CN108871786A - A kind of automatic driving vehicle semi-hardware type simulation test system and method - Google Patents
A kind of automatic driving vehicle semi-hardware type simulation test system and method Download PDFInfo
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- CN108871786A CN108871786A CN201810432476.0A CN201810432476A CN108871786A CN 108871786 A CN108871786 A CN 108871786A CN 201810432476 A CN201810432476 A CN 201810432476A CN 108871786 A CN108871786 A CN 108871786A
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- 238000012360 testing method Methods 0.000 title claims abstract description 81
- 238000004088 simulation Methods 0.000 title claims abstract description 40
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- 239000000463 material Substances 0.000 claims description 9
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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
The present invention provides a kind of automatic driving vehicle semi-hardware type simulation test system and method, which includes：Vehicle body, flywheel and processing module；Wherein, the vehicle body is fixed on external lifting machine；Tire is provided on the vehicle body, the flywheel is in contact with the tire；The vehicle body drives the flywheel to be rotated for driving the tire to be rotated by internal engine in the tyre rotation；The processing module, for determining the rotation information of the flywheel；Acquire the driving information of the vehicle body；According to the driving information of the rotation information of the flywheel and the vehicle body, the driving safety state of the vehicle body is determined.Test site needed for this programme is smaller, and can preferably guarantee that the equipment such as the sensor in test process on automatic driving vehicle are not damaged, to reduce testing cost.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of automatic driving vehicle semi-hardware type simulation test system
And method.
Background technique
With the development of science and technology, the research of automatic Pilot is gradually goed deep into both at home and abroad, people are to automatic driving vehicle
Safety attention rate it is also higher and higher, and service check be confirm and improve automatic driving vehicle safety important hand
Section.
Currently, generally carrying out service check to automatic driving vehicle in closing place, that is, pass through driving automatic Pilot vehicle
Closing place in travel, acquisition automatic driving vehicle driving process driving parameters, then according to driving parameters determine
The driving safety state of automatic driving vehicle, to determine the security performance of automatic driving vehicle.
The place that this test mode needs is larger, once and automatic driving vehicle it is out of control in the process of moving, may
The damage that will cause the equipment such as internal sensor and controller, causes any property loss.It can be seen that existing test mode cost
It is higher.
Summary of the invention
The embodiment of the invention provides a kind of automatic driving vehicle semi-hardware type simulation test system and methods, can reduce test
Cost.
In a first aspect, the embodiment of the invention provides a kind of automatic driving vehicle semi-hardware type simulation test systems, including：Vehicle
Ontology, flywheel and processing module；Wherein,
The vehicle body is fixed on external lifting machine；
Tire is provided on the vehicle body, the flywheel is in contact with the tire；
The vehicle body, for driving the tire to be rotated by internal engine, in the tyre rotation
The flywheel is driven to be rotated；
The processing module, for determining the rotation information of the flywheel；Acquire the driving information of the vehicle body；Root
According to the rotation information of the flywheel and the driving information of the vehicle body, the driving safety state of the vehicle body is determined.
Preferably,
The processing module includes：Flywheel encoder, traveling sensor and test cell；Wherein,
The flywheel encoder, for acquiring revolving speed of the flywheel in preset duration；
The traveling sensor, for acquiring mileage travelled of the vehicle body in the preset duration；
The test cell, the revolving speed and the preset duration for being acquired according to the flywheel encoder, really
Fixed simulation mileage of the vehicle body in the preset duration；It determines between the simulation mileage and the mileage travelled
Whether difference is not more than preset error threshold, if so, determining that the driving safety state of the vehicle is not break away.
Preferably,
Further comprise：Steering wheel；
The processing module further comprises：Steering wheel encoder；Wherein,
The flywheel and the tire are connect with the steering wheel；
The tire can be turned in the horizontal direction under the drive of the vehicle body internal direction disk；
The steering wheel for being rotated under the drive of the tire of steering, and drives corresponding flywheel to carry out
It turns to；
The steering wheel encoder, for acquiring the deviation angle when flywheel turns to；
The test cell, for determining the vehicle according to the revolving speed, the preset duration and the deviation angle
The simulation mileage of the ontology in the preset duration.
