CN109738203A - Brake test device and test method for dynamic brake performance of automatic driving vehicle - Google Patents
Brake test device and test method for dynamic brake performance of automatic driving vehicle Download PDFInfo
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- CN109738203A CN109738203A CN201811635001.8A CN201811635001A CN109738203A CN 109738203 A CN109738203 A CN 109738203A CN 201811635001 A CN201811635001 A CN 201811635001A CN 109738203 A CN109738203 A CN 109738203A
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Abstract
The invention discloses a brake test device and a test method for dynamic braking performance of an automatic driving vehicle. According to the brake test device provided by the invention, the brake condition of the automatic driving vehicle can be accurately evaluated, and meanwhile, the reliability verification of the brake force applied to the brake part by the automatic brake device in the automatic driving vehicle along with the temperature change of the brake part can be realized.
Description
Technical field
The present invention relates to vehicle testing fields, dynamic in particular to a kind of brake test device and automatic driving vehicle
The test method of state braking ability.
Background technique
In the related technology, vehicle needs to test the braking ability of vehicle before batch production, existing braking examination
Experiment device once can only carry out braking performance test to wheel, can not multiple wheels to vehicle carry out braking ability simultaneously
Test, can not simulating vehicle wheel torque and revolving speed dynamic change, test result can not accurate response truth.Together
When, it cannot achieve the braking performance test to automatic driving vehicle in the prior art.
In addition, when automatic driving vehicle braking parts when the temperature is excessively high, the effect of braking parts brake wheel can be deteriorated, at this time
The self-braking device of automatic driving vehicle needs to apply bigger brake force to braking parts, to guarantee braking of the braking parts to wheel
Effect.But the brake force for not having correlation test equipment that braking parts are applied with self-braking device in automatic driving vehicle at present
With the equipment that the temperature change of braking parts carries out reliability demonstration, retardation test is affected to the braking reliability verifying effect of vehicle
Fruit.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First aspect propose it is a kind of be able to achieve brake force that the self-braking device in automatic driving vehicle applies braking parts with
The temperature change of braking parts carries out the brake test device of reliability demonstration.
The second aspect of the present invention proposes a kind of automatic driving vehicle dynamic carried out using above-mentioned brake test device
The test method of braking ability.
The brake test device according to a first aspect of the present invention, including control unit, braking parts, brake operating platform, survey
Device, temperature meter, multiple driving portions and multiple wheel portions are measured, each wheel portion includes wheel, each drive
Dynamic portion is respectively used to the corresponding driving one wheel rotation, and the control unit is for controlling the driving portion to the wheel portion
Output power, the braking parts be suitable for the wheel is braked, the brake operating platform includes self-braking device, institute
Self-braking device is stated to connect with the braking parts, to drive the braking parts to brake the wheel, the temperature meter with
The brake operating platform communication, the temperature meter are used to measure the temperature of the braking parts, and the measuring device is suitable for
Implement torque and the revolving speed of each wheel of measurement when the wheel braking.
The brake test device according to a first aspect of the present invention, can during wheel braking test carriage wheel dynamic
Torque and revolving speed variation, so as to accurately assess the brake condition of automatic driving vehicle, while being able to achieve to driving automatically
It sails self-braking device in vehicle and reliability demonstration is carried out with the temperature change of braking parts to the brake force that braking parts apply.
Brake test device according to the present invention, the wheel braking experimental rig further include: environmental chamber, the ring
Chassis portion is equipped in the room of border, the environmental chamber has the first side being oppositely arranged and second side, and the wheel portion includes multiple groups, often
The group wheel portion includes the institute that described second side is arranged in the wheel portion that first side is arranged in and one
State wheel portion, the wheel portion further include: axletree, each axletree are connect with the chassis portion.
Further, each driving portion is arranged at the side that the wheel portion deviates from the environmental chamber.
Further, each driving portion includes bottom platform, driving motor, flywheel bindiny mechanism, the driving
Motor and the flywheel bindiny mechanism are installed in the bottom platform, the braking parts by the flywheel bindiny mechanism with
The wheel portion connection.
Further, the flywheel bindiny mechanism includes inertial flywheel and shaft coupling, the braking parts and the inertia
Flywheel connection, the axletree are connect by the shaft coupling with the inertial flywheel.
