CN110095295A - One kind is parked sensing capability test vehicle body mock combination rack electric control system and working method - Google Patents
One kind is parked sensing capability test vehicle body mock combination rack electric control system and working method Download PDFInfo
- Publication number
- CN110095295A CN110095295A CN201910504203.7A CN201910504203A CN110095295A CN 110095295 A CN110095295 A CN 110095295A CN 201910504203 A CN201910504203 A CN 201910504203A CN 110095295 A CN110095295 A CN 110095295A
- Authority
- CN
- China
- Prior art keywords
- tailstock
- headstock
- working cell
- sub
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manufacturing & Machinery (AREA)
- Traffic Control Systems (AREA)
Abstract
It parks sensing capability test vehicle body mock combination rack electric control system and working method the invention proposes one kind, headstock sub-platform information acquisition unit signal sending end connects vehicle processor headstock signal receiving end, tailstock sub-platform information acquisition unit signal sending end connects vehicle processor tailstock signal receiving end, and length of wagon adjusts cell signal transmitting terminal and connects vehicle processor vehicle body signal receiving end.Combined by headstock sub-platform information acquisition unit and tailstock sub-platform information acquisition unit and carry out perception test of parking, efficiently convenient, data collection is accurate.
Description
Technical field
The present invention relates to intelligent automobile testing and control field more particularly to one kind park sensing capability test vehicle body mock group
Close rack electric control system and working method.
Background technique
Parking system by the ultrasonic radar that is mounted on vehicle body, look around camera, forward sight camera and corresponding biography
Sensor detects parking position, draws parking map, and the parking path of Dynamic Programming in real time, automobile is guided or is directly manipulated
Steering wheel drives into parking position, eliminates the vision dead zone of vehicle surrounding, helps driver to park more accurately, improves and park
Safety.
A vehicle with parking system needs before putting goods on the market to parking system progress perception test, including with
It is lower two test: 1, ultrasonic radar sensing capability test: including sensor accuracy, system reaction time, make a false report, fail to report and
Barrier, such as step, cabinet are tested, compared by real time data acquisition, radar perception envelope diagram, blind is automatically generated
The report of area's range and ultrasonic radar are to the examining report of barrier；2, camera sensing capability is tested: including looking around camera
Calibration, the identification of parking stall graticule, forward sight camera obstacle recognition are compared by real time data acquisition, and camera pair is looked around in output
The examining report of barrier.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively proposes one kind and park sense
Know aptitude tests vehicle body mock combination rack electric control system and working method.
In order to realize above-mentioned purpose of the invention, the present invention provides one kind park sensing capability test vehicle body mock combination
Rack electric control system, comprising: headstock sub-platform information acquisition unit, tailstock sub-platform information acquisition unit and length of wagon
Adjust unit；
Headstock sub-platform information acquisition unit signal sending end connects vehicle processor headstock signal receiving end, and tailstock is flat
Station information acquisition unit signal sending end connects vehicle processor tailstock signal receiving end, and length of wagon adjusts cell signal and sends
End connection vehicle processor vehicle body signal receiving end.
Preferably, the headstock sub-platform information acquisition unit includes: odd number group headstock bracket working cell, and the odd number is big
In being equal to three, if there is three groups of headstock bracket working cells, first group of headstock bracket working cell is mounted on headstock sub-platform headstock
Position, in addition second group of headstock bracket working cell and third group headstock bracket working cell are respectively symmetrically mounted on first group of vehicle
Head bracket working cell two sides.
Preferably, the tailstock sub-platform information acquisition unit includes: even number set headstock bracket working cell, and the even number is big
In being equal to four, if there is four groups of tailstock bracket working cells, first group of tailstock bracket working cell is mounted on the tailstock sub-platform tailstock
Position, in addition second group of tailstock bracket working cell and third group tailstock bracket working cell are respectively symmetrically mounted on first group of vehicle
Tail bracket working cell two sides；4th group of tailstock bracket working cell is mounted on first group of tailstock bracket working cell rear end, and
By first group to third group tailstock bracket work cell rings around wherein.
