摘要
本研究考量懸吊幾何的影響，建立車輛運動數學模型，包括四自由度俯仰平面半車模型及三自由度側傾運動全車模型，並結合卡爾曼預估器(Kalman filter)估測車輛幾何姿態，藉由車輛在不同的動態及靜態，即時調整頭燈照射角度。 當車輛後座有乘客乘坐、後行李箱有放置重物、劇烈加減速、上下坡路段、邊坡(superelevation)路段及過彎時都造成頭燈照射方向改變。為了保有頭燈最佳的照射範圍，本文發展出新的控制方式，根據車速與安全煞車距離設計水平照射初始角度，再由車身跳動、俯仰角及側傾運動來調整頭燈水平照射角度。最後以車身側滑角及前輪轉向角來調整頭燈左右照射角度。預期控制頭燈投射的方向，並以數個特徵點來描述照明範圍的提升，最後由實際車輛動態回饋修正參數，以達到預先控制的效果，提升車輛在行駛中的主動性安全，減少因頭燈的角度和照射範圍不足所造成的交通事故。
並列摘要
This research builds two mathematics models including 4 degree-of-freedom (DOF) pitch plane half car model and 3-DOF roll motion full car model to describe vehicle motion and attitude, then uses kalman filter to estimate the vehicle geometry attitude for adjusting the headlight sway angle. Adjustment of the vertical angle of headlight illumination in this investigate is according to the driver's viewpoint and vehicle center of gravity movement tangent line direction, and vehicle body bounce, pitch, and roll angle which change the headlight illumination distance. Also, the horizontal angle of headlight illumination is adjusted by referring to side-slip angle and front steer wheel angle of vehicle. Finally, a feed-forward control strategy based on the estimated attitude and vehicle geometry is proposed to actively adjust the headlight swivel horizontal and vertical angles. All the results this study brings up can reduce the rate of traffic accident and improve vehicle safety.