The test method of the automatic driving vehicle dynamic brake performance according to a second aspect of the present invention, utilizes such as this hair
Brake test device described in bright first aspect, the test method include the following steps:
Step a: the control unit enables each driving portion apply different driving forces to the wheel portion, to simulate vehicle
Turn to when wheel operating condition；
Step b: the self-braking device operates the braking parts and brakes the wheel, described in the measuring device measurement
Torque and rotation speed change of the wheel in braking process, the temperature meter measure the temperature of the braking parts, the braking
Station records the brake force of the self-braking device；
Step c: the temperature information of the braking parts is transferred to the brake operating platform, the system by the temperature meter
Dynamic station adjusts the brake force of the self-braking device according to the temperature information.
The test method of the automatic driving vehicle dynamic brake performance according to a second aspect of the present invention, can be in wheel
The variation of test carriage wheel dynamic torque and revolving speed in braking process, so as to accurately assess the braking feelings of automatic driving vehicle
Condition, while being able to achieve and self-braking device in automatic driving vehicle becomes the brake force that braking parts apply with the temperature of braking parts
Change and carries out reliability demonstration.
The test method of automatic driving vehicle dynamic brake performance according to the present invention, the test method are also wrapped
It includes:
Step d: the driving portion is enabled to apply the load of simulated roadway frictional force to the wheel portion by the control unit.
Further, the brake test device further includes nature imitation experiment device, the nature imitation experiment device and the control
Portion processed is connected, the test method further include:
Step e: establishing emulation platform by the nature imitation experiment device, the friction of road conditions where setting the vehicle
The default turning radius of power and the vehicle；
Step f: vehicle is carried out according to the nature imitation experiment device and was braked when the default turning radius is turned
Journey l-G simulation test, obtains the torque parameter and rotary speed parameter of each wheel in the braking process l-G simulation test, and obtains institute
State the load parameter that wheel is given in vehicle braking process simulation test by road；
Step g: the torque parameter, the rotary speed parameter and the load parameter are transferred to by the nature imitation experiment device
The driving portion, so that the driving portion obtains the different driving forces that each driving portion applies the wheel portion, and
The driving portion is set to obtain the simulated roadway frictional force load.
Further, the brake test device further includes processor, the processor respectively with the emulation experiment
Device and the self-braking device are connected, the test method further include:
Step h: vehicle is carried out according to the nature imitation experiment device and was braked when the default turning radius is turned
Journey l-G simulation test obtains the brake force target component；
Step i: the brake force target component is passed to the processor, the processor by the nature imitation experiment device
Brake force is further applied to self-braking device according to the brake force target component.
Further, the brake test device further includes camera, and the camera is connected with the processor, institute
State step i further include: processing signal, the processor are issued to the processor when camera detection is close to barrier
It receives and brake force is applied to self-braking device according to the brake force target component after the processing signal.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of the brake test device of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the braking parts of the embodiment of the present invention；
Fig. 3 is the flow chart of the test method of the automatic driving vehicle dynamic brake performance of the embodiment of the present invention.
Appended drawing reference:
Brake test device 100, wheel portion 1, wheel 11, axletree 12, driving portion 2, bottom platform 21, driving motor
22, flywheel bindiny mechanism 23, flywheel disassembling mechanism 24, control unit 3, computer 31, control cabinet 32, braking parts 4, brake operating platform 5,
Self-braking device 51, seat 52, measuring device 6, environmental chamber 7, hoisting mechanism 71, chassis portion 8.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is at least two, such as two
It is a, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate with each other；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the interaction relationship of connection or two elements inside two elements.For the ordinary skill in the art,
The specific meanings of the above terms in the present invention can be understood according to specific conditions.
With reference to the accompanying drawing and with reference to the specific embodiment description present invention.
Fig. 1-Fig. 2 is combined to describe the brake test device 100 of the embodiment of the present invention first.
As Figure 1-Figure 2, the brake test device 100 of the embodiment of the present invention may include control unit 3, braking parts 4, system
Dynamic station 5, measuring device 6, temperature meter, multiple wheel portions 1 and multiple driving portions 2, each wheel portion 1 include wheel
11, each driving portion 2 is respectively used to corresponding one wheel 11 of driving and rotates.
