Date of Filing May 26, 1997
`Hamamatsu-shi, Shizuoka-ken
` (Heisei 9)
` Japan
`(72) Inventor
`KATO, Masahiro
`
`c/o Suzuki Motor Corporation
`300 Takatsuka-cho
`Hamamatsu-shi, Shizuoka-ken
`TAKAHASHI, Isamu
` (74) Agent
` Patent Attorney
`
`
`
`
`
`
`
`
`(54) Title of Invention
`HEADLIGHT OPTICAL AXIS CONTROL
`DEVICE FOR MOTORCYCLE
`
`(57) [ABSTRACT]
` [Problem] To stably ensure a beam irradiation
`range of the headlight even when the pitch angle,
`bank angle, steering angle, and the like are
`changed while driving a motorcycle.
`[Resolution Means]
`A headlight optical axis control device 10 is
`provided with potentiometers 121 and 122 that
`detect a pitch angle θp, an angle speed sensor 14
`that detects a bank angle θb, a steering angle
`sensor 16 that detects a steering angle θs, a
`vehicle speed sensor 18 that detects a vehicle
`speed v, step motors 22x, 22y, 22z that pivot the
`optical axis of the headlight 20 in a pitch angle
`direction Dp, a bank angle direction Db, and a
`steering angle direction Ds, and a control unit 24
`that finds a pitch angle direction correction
`
`
`
`1
`
`
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`
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`1
`
`SL-1007
`
`

`
`amount Dpy, a bank angle direction correction
`amount Dbx, and a steering angle direction
`correction amount Dsz based on the detected
`pitch angle θp, bank angle θb, steering angle θs,
`and vehicle speed v, and corrects the angle of the
`optical axis through the step motors 22x, 22y, and
`22z.
`
`
`
`
`
`
`
`2
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`

`
`
`[Scope of Claims]
`[Claim 1]
`A headlight optical axis control device for a motorcycle, comprising:
`a pitch angle sensor that detects a pitch angle;
`an actuator that pivots an optical axis of the headlight in the pitch angle direction; and
`a control unit that finds a pitch angle direction correction amount based on the pitch angle
`detected by the pitch angle sensor and corrects the angle of the optical axis through the actuator.
`[Claim 2]
`A headlight optical axis control device for a motorcycle, comprising:
`a bank angle sensor that detects a bank angle;
`an actuator that pivots an optical axis of the headlight in the bank angle direction;
`a control unit that finds a pitch angle direction correction amount based on the bank angle
`detected by the bank angle sensor and corrects the angle of the optical axis through the actuator.
`[Claim 3]
`A headlight optical axis control device for a motorcycle, comprising:
`a pitch angle sensor that detects a pitch angle;
`a bank angle sensor that detects a bank angle;
`a vehicle speed sensor that detects a speed of a vehicle;
`an actuator that pivots an optical axis of the headlight in directions of the pitch angle, the
`bank angle, and a steering angle; and
`a control unit that finds a pitch angle direction correction amount, bank angle direction
`correction amount, and steering angle direction correction amount based on the pitch angle, bank
`angle, and vehicle speed detected by the pitch angle sensor, bank angle sensor, and vehicle speed
`sensor, and corrects the angle of the optical axis through the actuator.
`[Claim 4]
`A headlight optical axis control device of a motorcycle, comprising:
`a pitch angle sensor that detects a pitch angle;
`a bank angle sensor that detects a bank angle;
`a steering angle sensor that detects a steering angle;
`a vehicle speed sensor that detects a speed of a vehicle;
`an actuator that pivots an optical axis of the headlight in directions of the pitch angle, the
`bank angle, and a steering angle; and
`a control unit that finds a pitch angle direction correction amount, bank angle direction
`correction amount, and steering angle direction correction amount based on the pitch angle, bank
`angle, steering angle, and vehicle speed detected by the pitch angle sensor, bank angle sensor,
`steering angle sensor and vehicle speed sensor, and corrects the angle of the optical axis through
`the actuator.
`[DETAILED DESCRIPTION OF THE INVENTION]
`[0001]
`
`
`3
`
`

