CN108519240A - Emulate pedestrian and Automobile Test System - Google Patents
Emulate pedestrian and Automobile Test System Download PDFInfo
- Publication number
- CN108519240A CN108519240A CN201810391969.4A CN201810391969A CN108519240A CN 108519240 A CN108519240 A CN 108519240A CN 201810391969 A CN201810391969 A CN 201810391969A CN 108519240 A CN108519240 A CN 108519240A
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- Prior art keywords
- pedestrian
- emulation
- main body
- emulation pedestrian
- trunk
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
A kind of emulation pedestrian of offer of the embodiment of the present invention and Automobile Test System.It includes pedestrian's main body, supporting rod, mobile platform, control mechanism and compensation component to emulate pedestrian, wherein control mechanism setting is in emulation pedestrian.Supporting rod includes opposite first end and second end, and first end is connect with pedestrian's main body, and second end is connect with mobile platform, and pedestrian's main body is arranged on a mobile platform.Mobile platform is connect with control mechanism, for driving emulation pedestrian's movement according to the control instruction of control mechanism.Compensation component setting emulation pedestrian surface makes the Radar Cross Section RCS of emulation pedestrian be matched with the RCS of true man for weakening or enhancing emulation pedestrian's different parts to the reflex of radar wave.Compensation component is provided on emulation pedestrian, compensation component can compensate the RCS of emulation pedestrian, reach the RCS reflecting effects of class people, be supported to provide superior technique for vehicle active safety test, ensure that test efficiently carries out.
Description
Technical field
The present invention relates to technical field of measurement and test, in particular to a kind of emulation pedestrian and Automobile Test System.
Background technology
Currently, the whole world is every year because of the number about 500,000 of traffic accident death, therefore the safety of automobile is to human life
The influence of property is self-evident.Traditional automotive safety theory is also gradually changing, with the development of science and technology automobile
Safe center of gravity gradually by passive security technique transfers to active safety technologies.Intelligent network connection automobile may be considered active safety
Quite high automobile, automobile active safety technology first from ADAS (Advanced Driver Assistant Systems, it is advanced
Driving assistance system) to start research and development be that accident occurs for preventing car, and avoid personnel from coming to harm and the safe design taken.With
Reaching its maturity for the onboard sensors technology such as video camera, millimetre-wave radar, laser radar, is the active safety function of automobile
Exploitation provides good technical support, and active safety has become one of the research hotspot of current automotive field, represents vapour
The developing direction of vehicle safe practice.
In R＆D process, it is necessary to largely be simulated the active safety of all kinds of real roads traffic hazard operating mode scenes
Property test.However, the human simulation that uses and being not up to ideal simulated effect in test at present, and then cause test by shadow
It rings.
Invention content
In order to overcome above-mentioned deficiency in the prior art, the embodiment of the present invention be designed to provide a kind of emulation pedestrian and
Automobile Test System can compensate the Radar Cross Section RCS of emulation pedestrian by compensation component, to reach
It to the RCS reflecting effects of class people, is supported to provide superior technique for vehicle active safety test, ensures that test is efficient
It carries out.
The embodiment of the present invention provides a kind of emulation pedestrian, and the emulation pedestrian includes pedestrian's main body, supporting rod, moves and put down
Platform, control mechanism and compensation component, wherein the control mechanism is arranged in the emulation pedestrian,
The supporting rod includes opposite first end and second end, and the first end is connect with pedestrian's main body, described
Second end is connect with the mobile platform, wherein pedestrian's main body is arranged on the mobile platform；
The mobile platform is connect with the control mechanism, described in being driven according to the control instruction of the control mechanism
Emulate pedestrian's movement；
The emulation pedestrian surface is arranged in the compensation component, for weakening or enhancing emulation pedestrian's different parts pair
The reflex of radar wave makes the Radar Cross Section RCS of the emulation pedestrian be matched with the RCS of true man.
Optionally, in embodiments of the present invention, the compensation component is made of absorbing material.
Optionally, in embodiments of the present invention, pedestrian's main body includes head and trunk, and the compensation component includes the
One compensation device,
The first end is connect across the trunk with the head；
First compensation device is arranged on the facial area surface on the head.
Optionally, in embodiments of the present invention, the compensation component further includes the second compensation device,
Second compensation device is arranged on the abdomen area surface of the trunk.
