广汽丰田凯美瑞转向角智能AFS设定初始化

42科技资讯 SC I EN C E & TE C HN O LO G Y I NF O R MA T IO N信 息 技 术汽车底盘控制通常是指通过控制汽车的侧向运动、垂向运动和纵向运动来提高汽车的操纵性、乘坐舒适性和牵引／制动性能,对这些运动的控制可以分别通过转向盘、油门、制动踏板来实现,相应的执行量是前轮的转向角及车轮上的驱动力矩或制动力矩,真正起作用的是轮胎的纵向力和侧向力。

本文通过总结汽车底盘控制的的研究成果,分析今后底盘控制技术的发展趋势。

1 汽车电子稳定控制系统ESP(Electronic Stability Program)(如图1)目前,ESP较为成熟的底盘主动安全系统。

上世纪90年代中期,德国Bosch公司推出了车辆动力学控制系统(V DC ),也就是ESP系统。

通常情况下,我们将ES P系统的控制思想称为“直接横摆力矩控制”(DYC:Direct Yaw-moment Control)或者“差动制动控制”(DBC:Differential Braking Control)。

控制原理如图1。

2.1汽车转向的电子控制系统1.2.1 主动前轮转向系统AFS(Active Front Steering)依据驾驶员意图(驾驶员的转向输入),AFS系统通过AFS的执行机构给前轮叠加一个额外的转向角。

此额外的转向角由电子控制单元根据转向盘转角和汽车的一些运动变量计算得出。

电动机、自锁式蜗轮蜗杆和行星齿轮机构等构成了AFS的执行机构。

一般来讲,AFS常被串联在转向盘和转向器之间。

1.2.2 四轮转向系统4WS(4 wheels system)4W S 是出现较早的底盘主动控制思想,低速时可以提高汽车的转向灵便性,高速时可以改善汽车的操纵稳定性,由于4W S 是靠轮胎的侧向力影响汽车姿态的,因而在大侧向加速度工况下,轮胎力的饱和特性将导致控制性能下降,4W S在实节际生产中实施复杂、成本高,阻碍了成品车的市场化[13～15]。

自适应前照灯系统——AFSAFS系统全名适路性前方照明系统（Adaptive Frontlighting System），他的功能的伸缩性很大，根据我们在车辆照明实际使用过程中所遇到的所有问题而采取的技术革新，就目前能够实现的功能（也就是目前最好的AFS的功能）可以根据车辆的行驶状况（例如高速巡航时、紧急刹车时、启动时等），路况（例如高速公路、城市公路、乡村公路等）以及天气（例如下雨、下雪等）来适时自动的调节前照灯的照射角度、形状、光亮度以及照射时间，从而达到相应状况下的最优光照表现。

而我们所采用的AFS的设计比较简单，仅根据车辆行驶方向的改变来控制固定照射角度的转向辅助照明灯。

其使用方法为：在大灯开启状态下，方向盘向左转，大于开启角度的时候，左侧转向辅助照明灯就会自动开启，当方向盘转回来，小于开启角度的时候，转向辅助照明灯会自动关闭；向右转弯同样道理。

我们的这个照明系统属于AFS，但是因为它仅根据转向有关，所以我们在跟客户介绍的时候最好用这样的名称介绍----------AFS转向辅助照明系统、AFS转向辅助照明灯。

注意：此照明灯的开启与关闭与转向灯不发生关系，它是根据方向盘转动角度实现的，而转向灯在行驶时还要正常使用，不要因此而违反交通规则。

交车时一定要向客户解释清楚！以上内容是为我店销售顾问做的总结，希望得到大家的指正，加以完善，非常感谢！下面是从网上下载的一篇关于AFS的介绍科技的进步带给人们越来越多的惊喜和愉悦，自适应前照灯系统便是一例。