Preferably,
Further comprise：Motor o controller and motor；Wherein,
The steering wheel is connected with the motor；
The test cell is further used for the revolving speed acquired according to the flywheel encoder, defeated to the motor
Controller sends control instruction out；
The motor o controller, for controlling the output voltage of the motor according to the control instruction, to adjust
The pressure that the steering wheel applies to the flywheel.
Preferably,
When the quantity of the flywheel is at least two,
The flywheel and the tire correspond, each described flywheel is in contact with the corresponding tire；
The Facing material of each flywheel is different.
Second aspect, the embodiment of the invention provides a kind of automatic driving vehicles provided using any of the above-described embodiment half
The method that matter emulation test macro is tested, including：
Vehicle body is fixed on lifting machine；
It is rotated by the engine driving tire inside the vehicle body；
Flywheel is driven to be rotated by the tire of rotation；
The rotation information of the flywheel is determined by processing module, and acquires the driving information of the vehicle body；
According to the driving information of the rotation information of the flywheel and the vehicle body, the traveling of the vehicle body is determined
Safe condition.
Preferably,
When the processing module includes：When flywheel encoder, traveling sensor and test cell,
The rotation information that the flywheel is determined by processing module, and the driving information of the vehicle body is acquired,
Including：
Revolving speed of the flywheel in preset duration is acquired by the flywheel encoder；
Mileage travelled of the vehicle body in the preset duration is acquired by the traveling sensor；
It is described according to the rotation information of the flywheel and the driving information of the vehicle body, determine the vehicle body
Driving safety state, including：
According to the revolving speed and the preset duration, determine the vehicle body in the simulation in the preset duration
Journey；
Determine whether the difference between the simulation mileage and the mileage travelled is not more than preset error threshold, if
It is to determine that the driving safety state of the vehicle is not break away.
Preferably,
When the test macro further comprises steering wheel, and the processing module further comprises steering wheel encoder,
It is described according to the revolving speed and the preset duration, determine mould of the vehicle body in the preset duration
Quasi- mileage, including：
The steering wheel is driven to be turned in the horizontal direction by the steering wheel inside the vehicle body；
The flywheel is driven to be turned to by the steering wheel of steering；
The deviation angle when flywheel turns to is acquired by the steering wheel encoder；
According to the revolving speed, the preset duration and the deviation angle, determine the vehicle body in preset duration
Simulation mileage.
Preferably,
When the test macro further comprises：When motor o controller and motor,
Further comprise：
The revolving speed acquired by the test cell according to the flywheel encoder, to the motor o controller
Send control instruction；
By the motor o controller according to the control instruction, the output voltage of the motor is controlled, to adjust
The pressure that the steering wheel applies to the flywheel.
The embodiment of the invention provides a kind of automatic driving vehicle semi-hardware type simulation test system and methods, by vehicle
The flywheel being in contact with it is set on the wheel of ontology, and vehicle body is fixed on lifting machine.When engine driving wheel
When tire rotates, the main body of vehicle body is still fixed on lifting machine, and only tire rotates.When tyre rotation, pass through friction
Power drives the flywheel turns being in contact with it, so that the plane motion of vehicle is converted to the rotation of flywheel, then according to flywheel
The driving information of rotation information and vehicle body determines the driving safety state of vehicle body.Vehicle body when due to test
Fixed, it is therefore desirable to test site it is smaller, and since vehicle is fixed, will not occur during the test
The case where causing equipment damage since vehicle is out of control in the process of moving, thus reduce the test of vehicle safety performance at
This.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is that a kind of structure of automatic driving vehicle semi-hardware type simulation test system provided by one embodiment of the present invention is shown
It is intended to；
Fig. 2 is a kind of structure for automatic driving vehicle semi-hardware type simulation test system that another embodiment of the present invention provides
Schematic diagram；
Fig. 3 is a kind of structure for automatic driving vehicle semi-hardware type simulation test system that another embodiment of the present invention provides
Schematic diagram；
Fig. 4 is a kind of process of automatic driving vehicle half-practicality imitation test method provided by one embodiment of the present invention
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In a first aspect, the embodiment of the invention provides a kind of automatic driving vehicle semi-hardware type simulation test system, the system
May include：Vehicle body 101, flywheel 102 and processing module 103；Wherein,
The vehicle body 101 is fixed on external lifting machine；
Tire is provided on the vehicle body, the flywheel 102 is in contact with the tire；
The vehicle body 101, for driving the tire to be rotated by internal engine, in the tyre rotation
When drive the flywheel 102 to be rotated；
The processing module 103, for determining the rotation information of the flywheel 102；Acquire the row of the vehicle body 101
Sail information；According to the driving information of the rotation information of the flywheel 102 and the vehicle body 101, the vehicle body is determined
101 driving safety state.