Optionally, in embodiments of the present invention, pedestrian's main body further includes two upper limbs and two lower limb, the upper limb
And the lower limb are connect with the trunk, wherein the lower limb include thigh and shank, and the compensation component further includes third
Compensation device,
The third compensation device is arranged on the large arm subregion surface of at least one upper limb；And/or
The third compensation device is arranged at least one thigh close to the subregion surface of the trunk.
Optionally, in embodiments of the present invention, the trunk, upper limb and lower limb are hollow structure, the trunk, upper limb
And flexible material is filled in lower limb to protect the emulation pedestrian, wherein the flexible material includes expandability polyethylene.
Optionally, in embodiments of the present invention, the control mechanism includes two motors,
The thigh is flexibly connected with the shank, and the shank can the relatively described thigh movement；
Described two motors are used to control the state of the buttocks of the trunk, to drive the lower limb to do by the buttocks
Go out swaying legs action.
Optionally, in embodiments of the present invention, the clothes and skin of the emulation pedestrian arrives 910nm range of wavelengths 850
Infrared reflectivity in the range of 40%-60%；
The hair of the emulation pedestrian arrives the infrared reflectivity of 910nm range of wavelengths in 20%-60% 850.
Optionally, in embodiments of the present invention, pedestrian's main body is fixed on upright state on the mobile platform, institute
State the height and true man's matched of emulation pedestrian.
The embodiment of the present invention also provides a kind of Automobile Test System, and the Automobile Test System includes automobile, control platform
And the emulation pedestrian, the control platform is used to control the working condition of the emulation pedestrian, to be carried out to the automobile
Active safety is tested.
In terms of existing technologies, the invention has the advantages that：
A kind of emulation pedestrian of offer of the embodiment of the present invention and Automobile Test System.The emulation pedestrian include pedestrian's main body,
Supporting rod, mobile platform, control mechanism and compensation component, wherein the control mechanism is arranged in the emulation pedestrian.It is described
Supporting rod includes opposite first end and second end, and the first end is connect with pedestrian's main body, the second end with it is described
Mobile platform connects, wherein pedestrian's main body is arranged on the mobile platform.The mobile platform and the control mechanism
Connection, for driving the emulation pedestrian to move according to the control instruction of the control mechanism.Described in the compensation component setting
Emulation pedestrian surface makes the emulation for weakening or enhancing emulation pedestrian's different parts to the reflex of radar wave
The RCS of pedestrian is matched with the RCS of true man.Emulation pedestrian can simulate the state of pedestrian's walking, and pass through compensation component pair
The RCS of emulation pedestrian is compensated, and reaches the RCS reflecting effects of class people, to be provided for vehicle active safety test
Superior technique is supported, ensures that test efficiently carries out.
To enable the above objects, features, and advantages of invention to be clearer and more comprehensible, present pre-ferred embodiments cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of emulation pedestrian provided in an embodiment of the present invention.
Fig. 2 is pedestrian adult sizes table provided in an embodiment of the present invention.
Fig. 3 is pedestrian adult sketch provided in an embodiment of the present invention.
Fig. 4 is pedestrian's child-sized table provided in an embodiment of the present invention.
Fig. 5 is pedestrian's child-sized table provided in an embodiment of the present invention.
Icon：100- emulates pedestrian；110- pedestrian's main body；The heads 111-；112- trunks；114- upper limbs；116- lower limb；
1161- thighs；1162- shanks；120- supporting rods；121- first ends；122- second ends；130- mobile platforms；141- motors；
The first compensation devices of 151-；The second compensation devices of 152-；153- third compensation devices.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is please referred to, Fig. 1 is the structural schematic diagram of emulation pedestrian 100 provided in an embodiment of the present invention.The emulation pedestrian
100 include pedestrian's main body 110, supporting rod 120, mobile platform 130, control mechanism and compensation component.Wherein, the control mechanism
It is arranged in the emulation pedestrian 100, it is specific to meet to control the working condition of emulation 100 different parts of pedestrian
Class people feature (for example, swinging kick) under operating mode, simulates true pedestrian.The emulation pedestrian 100 has can be by various vehicles
The class of set sensor perception is humanized, is convenient for vehicle active safety ADAS (Advanced Driver Assistant
Systems, advanced driving assistance system) research and development test.