它使得夜晚驾驶变得不再令人恐慌，甚至心旷神怡，没准会有更多的驾驶者爱上夜晚出行去享受黑夜的浪漫。

AFS的全称是自适应前照灯系统。

作为当今世界最先进的汽车照明系统，它能够有效地降低驾驶者在夜晚弯路上行车的疲劳程度，使驾驶者能够看清转弯处的实际路况，进而有充分的时间来应付紧急情况，从而明显提升夜晚弯路上行车的安全性。

虽然夜晚事故发生率只占所有交通事故的28%，但是其死亡事故的几率却高达白天死亡事故的两倍以上。

丰田凯美瑞换转向机要匹配：校正, 丰田, 传感器, 学习方法
一.复位偏航传感器和减速度传感器的零点
1 车辆水平.P档
2 打开点火开关ON
3 短接TS(OBD12号脚),E1(OBD4号脚).8秒内连接断开4次或更多.
4 当ABS、TRAC OFF、VSC OFF及侧滑警告灯一起闪烁后，校准完成.
二.偏航传感器的零点的学习
1.打开点火开关ON
2.VSC灯亮15秒后熄灭
3.VSC灯熄灭2秒后,关闭电话开关.完毕.
三.减速传感器零点的学习
1.车辆水平.P档
2.短接TS(OBD12号脚),E1(OBD4号脚)
3.VSC灯闪2秒后关闭电火开关
4.拔调短路线,完毕.
一.复位偏航传感器和减速度传感器的零点
1 车辆水平.P档
2 打开点火开关ON
3 短接TS(OBD12号脚),E1(OBD4号脚).8秒内连接断开4次或更多.
4 当ABS、TRAC OFF、VSC OFF及侧滑警告灯一起闪烁后，校准完成.
二.偏航传感器的零点的学习
1.打开点火开关ON
2.VSC灯亮15秒后熄灭
3.VSC灯熄灭2秒后,关闭电话开关.完毕.
三.减速传感器零点的学习
1.车辆水平.P档
2.短接TS(OBD12号脚),E1(OBD4号脚)
3.VSC灯闪2秒后关闭电火开关
4.拔调短路线,完毕。

基于微传感器的智能车灯调节系统（AFS）作者：王凡来源：《科教导刊》2015年第19期摘要针对目前汽车前照大灯机械式的调光系统，AFS（adaptive Front—lighting System）提供了一种基于微米传感器的智能汽车前照灯调节系统，核心器件为多个微米传感器和两组调节步进电机。

传感器包括采集光强信息的CMOS光电传感器、采集转弯角度的转弯传感器、测量车辆上下坡角度的微陀螺仪和微速度计。

安装在左、右车灯上的调节步进电机可控制大灯在水平和垂直两个方向上的运动。

基于此，AFS可根据汽车行车环境及状态的即时调整车灯作用范围和光照强度实现了车灯调节的智能化，大大降低了夜间行车的安全隐患。

关键词 AFS微传感器中图分类号：TP183 文献标识码：A DOI：10.16400/ki.kjdks.2015.07.068Adaptive Front-lighting System （AFS） Based on Micro-sensorsWANG Fan（School of Astronautics， Northwestern Polytechnical University， Xi'an， Shaanxi 710072）Abstract Aiming at the former car headlamps mechanical dimming system， AFS （adaptive Front-lighting System） provides a sensor-based smart car headlights micron conditioning system，the core device for multiple micron sensors and two-step adjustment into the motor. Light intensity sensor includes collecting information CMOS optical sensor， turning angle of turn sensor capture，measure the angle of the vehicle downhill micro gyro and micro speedometer. Adjust the stepper motor is mounted on the left and right headlight headlight movement can be controlled in both horizontal and vertical. Based on this， AFS can instantly adjust the light intensity headlights scope and adjust the lights to achieve the intelligent car driving environment and according to the state，greatly reducing the security risks of driving at night.Key words AFS; micro-sensors0 引言汽车行驶安全是当今世界研究的一大主题，而夜间行车照明不佳是导致交通高事故率的重要原因。