As shown in Figure 1, control unit 3 is for controlling driving portion 2 to the output power in wheel portion 1, brake operating platform 5 includes certainly
Dynamic brake apparatus 51, self-braking device 51 is connect with braking parts 4, to can drive braking automatically in self-braking device 51
4 brake wheel 11 of portion.
When carrying out vehicle braking test using brake test device 100, wheel 11 can be driven by control unit 3 first
Rotation, to simulate actual vehicle driving process, at this point, the temperature of temperature measuring device measurement braking parts 4.Then, automatic braking
Device 51 measures the temperature of braking parts 4 according to temperature measuring device, is driven automatically using brake force corresponding with the temperature of braking parts 4
Dynamic 4 brake wheel 11 of braking parts, to simulate the automatic braking process of automatic driving vehicle, measuring device 6 is made in wheel 11 at this time
Implement torque and the revolving speed of each wheel 11 of measurement when dynamic.
In addition, due to the friction of braking parts 4 and wheel portion 1, the temperature of braking parts 4 can rise in 4 braking process of braking parts
Height, self-braking device 51 measures the temperature change of braking parts 4 according to temperature measuring device at this time, and the corresponding braking parts 4 that increase are made
The brake force of motor car wheel 11, to guarantee the braking effect of braking parts 4.
Then, personnel can be according to torque and revolving speed of the wheel 11 that measuring device 6 measures in 11 braking process of wheel
Multidate information of the mutation analysis wheel 11 during wheel braking, accurate evaluation braking parts 4 are right in 11 braking process of wheel
The braking ability of wheel 11, and the reliability of verifying self-braking device 51 automated toed respond to.
In addition, braking parts 4 can brake multiple wheels 11, thus by measuring device 6, it can be more realistically anti-
The vehicle torque of each wheel and rotation speed change situation in braking process are reflected, more accurately to assess braking parts 4 in wheel 11
To the braking ability of wheel 11 in braking process.
In addition, passing through in the braking process of verifying braking parts 4, self-braking device 51 is measured according to temperature measuring device and is made
The temperature change in dynamic portion 4, corresponding brake force this control closed loop for increasing 4 brake wheel 11 of braking parts, can effectively verify and
Assess the automatic braking effect that self-braking device 51 carries out brake force variation according to temperature measuring device.
Brake test device 100 according to an embodiment of the present invention is filled by setting control unit 3, braking parts 4, automatic braking
51, measuring device 6, temperature measuring device, multiple wheel portions 1 and multiple driving portions 2 are set, can be surveyed in 11 braking process of wheel
The variation of test run wheel 11 dynamic torque and revolving speed, so as to accurately assess the brake condition of automatic driving vehicle, while energy
Realize brake force that self-braking device 51 in automatic driving vehicle applies braking parts 4 with braking parts 4 temperature change into
Row reliability demonstration.
In some optional embodiments of the invention, measuring device 6 can be the wheel 11 or vehicle that wheel portion 1 is arranged in
Speed probe or/and torque sensor on wheel shaft 12, the thus accurate test carriage in 11 braking process of wheel of measuring device 6
Take turns the variation of 11 dynamic torques and revolving speed.
In some specific embodiments, temperature meter can be the temperature sensor being mounted in braking parts 4, thus
Temperature sensor can accurately measure the temperature of braking parts 4, accurately reflect braking parts 4 when brake wheel portion 1 due to rubbing
The temperature change wiped and occurred.
In some specific embodiments, self-braking device 51 can (Electric booster band brake be total for Ebooster
Pump assembly), brake operating platform 5 is equipped with brake pedal, and Ebooster can provide brake force to brake pedal according to external world's instruction,
And then brake pedal can drive 4 brake wheel 11 of braking parts, with the automatic braking of simulating vehicle.
In some specific embodiments, as shown in Figure 1, brake operating platform 5 fixes on the ground, on brake operating platform 5
Equipped with seat 52, occupant can be rided on seat 52.Passenger riding is when on seat 52, automatic braking dress
51 fronts for being located at occupant are set, thus can be rided on seat 52 convenient for occupant and observe 51 pairs of self-braking device brakings
The insensitivity of pedal.
