CN102435442A - Automatic drive robot used in vehicle road tests - Google Patents
Automatic drive robot used in vehicle road tests Download PDFInfo
- Publication number
- CN102435442A CN102435442A CN2011102610268A CN201110261026A CN102435442A CN 102435442 A CN102435442 A CN 102435442A CN 2011102610268 A CN2011102610268 A CN 2011102610268A CN 201110261026 A CN201110261026 A CN 201110261026A CN 102435442 A CN102435442 A CN 102435442A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- motor
- unit
- base
- gearshift
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 49
- 230000003993 interaction Effects 0.000 claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000005693 optoelectronics Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 238000002474 experimental method Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 2
- 230000008447 perception Effects 0.000 abstract 2
- 230000015556 catabolic process Effects 0.000 abstract 1
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009863 impact test Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an automatic drive robot used in vehicle road tests. The automatic drive robot comprises an execution unit, an environment perception unit, a vehicle running state detection unit, a user interaction unit and a control unit, wherein the environment perception unit is used for detecting the running environment of a vehicle to be tested; the vehicle running state detection unit is used for detecting the running state of the vehicle in real time; the user interaction unit is used for setting correlates of the tests before the road tests are conducted; the control unit comprises a drive control unit and a safety control unit; the drive control unit is used for driving the execution unit to control the running of the vehicle, so that the vehicle to be tested can be tested according to test items preset by a user; and the safety control unit is used for detecting environmental sensor information, vehicle breakdown information and vehicle motion state information, so as to timely find out safety problems and realize safety control over the vehicle. The automatic drive robot can replace manual drive to complete various automobile road tests, and has the advantages of accurate control, long continuous working period, high test efficiency and good repeatability.
Description
Technical field
The present invention relates to the Vehicular intelligentization technology, specifically, is a kind of intelligent automatic pilot instrument that is used for the road vehicle test.
Background technology
In the vehicle test field, consider that from security standpoint the indoor real vehicle collision test of automobile adopts the alternative true man of dummy to carry out impact test.In outdoor actual road test, need do a large amount of safety and fail-test, dangerous equally, be used for the road vehicle test if use driving automatically to substitute pilot steering, in vehicle safety and fail-test, will have vast market prospect.
The automatic drive robot of road vehicle test usefulness is the device that in automobile test, replaces true driver by predetermined test specification vehicle to be handled and gone; Have manipulation and precise control to vehicle, continuous working period is long, test efficiency is high, good reproducibility and measuring accuracy advantages of higher, can replace pilot steering to accomplish various automotive performances examinations safely and test with reliability testing.According to the difference of application scenario, can be divided into indoor automatic drive robot and the automatic drive robot of actual road test to the automatic drive robot of vehicle test usually.The most typical application of indoor automatic drive robot is exactly the motor vehicle emission test.Aspect the road vehicle test, owing to adopt automatic drive robot to replace the driver, have a clear superiority in, so it is to replace the ideal of pilot steering to select guaranteeing driver safety, raising test accuracy and repeatability.
Since little wild the survey since device Co., Ltd. succeeds in developing in the world first automatic drive robot of Japan in 1994; Germany SCHENCK company, STAHLE company, Volkswagen, Britain MIRA company, Froude Consine company, Anthony Best Dynamics company and U.S. Chrysler all develop and are used for the automatic drive robot that automobile performance test is used.At home, Southeast China University and group's technique center joint research and development successful DNC-I that has independent intellectual property right, the automatic drive robot of DNC-II type of making a leapleap forward.These drive robots belong to indoor automatic drive robot, and control need not considered the control problem of safety problem, road environment identification problem and the complicated road operating condition of high speed traveling to vehicle.
List the related invention of automatic drive robot below:
1) invention CN 100495274C automatic drive of large engineering vehicle control method and system; Main through video camera identification pavement marker line; To the control of vehicle travel direction, this haulage vehicle is the heavy construction car then, and travelling speed is slow; Need not consider the traffic safety under the high-speed working condition, environment was simple in should inventing in addition, the engineering truck operating condition is single.
2) invention CN 100449443C automatic vehicle control system; Through mounting guide rail guide car two in road; Directly use the luminaire in roadside to carry out location recognition, environment is not discerned, this invention must be gone being equipped with on the permanent haulage line of guide rail.
3) speed tracking fuzzy control method of vehicle of invention CN 101667015A car steering robot, this invention is the speed control that is used for the robot of driving in the vehicle chamber, does not relate to problems such as vehicle safety control.
Summary of the invention
The object of the invention provides a kind of automatic drive robot that is used for the road vehicle test; The actual road test of vehicle is carried out in alternative pilot steering; It can satisfy the driving demand of road vehicle test high-speed, high precision, and can improve the efficient and the security of road vehicle test.
A kind of automatic drive robot that is used for the road vehicle test is characterized in that: comprise performance element, environment sensing unit, travel condition of vehicle detecting unit, user interaction unit and control module user interaction unit.
Wherein, performance element comprises steering mechanical hand, gearshift mechanical arm, braking pedipulator, throttle pedipulator and base; Wherein, base is a rectangular frame structure, is arranged on the driver's seat in the vehicle; Between the front and back dual-side of base the gearshift mechanical arm is installed, the front portion that the base top is equipped with steering mechanical hand, base is equipped with braking pedipulator and throttle pedipulator.
Said steering mechanical hand comprises fixed head, adjustable support, bearing circle machinery handgrip, steer motor and motor anchor clamps; Adjustable support is a rod-like structure, and an end is hinged on the fixed head, and the other end and motor anchor clamps are hinged; Be provided with steer motor in the motor anchor clamps, steer motor is fixed through the motor clamp; The output terminal of steer motor is connected with planetary reduction gear towards the place ahead of base on the output terminal, the output terminal of planetary reduction gear is fixed with bearing circle machinery handgrip, bearing circle machinery handgrip and steering wheel for vehicle fixed installation; Side is vertical before and after said fixed head and the base is slidingly connected.Through fixed head horizontally slip between side before and after the base, hinged, the adjustable support of adjustable support and fixed head and motor anchor clamps hinged, can realize steering mechanical hand installation site and setting angle adjustable onboard, thereby adapt to dissimilar vehicles.