AFS主动头灯转向照明系统相信开车族的朋友们对夜间弯道照明的重要性都有深刻的体验，当夜间驾车行驶在大弧度的弯道或是在没有路灯照明的山路上时，弯道内侧的照明和视野盲点区对驾驶人和车内乘客来说都存在着极大的安全隐忧，威胁着夜间行车的安全性。

为了解决这个问题，AFS-（Adaptive Front Lighting System）主动头灯转向照明系统就此P 生。

主动头灯转向照明系统（Adaptive Front Lighting System、Adaptive Headlights），主要是在车头大灯组内后方或底座安装了转向马达，当驾驶转动方向盘时计算机会收集方向盘的转向角度和车速的讯号，然后发送控制指令给头灯组内的转向马Q，令其随着车辆的实际过弯动态进行左右转动与实时的调整，让照明光束集中在行车的路线上，让驾驶可清楚的看清车辆前方即将经过的弯道上的路况。

在AFS 的技术和转向机制上各家车厂都不近相同，以Ford（特）Focus 为例，其AFS 在时速3km 以下时，为了避免灯光造成对向车道驾驶的困扰，仅能向右启动。

在3km/h 以上时，会自动启动最多14 度的左右转向。

BMW（宝马）的主动式转向头灯，会随着车速自动调节灯光的照明长度范围，在低于时速50km 的市区模式当中，更散射的灯光将会让驾驶能看清楚左右两侧的路况；在高速公路模式下，光线照射的长度将会增加，以协助驾驶看清前方更远的距离。

当驾驶开启雾灯的同时（高于时速70km），光线则会增加强度并且增加照明范围的宽度，以提供更佳的视线范围。

未来AFS 还有可能结合雷Q 系统、夜视系统等先进电子配备，为车辆提供更多信息或是结合GPS 的讯号提供前方。

新款丰田大霸王AFS 随车转向大灯控制系统初始化设定方法
在拆装车身高度传感器、悬挂，更换 AFS ECU，更换蓄电池后，需要对系统进
行初始化
设定。

重装悬挂减振系统和高度传感器手工设定方法：
1、使用连接线将诊断接头的 4 号脚CG 和8 号脚LVL 相连接，然后打开点火开关
到ON 位置。

2、在 20S 内拉动变光开关3 次。

3、 AFS OFF 指示灯闪烁3 次后消灭，完成设定。

拆装蓄电池后的初始化方法：
在拆装蓄电池后，需要对转向角度传感器进行初始化设定，其初始化方法是：将车辆以
20KM/H 速度直线行使超过100M 以上即可。

丰田锐志凯美瑞遥控匹配丰田锐志凯美瑞遥控匹配方法打开驾驶员门，拔出钥匙•2. 在5秒内插入并拔出钥匙2次.3. 40秒内关闭并打开驾驶员门2次.4. 插入钥匙并拔出.5. 40秒内关闭并打开驾驶员门2次.6. 插入钥匙.7. 关闭所有门.8. 以1秒的间隔转动点火,将点火开关"LOCK"位置转到"ON"来选择设定模式.⑴LOCK-ON 1次，添加模式.⑵LOCK-ON 2次，改写模式.⑶LOCK-ON 3次,确认模式.⑷LOCK-ON 2次，禁止模式.9. 取出钥匙.10. 40次同时按下LOCK键和UNLOCKS, 5秒后放开.11. 重复步骤10.12. 如果设定成功，中控锁上和开启一次.13. 不成功中控开启锁上2次.14. 打开驾驶员门，完成设定.丰田新普拉多10-11款电控系统初始化一汽丰田新普拉多2010 —2011年(一)电动坐椅系统初始化方法：1. 初始化条件(1 )移动改变坐椅靠背或坐椅坐垫位置时蓄电池端子处于断开状态。