In some specific embodiments, as shown in Figure 1, brake test device 100 further includes environmental chamber 7, in environmental chamber 7
Equipped with chassis portion 8, chassis portion 8 can simulate the chassis of actual vehicle, and environmental chamber 7 has the first side and second being oppositely arranged
Side, wheel portion 1 include multiple groups, and every group of wheel portion 1 includes that a wheel portion 1 that the first side is arranged in and one are arranged second
The wheel portion 1 of side, wheel portion 1 further include axletree 12, and wheel 11 is rotated around the center of corresponding axletree 12, each axletree
12 connect with chassis portion 8.
As a result, chassis portion 8 and multiple wheel portions 1 can common simulating vehicle chassis and the wheel that is connect with chassis
11, to improve the test authenticity of brake test device 100.
Since there are four running vehicle wheels for tool in most of automobiles, in some instances, as shown in Figure 1, wheel portion 1 and driving
Portion 2 all can be four, and the wheel 11 in four wheel portions 1 can be with four running vehicle wheels in simulated automotive.
In some specific embodiments, braking parts 4 can be brake disc or brake caliper, and brake disc or brake caliper are logical
Bolt is crossed to be fixed in the suspension system in chassis portion 8.In some instances, brake disc or brake caliper can directly by with vehicle
Wheel 11 rubs and brakes to wheel 11.In other examples, brake disc or brake caliper can also be by rubbing or pressing from both sides
Axletree 12 is held, axletree 12 is braked, and then wheel 11 is braked indirectly.
Specifically, as shown in Figure 1, each driving portion 2 is arranged at the side that wheel portion 1 deviates from environmental chamber 7.It drives as a result,
Dynamic portion 2 may be located remotely from environmental chamber 7, in order to the installation of driving portion 2, while convenient for the installation in chassis portion 8 in environmental chamber 7.
Specifically, as shown in Fig. 2, each driving portion 2 includes bottom platform 21, driving motor 22, flywheel bindiny mechanism
23, bottom platform 21 can be placed on the ground, and driving motor 22 and flywheel bindiny mechanism 23 are installed in bottom platform 21,
So that driving motor 22 and flywheel bindiny mechanism 23 keep stablizing when working, braking parts 4 pass through flywheel bindiny mechanism 23 and wheel
Portion 1 connects, and thus flywheel bindiny mechanism 23 can load braking parts 4 by the kinetic energy of storage, to brake in braking parts 4
The torque and rotation speed change of wheel 11 when can more accurately reflect 4 brake wheel 11 of braking parts of vehicle when wheel portion 1.
More specifically, as shown in Fig. 2, flywheel bindiny mechanism 23 includes inertial flywheel and shaft coupling, braking parts 4 and inertia
Flywheel connection, axletree 12 are connect by shaft coupling with inertial flywheel, shaft coupling can guarantee axletree 12 and inertial flywheel it
Between connective stability, inertial flywheel can load braking parts 4 by the kinetic energy of storage, to brake vehicle in braking parts 4
The torque and rotation speed change of wheel 11 when can more accurately reflect 4 brake wheel 11 of braking parts of vehicle when wheel portion 1.
More specifically, as shown in Fig. 2, driving portion 2 further includes flywheel disassembling mechanism 24, flywheel disassembling mechanism 24 and flywheel
Bindiny mechanism 23 connects, and flywheel disassembling mechanism 24 can be used for dismantling flywheel bindiny mechanism 23, after dismantling flywheel bindiny mechanism 23,
Wheel portion 1 can be unloaded, to be convenient for changing the braking parts 4 of different model or different structure, to test different braking portion 4 to vehicle
The braking effect of wheel 11.
In some specific embodiments, hoisting mechanism 71 is equipped in environmental chamber 7.In some instances, hoisting mechanism 71
It can be hoisting machine common in the art.All parts in chassis portion 8 can be lifted on environmental chamber 7 by hoisting mechanism 71
It is interior, so that the installation in chassis portion 8 is more convenient.