Said gearshift mechanical arm comprises gearshift handgrip, ball-screw, shift motor; Shift motor is fixedly mounted on the back up pad, and back up pad is horizontally fixed between the dual-side of base front and back, and shift motor is positioned at base rear portion side edge, is socketed with a bearing support on the ball-screw, and bearing support is fixed on the back up pad; One end of ball-screw is connected with the output shaft of shift motor; Thread bush is connected to feed screw nut A on the ball-screw, and the gearshift handgrip connecting link that feed screw nut A and thread bush are connected on the ball-screw is connected; Have transverse slipway on the chassis side, gearshift handgrip connecting link passes transverse slipway and is connected with the gearshift handgrip; The gear level of gearshift handgrip and vehicle is connected.
Said braking pedipulator and throttle pedipulator structure are identical, include machine leg, brake pedal web member, drive motor, driving leading screw and installing plate; Wherein, drive motor is fixedly mounted on the installing plate; Drive on the leading screw and be socketed with support; Support is fixed on the installing plate; An end that drives leading screw is connected with the output shaft of drive motor; Thread bush is connected to slide block on the driving leading screw; The machine leg is a branching rod structure, and an end of machine leg is hinged with the slide block that drives on the leading screw, and slide block is fixed with the feed screw nut B that drives screw thread socket on the leading screw; The other end of machine leg and pedal web member are hinged, fix through brake pedal in pedal web member and the vehicle or gas pedal; Be slidingly connected between said installing plate and base the place ahead side, fixed head is horizontally slipped between side before and after base.The machine leg is designed to multistage, and each intersegmental employing is threaded, and through regulating each intersegmental length that is threaded, adjusts the length of machine leg, thereby adapts to different vehicle.
A said side that connects slide block is provided with optoelectronic switch, and optoelectronic switch and installing plate are fixed, and are provided with anti-dazzling screen between optoelectronic switch and slide block, judges through the break-make of optoelectronic switch whether vehicle inside brake pedal is positioned at initial position.
Said environment sensing unit is mainly used in the running environment that detects test vehicle, comprises differential GPS and CCD camera; Wherein, differential GPS is installed on the vehicle, is used for obtaining in real time vehicle position information; The CCD camera is installed in front part of vehicle, is used for obtaining in real time the road video information.
Said travel condition of vehicle detecting unit is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor, side acceleration sensor, yaw-rate sensor and position feedback transducer; Wherein, vehicle speed sensor is installed in the driving axle housing, is used for obtaining in real time car speed information; Side acceleration sensor and yaw-rate sensor are installed in the barycenter place of vehicle, are used for obtaining in real time the side acceleration of vehicle and the yaw velocity of vehicle respectively; Said position feedback transducer has four; Be installed in respectively on steering mechanical hand, gearshift mechanical arm, braking pedipulator and the throttle pedipulator, and be used for obtaining in real time displacement, brake pedal displacement and the accelerator pedal displacement of the current bearing circle rotational angle of vehicle, gear level respectively.
Said user interaction unit is used for before carrying out actual road test; The make an experiment setting of type of user; And, carry out the permissible value of the biased error of vehicle ' circuit, the speed of a motor vehicle, operating range and vehicle and track center line and set according to the test type that sets.
Said control module mainly comprises drives control module and security control unit; Drive control module each servomotor in the performance element is controlled, thereby operate, realize operation control vehicle through bearing circle, brake pedal, gas pedal and gear level in the performance element control vehicle.
When the user presets the vehicle ' circuit in user interaction unit; Drive control module and will from user interaction unit, extract preset the vehicle ' circuit and the speed of a motor vehicle; With compare by the positional information of the vehicle of differential GPS collection and by the current running status of the vehicle that extracts in the travel condition of vehicle detecting unit; Thereby control execution unit to vehicle brake, acceleration, steering operation, vehicle is gone according to preset travel route.
When the user does not have vehicle ' circuit preset in user interaction unit; Drive control module through CCD camera collection road video information; Video is handled, is extracted lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading; Servomotor in the control executing mechanism is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line.
The running status that the real-time monitor vehicle of security control unit is current; Carry out the vehicle-state estimation; Judge whether vehicle has the possibility of the situation of causing danger; If the possibility of causing danger is arranged, then security control unit sends the danger early warning signal to carrying out control module, and the control execution unit operating and controlling vehicle went in safe range after the driving control module received this danger early warning signal.
Security control unit, can control execution unit be braked vehicle when vehicle has fault to take place from the failure message of the diagnostics interface extraction vehicle of vehicle self;
Security control unit keeps real-time Communication for Power with the driving control module, and when breaking down for one in driving control module and the security control unit, then communication disruption comes control execution unit 1 to carry out brake operating by another at this moment, guarantees the vehicle safety parking.The invention has the advantages that:
1, the automatic drive robot of the present invention can replace pilot steering to accomplish various motor road tests, and precise control, continuous working period is long, test efficiency is high and good reproducibility;
2, the automatic drive robot of the present invention adopts the dual controller mode, two controller real-time Communication for Power, and when one of them broke down, another can operate as normal, guaranteed the safety of automated driving system;
3, automatic drive robot of the present invention need not to reequip vehicle, and is applicable to different vehicles.
Description of drawings
Fig. 1 is the automatic drive robot one-piece construction of a present invention block diagram;
Fig. 2 is performance element structural representation in the automatic drive robot of the present invention;
Fig. 3 is braking pedipulator or a throttle pedipulator synoptic diagram in the performance element.