In the present embodiment, the supporting rod 120 includes opposite first end 121 and second end 122.The first end
121 connect with pedestrian's main body 110, and the second end 122 is connect with the mobile platform 130, wherein pedestrian's main body
110 are arranged on the mobile platform 130.The mobile platform 130 is connect with the control mechanism, for according to the control
The control instruction of mechanism drives the emulation pedestrian 100 to move.100 surface of emulation pedestrian is arranged in the compensation component, uses
In weakening or enhancing reflex of emulation 100 different parts of pedestrian to radar wave, make the RCS of the emulation pedestrian 100
(Radar-Cross Section, Radar Cross Section) is matched with the RCS of true man.It is measured as a result, by radar sensor
When, since compensation component can weaken or enhance reflex of the emulation 100 different parts structure of pedestrian to radar wave so that emulation
The radar return of pedestrian 100 is close with true man, therefore can be tested for the research and development of vehicle active safety ADAS and provide better skill
Art is supported.Wherein, the control mechanism and mobile platform 130 can be connect with external device communication, realized real-time Communication for Power, passed through phase
Mutually cooperation is to make emulation pedestrian 100 meet relevant testing requirement.
In the embodiment of the present embodiment, the compensation component is made of absorbing material.
In the present embodiment, pedestrian's main body 110 includes head 111 and trunk 112.The compensation component includes first
Compensation device 151.The first end 121 is connect across the trunk 112 with the head 111, first compensation device 151
It is arranged on the facial area surface on the head 111, for example, the broken line part on head shown in FIG. 1 111 is described first
Compensation device 151.
Further, the compensation component can also include the second compensation device 152, and second compensation device 152 is set
It sets on the abdomen area surface of the trunk 112, for example, the broken line part on trunk shown in FIG. 1 112 is second benefit
Repay device 152.
Pedestrian's main body 110 further includes two upper limbs 114, and two upper limbs 114 are connect with the trunk 112.The benefit
It further includes third compensation device 153 to repay component.Optionally, the third compensation device 153 is arranged at least one upper limb 114
Large arm subregion surface, for example, the broken line part on the upper limb 114 as shown in Figure 1 is the third compensation device
153。
Pedestrian's main body 110 can also include two lower limb 116, and two lower limb 116 are connect with the trunk 112,
In, each lower limb 116 include thigh 1161 and shank 1162.Optionally, at least one thigh 1161 is close to the trunk 112
Subregion surface be also equipped with the third compensation device 153, for example, the line department on thigh 1161 as shown in Figure 1
It is the third compensation device 153 to divide.
In the embodiment of the present embodiment, pass through face, abdomen, arm and 1161, the thigh in emulation pedestrian 100
Divide and be respectively provided with compensation device, to reach the RCS reflecting effects of class people.
Wherein, the emulation pedestrian 100 can also include other support components, pass through other support components and the support
The cooperation of bar 120 is further ensured that the support to trunk 112 and four limbs.
In the present embodiment, the trunk 112, upper limb 114 and lower limb 116 are hollow structure, the trunk 112, on
Flexible material is filled in limb 114 and lower limb 116, to work as a buffer, to the mechanically supported to the emulation pedestrian 100
Partly (for example, pedestrian's main body 110, supporting rod 120 etc.) and the electronic component emulated in pedestrian 100 are protected, and are protected
It is even without damage to demonstrate,prove emulation pedestrian 100 and test damaged vehicle very little in the collision scene under fixing speed, to extend
Emulate the service life of pedestrian 100.Wherein, the flexible material may be, but not limited to, expandability polyethylene
(Expandable Polyethylene, EPE).
In the present embodiment, the leg of the emulation pedestrian 100 has the swinging kick behavior of class people, and two upper limbs 114 are static.
Optionally, the control mechanism includes two motors 141.The thigh 1161 connects with 1162 activity of the shank
It connects, the shank 1162 can the relatively described movement of thigh 1161.Described two motors 141 are used to control the stern of the trunk 112
The motion state in portion, to drive the lower limb 116 to make swaying legs action by buttocks.For example, can by motor 141 into
Row setting so that swinging kick has 3 kinds of different speed, e.g., 3km/h, 5km/h, 8km/h, to meet vehicle active safety system
Requirement in system test development to pedestrian's difference movement speed.Also, it is set to movable joint by setting up knee joint part separately, it can
With the swinging kick behavior of truer simulation class people.
Optionally, leg and motor 141 are attracted by neodium magnet and realize connection, during the test with test vehicle
When collision, this connection type can ensure to emulate pedestrian 100 and test the safety of vehicle, can also be in assurance function
Under the premise of convenient for restore installation, ensure test efficiently carry out.The thigh 1161 and the junction of shank 1162 are provided with magnet,
The control acted to the shank 1162 can be realized by the magnet, so that lower limb 116 make swaying legs action.