Specifically, as shown in Figure 1, control unit 3 includes computer 31 and control cabinet 32, computer 31 passes through control cabinet 32 and driving
Portion 2 connects, and computer 31 is suitable for manipulating driving portion 2 by control cabinet 32, and personnel input the torque to wheel 11 by computer 31 and believe
Breath, and then computer 31 controls control cabinet 32 and drives driving portion 2 to rotate wheel 11 to rotating speed of target and target turn according to moment information
Square, control cabinet 32 is further adapted for powering to driving portion 2, to realize driving of the driving motor 22 to wheel 11.
Using the brake test device 100 of the embodiment of the present invention, can carry out before vehicle does not build completion to vehicle
Braking system thermal shock retardation test, ramp continuous braking test, pressure stabilizing speed-changing braking test, wet type stopping brake examination
It tests, the wheels-locked testing of speed stabilizing transformation, speed change wheels-locked testing, primary braking transformation test, the wheels-locked testing of transformation speed change, air-cooled brake examination
It tests, the test of dry type stopping brake, static friction test, running-in test, rate of wear test, brake efficiency is tested, brake heat declines
It retracts that retrial is tested, potency test is moved in the test of Brake pad, gasket wear, the quiet potency test of parking, parking, realizes to the system of vehicle
Effective verifying of dynamic effect.
The test method of the automatic driving vehicle dynamic brake performance of the embodiment of the present invention is described below with reference to Fig. 3.
The test method of the automatic driving vehicle dynamic brake performance of the embodiment of the present invention is utilized as the present invention is any of the above-described
The brake test device 100 of kind embodiment.As shown in figure 3, test method includes the following steps:
Step a: control unit 3 enables each driving portion 2 apply different driving forces to wheel portion 1, is being turned to simulating vehicle
When wheel 11 operating condition；
Step b: self-braking device 51 operates 4 brake wheel 11 of braking parts, and measuring device 6 measures wheel 11 and braking
Torque and rotation speed change in journey, temperature meter measure the temperature of braking parts 4, and brake operating platform 5 records self-braking device
51 brake force；
Step c: the temperature information of braking parts 4 is transferred to brake operating platform 5,5 basis of brake operating platform by temperature meter
The brake force of temperature information adjusting self-braking device 51.
The test method of automatic driving vehicle dynamic brake performance according to an embodiment of the present invention, by utilizing retardation test
Device 100 may be implemented to have the automatic Pilot control logic of Function for Automatic Pilot vehicle to carry out rack inspection according to above-mentioned steps
It looks into and tests and verify, realize the effect of Function for Automatic Pilot sample car Laboratory Function verifying, shorten project development test period,
It realizes that test calibration work in part can be completed in the lab, reduce the risk of road test and saves time cost, improve
Safety coefficient has huge social economic value.
In addition, the test method of the automatic driving vehicle dynamic brake performance of the embodiment of the present invention effectively can be verified and be commented
Estimate self-braking device 51 and the automatic braking effect of brake force variation is carried out, it can be achieved that maximum Brake Energy according to temperature measuring device
Amount recycling or the control of braking process constant moment of force, then provide advantageous test data for the performance test of braking device.
In some optional embodiments of the invention, as shown in figure 3, test method further include:
Step d: driving portion 2 is enabled to apply the load of simulated roadway frictional force to wheel portion 1 by control unit 3.
Step d can be located at after step a, and be located at before step b, it is possible thereby to simulate vehicle in braking process
Traveling is realized in laboratory on different roads and tests braking performance test function under different road conditions, so that test result is more
Close to brake condition of the vehicle actual travel on road.
In some specific embodiments, brake test device 100 further includes nature imitation experiment device, nature imitation experiment device with
Control unit 3 is connected.In some instances, nature imitation experiment device can be the computer 31 of control unit 3, as shown in figure 3, test method
Further include:
Step e: establishing emulation platform by nature imitation experiment device, and emulation platform can be digital simulation software, set vehicle
The frictional force of road conditions and the default turning radius of vehicle where；
Step f: vehicle braking process emulation examination when default turning radius is turned is carried out according to nature imitation experiment device
It tests, obtains the torque parameter and rotary speed parameter of each wheel 11 in braking process l-G simulation test, and obtain wheel 11 in vehicle
The load parameter given in braking process l-G simulation test by road；
Step g: torque parameter, rotary speed parameter and load parameter are transferred to driving portion 2 by nature imitation experiment device, so that driving
Portion 2 obtains the different driving forces that each driving portion 2 applies wheel portion 1, and driving portion 2 is made to show that simulated roadway frictional force is negative
It carries.