In above-described embodiment, consolidate by the way that the flywheel being in contact with it is arranged on the wheel of vehicle body, and by vehicle body
It is fixed to be arranged on lifting machine.When engine driving tyre rotation, the main body of vehicle body is still fixed on lifting machine, only tire
It rotates.When tyre rotation, the flywheel turns being in contact with it are driven by frictional force, so that the plane motion of vehicle be turned
The rotation of flywheel is turned to, then according to the rotation information of flywheel and the driving information of vehicle body, determines the row of vehicle body
Sail safe condition.Vehicle body is fixed when due to test, it is therefore desirable to test site it is smaller, and due to vehicle
It is fixed, equipment damage will not be caused there is a situation where out of control in the process of moving due to vehicle during the test, from
And reduce the testing cost of vehicle safety performance.
As shown in Fig. 2, in one embodiment of the invention, the processing module 103 includes：Flywheel encoder 1031, traveling
Sensor 1032 and test cell 1033；Wherein,
The flywheel encoder 1031, for acquiring revolving speed of the flywheel 102 in preset duration；
The traveling sensor 1032, for acquiring mileage travelled of the vehicle body 101 in the preset duration；
The test cell 1033, the revolving speed for being acquired according to the flywheel encoder 1031 and described default
Duration determines simulation mileage of the vehicle body 101 in the preset duration；Determine the simulation mileage and the traveling
Whether the difference between mileage is not more than preset error threshold, if so, determining that the driving safety state of the vehicle is not
It breaks away.
Herein, test module can be micro-control unit (Microcontroller Unit, MCU), and MCU passes through flywheel
Encoder obtains the velocity of rotation of flywheel, and the simulated driving speed and simulation mileage of vehicle body are determined with this.In addition, MCU is logical
Cross vehicle CAN bus obtain traveling the collected tire of sensor revolving speed and vehicle body mileage travelled, comparison flywheel with
The speed and mileage of vehicle body, that is, can determine vehicle body with the presence or absence of sideslip phenomenon, if the corresponding simulation mileage of flywheel and
Difference between the mileage travelled of vehicle body is not more than preset error threshold, then illustrates vehicle body during the test not
It breaks away.
In order to further increase the accuracy of test, as shown in figure 3, in one embodiment of the invention, which can be into
One step includes：Steering wheel 301；
The processing module 103 further comprises：Steering wheel encoder 1034；Wherein,
The flywheel 102 and the tire are connect with the steering wheel 301；
The tire can be turned in the horizontal direction under the drive of the vehicle body internal direction disk；
The steering wheel 301 for being rotated under the drive of the tire of steering, and drives corresponding flywheel
102 are turned to；
The steering wheel encoder 1034, for acquiring the deviation angle when flywheel turns to；
The test cell 1033, for determining institute according to the revolving speed, the preset duration and the deviation angle
State the simulation mileage of the vehicle body in the preset duration.
In the present embodiment, on the steering wheel by flywheel fixed setting, when tire turns to, frictional force band turn can be passed through
It is rotated to disk, so that fixed flywheel on the steering wheel be driven to turn to.When MCU can acquire flywheel steering by steering wheel encoder
Deviation angle synthesize simulation mileage of the vehicle body in preset duration, i.e., then according to the revolving speed of flywheel and deviation angle
Synthesis simulation fare register consider test process in flywheel deviation angle so that the simulation mileage synthesized more meet it is actual
Scene is tested, to improve the accuracy of test.