Among the figure:
1-performance element 2-environment sensing unit 3-travel condition of vehicle detecting unit 4-user interaction unit
5 control module 101-steering mechanical hand 102-gearshift mechanical arm 103-braking pedipulator
104-throttle pedipulator 105-base 1011-fixed head 1012-adjustable support
1013-bearing circle machinery handgrip 1014-steer motor 1015-motor anchor clamps 1016-planetary reduction gear
1021-gearshift handgrip 1022-ball-screw 1023-shift motor 1024-bearing support
1025-feed screw nut A 1026-gearshift handgrip connecting link 1031-machine leg
1032-brake pedal web member 1033-drive motor 1034-drives leading screw
1035-installing plate 1036-support 1037-slide block 1038-feed screw nut B
1039-optoelectronic switch 1030-anti-dazzling screen 201-differential GPS 202-CDD camera
301-vehicle speed sensor and yaw 302-side acceleration sensor 303-yaw-rate sensor
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
A kind of automatic drive robot that is used for the road vehicle test of the present invention; Be arranged on vehicle interior; Comprise performance element 1, environment sensing unit 2, travel condition of vehicle detecting unit 3, user interaction unit 4 and control module 5 user interaction unit 4, as shown in Figure 1.
As shown in Figure 2, wherein, performance element 1 comprises steering mechanical hand 101, gearshift mechanical arm 102, braking pedipulator 103, throttle pedipulator 104 and base 105.Wherein, base 105 is a rectangular frame structure, is arranged on the driver's seat in the vehicle, is used as the fixed pedestal of braking pedipulator 103 and throttle pedipulator 104.Gearshift mechanical arm 102 is installed between the front and back dual-side of base 105, and the front portion that base 105 tops are equipped with steering mechanical hand 101, base 105 is equipped with braking pedipulator 103 and throttle pedipulator 104.
Said steering mechanical hand 101 comprises fixed head 1011, adjustable support 1012, bearing circle machinery handgrip 1013, steer motor 1014 and motor anchor clamps 1015.Wherein, adjustable support 1012 is a rod-like structure, and an end is hinged on the fixed head 1011, and the other end and motor anchor clamps 1015 are hinged.Be provided with steer motor 1014 in the motor anchor clamps 1015, steer motor 1014 is fixedly clamped through motor anchor clamps 1015.The output terminal of steer motor 1014A is towards the place ahead of base 105; Be connected with planetary reduction gear 1016 on the output terminal; The output terminal of planetary reduction gear 1016 is fixed with tabular bearing circle machinery handgrip 1013, and bearing circle machinery handgrip 1013 is used for realizing fixing between steering mechanical hand 101 and steering wheel for vehicle.The front and back side is vertical is slidingly connected for said fixed head 1011 and base 105; Fixed head 1011 can be horizontally slipped between base 105 front and back sides; Make the position of bearing circle machinery handgrip 1013 can be on base 105 left and right adjusting, be convenient to the installation of bearing circle machinery handgrip 1013 thus.Through fixed head 1011 between base 1015 front and back sides, horizontally slip, adjustable support 1012 and fixed head 1011 hinged, adjustable support 1012 is hinged with motor anchor clamps 1015; Can realize steering mechanical hand 1013 installation site and setting angle adjustable onboard, thereby adapt to different vehicles.Pass through said structure; Can bearing circle machinery handgrip 1013 be fixed with steering wheel for vehicle through the position of adjustment adjustable support 1012 with motor anchor clamps 1015, the output shaft through steer motor 1014 rotates thus; Process planetary reduction gear 1016 slows down and increases square, drives steering wheel for vehicle and rotates.Through the rotating speed and the corner of control steer motor 1014, thus the velocity of rotation and the rotational angle of control steering wheel for vehicle.
Said gearshift mechanical arm 102 comprises gearshift handgrip 1021, ball-screw 1022, shift motor 1023.Shift motor 1023 is fixedly mounted on the back up pad; Back up pad is horizontally fixed between base 105 front and back dual-sides; Shift motor 1023 is positioned at base 105 rear portion side edge, is socketed with a bearing support 1024 on the ball-screw 1022, and bearing support 1024 is fixed on the back up pad; Make ball-screw 1022 and back up pad relative positioning through bearing support 1024, and ball-screw 1022 can rotate freely in bearing support 1024.One end of ball-screw 1022 is connected with the output shaft of shift motor 1023 through shaft coupling A.Thread bush is connected to feed screw nut A1025 on the ball-screw 1022, feed screw nut A1025 can ball-screw 1022 axially on movable block, feed screw nut A1025 and thread bush are connected on gearshift handgrip 1026 on the ball-screw 1022 handgrip connecting links 1026 of shifting gears and are connected.Have transverse slipway on base 105 sides, gearshift handgrip connecting link 1026 passes transverse slipway and is connected with gearshift handgrip 1021.Gearshift handgrip 1021 is used for firmly grasping the gear level of vehicle.Pass through said structure; The output shaft of shift motor 1023 rotates, and drives ball-screw 1022 and rotates, thereby can make gearshift handgrip connecting link 1026 axial-movement along ball-screw 1022 in transverse slipway; Drive gearshift handgrip 1021 associated movements thus; Final through controlling the rotating speed and the corner of shift motor 1023, control the position and the speed of the handgrip 1021 of shifting gears, the gear level that gearshift handgrip 1021 is driven in the vehicle is realized gear shift operation.The present invention is mainly used in the automatic driving that the automatic transmission vehicle is housed, so need not control clutch coupling, the control of gearshift mechanical arm has three gears, is respectively parking retaining, reverse gear and forward gear.