It is understood that as shown in figure 3, step e, step f and step g before step a, thus in driving portion 2
Obtaining can be by simulated roadway after the load of simulated roadway frictional force and the different driving forces that apply to wheel portion 1 of driving portion 2
Frictional force load and the distribution of different driving power are applied in wheel portion 1 by multiple driving portions 2 correspondence.Nature imitation experiment device and step
Rapid e, step f and step g can be in the driving forces and reality being actually subject to before retardation test starts to the wheel of vehicle 11
Road friction power verified in advance so as to wheel portion 1 apply simulated roadway frictional force load value it is truer, make simultaneously
The driving force that each wheel 11 the is subject to driving force situation that each wheel 11 is subject to when turning closer to actual vehicle, with more acurrate
Ground reflects brake condition of the vehicle when running on the road simulated.
Specifically, brake test device 100 further includes processor, and processor is made with nature imitation experiment device and automatically respectively
Dynamic device 51 is connected, and processor can be with the vehicle-mounted computer in simulating vehicle.In some instances, processor, which can be set, is braking
On station 5, the temperature information of braking parts 4 can be transferred to processor by temperature meter, and processor is according to temperature information tune
Save the brake force of self-braking device 51.
Test method further include:
Step h: vehicle braking process emulation examination when default turning radius is turned is carried out according to nature imitation experiment device
It tests, obtains brake force target component；
Step i: brake force target component is passed to processor by nature imitation experiment device, and processor is further according to brake force
Target component applies brake force to self-braking device 51.
Braking system when step h and step i can simulate automatic driving vehicle practical automatic braking as a result, was responded
Journey, to verify the control strategy of automatic driving vehicle.The brake force applied by exception processes device to self-braking device 51, can
To test under different braking power braking parts 4 to the braking ability of wheel 11.
More specifically, brake test device 100 further includes camera, and camera is connected with processor, in some examples
In, camera is mounted on brake operating platform 5.
Step i further include: processing signal is issued to processor when camera detection is close to barrier, processor receives
Brake force is applied to self-braking device 51 according to brake force target component after processing signal.
Camera and processor may be implemented simulation automatic driving vehicle and keep away in actual travel encountering pedestrian as a result,
Allow, automatic lane change, lane keep when automatic braking safety test, formed camera-processor-self-braking device
The control closed loop in 51- braking parts 4- wheel portion 1, realizes the verifying of the braking strategy of automatic driving vehicle.
In some other embodiments, brake test device 100 further includes radar scanning system, radar scanning system with
Processor is connected, and in some instances, radar scanning system is mounted on brake operating platform 5.
Step i further include: processing signal, processor are issued to processor when radar scanning system detection is close to barrier
It receives and brake force is applied to self-braking device 51 according to brake force target component after handling signal.
Radar scanning system and processor may be implemented simulation automatic driving vehicle and encountering row in actual travel as a result,
The safety test of automatic braking when people's evacuation, automatic lane change, lane are kept, forms radar scanning system-processor-certainly
The control closed loop in dynamic brake apparatus 51- braking parts 4- wheel portion 1, realizes the verifying of the braking strategy of automatic driving vehicle.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
What can be combined in any suitable manner in one or more embodiment or examples.In addition, those skilled in the art can say this
Different embodiments or examples described in bright book are engaged and are combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of brake test device characterized by comprising
Multiple wheel portions, each wheel portion includes: wheel；
Multiple driving portions, each driving portion are respectively used to the corresponding driving one wheel rotation；
Control unit, the control unit is for controlling the driving portion to the output power in the wheel portion；
Braking parts, the braking parts are suitable for braking the wheel；
Brake operating platform, the brake operating platform includes: self-braking device, and the self-braking device and the braking parts connect
It connects, to drive the braking parts to brake the wheel；
Temperature meter, the temperature meter and the brake operating platform communicate, and the temperature meter is described for measuring
The temperature of braking parts；
Measuring device, the measuring device are suitable for implementing to measure in the wheel braking torque of each wheel and turn
Speed.