In addition, when being tested using traditional test mode, the environmental restrictions in tested person place, it is difficult to carry out multiple surveys
The test of examination hall scape, such as security performance test of the vehicle in different bends or different road surface when driving.
In embodiments of the present invention, which may further include：Motor o controller and motor；Wherein,
The steering wheel is connected with the motor；
The test cell is further used for the revolving speed acquired according to the flywheel encoder, defeated to the motor
Controller sends control instruction out；
The motor o controller, for controlling the output voltage of the motor according to the control instruction, to adjust
The pressure that the steering wheel applies to the flywheel.
The revolving speed that test cell is acquired according to flywheel encoder sends control instruction to motor o controller, so that electric
Machine output control adjusts the output voltage of motor according to control instruction, to adjust the output dynamics of motor, with adjust flywheel with
The distance between tire.For example, the output dynamics of motor is bigger, and steering wheel is applied at this time when the output voltage of motor is bigger
The pressure of flywheel is bigger, then flywheel reduces the distance between tire to the pressure by steering wheel and as tire is close.It can manage
Solution, when the vehicle is running, the bend radian of running rail is bigger, and the centripetal force that Ackermann steer angle is subject to is bigger, tire with
Spacing between flywheel is smaller.Herein, when the dynamics of motor output is bigger, the spacing between flywheel and tire is smaller, by
This can export different dynamics by motor, simulate different bend radians, realize in the case where not increasing testing cost different
The test of test scene.
In addition, in one embodiment of the invention, when the quantity of the flywheel is at least two, the flywheel and the wheel
Tire corresponds, each described flywheel is in contact with the corresponding tire；The each not phase of the Facing material of each flywheel
Together.
The flywheel of different surfaces material and the frictional force of tire are different, and thus analog vehicle body is in different situations
Road surface on test scene when driving.It is understood that flying for multiple and different Facing materials can be arranged in primary test
Then wheel acquires the rotation information of each flywheel respectively with tire interface respectively, to determine the vehicle sheet under different test scenes
The driving safety state of body.Can also be arranged in primary test the flywheels of multiple same materials respectively with tire interface, according to
The corresponding average value of the rotation information of each flywheel determines the driving safety state of vehicle body, to improve test accuracy；?
After primary test, then the flywheel of different surfaces material is replaced, to realize the safety of vehicle body under different test scenes
Test.
As shown in figure 4, the embodiment of the invention provides a kind of automatic driving vehicles provided using any of the above-described embodiment
The method that semi-hardware type simulation test system is tested, this method may comprise steps of：
Step 401：Vehicle body is fixed on lifting machine；
Step 402：It is rotated by the engine driving tire inside the vehicle body；
Step 403：Flywheel is driven to be rotated by the tire of rotation；
Step 404：The rotation information of the flywheel is determined by processing module, and acquires the traveling letter of the vehicle body
Breath；
Step 405：According to the driving information of the rotation information of the flywheel and the vehicle body, the vehicle sheet is determined
The driving safety state of body.
In one embodiment of the invention, when the processing module includes：Flywheel encoder, traveling sensor and test cell
When, the specific embodiment of step 404 may include：
Revolving speed of the flywheel in preset duration is acquired by the flywheel encoder；
Mileage travelled of the vehicle body in the preset duration is acquired by the traveling sensor；
It is described according to the rotation information of the flywheel and the driving information of the vehicle body, determine the vehicle body
Driving safety state, including：
According to the revolving speed and the preset duration, determine the vehicle body in the simulation in the preset duration
Journey；
Determine whether the difference between the simulation mileage and the mileage travelled is not more than preset error threshold, if
It is to determine that the driving safety state of the vehicle is not break away.