Said braking pedipulator 103 is identical, as shown in Figure 3 with throttle pedipulator 104 structures, includes machine leg 1031, brake pedal web member 1032, drive motor 1033, drives leading screw 1034 and installing plate 1035.Wherein, drive motor 1033 is fixedly mounted on the installing plate 1035.Drive leading screw 1034 two ends and all be socketed with a support 1036, driving leading screw 1034 can freely rotate in two supports 1036.Two supports 1036 are fixed on the installing plate 1035, make through two supports 1036 to drive leading screw 1034 and installing plate 1035 relative positionings.An end that drives leading screw 1034 is connected with the output shaft of drive motor 1033 through shaft coupling B.Drive that thread bush is connected to slide block 1037 on the leading screw 1034, slide block 1037 can move on axially driving leading screw 1034.Machine leg 1031 is a branching rod structure, and an end of machine leg 1031 is hinged with the slide block 1037 that drives on the leading screw 1034, and slide block 1037 is fixed with the feed screw nut B that drives screw thread socket on the leading screw 1034.The other end of machine leg 1031 and brake pedal web member 1032 are hinged, fix through brake pedal web member 1032 and the brake pedal in the vehicle.Be slidingly connected between said installing plate 1035 and base 105 the place ahead sides; Installing plate 1035 can be horizontally slipped on base 105 the place ahead sides; The braking pedipulator 103 and the position, the left and right sides of throttle pedipulator 104 can be regulated, be convenient to brake the brake pedal in pedipulator 103 and throttle pedipulator 104 and the vehicle, the installation between gas pedal.It is common concentric clockwise or rotate counterclockwise to drive leading screws 1034 and the output shaft of drive motor 1033 through said structure drive motor 1033; Making feed screw nut drive slide block 1037 moves up and down at driving leading screw 1034; Move up and down thereby drive machine leg 1031, finally can rotate through brake pedal or gas pedal that machine leg 1031 drives in the vehicle through slide block 1037.In order to make performance element 1 when starting at every turn; It (is that vehicle is advanced machine leg 1031 when brake pedal and gas pedal not being carried out any operation that vehicle inside brake pedal and gas pedal all are arranged in initial position; Brake pedal and gas pedal position); Therefore when machine leg 1031 does not carry out any operation to vehicle inside brake pedal and gas pedal, in a side of slide block 1037 optoelectronic switch 1039 is set, optoelectronic switch 1039 is fixed with installing plate 1035; And anti-dazzling screen 1030 is set at optoelectronic switch 1039 and 1037 of slide blocks, can judge whether vehicle inside brake pedal is positioned at initial position through the break-make of optoelectronic switch 1039 thus.
In the performance element 1 of the present invention in order to regulate apart from the gap of seat position according to the height of seat in the different automobile types, brake pedal; Therefore machine leg 1031 is designed to the n section; Each intersegmental employing is threaded, and can adjust the length of machine leg 1031 through regulating each intersegmental degree of depth that is threaded thus; Wherein, n is a positive integer.
As shown in Figure 1, said environment sensing unit 2 is mainly used in the running environment that detects test vehicle, comprises differential GPS 201 and CCD camera 202.Wherein, differential GPS 201 is installed on the vehicle, is used for obtaining in real time vehicle position information, and its bearing accuracy is less than 0.2m, and data frequency is greater than 10Hz; CCD camera 202 is installed in front part of vehicle, is used for obtaining in real time the road video information, and its image was 30 frame/seconds, and resolution is 600 * 480 pixels.In use of the present invention, lane line uses luminous mark, makes CCD camera 202 under general illumination condition, can obtain the lane line video information.
Said travel condition of vehicle detecting unit 3 is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor 301, side acceleration sensor 302 and yaw-rate sensor 303.Wherein, vehicle speed sensor 301 is installed in the driving axle housing, is used for obtaining in real time the fast information of each vehicle wheel; Vehicle speed sensor 301 output signals are pulse signal.Side acceleration sensor 302 and yaw-rate sensor 303 are installed in the barycenter place of vehicle, are used for obtaining in real time the side acceleration and the yaw velocity of vehicle respectively.Said position feedback sensing has four; Be installed in respectively on steering mechanical hand 101, gearshift mechanical arm 102, braking pedipulator 103 and the throttle pedipulator 104, be used for obtaining in real time displacement, brake pedal displacement and the accelerator pedal displacement of the current bearing circle rotational angle of vehicle, gear level respectively.
Said user interaction unit 4 is mainly used in before the automatic drive robot of the present invention carries out actual road test; The user (tests like track following the automatic drive robot type that makes an experiment; Brake test, acceleration and deceleration tests, circumference steering test etc.) setting; And, carry out the setting of the biased error permissible value of vehicle ' circuit, the speed of a motor vehicle, operating range and vehicle and track center line according to the test type that sets.
Said control module 5 mainly comprises drives control module 501 and security control unit 502.Wherein, Driving control module 501 mainly controls each servomotor in the performance element 1; Thereby bearing circle, brake pedal, gas pedal and gear level through in the performance element 1 control vehicle are operated accordingly, realize the operation control to vehicle.
When the user in user interaction unit 4 during preset vehicle ' circuit; Drive the preset vehicle ' circuit and the speed of a motor vehicle that control module 501 will extract from user interaction unit 4; With compare by the positional information of the vehicle of gathering in the differential GPS 201 and by the current running status of extracting in the travel condition of vehicle detecting unit 3 of vehicle; Thereby 1 pair of vehicle of control execution unit is braked, acceleration, steering operation; Vehicle is gone according to preset travel route, performance element 1 is sent braking, the driver behavior instruction such as quickens, turns to, realization is to Vehicular automatic driving.Under the situation of the vehicle ' circuit that the user does not preset in user interaction unit 4; Drive the road video information that control module 501 is gathered through CCD camera 202; Video is handled, is extracted lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading; Servomotor in the control executing mechanism 1 is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line.
Vehicle position information and lane line information that said security control unit collection differential GPS 201 and CCD camera 202 obtain; When in difference GPS201 or the CCD camera 202 one when breaking down, 1 pair of vehicle of security control unit 502 control execution unit is braked behaviour.
The current running status of security control unit 502 real-time monitor vehicle; Carry out the vehicle-state estimation; Judge the vehicle situation of whether can causing danger; If the possibility of causing danger is arranged, then security control unit 502 sends the danger early warning signal to carrying out control module 501, and control execution unit 1 operating and controlling vehicle went in safe range after driving control module 501 received this danger early warning signal.
Security control unit 502, can be braked by 1 pair of vehicle of control execution unit when vehicle has fault to take place from the failure message of the diagnostics interface extraction vehicle of vehicle self.
Security control unit 502 keeps real-time Communication for Power with driving control module 501; When breaking down for one in driving control module 501 and the security control unit 502; Then communication disruption comes control execution unit 1 to carry out brake operating by another at this moment, guarantees that vehicle safety stops.