2. brake test device according to claim 1, which is characterized in that the wheel braking experimental rig further include:
Environmental chamber, the environmental chamber is interior to be equipped with chassis portion, and the environmental chamber has the first side being oppositely arranged and second side, the wheel
Portion includes multiple groups, and wheel portion described in every group includes that the wheel portion that first side is arranged in and one are arranged in institute
State the wheel portion of second side, the wheel portion further include: axletree, each axletree connect with the chassis portion
It connects.
3. brake test device according to claim 2, which is characterized in that each driving portion is arranged at the wheel portion
Away from the side of the environmental chamber.
4. brake test device according to claim 2, which is characterized in that each driving portion includes: that bottom is flat
Platform, driving motor, flywheel bindiny mechanism, the driving motor and the flywheel bindiny mechanism are installed in the bottom platform
On, the braking parts are connect by the flywheel bindiny mechanism with the wheel portion.
5. brake test device according to claim 4, which is characterized in that the flywheel bindiny mechanism includes: that inertia flies
Wheel and shaft coupling, the braking parts are connect with the inertial flywheel, and the axletree is flown by the shaft coupling and the inertia
Wheel connection.
6. a kind of test method of automatic driving vehicle dynamic brake performance, which is characterized in that the test method is utilized as weighed
Benefit requires brake test device described in any one of 1-5, and the test method includes the following steps:
Step a: the control unit enables each driving portion apply different driving forces to the wheel portion, is existed with simulating vehicle
The operating condition of wheel when steering；
Step b: the self-braking device operates the braking parts and brakes the wheel, and the measuring device measures the wheel
Torque and rotation speed change in braking process, the temperature meter measure the temperature of the braking parts, the brake operating
Platform records the brake force of the self-braking device；
Step c: the temperature information of the braking parts is transferred to the brake operating platform, the braking behaviour by the temperature meter
Make the brake force that platform adjusts the self-braking device according to the temperature information.
7. the test method of automatic driving vehicle dynamic brake performance according to claim 6, which is characterized in that the examination
Proved recipe method further include:
Step d: the driving portion is enabled to apply the load of simulated roadway frictional force to the wheel portion by the control unit.
8. the test method of automatic driving vehicle dynamic brake performance according to claim 7, which is characterized in that the system
Dynamic test device further include: nature imitation experiment device, the nature imitation experiment device are connected with the control unit, and the test method is also
Include:
Step e: establishing emulation platform by the nature imitation experiment device, the frictional force of road conditions where setting the vehicle and
The default turning radius of the vehicle；
Step f: it is imitative that vehicle braking process when the default turning radius is turned is carried out according to the nature imitation experiment device
True test, obtains the torque parameter and rotary speed parameter of each wheel in the braking process l-G simulation test, and obtain the vehicle
Take turns the load parameter given in vehicle braking process simulation test by road；
Step g: the torque parameter, the rotary speed parameter and the load parameter are transferred to described by the nature imitation experiment device
Driving portion so that the driving portion obtains the different driving forces that each driving portion applies the wheel portion, and makes institute
It states driving portion and obtains the simulated roadway frictional force load.
9. the test method of automatic driving vehicle dynamic brake performance according to claim 8, which is characterized in that the system
Dynamic test device further include: processor, the processor respectively with the nature imitation experiment device and the self-braking device
It is connected, the test method further include:
Step h: it is imitative that vehicle braking process when the default turning radius is turned is carried out according to the nature imitation experiment device
True test, obtains the brake force target component；
Step i: the brake force target component is passed to the processor by the nature imitation experiment device, and the processor is into one
Step applies brake force to self-braking device according to the brake force target component.
10. the test method of automatic driving vehicle dynamic brake performance according to claim 9, which is characterized in that described
Brake test device further include: camera, the camera are connected with the processor, the step i further include: the camera shooting
Head, which detects, issues processing signal to the processor when barrier is close, and the processor receives root after the processing signal
Brake force is applied to self-braking device according to the brake force target component.
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| CN201811635001.8A CN109738203A (en) | 2018-12-29 | 2018-12-29 | Brake test device and test method for dynamic brake performance of automatic driving vehicle |
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| CN201811635001.8A CN109738203A (en) | 2018-12-29 | 2018-12-29 | Brake test device and test method for dynamic brake performance of automatic driving vehicle |
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