`
`[Technical Field of the Invention] The present invention relates to a headlight optical axis control
`device to keep the optical axis of a headlight of a motorcycle at a desirable angle at all times.
`[0002]
`[Conventional Art] In motorcycles, headlight optical axis control devices that change the optical
`axis of the headlight according to a vehicle speed, steering angle, bank angle, and the like have
`been known (Japanese Unexamined Patent Application Publication No. 63-53137, Japanese
`Unexamined Patent Application Publication No. 07-195794, and the like). For example, a
`headlight irradiates into the distance at the time of high speed, irradiates to near distance at low
`speed by vertically moving the headlight according to the vehicle speed, and also the headlight is
`swung to the right and left according to the steering and banking angles.
`[0003]
`[Problem to be Solved by the Invention] However, there have been the following problems in the
`conventional headlight optical axis control devices.
`[0004] The pitch angle of a motorcycle more likely changes due to acceleration or deceleration of
`speed and unevenness of the road surface compared to four-wheel vehicle. However, there was no
`device to change the beam irradiation range of the headlight according to the pitch angle.
`Therefore, the beam irradiation range of the headlight sways without being fixed when the
`headlight is vertically moved according to changes in the pitch angle while driving a motorcycle.
`[0005] With a motorcycle, when the vehicle body is tilted in the direction of the bank angle, the
`beam irradiation range of the headlight flattens as illustrated in FIG. 10. This is because the optical
`axis of the headlight is slightly downward in the horizontal direction, and also the light flux of the
`headlight is not a conical shape having the optical axis as the center line, but the light flux spreads
`in an elliptical cone shape with a long axis in the horizontal direction. However, because the
`device that swings the headlight to the right and left according to the steering and banking angles
`swings the headlight in a direction of the steering angle, i.e., the headlight is just simply swung to
`the right when turning right and swung to the left when turning left, there is no solution effect on
`flattening of the irradiation range of the headlight. Note that, a right turn includes proceeding
`around a right curve, and a left turn includes proceeding around a left curve in the present
`specification.
`[0006]
`[Object of the Invention] Accordingly, an object of the present invention is to provide a headlight
`optical axis control device that can stably ensure a beam irradiation range of a headlight even when
`pitch, bank, steering angles or the like change while driving a motorcycle.
`[0007]
`[Means to Solve the Problem] A headlight optical axis control device for a motorcycle, according
`to claim 1 is provided with a pitch angle sensor that detects a pitch angle, an actuator that pivots an
`optical axis of the headlight in the pitch angle direction, and a control unit that finds a pitch angle
`direction correction amount based on the pitch angle detected by the pitch angle sensor and
`corrects the angle of the optical axis through the actuator.
`[0008] The pitch angle sensor detects the change of the pitch angle due to an inclination of the
`
`4
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`