(2 )更换一个使用过的坐椅折叠控制ECU。

(3)坐椅靠背和坐椅坐垫位置异常。

(4 )更换一个新的坐椅折叠控制ECU。

2. 初始记忆位置重置（2 ）在10s内，以使坐椅靠背向前运动的方向按下后电动坐椅开关5次。

（3）当初始记忆位置重置操作完成时，蜂鸣器将鸣响3次。

3. 初始位置记忆（1 ）按下并保持No.1或No.2坐椅折叠开关（如图23-2-4所示）上的复原按钮（Return），知道座椅坐垫位置完全恢复且座椅靠背充分放下。

（2 ）按下并保持No.1或No.2座椅折叠开关上的装载按钮（Stowage ），直到座椅靠背和座椅坐垫彻底折叠收起。

（二）指南针初始化方法：（1 ）找一个宽敞平坦的场地将车停稳。

（2 ）将指南针显示屏上按钮“V和“J”，同时按下后放开，此时显示屏会变亮。

（3 ）再按“ MOOE/LIGHT ”钮，在按下“V钮，指南针显示器闪烁发亮。

Adaptive cruise control, lane departure warning, blind spot monitoring, cross-traffic alert, park assist — Do you know which Advanced Driver Assist System (ADAS) and comfort technologies are on the vehicle in your bay? Which need calibration, initialization, or resetting, and when? We give you tips on how to address these questions, and why each is important.Unless otherwise specified, all images in this article are of components or systems on the 2010 and newer Toyota Camry.T oyota Post-Repair Initialization and Calibration RequirementsTOYOTA techAn publicationWhen power is removed from an electronically-controlled system due to collision, replacement of a component, disconnecting power to do other repairs, or simply from a low battery charge, some control modules lose the information stored in their memory.The lost information may include the operating parameters that tell the Electronic Control Unit (ECU) how to controlthe component, identification codes that verify that the component is appropriate for the vehicle based on its as-built configuration, or even confirmation that the part was legally acquired rather than transferred from a stolen vehicle.Not Plug & PlayAfter power is restored, these systems must be initialized or calibrated in order to function properly. This includes the ECU for a component that has been removed or replaced, even if the ECU itself was not removed. Initialization of the ECU is part of the process of re-establishing communication between the two devices.Initialization may be a simple “handshake” to identify the replaced component to the ECU so that each will recognize and communicate with the other. A more involved initialization might also provide the ECU the operating parameters for the replaced component to. These operating parameters are often enabled on the replacement component when you enter a valid identification or serial number for the part.Some components are shipped blank. The operating parameters (software) must be copied and saved from the original component, or can be downloaded from the Toyota Technical Information System (TIS) website or authorized third party source.CRIB SheetSafety, driver assist, and comfort/convenience technologies differ by year and model within the Toyota vehicle line. Look up diagnostic and repair procedures in the Toyota repair manual for the specific model on which you are working. Also, check for Technical Service Bulletin (TSB) and Collision Repair Information Bulletin (CRIB) documents related tothe model and system or component you suspect needs diagnostic attention.Many issues with electronically-controlled systems canbe addressed with software downloads or online updates, which often are announced via TSBs and CRIBs. Tofind CRIBs in TIS, go to the Library tab, select “Service Information,” then select the “CR” tab (middle of page) and type “CRIB” in the keyword search box. TIS will show a list of all CRIB documents related to the vehicle year and model you’ve selected.Before disconnecting the battery or removing the damaged electronically-controlled component or ECU, check the installation procedures to see whether or not you’ll need the serial number or other identifying information for input for its replacement. If so, write down or save in your scan tool any part number or other identifying information about the original component or ECU.Common examples include the settings for the electric motors that control comfort and convenience features such as power seats, power windows, sliding roof, and back door closers.Motor Operating ParametersThe information about the normal start and stop positions of aseat, window, sliding roof or door is stored in the ECU or otherAfter installation, manually close the liftgate on the 2013 or newer Toyota Rav4. That’s all it takes to initialize the PowerLiftgate