Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling
The irradiation angle of the headlights is regulated by the United Nations Economic Commission for Europe (UNECE) for safe driving by preventing glare from oncoming drivers. Automatic headlamp leveling is a system that automatically controls the angle of the headlamp horizontally to meet safety regu...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10143196/ |
| _version_ | 1827925934679785472 |
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| author | Chansoo Kim Jiwon Seok Soyeong Kim Kunho Lee Jonghwa Kim Insub Moon Jisung Kang Kichun Jo |
| author_facet | Chansoo Kim Jiwon Seok Soyeong Kim Kunho Lee Jonghwa Kim Insub Moon Jisung Kang Kichun Jo |
| author_sort | Chansoo Kim |
| collection | DOAJ |
| description | The irradiation angle of the headlights is regulated by the United Nations Economic Commission for Europe (UNECE) for safe driving by preventing glare from oncoming drivers. Automatic headlamp leveling is a system that automatically controls the angle of the headlamp horizontally to meet safety regulations. To control the irradiation angle, the automatic headlamp leveling system must estimate the road-to-headlamp pitch angle. This paper proposes an accurate and robust road-to-headlamp pitch angle estimation system using a low-cost MEMS (Micro Electro Mechanical Systems) IMU (Inertial Measurement Unit) sensor. The proposed system sequentially estimates the headlamp pitch angle, the road slope angle, and the road-to-headlamp pitch angle. First, headlamp pitch angle is estimated using the gravity from IMU. Second, the road slope angle is estimated based on vehicle prior knowledge that the vehicle is moving in the direction of the road. Finally, road-to-headlamp pitch angle is estimated by subtracting road slope angle from headlamp pitch angle. However, the measurement data of a MEMS IMU sensor contains various types of noise, such as bias and white noise. For that reason, reducing the effects of MEMS IMU noise is highly important when estimating the road-to-headlamp pitch angle. Therefore, the proposed system focuses on minimizing the effects of the low-cost MEMS IMU noise. In addition, the proposed method is verified by simulations and experiments. The simulation analyzes the effect of the MEMS IMU sensor noise on the estimation accuracy and precision. Finally, the proposed algorithm shows more robust and accurate performance compared with other methods on the test and common road verifications. |
| first_indexed | 2024-03-13T05:30:12Z |
| format | Article |
| id | doaj.art-2a4ea09cb149483dbd4841e6fb4510e3 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-13T05:30:12Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-2a4ea09cb149483dbd4841e6fb4510e32023-06-14T23:00:20ZengIEEEIEEE Access2169-35362023-01-0111569585697210.1109/ACCESS.2023.328225310143196Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp LevelingChansoo Kim0https://orcid.org/0000-0002-5124-6540Jiwon Seok1Soyeong Kim2Kunho Lee3Jonghwa Kim4Insub Moon5Jisung Kang6Kichun Jo7https://orcid.org/0000-0003-0543-2198Department of Smart Vehicle Engineering, Konkuk University, Seoul, Gwangjin-gu, Republic of KoreaDepartment of Smart Vehicle Engineering, Konkuk University, Seoul, Gwangjin-gu, Republic of KoreaDepartment of Smart Vehicle Engineering, Konkuk University, Seoul, Gwangjin-gu, Republic of KoreaHeadlamp Electronic Engineering Team, Hyundai Mobis Company, Seoul, Gyeonggi-do, South KoreaHeadlamp Electronic Engineering Team, Hyundai Mobis Company, Seoul, Gyeonggi-do, South KoreaHeadlamp Electronic Engineering Team, Hyundai Mobis Company, Seoul, Gyeonggi-do, South KoreaHeadlamp Electronic Engineering Team, Hyundai Mobis Company, Seoul, Gyeonggi-do, South KoreaDepartment of Smart Vehicle Engineering, Konkuk University, Seoul, Gwangjin-gu, Republic of KoreaThe irradiation angle of the headlights is regulated by the United Nations Economic Commission for Europe (UNECE) for safe driving by preventing glare from oncoming drivers. Automatic headlamp leveling is a system that automatically controls the angle of the headlamp horizontally to meet safety regulations. To control the irradiation angle, the automatic headlamp leveling system must estimate the road-to-headlamp pitch angle. This paper proposes an accurate and robust road-to-headlamp pitch angle estimation system using a low-cost MEMS (Micro Electro Mechanical Systems) IMU (Inertial Measurement Unit) sensor. The proposed system sequentially estimates the headlamp pitch angle, the road slope angle, and the road-to-headlamp pitch angle. First, headlamp pitch angle is estimated using the gravity from IMU. Second, the road slope angle is estimated based on vehicle prior knowledge that the vehicle is moving in the direction of the road. Finally, road-to-headlamp pitch angle is estimated by subtracting road slope angle from headlamp pitch angle. However, the measurement data of a MEMS IMU sensor contains various types of noise, such as bias and white noise. For that reason, reducing the effects of MEMS IMU noise is highly important when estimating the road-to-headlamp pitch angle. Therefore, the proposed system focuses on minimizing the effects of the low-cost MEMS IMU noise. In addition, the proposed method is verified by simulations and experiments. The simulation analyzes the effect of the MEMS IMU sensor noise on the estimation accuracy and precision. Finally, the proposed algorithm shows more robust and accurate performance compared with other methods on the test and common road verifications.https://ieeexplore.ieee.org/document/10143196/Automatic headlamp levelinginertial measurement unit (IMU)road to headlamp pitch angle estimationroad slope estimation |
| spellingShingle | Chansoo Kim Jiwon Seok Soyeong Kim Kunho Lee Jonghwa Kim Insub Moon Jisung Kang Kichun Jo Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling IEEE Access Automatic headlamp leveling inertial measurement unit (IMU) road to headlamp pitch angle estimation road slope estimation |
| title | Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling |
| title_full | Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling |
| title_fullStr | Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling |
| title_full_unstemmed | Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling |
| title_short | Embedded Inertial Sensor-Based Road to Vehicle Pitch Estimation for Automatic Headlamp Leveling |
| title_sort | embedded inertial sensor based road to vehicle pitch estimation for automatic headlamp leveling |
| topic | Automatic headlamp leveling inertial measurement unit (IMU) road to headlamp pitch angle estimation road slope estimation |
| url | https://ieeexplore.ieee.org/document/10143196/ |
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