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`vehicle body. The control unit finds a pitch angle direction correction amount based on the pitch
`angle detected by the pitch angle sensor. The actuator pivots the optical axis of the headlight in a
`direction of the pitch angle according to the pitch angle direction correction amount output from
`the control unit. Thereby, even when the pitch angle is changed by the inclination of the vehicle
`body, the beam irradiation range of the head light is immediately corrected by suppressing the
`vertical movement of the optical axis of the headlight.
`[0009] A headlight optical axis control device according to claim 2 is provided with a bank angle
`sensor that detects a bank angle, an actuator that pivots an optical axis of the headlight in the bank
`angle direction, and a control unit that finds a bank angle direction correction amount based on the
`bank angle detected by the bank angle sensor and corrects the angle of the optical axis through the
`actuator.
`[0010] The bank angle sensor detects the change of the bank angle due to inclination of the vehicle
`body. The control unit finds a bank angle direction correction amount based on the bank angle
`detected by the bank angle sensor. The actuator pivots the optical axis of the headlight in a
`direction of the bank angle according to the bank angle direction correction amount output from
`the control unit. Thereby, even when the bank angle is changed due to the inclination of the
`vehicle body, flattening does not occur in the beam irradiation range of the headlight. This is
`because the long axis of the light flux spreading in the elliptical cone shape is kept in the horizontal
`direction at all times.
`[0011] A headlight optical axis control device of a motorcycle according to claim 3 is provided
`with a pitch angle sensor that detects a pitch angle, a bank angle sensor that detects a bank angle,
`a vehicle speed sensor that detects a speed of a vehicle, an actuator that turns an optical axis of the
`headlight in directions of the pitch angle, the bank angle, and a steering angle, and a control unit
`that finds a pitch angle direction correction amount, bank angle direction correction amount, and
`steering angle direction correction amount based on the pitch angle, bank angle, and the vehicle
`speed detected by the pitch angle sensor, bank angle sensor, and vehicle speed sensor, and corrects
`the angle of the optical axis through the actuator.
`[0012] This headlight optical axis control device is applied to a motorcycle where the headlight is
`fixed to the vehicle body, and by finding the steering direction correction amount in addition to the
`pitch angle direction correction amount and the bank angle direction correction amount, the angle
`of the optical axis can be corrected through the actuator for any inclination of the vehicle body.
`[0013] A headlight optical axis control device of a motorcycle according to claim 4 is provided
`with a pitch angle sensor that detects a pitch angle, a bank angle sensor that detects a bank angle,
`a steering angle sensor that detects a steering angle, a vehicle speed sensor that detects a speed of a
`vehicle, an actuator that pivots an optical axis of the headlight in directions of the pitch angle, the
`bank angle, and a steering angle, and a control unit that finds a pitch angle direction correction
`amount, bank angle direction correction amount, and steering angle direction correction amount
`based on the pitch angle, bank angle, steering angle, and vehicle speed detected by the pitch angle
`sensor, bank angle sensor, steering angle sensor and vehicle speed sensor, and corrects the angle of
`the optical axis through the actuator.
`
`
`5
`
`

`
`[0014] This headlight optical axis control device is applied to a motorcycle where the headlight is
`fixed to the steering wheel, and by finding the steering direction correction amount in addition to
`the pitch angle direction correction amount and the bank angle direction correction amount, the
`angle of the optical axis can be corrected through the actuator for any inclination of the vehicle
`body.
`[0015]
`[EMBODIMENT OF THE INVENTION] FIG. 1 is a functional block diagram illustrating one
`embodiment of a headlight optical axis control device according to the present invention. FIG. 2 is a
`schematic diagram illustrating a state where the headlight optical axis control device in FIG. 1 is
`attached to a motorcycle. A description will be given hereinafter with reference to these drawings.
`[0016] A headlight optical axis control device 10 of the present embodiment is provided with
`potentiometers 121 and 122 as pitch angle sensors that detect a pitch angle θp, an angular velocity
`sensor 14 as a bank angle sensor that detects a bank angle θb, a steering angle sensor 16 that detects
`a steering angle θs, a vehicle speed sensor 18 that detects a vehicle speed v, step motors 22x, 22y,
`22z as actuators that pivot the optical axis of the headlight 20 in a pitch angle direction Dp, a bank
`angle direction Db, and a steering angle direction Ds, and a control unit 24 that finds a pitch angle
`direction correction amount Dpy, bank angle direction correction amount Dbx, and the steering
`angle direction correction amount Dsz based on the pitch angle θp, bank angle θb, and steering
`angle θs detected by the potentiometers 121 and 122, angular velocity sensor 14, steering angle
`sensor 16, and vehicle speed sensor 18, and corrects the angle of the optical axis through the step
`motors 22x, 22y, and 22z.
`[0017] The potentiometers 121 and 122 are a linear potentiometer provided to the suspension of
`the front and rear wheels to detect a stroke length. The potentiometer 121 is for the front wheel,
`and the potentiometer 122 is for the rear wheel. The angular velocity sensor 14 is a piezoelectric
`angular velocity sensor to detect angular velocity of the bank angle direction Db. The bank angle
`θb can be obtained by integrating the angular velocity. The steering angle sensor 16 is a rotary
`potentiometer to detect the steering angle θs, i.e., an operation angle of the steering wheel. The
`vehicle speed sensor 18 is a generic one to detect a vehicle speed v by rotation speed of the wheel.
`The control unit 24 is a microcomputer having a built-in program for the optical axis control. The
`step motors22x, 22y, and 22z reversibly rotate for a predetermined angle according to a pulse
`signal output from the control unit 24.
`[0018] FIG. 3 and FIG. 4 illustrate a positional relationship between the headlight 20 and the step
`motors 22x, 22y, and 22z, and FIG. 3 is a front view and FIG. 4 is a top view. A description will be
`given below with reference to these drawings.
`[0019] A tip of the pivot shaft 30y of the step motor 22y is fixed to the headlight 20, and the step
`motor 22y itself is fixed to a mounting stay 32x. The mounting stay 32x is a metal plate formed in
`a U-shape. A tip of the pivot shaft 30x of the step motor 22x is fixed to a mounting stay 32x, and
`the step motor 22x itself is fixed to a mounting stay 32z. The mounting stay 32z is a metal plate
`formed in a L-shape. A tip of the pivot shaft 30z of the step motor 22z is fixed to a mounting stay
`32z, and the step motor 22z itself is fixed to a mounting stay 32. The mounting stay 32 is a flat
`
`6
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`