Claims (2)
1. an automatic drive robot that is used for the road vehicle test is characterized in that: comprise performance element, environment sensing unit, travel condition of vehicle detecting unit, user interaction unit and control module;
Wherein, performance element comprises steering mechanical hand, gearshift mechanical arm, braking pedipulator, throttle pedipulator and base; Wherein, base is a rectangular frame structure, is arranged on the driver's seat in the vehicle; Between the front and back dual-side of base the gearshift mechanical arm is installed, the front portion that the base top is equipped with steering mechanical hand, base is equipped with braking pedipulator and throttle pedipulator;
Said steering mechanical hand comprises fixed head, adjustable support, bearing circle machinery handgrip, steer motor and motor anchor clamps; Adjustable support is a rod-like structure, and an end is hinged on the fixed head, and the other end and motor anchor clamps are hinged; Be provided with steer motor in the motor anchor clamps, steer motor is fixed through the motor clamp; The output terminal of steer motor is connected with planetary reduction gear towards the place ahead of base on the output terminal, the output terminal of planetary reduction gear is fixed with bearing circle machinery handgrip, bearing circle machinery handgrip and steering wheel for vehicle fixed installation; Side is vertical before and after said fixed head and the base is slidingly connected, and fixed head is horizontally slipped between side before and after base.
Said gearshift mechanical arm comprises gearshift handgrip, ball-screw, shift motor; Shift motor is fixedly mounted on the back up pad, and back up pad is horizontally fixed between the dual-side of base front and back, and shift motor is positioned at base rear portion side edge, is socketed with a bearing support on the ball-screw, and bearing support is fixed on the back up pad; One end of ball-screw is connected with the output shaft of shift motor; Thread bush is connected to feed screw nut A on the ball-screw, and the gearshift handgrip connecting link that feed screw nut A and thread bush are connected on the ball-screw is connected; Have transverse slipway on the chassis side, gearshift handgrip connecting link passes transverse slipway and is connected with the gearshift handgrip; The gear level of gearshift handgrip and vehicle is connected;
Said braking pedipulator and throttle pedipulator structure are identical, include machine leg, brake pedal web member, drive motor, driving leading screw and installing plate; Wherein, drive motor is fixedly mounted on the installing plate; Drive on the leading screw and be socketed with support; Support is fixed on the installing plate; An end that drives leading screw is connected with the output shaft of drive motor; Thread bush is connected to slide block on the driving leading screw; The machine leg is a branching rod structure, and an end of machine leg is hinged with the slide block that drives on the leading screw, and slide block is fixed with the feed screw nut B that drives screw thread socket on the leading screw; The other end of machine leg and pedal web member are hinged, fix through brake pedal in pedal web member and the vehicle or gas pedal; Be slidingly connected between said installing plate and base the place ahead side; Said machine leg is the n section, and each intersegmental employing is threaded, and n is a positive integer; A said side that connects slide block is provided with optoelectronic switch, and optoelectronic switch and installing plate are fixed, and are provided with anti-dazzling screen between optoelectronic switch and slide block, judges through the break-make of optoelectronic switch whether vehicle inside brake pedal is positioned at initial position;
Said environment sensing unit is used to detect the running environment of test vehicle, comprises differential GPS and CCD camera; Wherein, differential GPS is installed on the vehicle, is used for obtaining in real time vehicle position information; The CCD camera is installed in front part of vehicle, is used for obtaining in real time the road video information;
Said travel condition of vehicle detecting unit is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor, side acceleration sensor, yaw-rate sensor and position feedback transducer; Wherein, vehicle speed sensor is installed in the driving axle housing, is used for obtaining in real time car speed information; Side acceleration sensor and yaw-rate sensor are installed in the barycenter place of vehicle, are used for obtaining in real time the side acceleration of vehicle and the yaw velocity of vehicle respectively; Said position feedback transducer has four; Be installed in respectively on steering mechanical hand, gearshift mechanical arm, braking pedipulator and the throttle pedipulator, and be used for obtaining in real time displacement, brake pedal displacement and the accelerator pedal displacement of the current bearing circle rotational angle of vehicle, gear level respectively;
Said user interaction unit is used for before carrying out actual road test; The make an experiment setting of type of user; And, carry out the setting of the biased error permissible value of vehicle ' circuit, the speed of a motor vehicle, operating range and vehicle and track center line according to the test type that sets;
Said control module mainly comprises drives control module and security control unit; Drive control module each servomotor in the performance element is controlled, thereby operate, realize operation control vehicle through bearing circle, brake pedal, gas pedal and gear level in the performance element control vehicle;
When the user presets the vehicle ' circuit in user interaction unit; Drive control module and will from user interaction unit, extract preset the vehicle ' circuit and the speed of a motor vehicle; With by the positional information of the vehicle of differential GPS collection and by extract in the travel condition of vehicle detecting unit the current running status of vehicle carry out analysis-by-synthesis; Thereby control execution unit to vehicle brake, acceleration, steering operation, vehicle is gone according to preset travel route;
When the user does not have vehicle ' circuit preset in user interaction unit; Drive control module through CCD camera collection road video information; Video is handled, is extracted lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading; Servomotor in the control executing mechanism is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line;
The running status that the real-time monitor vehicle of security control unit is current is carried out the vehicle-state estimation, judges whether vehicle has the possibility of the situation of causing danger; If possibility of causing danger arranged, then security control unit sends the danger early warning signal to carrying out control module, and the driving control module receives control execution unit operating and controlling vehicle behind this danger early warning signal, makes vehicle ' in safe range;
Security control unit, can control execution unit be braked vehicle when vehicle has fault to take place from the failure message of the diagnostics interface extraction vehicle of vehicle self;
Security control unit keeps real-time Communication for Power with the driving control module, and when breaking down for one in driving control module and the security control unit, then communication disruption comes control execution unit to carry out brake operating by another at this moment, guarantees the vehicle safety parking.