Preferably, the bracket working cell includes: lower trunnion axis servo motor, vertical axes servo motor, upper trunnion axis
Servo motor and holder driving motor；
Horizontal axis signal transmitting terminal under lower trunnion axis servo motor signal receiving end connection dsp chip, vertical axes servo electricity
Machine signal receiving end connects dsp chip vertical axes signal sending end, and upper trunnion axis servo motor signal receiving end connects dsp chip
Upper trunnion axis signal sending end, holder driving motor signal receiving end connect dsp chip holder signal sending end.
Preferably, the bracket working cell further include: ultrasonic radar looks around camera and forward sight camera, in phase
The bracket working cell answered installs corresponding ultrasonic radar, looks around camera and forward sight camera, to complete parking manoeuvres
Instruction.
Preferably, further includes:
The first electric pushrod servo motor and the second electric pushrod servo motor, the first row degree is arranged in electric pushrod 703
Bit switch and second stroke limit switch；First electric pushrod servo motor signal receiving end connects the first push rod of vehicle processor
Signal sending end, the second electric pushrod servo motor signal receiving end connect the second push rod of vehicle processor signal sending end, the
One stroke limit switch signal transmitting terminal connects vehicle processor first stroke signal receiving end, second stroke limit switch signal
Transmitting terminal connects vehicle processor second stroke signal receiving end.
Invention additionally discloses a kind of work sides of sensing capability test vehicle body mock combination rack electric control system of parking
Method includes the following steps:
S1, simulating vehicle combine rack and carry out start-up operation, headstock sub-platform information acquisition unit and tailstock sub-platform letter
The CAN bus signal of breath acquisition unit is parsed and is loaded, and transmits data to host computer by serial ports；When input barrier
After testing information, ultrasonic radar, the ring of headstock sub-platform information acquisition unit and the response of tailstock sub-platform information acquisition unit
Data collection is carried out depending on camera and forward sight camera, determines position and corresponding parameter information that barrier occurs,
S2 adjusts vehicle ruler by the first electric pushrod servo motor of electric pushrod and the second electric pushrod servo motor
Very little, after vehicle dimension adjustment finishes, the barrier of parking platform is drawn close to simulating vehicle combination rack, starts headstock sub-platform
Information acquisition unit and tailstock sub-platform information acquisition unit, corresponding headstock bracket working cell adjust corresponding operating position
The acquisition of headstock data is carried out, tailstock bracket working cell adjusts corresponding position and carries out the acquisition of tailstock data；
The location of barrier is passed through the ultrasound of corresponding headstock bracket working cell and tailstock bracket working cell by S3
Wave radar looks around camera and forward sight camera is collected processing, and carries out early warning judgement, if headstock or the tailstock into
Corresponding warning data can not be obtained in row test process, when causing accordingly to collide, record the position of collision and ultrasonic wave thunder
The running parameter for reaching, looking around camera and forward sight camera, is uploaded to host computer；
The simulating vehicle combination corresponding running parameter of rack in the detection process that park, is carried out storage record, shape by S4
It at test record of parking, is uploaded to host computer and carries out data collection, and for carrying out security evaluation to intelligent automobile parking system.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
Barrier rack drives barrier mobile, simulating vehicle combination rack is for simulating for fixing various barriers
Vehicle and parking system, for the present invention for testing the sensing capability of parking system, structure is simple, reliable and stable, is not necessarily to
It is tested using real vehicle, reduces research and development cost, compared by real time data acquisition, generated ultrasonic radar and perceive envelope
Figure, the report of blind area range and the examining report to barrier, are demarcated, the parking stall of camera is looked around in test to camera is looked around
Line recognition capability, the obstacle recognition ability of forward sight camera, output look around camera to the examining report of barrier.Pass through phase
The circuit control answered realizes the intelligent operation of parking system and the reception processing of data, quickly makes feedback processing.