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`plate that is fixed to the steering wheel. Structures of the mounting stays 32, 32x, and 32z are
`designed to pivot the headlight 20 freely in the three axial directions. That is, the step motor 22x
`pivots the optical axis of the headlight 20 in the bank angle direction Db around the x axis. The
`step motor 22y pivots the optical axis of the headlight 20 in the pitch angle direction Dp around the
`y axis. The step motor 22z pivots the optical axis of the headlight 20 in the steering angle direction
`Ds around the z axis.
`[0020] FIG. 5 is an explanatory diagram illustrating principles to detect the pitch angle θp by the
`potentiometers 121 and 122. FIG. 6 is a graph showing a relationship between output voltage V1 of
`the potentiometer 121 and displacement amount Δa. FIG. 7 is a graph showing a relationship
`between output voltage V2 of the potentiometer 122 and displacement amount Δb. A detection
`principle of the pitch angle θp will be described below with reference to these drawings.
`[0021] As illustrated in FIG. 5, with a motorcycle being in a stationary state, both ends of a constant
`distance L on a straight line parallel to the ground are represented by the points A and B. Here, by the
`motorcycle being inclined in the front-back direction during traveling, the points A, B are shifted to
`the points A’, B’. At that time, when the displacement amounts of between the points A, B and the
`points A’ B’ are represented as Δa and Δb respectively, the inclination angle of the motorcycle in the
`front-back direction, i.e., the pitch angle θp is given by the following equation.
`[0022]
`
`θp = sin-1{(Δa – Δb)/L} …..
`(1)
`
`[0023] Further, the potentiometers 121 and 122 are respectively arranged at the suspensions of the
`front wheel and the rear wheel (FIG. 2) and generate output voltages V1 and V2 that are
`proportional to the expansion and contraction of each of the stroke lengths. The output voltages V1,
`V2 and the displacement amounts Δa, Δb have a proportional relationship in general as shown in
`FIGS. 6 and 7. This is because the displacement amounts Δa and Δb are generally proportional to
`the expansion and contraction of the stroke length.
`[0024] Therefore, by mapping the relationships of FIGS. 6 and 7 and storing them in the control
`unit 24 (FIG. 1), the displacement amounts Δa and Δb corresponding to the output voltages V1 and
`V2 can be obtained accurately, and therefore, the pitch angle θp can be instantly calculated by the
`equation (1).
`[0025] A detection principle of the bank angle θb will be described next.
`[0026] The bank angle θb is calculated by detecting an angular velocity in the bank angle direction
`by the angular velocity sensor 14 such as a piezoelectric vibrating gyroscope or the like, and
`integrating the angular velocity by the time. That is, the bank angle θb is given by the following
`equation when the time is t, angular velocity in the bank angle direction is wb(t), and initial value
`of the bank angle is θb0.
`[0027]
`
`θb = ∫t0twb(t)dt + θb0
`(2)
`
`…..
`[0028] Next, a method for finding the pitch angle direction correction amount Dpy and bank angle
`direction correction amount Dbx will be described.
`[0029] For example, it is assumed that positive and negative are reversed for the pitch angle
`
`7
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`