2. a kind of according to claim 1 automatic drive robot that is used for the road vehicle test, it is characterized in that: the steer motor in the said performance element, shift motor and drive motor are AC servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102610268A CN102435442B (en) | 2011-09-05 | 2011-09-05 | Automatic drive robot used in vehicle road tests |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102610268A CN102435442B (en) | 2011-09-05 | 2011-09-05 | Automatic drive robot used in vehicle road tests |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102435442A true CN102435442A (en) | 2012-05-02 |
| CN102435442B CN102435442B (en) | 2013-11-13 |
Family
ID=45983621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102610268A Active CN102435442B (en) | 2011-09-05 | 2011-09-05 | Automatic drive robot used in vehicle road tests |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102435442B (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103383265A (en) * | 2013-07-04 | 2013-11-06 | 浙江吉利汽车研究院有限公司杭州分公司 | Automobile autopilot system |
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN104345732A (en) * | 2013-08-02 | 2015-02-11 | 上海联影医疗科技有限公司 | CT ward bed control system and method |
| CN104477167A (en) * | 2014-11-26 | 2015-04-01 | 浙江大学 | Intelligent driving system and control method thereof |
| CN104590274A (en) * | 2014-11-26 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | Driving behavior self-adaptation system and method |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN106932205A (en) * | 2017-01-20 | 2017-07-07 | 南京理工大学 | It is a kind of that pedipulator is driven based on the Vehicle Driver Robot that linear electric motors drive |
| CN107543725A (en) * | 2016-07-27 | 2018-01-05 | 北京百度网讯科技有限公司 | A kind of unmanned vehicle manipulation method of testing and device |
| CN107728646A (en) * | 2017-09-05 | 2018-02-23 | 百度在线网络技术（北京）有限公司 | The method and system automatically controlled to the camera of automatic driving vehicle |
| CN108344588A (en) * | 2018-05-11 | 2018-07-31 | 安徽江淮汽车集团股份有限公司 | A kind of steering test device of vehicle |
| CN108801655A (en) * | 2018-07-27 | 2018-11-13 | 江西江铃集团新能源汽车有限公司 | Automated driving system, control method, readable storage medium storing program for executing and test device |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN109491370A (en) * | 2018-12-07 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | A kind of method of controlling security and system of automatic driving test |
| CN110072193A (en) * | 2019-04-29 | 2019-07-30 | 清华大学 | A kind of Communication topology for intelligent network connection vehicle test |
| CN110082122A (en) * | 2019-04-29 | 2019-08-02 | 清华大学 | A kind of intelligent network connection vehicle test platform |
| CN110160806A (en) * | 2019-06-17 | 2019-08-23 | 北京艾尔动力科技有限公司 | Automated driving system and test method for automobile durable test |
| CN110261131A (en) * | 2019-06-21 | 2019-09-20 | 北京迈格威科技有限公司 | Simulative automobile driving cabin image processing method and device |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN110567733A (en) * | 2019-09-10 | 2019-12-13 | 武汉光庭信息技术股份有限公司 | ACC-based failure scene determination method and system, server and medium |
| CN110869730A (en) * | 2017-07-17 | 2020-03-06 | 重庆赛真达智能科技有限公司 | Remote in-situ driving unmanned vehicle operation system and automatic driving automobile test field system |
| CN110907197A (en) * | 2019-12-11 | 2020-03-24 | 北京京东乾石科技有限公司 | Vehicle testing method, device and system |
| CN110927444A (en) * | 2019-11-18 | 2020-03-27 | 中汽研汽车检验中心（天津）有限公司 | Intelligent unmanned test platform and test method for testing whole vehicle energy consumption of pure electric vehicle |
| CN111216792A (en) * | 2018-11-26 | 2020-06-02 | 广州汽车集团股份有限公司 | Automatic driving vehicle state monitoring system and method and automobile |
| CN111257005A (en) * | 2020-01-21 | 2020-06-09 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for testing vehicle |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
| CN111390922A (en) * | 2020-03-19 | 2020-07-10 | 深圳国信泰富科技有限公司 | Automatic driving robot |
| CN111551958A (en) * | 2020-04-28 | 2020-08-18 | 北京踏歌智行科技有限公司 | Mining area unmanned high-precision map manufacturing method |
| CN111752261A (en) * | 2020-07-14 | 2020-10-09 | 同济大学 | Automatic driving test platform based on autonomous driving robot |
| WO2020210934A1 (en) * | 2019-04-15 | 2020-10-22 | 深圳市大疆创新科技有限公司 | Self-driving interactive method, device and system, and readable storage medium |
| CN111924018A (en) * | 2020-06-04 | 2020-11-13 | 酷至家(广州)智能科技发展有限公司 | Robot driver |
| CN111982529A (en) * | 2019-05-21 | 2020-11-24 | 株式会社堀场制作所 | Trolley, automatic driving system and storage method |
| CN112687173A (en) * | 2020-12-25 | 2021-04-20 | 安徽机电职业技术学院 | Automobile collision demonstration platform based on active and passive safety collaborative optimization |
| CN113512924A (en) * | 2021-08-16 | 2021-10-19 | 河北工业大学 | Unmanned assistant driving system of externally-mounted road roller |
| CN114577493A (en) * | 2022-03-24 | 2022-06-03 | 中汽研汽车检验中心（天津）有限公司 | Dummy hand structure and collision response method thereof |
| CN115252119A (en) * | 2022-07-20 | 2022-11-01 | 北京唯迈医疗设备有限公司 | Conduit room main control robot and manual monitoring system thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017124550A1 (en) * | 2016-01-24 | 2017-07-27 | 张仓 | Data information acquisition method for monitoring technology for preventing chassis from being scraped over uneven ground, and prompt system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5415034A (en) * | 1991-09-10 | 1995-05-16 | Horiba, Ltd. | Robot for driving automobile on chassis dynamometer |
| JP2573119B2 (en) * | 1991-10-23 | 1997-01-22 | 株式会社堀場製作所 | Car driving robot on chassis dynamometer |