In the present embodiment, the surface of the emulation pedestrian 100 is also close with true man's resemblance, it is ensured that the emulation
Pedestrian 100 can be by camera sensor sensing, and part reflectance signature can be used for simulating the correlated characteristic of true man.Wherein, institute
Stating the component part (including being partly arranged in internal supporting rod 120) for emulating pedestrian 100 and being related to can be by onboard sensor sense
Know.
In the present embodiment, pedestrian's main body 110 is fixed on upright state on the mobile platform 130, to accurate
Really simulate true pedestrian.Further, the height and true man's matched of the emulation pedestrian 100, to truer simulation
Pedestrian ensures test effect.Wherein, the emulation pedestrian 100 can be made as adult or children.
Fig. 2 and Fig. 3 is please referred to, Fig. 2 is pedestrian adult sizes table provided in an embodiment of the present invention, and Fig. 3 is of the invention real
The pedestrian adult sketch of example offer is provided.When it is adult to emulate pedestrian 100, appearance profile can refer to adult's-La Musi bodybuildings
Sportsman's standard figure designs, and makes 2 centimetres of tolerance+.Emulation pedestrian 100 is fixed on upright position.Emulate pedestrian 100
The reference point of side position is buttocks.According to fig. 2 and adult's parameter shown in Fig. 3 can make the appearance profile for emulating pedestrian 100.
Similarly, Fig. 4 and Fig. 5 is please referred to, Fig. 4 is pedestrian's child-sized table provided in an embodiment of the present invention, and Fig. 5 is this hair
Pedestrian's child-sized table that bright embodiment provides.When it is children to emulate pedestrian 100, appearance profile can refer to children La Musi
Body-builders' standard figure designs, i.e., the appearance profile of emulation pedestrian 100 is made according to child parameter shown in Fig. 4 and Fig. 5.
In the embodiment of the present embodiment, the emulation pedestrian 100 is visual and with the infrared signature met the requirements.
Optionally, in order to ensure that the emulation pedestrian 100 is visual, the emulation pedestrian 100 wears the T-shirt and trousers of different colours, than
Such as, black T-shirt and blue jeans.Waterproof material may be used in the outer surface (T-shirt and trousers worn) of the emulation pedestrian 100
Material 600D Oxford clothes are made, and the part of skin surface is made of non-reflective yellowish pink material 300D Oxford clothes.Also, the emulation
The clothes and skin of pedestrian 100 is in the range of 850 to 910nm range of wavelengths infrared reflectivity is in 40%-60%；It is described imitative
True pedestrian 100 further includes hair, and the hair of the emulation pedestrian 100 exists in 850 to 910nm range of wavelengths infrared reflectivity
In 20%-60%.Thus it can guarantee that the emulation pedestrian 100 has the infrared signature for meeting test request.Wherein, the emulation
Pedestrian 100 may include reinforcing rope to carry out reinforcement fixation, and the color of the reinforcement rope can be the reflection of light grey and low optical
Substance ensures that the emulation pedestrian 100 can be modeled as true man.
Optionally, to meet the durability and reliability requirement that the emulation pedestrian 100 outside covers, the emulation pedestrian
100 outer covering material has following characteristic：Area weight<300g/m, light shine (AATCC 169)>6000h, intensity
(ASTM D5034)>350 pounds, wearability ASTM (D3884)>500 periods, water proofing property (AATCC 127)>600mm.
In the present embodiment, 100 all components of emulation pedestrian belong to modularized design, due to colliding certain part hair
When raw damage, replacement can be rapidly completed and restore, to be further ensured that the efficient progress of test.
The embodiment of the present invention also provides a kind of Automobile Test System, and the Automobile Test System includes automobile, control platform
And the emulation pedestrian 100, the control platform is used to control the working condition of the emulation pedestrian 100, with to the vapour
Vehicle carries out active safety test.