In one embodiment of the invention, when the test macro further comprises steering wheel, the processing module is further
When including steering wheel encoder,
It is described according to the revolving speed and the preset duration, determine mould of the vehicle body in the preset duration
Quasi- mileage, including：
The steering wheel is driven to be turned in the horizontal direction by the steering wheel inside the vehicle body；
The flywheel is driven to be turned to by the steering wheel of steering；
The deviation angle when flywheel turns to is acquired by the steering wheel encoder；
According to the revolving speed, the preset duration and the deviation angle, determine the vehicle body in preset duration
Simulation mileage.
In one embodiment of the invention, when the test macro further comprises：It, can when motor o controller and motor
To further comprise：
The revolving speed acquired by the test cell according to the flywheel encoder, to the motor o controller
Send control instruction；
By the motor o controller according to the control instruction, the output voltage of the motor is controlled, to adjust
The pressure that the steering wheel applies to the flywheel.
The contents such as information exchange, the implementation procedure between each step in the above method, due to implementing with present system
Example is based on same design, and particular content can be found in the narration in present system embodiment, and details are not described herein again.
The embodiment of the invention provides a kind of readable mediums, including execute instruction, when the processor of storage control executes
Described when executing instruction, the storage control executes the method that any of the above-described embodiment of the present invention provides.
The embodiment of the invention provides a kind of storage controls, including：Processor, memory and bus；The memory
It is executed instruction for storing, the processor is connect with the memory by the bus, when the storage control is run
When, the processor executes the described of memory storage and executes instruction, so that the storage control executes in the present invention
The method that any embodiment offer is provided.
In conclusion more than the present invention each embodiment at least has the advantages that：
1, in embodiments of the present invention, by being arranged the flywheel being in contact with it on the wheel of vehicle body, and by vehicle
Ontology is fixed on lifting machine.When engine driving tyre rotation, the main body of vehicle body is still fixed on lifting machine,
Only tire rotates.When tyre rotation, the flywheel turns being in contact with it are driven by frictional force, thus by the plane of vehicle
Conversion of motion is that the rotation of flywheel determines vehicle sheet then according to the rotation information of flywheel and the driving information of vehicle body
The driving safety state of body.Due to test when vehicle body be fixed, it is therefore desirable to test site it is smaller, and by
It is fixed in vehicle, it will not occur to cause the feelings of equipment damage since vehicle is out of control in the process of moving during the test
Condition, to reduce the testing cost of vehicle safety performance.
2, the revolving speed that flywheel in embodiments of the present invention, is acquired by flywheel encoder, is acquired by steering wheel encoder
The deviation angle of flywheel synthesizes simulation mileage of the vehicle body in preset duration, makes according to the revolving speed and deviation angle of acquisition
The simulation mileage synthesized more meets actual test scene, further according in simulation mileage and the traveling collected traveling of sensor
Journey, determines whether vehicle body breaks away, and is conducive to the accuracy for improving vehicle safety test.
3, in embodiments of the present invention, by installing the flywheel of different surfaces material, frictional force under varying environment is simulated
Difference.According to the speed that flywheel encoder obtains, motor o controller is adjusted, exports different power outputs to control motor
Degree, the variation of centripetal force when simulating vehicle difference turning speed.Thus on the basis of not increasing testing cost, different surveys are realized
Testing time, test man power and material are further saved in the test of examination hall scape.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that：Realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that：The foregoing is merely presently preferred embodiments of the present invention, is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (9)
1. a kind of automatic driving vehicle semi-hardware type simulation test system, which is characterized in that including：Vehicle body, flywheel and processing
Module；Wherein,
The vehicle body is fixed on external lifting machine；
Tire is provided on the vehicle body, the flywheel is in contact with the tire；
The vehicle body drives for driving the tire to be rotated by internal engine in the tyre rotation
The flywheel is rotated；
The processing module, for determining the rotation information of the flywheel；Acquire the driving information of the vehicle body；According to institute
The rotation information of flywheel and the driving information of the vehicle body are stated, determines the driving safety state of the vehicle body.