System.Motors for Toyota power window and sunroof operation need initialization after repairs to “learn” the start and stop position of the windows and the sunroof.sensors must be calibrated after any of the following:replacement of the steering wheel or steering angle sensor, opening the connector hub from the SAS to the steering column, any accident repairs due to damage to the SAS assembly or any part of the steering system, or completion of a wheel alignment. Also, if the Skid Control ECU is replaced or disconnected from power, the yaw rate & deceleration sensor must be calibrated.Future VisionToyota is pushing the envelope with state-of-the-art camera, radar, and laser-based technologies to extend and enhance awareness of the vehicle position relative to objects all around it. Used in various combinations in Toyota’s Dynamic Radar Cruise Control (DRCC), Lane Departure Alert (LDA), Multi-Angle Monitor, Brake Assist, backup/parking assist and other accident avoidance systems, these technologies help Toyota’s safety offerings outrank those of more expensive vehicle makes.Depending on the model and equipment package, cameras may be attached to the front windshield, embedded in front or rear bumpers, or mounted in the rear deck lid and/or side mirrors. Calibration ensures that the cameras point in the desired direction. They all need calibration after replacement or after any collision repair that involves removal orcontrol module. When power is disconnected, the ECU for many of these systems loses those motor position guidelines, and must re-learn them in order to properly operate the component. Initialization is the process that “teaches” the ECU the start, stop and other measurements relevant to operation of the motor and the moving component.Motorless SystemsSome systems without motors also need to store component position information. Vehicle won’t start after a steering system repair? If the steering lock ECU was not calibrated after having been disconnected or replaced, that prevents the starting system from working. North, south, east and west directional indications in the driver’s rearview mirror or dash not accurate? The compass may need calibration. Initializing the ECU with component position data in each of these motorless systems is referred to as calibration.Is the owner’s complaint about problems with Vehicle Stability Control (VSC) or parking guidance systems? One possible cause is failure to calibrate the Steering Angle Sensor (SAS) after an alignment or SAS replacement.The VSC system uses the SAS along with a combined yaw rate & acceleration (G) sensor to detect when the vehicle’s direction of travel does not match driver steering inputs. The SASprovides information about where the driver wants the vehicle to go (steering wheel input), the yaw rate & deceleration sensor reports where the vehicle is actually going, and the skid control ECU takes action to restore vehicle dynamics when steering intent and actual direction of travel don’t match.If the SAS or yaw rate & deceleration sensors are providing inaccurate information, the VSC system will malfunction andset a trouble code. The SAS and yaw rate & accelerationIn vehicles equipped with the Smart Key system, the starting function may not operate after re-charging or while jump-starting a discharged battery. The Steering Lock ECU must first be initialized. Initialization involves installing a SHORT pin in the Engine Room J/B Connector, moving the shift lever to “PARK,” turning the engine “OFF,” opening the driver’s door, depressing the brake pedal, and pressing the “START STOP” button.*Pressure at the wheels activated by VSC.To counteract understeer or oversteer the ECU controls both engine torque and brake pressure at each wheel.