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`direction correction amount Dpy and the bank angle direction correction amount Dbx without
`changing the absolute value of the pitch angle θp and the bank angle θb. That is, they are Dpy =
`-θp and Dbx = -θb. Thereby, the step motors 22y and 22x (FIG. 1) are rotated so as to eliminate the
`pitch angle θp and the bank angle θb caused by the inclination of the motorcycle. This method is
`the easiest because the parameter is just one each to calculate the pitch angle direction correction
`amount Dpy and the pitch angle direction correction amount Dbx. Further, in addition to the pitch
`angle θp, any one or any two or more of the bank angle θb, steering angle θs, or vehicle speed v
`may be used as the parameter to calculate the pitch angle direction correction amount Dpy.
`Likewise, in addition to the bank angle θb, any one or any two or more of the pitch angle θp,
`steering angle θs, or vehicle speed v may be used as the parameter to calculate the bank angle
`direction correction amount Dbx.
`[0030] FIG. 8 is a graph illustrating a three-dimensional map to find the steering angle direction
`correction amount Dsz. A method for finding the steering angle direction correction amount Dsz will
`be described hereinafter based on the drawing.
`[0031] The graph in FIG. 8 is obtained experimentally and theoretically of the relationship between
`the optimum steering angle direction correction amount Dsz’ with the bank angle θb and the vehicle
`speed v. This three-dimensional map is stored in advance in the control unit 24. In the present
`embodiment, the headlight 20 is fixed to the steering wheel (FIG. 2), and therefore, the steering angle
`direction correction amount Dsz is found by subtracting the steering angle θs detected in the steering
`angle sensor 16 (FIG. 1) from the steering angle direction correction amount Dsz’ illustrated in
`FIG. 8 as showing the following equation.
`[0032]
`
`(3)
`
`…..
`Dsz = Dsz’ – θs
`[0033] Further, when the headlight 20 is not fixed to the steering wheel (when fixed to the vehicle
`body), Dsz = Dsz’.
`[0034] FIG. 9 is a flowchart illustrating an operation of the headlight optical axis control device 10.
`The operation of the headlight optical axis control device 10 will be described below with reference to
`FIGS. 1 and 9. The operation is executed in accordance with the program of the control unit 24.
`[0035] First, it is determined whether or not the vehicle speed v detected by the vehicle speed
`sensor 18 is not zero (i.e., the vehicle is traveling) and the angular velocity wb(t) in the bank angle
`direction Db detected by the angular velocity sensor 14 is zero, and these conditions have
`continued for a given length of time or longer (step 101). When they have continued for the given
`length of time or longer, it is determined that the vehicle body is in the upright position (i.e.,
`traveling straight ahead) for the road surface, and it makes the bank angle θb and the initial value
`θb0 to be zero and resets the integral action by the equation (2) (step 102). Subsequently, when it
`has not been continued for the given length of time in step 101, or when the integral action is reset
`in step 102, the pitch angle direction correction amount Dpy, the bank angle direction correction
`amount Dbx, and the steering angle direction correction amount Dsz are calculated by the method
`described above (steps 103 to 105). Then, it drives step motors 22y, 22x, 22z according to the
`pitch angle direction correction amount Dpy, the bank angle direction correction amount Dbx, and
`
`8
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`