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 top view of the invention；
Fig. 2 is the structural schematic diagram of parking platform and barrier rack；
Fig. 3 is the structural schematic diagram that simulating vehicle combines rack；
Fig. 4 is the structural schematic diagram of bracket；
Fig. 5 is XYZ bloster circuit diagram；
Fig. 6 is testboard general illustration of parking；
Fig. 7 is testboard control method；
Fig. 8 is working method of the present invention.
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, and for explaining only the invention, and is not considered as limiting the invention.
As shown in Figures 1 to 4, a kind of parking system perception test platform, mainly by parking platform 1, barrier rack and mould
Quasi- vehicle combination rack composition, is provided with parking space's line on the table top of parking platform 1, and parking space's line is looked around for testing
A variety of rule can be set to the recognition capability of parking stall line for the testing requirement for meeting different vehicle in camera according to actual needs
Parking space's line of lattice, size, parking stall shape can be set to common parallel space, vertical parking stall or inclination parking stall etc., be
The complexity for reducing parking platform 1, is pasted using parking space's line；Simulating vehicle compound table frame is arranged on parking platform 1
And can arbitrarily move, the parking system of simulating vehicle arrangement is provided on simulating vehicle combination rack, parking system is at least wrapped
It includes ultrasonic radar, look around camera and forward sight camera；Barrier rack includes two and is separately positioned on 1 front and back of parking platform
The X-axis beam 2 that two sides and left and right extend is provided with the Y-axis beam 3 that front and back extends, the front and back two of Y-axis beam 3 between two X-axis beams 2
End is supported by two X-axis beams 2 respectively, and Y-axis beam 3 can move left and right under the driving of power along X-axis beam 2, on Y-axis beam 3
It is provided with the Z axis beam 4 extended up and down, Z axis beam 4 can be moved up and down under the driving of each ultromotivity and is moved forward and backward along Y-axis beam 3,
The lower end of Z axis beam 4 is provided with barrier fixed frame 5, barrier fixed frame 5 is located at 1 top of parking platform, barrier fixed frame
5 for fixing various barriers, and the rack that breaks the barriers is able to drive barrier and moves along any direction.
As depicted in figs. 1 and 2, X-axis beam 2 uses beam structure, is not likely to produce deformation, is provided on X-axis beam 2 mutually
Parallel X-axis guide rail and X-axis rack gear is respectively arranged with first servo motor at the both ends of Y-axis beam 3 and matches with X-axis guide rail
X-axis slide block, the first gear engaged with X-axis rack gear, first servo motor are arranged on the output shaft of first servo motor
Y-axis beam 3 is driven to move along X-axis guide rail by the engagement of first gear and X-axis rack gear.Y-axis beam 3 uses simple beam structure, by two
Root is parallel to each other and the sub- beam 301 of the spaced Y-axis in left and right forms, and the same end of the sub- beam 301 of two Y-axis passes through link block respectively
It is connected, the Y-axis guide rail that front and back extends is respectively arranged on the sub- beam 301 of two Y-axis, is arranged on the sub- beam 301 of a Y-axis wherein
There is the Y-axis rack gear parallel with Y-axis guide rail, the slide unit 6 that can be slided along Y-axis guide rail is provided on the sub- beam 301 of two Y-axis, in cunning
It is provided with the second servo motor on platform 6, the second tooth engaged with Y-axis rack gear is arranged on the output shaft of the second servo motor
Wheel, the second servo motor drives slide unit 6 to move along Y-axis guide rail by the engagement of second gear and Y-axis rack gear, due to two Y-axis
For sub- beam 301 apart from close, torsional moment is negligible, therefore use unilateral driving, offers on slide unit 6 and passes through for Z axis beam 4
Through-hole, in the left and right sides of the through-hole, setting is respectively arranged with a Z axis sliding block, is provided with up and down in the left and right sides of Z axis beam 4
The Z axis guide rail for extending and matching with Z axis sliding block, Z axis beam 4 are threaded through between two Z axis sliding blocks of slide unit 6 by Z axis guide rail,
And Z axis beam 4 is between the sub- beam 301 of two Y-axis.The ball wire bar pair that screw rod or more extends, Z axis beam 4 are provided on slide unit 6
It is mounted on the feed screw nut of ball wire bar pair, ball wire bar pair drives Z axis beam 4 to move up and down by third servo motor.