(a) Start of throttle control (b) Start of brake control (c) Brake control completed (d) Throttle control completed Typical VSC OperationB r a k e P r e s s u r e *E n g i n e T o r q u eS k i d L e v e l(a)(b)(d)(c)TimeOnce it determines that the vehicle is entering anoversteer or understeer condition, the Skid Control ECU reduces engine power output and applies brake pressure to individual wheels as needed to restore traction.adjustment of the body part (windshield, bumper, deck lid, etc) on which the camera is mounted. Special calibration targets, tools and procedures may be required. Refer to TIS for the specific calibration procedures for the vehicle in your bay.Toyota uses radar and laser technologies onselected models to measure distance from objects ahead, behind, and to the sides of the vehicle.This distance information provides input to Toyota’s DRCC (adaptive cruise control), Lane Departure Alert, Brake Assist, Multi-Angle Monitor and other collision avoidance systems. The components need calibration to be pointed in the right direction, and also to recognize the difference between one meter and 100 meters.Different combinations of technologies are offered ondifferent Toyota models and, depending on the vehicle model, may have different calibration procedure requirements. Most will set trouble codes when there is a fault, but they may not all turn on a MIL. Scan for trouble codes before you begin any repairs. What you find will aid in problem diagnosis, as well as help in developing a repair plan. Scan again after repairs to help ensure that you did not miss anything, including required calibration and initialization procedures.Check the Toyota Information System for VIN-based confirmation of which Safety Sense systems are on the vehicle in your bay. Access to TIS, including repair manuals, technical bulletins, reference and training materials and other valuable information is available at for as little as $15.00 for 48 hours.Communication and CollaborationPlug and play is an automation of the process of enabling communication and collaboration between devices.Because many different technologies are being applied to accomplish automotive objectives, you may have to take the necessary first steps to enable teamwork between some devices and systems. The payoff is that the vehicle control modules will know which components are installed in a given system, how to communicate with them, and what operating parameters enable the devices to meet factory performance specifications. nThe Brake Actuator & SkidControl ECU and the Yaw Rate& Deceleration Sensor are two ABS system components that, combined with the steering angle sensor (SAS – not pictured) and other inputs, arecritical to proper function ofthe Vehicle Stability Control (VSC) system. If the Skid Control ECU is replaced, or if power is disconnected from it during any repair, yaw rate &deceleration sensor zero point calibration is required.Multi-information DisplayBrake SystemWarning LightStop Light Switch ECMBrake Actuator & Skid Control ECU SpeedSensors Engine Room R/B SpeedSensors Yaw Rate and Deceleration SensorSlip Indicator LightABS Warning Light ABS Components PublisherTamra Ayers Banz*****************************Group PublisherChristopher M. Ayers, Jr.******************************EditorPaul Cortes*******************************Contributing WritersScott Brown, Carolyn Coquillette, Augie Ferron, Jordan Hill, Wayne Riley, Frank WalkerArt DirectorChristopher M. Ayers III*******************************Editorial and Circulation Offices: 134B River Rd., Montague, NJ 07827TOYOTAtech is a publication sponsored by Automotive Tech Info. No part of this publication may be reproduced without the express written permission from Automotive Tech Info.Have a content idea, suggestion, or comment? Contact us: ***********************CAUTION: VEHICLE SERVICING PERFORMED BY UNTRAINED PERSONS COULD RESULT IN SERIOUS INJURY TO THOSE PERSONS OR OTHERS. INFORMATION CONTAINED IN THIS PUBLICATION IS INTENDED FOR USE BY TRAINED, PROFESSIONAL AUTO REPAIR TECHNICIANS ONLY. THIS INFORMATION IS PROVIDED TO INFORM THESE TECHNICIANS OF CONDITIONS WHICH MAY OCCUR IN SOME VEHICLES OR TO PROVIDE INFORMATION W HICH C OULD A SSIST T HEM I N P ROPER S ERVICING O F T HESE V EHICLES. P ROPERLY T RAINED T ECHNICIANS H AVE T HE E QUIPMENT, TOOLS, SAFETY INSTRUCTIONS, AND KNOW-HOW TO PERFORM REPAIRS CORRECTLY AND SAFELY. IF A CONDITION IS DESCRIBED, DO NOT ASSUME THAT A TOPIC COVERED IN THESE PAGES AUTOMATICALLY APPLIES TO YOUR VEHICLE OR THAT YOUR VEHICLE HAS THAT CONDITION. TOYOTA MOTOR NORTH AMERICA, THE TOYOTA NAME AND TOYOTA LOGO ARE REGISTERED TRADEMARKS OF TOYOTA CORPORATION.TOYOTAtechAn publication。