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`the steering angle direction correction amount Dsz (steps 106 to 108).
`[0036] Note, needless to say that the present invention is not intended to be limited to the
`embodiment described above. For example, all of the pitch angle sensor, bank angle sensor, and
`steering angle sensor may be configured by a piezoelectric vibrating gyroscope that can detect
`three axial directions. However, in this case, it is necessary to take into account the angle of
`inclination (i.e., initial value) in a sloping road or the like for the pitch angle.
`[0037]
`[Effect of the Invention] According to the headlight optical axis control device according to claim
`1, 2, 3, or 4, swaying of the beam irradiation range of the headlight can be prevented because the
`vertical movement of the optical axis can be suppressed even when the pitch angle is changed due
`to acceleration, deceleration or unevenness of road surfaces by finding the pitch angle direction
`correction amount based on the pitch angle detected by the pitch angle sensor and correcting the
`angle of the optical axis through the actuator.
`[0038] According to the headlight optical axis control device according to claim 2, 3, or 4,
`flattening of the beam irradiation range of the headlight can be prevented by finding the bank angle
`direction correction amount based on the bank angle detected by the bank angle sensor and
`correcting the angle of the optical axis through the actuator. In other words, by correcting the
`angle of the optical axis in the bank angle direction, the beam irradiation range of the traveling
`straight ahead side can be ensured even when turning left or turning right.
`[0039] According to the headlight optical axis control device according to claim 3 or 4, the beam
`irradiation range of the headlight can be stably maintained at all times in any case because the
`angle of the optical axis can be corrected through the actuator in any inclination of the vehicle
`body by finding the steering direction correction amount in addition to the pitch angle direction
`correction amount and the bank angle direction correction amount. Further, information of the
`traveling direction side at night can be reliably obtained by correcting the angle of the optical axis
`in the steering angle direction.
`[Brief Description of the Drawings]
`[FIG. 1] It is a functional block diagram illustrating one embodiment of a headlight optical axis
`control device according to the present invention.
`[FIG. 2] It is a schematic diagram illustrating a state where the headlight optical axis control device
`in FIG. 1 is attached to a motorcycle.
`[FIG. 3] It is a front view showing a positional relationship between the headlight and the step
`motor in the headlight optical axis control device in FIG. 1.
`[FIG. 4] It is a top view showing a positional relationship between the headlight and the step motor
`in the headlight optical axis control device in FIG. 1.
`[FIG. 5] It is an explanatory diagram to show the principle for detecting the pitch angle by a
`potentiometer in the headlight optical axis control device in FIG. 1.
`[Fig. 6] It is a graph showing a relationship between the output voltage of the potentiometer and the
`displacement amount in the headlight optical axis control device in FIG. 1.
`
`
`
`9
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`

`
`[FIG. 7] It is a graph showing a relationship between the output voltage of the potentiometer and
`the displacement amount in the headlight optical axis control device in FIG. 1.
`[FIG. 8] It is a graph showing a three-dimensional map to find the steering direction correction
`amount in the headlight optical axis control device in FIG. 1.
`[FIG. 9] It is a flowchart illustrating an operation of the headlight optical axis control device in FIG.
`1.
`[FIG. 10] It is a schematic diagram to describe the conventional problem points, FIG. 10 (1)
`illustrates when traveling straight forward, and FIG. 10 (2) illustrates when turning right.
`[Description of the Reference Numerals]
`10
`
`headlight optical axis control device
`121, 122
`potentiometer (pitch angle sensor)
`14
`
`angular velocity sensor (bank angle sensor)
`16
`
`steering angle sensor
`18
`
`vehicle speed sensor
`20
`
`headlight
`22x, 22y, 22z
`step motor (actuator)
`24
`
`control unit
`θp
`
`pitch angle
`θb
`
`bank angle
`θs
`
`steering angle
`v
`
`vehicle speed
`Dp
`
`pitch angle direction
`Db
`
`bank angle direction
`Ds
`
`steering angle direction
`Dpy
`
`pitch angle direction correction amount
`Dbx
`
`bank angle direction correction amount
`Dsz
`
`steering angle direction correction amount
`
`
`
`
`
`
`
`
`10
`
`