2. system according to claim 1, which is characterized in that including：
The processing module includes：Flywheel encoder, traveling sensor and test cell；Wherein,
The flywheel encoder, for acquiring revolving speed of the flywheel in preset duration；
The traveling sensor, for acquiring mileage travelled of the vehicle body in the preset duration；
The test cell, the revolving speed and the preset duration for being acquired according to the flywheel encoder, determines institute
State simulation mileage of the vehicle body in the preset duration；Determine the difference between the simulation mileage and the mileage travelled
Whether preset error threshold is not more than, if so, determining that the driving safety state of the vehicle is not break away.
3. system according to claim 2, which is characterized in that
Further comprise：Steering wheel；
The processing module further comprises：Steering wheel encoder；Wherein,
The flywheel and the tire are connect with the steering wheel；
The tire can be turned in the horizontal direction under the drive of the vehicle body internal direction disk；
The steering wheel for being rotated under the drive of the tire of steering, and drives corresponding flywheel to be turned to；
The steering wheel encoder, for acquiring the deviation angle when flywheel turns to；
The test cell, for determining the vehicle sheet according to the revolving speed, the preset duration and the deviation angle
The simulation mileage of the body in the preset duration.
4. system according to claim 3, which is characterized in that
Further comprise：Motor o controller and motor；Wherein,
The steering wheel is connected with the motor；
The test cell is further used for the revolving speed acquired according to the flywheel encoder, exports and controls to the motor
Device processed sends control instruction；
The motor o controller, for controlling the output voltage of the motor according to the control instruction, described in adjusting
The pressure that steering wheel applies to the flywheel.
5. system according to claim 1, which is characterized in that
When the quantity of the flywheel is at least two,
The flywheel and the tire correspond, each described flywheel is in contact with the corresponding tire；
The Facing material of each flywheel is different.
It is tested 6. a kind of using any automatic driving vehicle semi-hardware type simulation test system of claim 1 to 5
Method, which is characterized in that including：
Vehicle body is fixed on lifting machine；
It is rotated by the engine driving tire inside the vehicle body；
Flywheel is driven to be rotated by the tire of rotation；
The rotation information of the flywheel is determined by processing module, and acquires the driving information of the vehicle body；
According to the driving information of the rotation information of the flywheel and the vehicle body, the driving safety of the vehicle body is determined
State.
7. according to the method described in claim 6, it is characterized in that,
When the processing module includes：When flywheel encoder, traveling sensor and test cell,
The rotation information that the flywheel is determined by processing module, and the driving information of the vehicle body is acquired, including：
Revolving speed of the flywheel in preset duration is acquired by the flywheel encoder；
Mileage travelled of the vehicle body in the preset duration is acquired by the traveling sensor；
It is described according to the rotation information of the flywheel and the driving information of the vehicle body, determine the traveling of the vehicle body
Safe condition, including：
According to the revolving speed and the preset duration, simulation mileage of the vehicle body in the preset duration is determined；
Determine whether the difference between the simulation mileage and the mileage travelled is not more than preset error threshold, if so,
The driving safety state for determining the vehicle is not break away.
8. the method according to the description of claim 7 is characterized in that
When the test macro further comprises steering wheel, and the processing module further comprises steering wheel encoder,
It is described according to the revolving speed and the preset duration, determine the vehicle body in the simulation in the preset duration
Journey, including：
The steering wheel is driven to be turned in the horizontal direction by the steering wheel inside the vehicle body；
The flywheel is driven to be turned to by the steering wheel of steering；
The deviation angle when flywheel turns to is acquired by the steering wheel encoder；
According to the revolving speed, the preset duration and the deviation angle, mould of the vehicle body in preset duration is determined
Quasi- mileage.
9. according to the method described in claim 8, it is characterized in that,
When the test macro further comprises：When motor o controller and motor,
Further comprise：
The revolving speed acquired by the test cell according to the flywheel encoder is sent to the motor o controller
Control instruction；
By the motor o controller according to the control instruction, the output voltage of the motor is controlled, described in adjusting
The pressure that steering wheel applies to the flywheel.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827786A (en) * | 2018-12-20 | 2019-05-31 | 苏州观瑞汽车技术有限公司 | A kind of intelligent driving auto-steering test device and the test method using it |
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| CN108871786B (en) | 2020-05-26 |
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