| US5821718A (en) * | 1996-05-07 | 1998-10-13 | Chrysler Corporation | Robotic system for automated durability road (ADR) facility |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
| CN101109957A (en) * | 2007-07-19 | 2008-01-23 | 上海港机重工有限公司 | Control method for automatic drive of large engineering vehicle and system thereof |
-
2011
- 2011-09-05 CN CN2011102610268A patent/CN102435442B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5415034A (en) * | 1991-09-10 | 1995-05-16 | Horiba, Ltd. | Robot for driving automobile on chassis dynamometer |
| JP2573119B2 (en) * | 1991-10-23 | 1997-01-22 | 株式会社堀場製作所 | Car driving robot on chassis dynamometer |
| US5821718A (en) * | 1996-05-07 | 1998-10-13 | Chrysler Corporation | Robotic system for automated durability road (ADR) facility |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
| CN101109957A (en) * | 2007-07-19 | 2008-01-23 | 上海港机重工有限公司 | Control method for automatic drive of large engineering vehicle and system thereof |
Non-Patent Citations (2)
| Title |
|---|
| 薛金林等: "汽车试验用驾驶机器人综述", 《2007"中国仪器仪表与测控技术交流大会论文集》, 1 June 2007 (2007-06-01), pages 829 - 831 * |
| 陈刚: "汽车排放耐久性试验用驾驶机器人开发", 《中国优秀硕士学位论文全文数据库 工程科技II辑》, no. 5, 31 May 2007 (2007-05-31), pages 14 - 16 * |
Cited By (50)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103383265B (en) * | 2013-07-04 | 2016-12-07 | 宁波吉利汽车研究开发有限公司 | Automatic vehicle control system |
| CN103383265A (en) * | 2013-07-04 | 2013-11-06 | 浙江吉利汽车研究院有限公司杭州分公司 | Automobile autopilot system |
| CN104345732A (en) * | 2013-08-02 | 2015-02-11 | 上海联影医疗科技有限公司 | CT ward bed control system and method |
| CN104345732B (en) * | 2013-08-02 | 2017-11-28 | 上海联影医疗科技有限公司 | A kind of CT hospital bed controlling systems and method |
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN104477167A (en) * | 2014-11-26 | 2015-04-01 | 浙江大学 | Intelligent driving system and control method thereof |
| CN104590274A (en) * | 2014-11-26 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | Driving behavior self-adaptation system and method |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN107543725A (en) * | 2016-07-27 | 2018-01-05 | 北京百度网讯科技有限公司 | A kind of unmanned vehicle manipulation method of testing and device |
| US10580227B2 (en) | 2016-07-27 | 2020-03-03 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method and apparatus for testing operation of unmanned vehicle |
| CN107543725B (en) * | 2016-07-27 | 2018-08-03 | 北京百度网讯科技有限公司 | A kind of unmanned vehicle manipulation test method and device |
| CN106932205A (en) * | 2017-01-20 | 2017-07-07 | 南京理工大学 | It is a kind of that pedipulator is driven based on the Vehicle Driver Robot that linear electric motors drive |
| CN110869730A (en) * | 2017-07-17 | 2020-03-06 | 重庆赛真达智能科技有限公司 | Remote in-situ driving unmanned vehicle operation system and automatic driving automobile test field system |
| CN107728646A (en) * | 2017-09-05 | 2018-02-23 | 百度在线网络技术（北京）有限公司 | The method and system automatically controlled to the camera of automatic driving vehicle |
| CN108344588A (en) * | 2018-05-11 | 2018-07-31 | 安徽江淮汽车集团股份有限公司 | A kind of steering test device of vehicle |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109187041B (en) * | 2018-07-19 | 2020-03-06 | 山东省科学院自动化研究所 | Unmanned vehicle universal platform and method for automatic driving test |
| CN108801655A (en) * | 2018-07-27 | 2018-11-13 | 江西江铃集团新能源汽车有限公司 | Automated driving system, control method, readable storage medium storing program for executing and test device |
| CN109491364B (en) * | 2018-11-19 | 2022-04-01 | 长安大学 | Driving robot system for vehicle testing and control method |
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN111216792A (en) * | 2018-11-26 | 2020-06-02 | 广州汽车集团股份有限公司 | Automatic driving vehicle state monitoring system and method and automobile |
| CN111216792B (en) * | 2018-11-26 | 2021-07-30 | 广州汽车集团股份有限公司 | Automatic driving vehicle state monitoring system and method and automobile |
| CN109491370A (en) * | 2018-12-07 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | A kind of method of controlling security and system of automatic driving test |
| WO2020210934A1 (en) * | 2019-04-15 | 2020-10-22 | 深圳市大疆创新科技有限公司 | Self-driving interactive method, device and system, and readable storage medium |
| CN110082122B (en) * | 2019-04-29 | 2020-05-05 | 清华大学 | Intelligent network vehicle-connecting test platform |
| CN110082122A (en) * | 2019-04-29 | 2019-08-02 | 清华大学 | A kind of intelligent network connection vehicle test platform |
| CN110072193A (en) * | 2019-04-29 | 2019-07-30 | 清华大学 | A kind of Communication topology for intelligent network connection vehicle test |
| CN110072193B (en) * | 2019-04-29 | 2019-12-17 | 清华大学 | Communication topological structure for intelligent network vehicle-connecting test |
| CN111982529A (en) * | 2019-05-21 | 2020-11-24 | 株式会社堀场制作所 | Trolley, automatic driving system and storage method |
| CN110160806A (en) * | 2019-06-17 | 2019-08-23 | 北京艾尔动力科技有限公司 | Automated driving system and test method for automobile durable test |
| CN110261131B (en) * | 2019-06-21 | 2021-06-29 | 北京迈格威科技有限公司 | Image data processing method and device for automobile simulated cockpit |
| CN110261131A (en) * | 2019-06-21 | 2019-09-20 | 北京迈格威科技有限公司 | Simulative automobile driving cabin image processing method and device |
| CN110514451B (en) * | 2019-08-16 | 2021-04-27 | 天津卡达克数据有限公司 | Modular vehicle automatic driving speed control robot |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN110567733B (en) * | 2019-09-10 | 2021-07-16 | 武汉光庭信息技术股份有限公司 | ACC-based failure scene determination method and system, server and medium |
| CN110567733A (en) * | 2019-09-10 | 2019-12-13 | 武汉光庭信息技术股份有限公司 | ACC-based failure scene determination method and system, server and medium |
| CN110927444A (en) * | 2019-11-18 | 2020-03-27 | 中汽研汽车检验中心（天津）有限公司 | Intelligent unmanned test platform and test method for testing whole vehicle energy consumption of pure electric vehicle |