`
`[FIG. 3]
`[FIG. 3]
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`[FIG. 4]
`[FIG. 4]
`
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`[FIG. 1]
`[FIG. 1]
`
`
`_1__Q_(HEADL|GHT OPTICAL AXIS CONTROL DEVICE)
`/‘
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`22:
`
`24
`
`Dbx
`
`STEP MOTOR
`
`2231
`
`CONTROL UNIT
`'
`
`py
`
`STEP MOTOR
`
`222
`
`_______ _ _
`'
`
`DSZ
`
`STEP MOTOR
`
`-------------- --
`
`0
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`5
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`
`40
`
`'
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`
`e9
`
`VEHICLE SPEED V
`
`[km/h']
`
`
`
`
`
`
`
`
`
`
`
`
`
`13
`13
`
`
`
`
`
`.
`
`I
`
`‘F ‘ "
`
`.
`
`I
`
`v
`
`40
`
`I
`
`STEERING ANGLE DIRECTION
`
`[
`
`9]
`
`
`
`E IIII
`_.
`.
`IiIILIJQ‘:Iigffif!Ff):#¢:fi*;W:§:;::':‘?*?Efi:
`I
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`30
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`
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`
`00...II IIIIIIIIIIIIIIIIIIIIIIIIIE%III%%
`To
`
`'
`8
`I00
`
`
`
`
`
`
`
`
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`
`
`
`
`
`

`
`
`
`[FIG. 9]
`[FIG. 9]
`
`
`
`
`
`
`
`
`
`VEHICLE SPEED V at 0 AND ANGULAR VELOCITY Wb(t) = 0
`CONTINUED FOR A CERTAIN PERIOD OF TIME?
`
`‘IDS CALCULATE PITCH ANGLE DIRECTION CORRECTION AMOUNT Dpy
`
`‘I04 CALCULATE BANK ANGLE DIRECTION CORRECTION AMOUNT Dbx
`
`I05 ‘CALCULATE STEERING DIRECTION CORRECTION AMOUNT D52
`
`I06
`
` 10'?
` I08
`
`DRIVE STEP MOTOR 22y
`
`
`
`DRIVE STEP MOTOR 22x
`
`DRIVE STEP MOTOR 222
`
`
`
`14
`14
`
`
`
`
`
`
`
`
`
`

`
`
`
`
`
`
`
`[FIG. 10]
`[FIG. 10]
`
`IRRADIATION RANGE
`
`[1]
`
`WHEN TRAVELING STRAIGHT
`
`[2]
`WHEN TURNING RIGHT
`
`'RRAD'AT'°“ RANGE
`
`
`
`15
`
`
`
`
`
`
`
`
`
`

`
`CERTIFICATE OF TRANSLATION
`
`I, Takuya Takahashi, of Tokyo, Japan, hereby certify that I am conversant
`
`in both Japanese and English and the following is,
`
`to the best of my
`
`knowledge and belief, a true and accurate translation of the original
`
`document from Japanese to English.
`
`I hereby acknowledge that any willful false statements and the like made in
`
`this Declaration are punishable by fine or imprisonment, or both (18 U.S.C.
`
`1001).
`
`Furthermore,
`
`I declare that all statements made of my own
`
`knowledge are true and all statements made on information and belief are
`
`believed to be true.
`
`Translated Material: JP H1 0-3241 91A
`
`Executed on this 16th day of October, 2015 at Tokyo, Japan.
`
`Takuya Takahashi
`
`16
`
`
`
`16