In conclusion a kind of emulation pedestrian of offer of the embodiment of the present invention and Automobile Test System.The emulation pedestrian includes
Pedestrian's main body, supporting rod, mobile platform, control mechanism and compensation component, wherein the control mechanism setting is gone in the emulation
In people.The supporting rod includes opposite first end and second end, and the first end is connect with pedestrian's main body, and described second
End is connect with the mobile platform, wherein pedestrian's main body is arranged on the mobile platform.The mobile platform with it is described
Control mechanism connects, for driving the emulation pedestrian to move according to the control instruction of the control mechanism.The compensation component
The emulation pedestrian surface is set, for weakening or enhancing emulation pedestrian's different parts to the reflex of radar wave, is made
The RCS of the emulation pedestrian is matched with the RCS of true man.Emulation pedestrian can simulate the state of pedestrian's walking, and pass through benefit
It repays component to compensate the RCS of emulation pedestrian, reaches the RCS reflecting effects of class people, to be surveyed for vehicle active safety
Examination provides superior technique support, ensures that test efficiently carries out.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of emulation pedestrian, which is characterized in that the emulation pedestrian includes pedestrian's main body, supporting rod, mobile platform, control machine
Structure and compensation component, wherein the control mechanism is arranged in the emulation pedestrian,
The supporting rod includes opposite first end and second end, and the first end is connect with pedestrian's main body, and described second
End is connect with the mobile platform, wherein pedestrian's main body is arranged on the mobile platform；
The mobile platform is connect with the control mechanism, for driving the emulation according to the control instruction of the control mechanism
Pedestrian moves；
The emulation pedestrian surface is arranged in the compensation component, for weakening or enhancing emulation pedestrian's different parts to radar
The reflex of wave makes the Radar Cross Section RCS of the emulation pedestrian be matched with the RCS of true man.
2. emulation pedestrian according to claim 1, which is characterized in that the compensation component is made of absorbing material.
3. emulation pedestrian according to claim 2, which is characterized in that pedestrian's main body includes head and trunk, described
Compensation component includes the first compensation device,
The first end is connect across the trunk with the head；
First compensation device is arranged on the facial area surface on the head.
4. emulation pedestrian according to claim 3, which is characterized in that the compensation component further includes the second compensation device,
Second compensation device is arranged on the abdomen area surface of the trunk.
5. emulation pedestrian according to claim 4, which is characterized in that pedestrian's main body further includes two upper limbs and two
Lower limb, the upper limb and the lower limb are connect with the trunk, wherein the lower limb include thigh and shank, the compensation
Component further includes third compensation device,
The third compensation device is arranged on the large arm subregion surface of at least one upper limb；And/or
The third compensation device is arranged at least one thigh close to the subregion surface of the trunk.
6. emulation pedestrian according to claim 5, which is characterized in that the trunk, upper limb and lower limb are hollow structure,
Flexible material is filled in the trunk, upper limb and lower limb to protect the emulation pedestrian, wherein the flexible material includes
Expandability polyethylene.
7. emulation pedestrian according to claim 5, which is characterized in that the control mechanism includes two motors,
The thigh is flexibly connected with the shank, and the shank can the relatively described thigh movement；
Described two motors are used to control the state of the buttocks of the trunk, to drive the lower limb to make pendulum by the buttocks
Leg acts.
8. emulation pedestrian according to claim 1, which is characterized in that
Range of the infrared reflectivity in 40%-60% that the clothes and skin of the emulation pedestrian arrives 910nm range of wavelengths 850
It is interior；
The hair of the emulation pedestrian arrives the infrared reflectivity of 910nm range of wavelengths in 20%-60% 850.
9. emulation pedestrian according to claim 1, which is characterized in that pedestrian's main body is fixed on described with upright state
On mobile platform, the height and true man's matched of the emulation pedestrian.
10. a kind of Automobile Test System, which is characterized in that the Automobile Test System includes that automobile, control platform and right are wanted
The emulation pedestrian described in any one of 1-9 is asked, the control platform is used to control the working condition of the emulation pedestrian, with right
The automobile carries out active safety test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391969.4A CN108519240A (en) | 2018-04-27 | 2018-04-27 | Emulate pedestrian and Automobile Test System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391969.4A CN108519240A (en) | 2018-04-27 | 2018-04-27 | Emulate pedestrian and Automobile Test System |
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| CN108519240A true CN108519240A (en) | 2018-09-11 |
Family
ID=63429309
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810391969.4A Pending CN108519240A (en) | 2018-04-27 | 2018-04-27 | Emulate pedestrian and Automobile Test System |
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| CN110068464A (en) * | 2019-04-29 | 2019-07-30 | 清华大学 | A kind of traffic object simulator for intelligent network connection vehicle test |
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