| CN110907197A (en) * | 2019-12-11 | 2020-03-24 | 北京京东乾石科技有限公司 | Vehicle testing method, device and system |
| CN111257005A (en) * | 2020-01-21 | 2020-06-09 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for testing vehicle |
| CN111390922A (en) * | 2020-03-19 | 2020-07-10 | 深圳国信泰富科技有限公司 | Automatic driving robot |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
| CN111551958A (en) * | 2020-04-28 | 2020-08-18 | 北京踏歌智行科技有限公司 | Mining area unmanned high-precision map manufacturing method |
| CN111551958B (en) * | 2020-04-28 | 2022-04-01 | 北京踏歌智行科技有限公司 | Mining area unmanned high-precision map manufacturing method |
| CN111924018A (en) * | 2020-06-04 | 2020-11-13 | 酷至家(广州)智能科技发展有限公司 | Robot driver |
| CN111752261A (en) * | 2020-07-14 | 2020-10-09 | 同济大学 | Automatic driving test platform based on autonomous driving robot |
| CN112687173A (en) * | 2020-12-25 | 2021-04-20 | 安徽机电职业技术学院 | Automobile collision demonstration platform based on active and passive safety collaborative optimization |
| CN113512924A (en) * | 2021-08-16 | 2021-10-19 | 河北工业大学 | Unmanned assistant driving system of externally-mounted road roller |
| CN114577493A (en) * | 2022-03-24 | 2022-06-03 | 中汽研汽车检验中心（天津）有限公司 | Dummy hand structure and collision response method thereof |
| CN115252119A (en) * | 2022-07-20 | 2022-11-01 | 北京唯迈医疗设备有限公司 | Conduit room main control robot and manual monitoring system thereof |
| CN115252119B (en) * | 2022-07-20 | 2024-10-08 | 北京唯迈医疗设备有限公司 | Catheter room master control robot and manual monitoring system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102435442B (en) | 2013-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102435442B (en) | Automatic drive robot used in vehicle road tests | |
| CN102346473B (en) | Remote vehicle driving control device | |
| US11001198B2 (en) | Notification device | |
| CN104527644B (en) | A kind of adaptive cruise method | |
| CN104960466B (en) | A kind of automobile turning safety assisting system | |
| CN102883938B (en) | For method and the parking system of the self-propelled vehicle that berths | |
| US20130238166A1 (en) | Method for testing the operability of a driver assistance system installed in a test vehicle | |
| CN202389130U (en) | Regulating system for running mechanism of combined-cycle and combined-cycle | |
| CN1728192A (en) | Following cruise control system at preceding vehicle | |
| CN102652091A (en) | Method and device for steering a vehicle toward an object during a parking operation | |
| CN102239073B (en) | Device and method of determining vehicle conditions | |
| CN104972908A (en) | Method for freeing a motor vehicle by rocking | |
| CN104943689A (en) | Control method for active automobile anti-collision system | |
| CN1811232A (en) | Vehicle control apparatus | |
| CN100591559C (en) | An engineering machinery steering control system of fluid pressure chassis | |
| CN104709347A (en) | Steering angular velocity control apparatus for power steering system and method thereof | |
| CN105593497A (en) | Method and device for operating a vehicle | |
| KR20220090233A (en) | A steering system for autonomous vehicles | |
| WO2019049269A1 (en) | Vehicle, control device therefor, and control method therefor | |
| CN104553784B (en) | Accelerator and brake control mechanism and vehicle self-adaption vehicle distance control system | |
| CN111674425B (en) | Navigation driving system for railway vehicle bottom inspection system | |
| JP4425858B2 (en) | Mobile object identification method | |
| CN202389142U (en) | Vehicle | |
| CN205059592U (en) | Novel self -driving car | |
| KR20220090673A (en) | A brake system for autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180418 Address after: 100085 Beijing Haidian District information road 28, 7, 7, A281 Patentee after: Beijing Yu Road Technology Co.,Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: Beihang University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180428 Address after: 100088 Beijing Haidian District Zhichun Road 6 (Jin Qiu International Building) 5 story A07 room. Patentee after: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Address before: 100085 Haidian District information road, Haidian District, Beijing, No. 28, 7 layer and 7 layer A281 Patentee before: Beijing Yu Road Technology Co.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An automatic driving robot for vehicle road test Effective date of registration: 20210329 Granted publication date: 20131113 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING TAGE IDRIVER TECHNOLOGY Co.,Ltd. Registration number: Y2021990000280 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220719 Granted publication date: 20131113 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Registration number: Y2021990000280 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20120502 Assignee: Zhongguancun Technology Leasing Co.,Ltd. Assignor: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Contract record no.: X2022980020734 Denomination of invention: An automatic driving robot for vehicle road test Granted publication date: 20131113 License type: Exclusive License Record date: 20221103 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An automatic driving robot for vehicle road test Effective date of registration: 20221104 Granted publication date: 20131113 Pledgee: Zhongguancun Technology Leasing Co.,Ltd. Pledgor: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Registration number: Y2022980020876 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Zhongguancun Technology Leasing Co.,Ltd. Assignor: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Contract record no.: X2022980020734 Date of cancellation: 20240724 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20131113 Pledgee: Zhongguancun Technology Leasing Co.,Ltd. Pledgor: BEIJING TAGE IDRIVER TECHNOLOGY CO.,LTD. Registration number: Y2022980020876 |