As shown in Fig. 2, being equipped with dummy on barrier fixed frame 5, curb copies object, imitative step barrier, cabinet are imitated
Object, the imitated object in L-type corner, white PVC bar or smooth PVC bar processed.
As shown in Fig. 2, Z axis beam 4 has lesser load, therefore Z axis beam 4 uses small-cross section profiles, higher guaranteeing to have
Reduce difficulty of processing and cost while strength and stiffness, is coated with sound-absorbing material on 4 surface of Z axis beam, sound-absorbing material is polyester
Fiber sound-absorbing blanket.
As shown in figures 1 and 3, simulating vehicle combination rack includes the support platform 7 of energy horizontal extension, support platform 7
Anterior-posterior horizontal is arranged at intervals with headstock sub-platform 701 and tailstock sub-platform 702, in headstock sub-platform 701 and tailstock sub-platform 702
On be respectively arranged with ultrasonic radar, look around camera and the one-to-one bracket 8 of forward sight camera.In the present embodiment, branch
Platform 7 is supportted since institute is loaded smaller, is made of aluminium alloy plate, is the movement of platform 7 easy to support and flexible, while as far as possible
The height for reducing support platform 7, is provided with multi-directional ball in the lower part of support platform 7.
Shown in as shown in Figure 1, Figure 3 and Figure 4, bracket 8 is made of three axis mould groups and holder 12, under three axis mould groups include
Trunnion axis 9, vertical axes 10 and upper trunnion axis 11, lower trunnion axis 9 can extend along direction, and be mounted on headstock with moving horizontally flat
On platform 701 and tailstock sub-platform 702, the lower end of vertical axes 10 is fixed on lower trunnion axis 9, and in the present embodiment, vertical axes 10 are logical
It crosses link block and is fixed on lower trunnion axis 9 close to the side at 7 edge of support platform, leaning on of upwardly extending is provided on the link block
Plate, backup plate are resisted against the inside of vertical axes 10, play a supporting role, and vertical axes 10 is made to keep vertical state, upper 11 energy of trunnion axis
It is mounted in vertical axes 10 up or down, and upper trunnion axis 11 is vertical with lower trunnion axis 9, holder 12 is mounted on trunnion axis 11
It can move horizontally above and along the extending direction of upper trunnion axis 11, upper trunnion axis 11, vertical axes 10 and holder 12 are flat towards support
The outside of platform 7 is installed, and ultrasonic radar looks around camera and forward sight camera is separately mounted on corresponding holder 12.Pass through
The position that bracket 8 adjusts ultrasonic radar, looks around camera and forward sight camera, support platform that no replacement is required or bracket, can
Enough analog ultrasonic wave radars are looked around camera and forward sight camera in the arrangement of vehicle body different location, and are verified in the cloth
The sensing capability under mode is set, it is simple to operate, greatly reduce research and development cost, ultrasonic radar looks around camera and preceding
It is installed depending on camera using same bracket 8, reduces the processing assembling difficulty of bracket 8, while energy is needed according to actual test
The installation site for enough adjusting ultrasonic radar, looking around camera and forward sight camera is easy to use.
As shown in figures 1 and 3, one is respectively arranged in the rear end of the front end of headstock sub-platform 701 and tailstock sub-platform 702
The bracket 8 of the V-shaped distribution of group, the quantity of every pack support 8 are five, and the v-shaped opening of two pack supports 8 is opposite, two pack supports 8
The lower front and back of trunnion axis 9 extends；The both ends that " V " shape is corresponded on headstock sub-platform 701 are also each provided with lower 9 left side of trunnion axis
The bracket 8 of right extension；The both ends that " V " shape is corresponded on tailstock sub-platform 702 are also each provided with two lower trunnion axis 9 or so and extend
Bracket 8, four brackets 8 are arranged symmetrically two-by-two, are located behind wherein being located at the distance between two brackets 8 in front and being greater than
The distance between two brackets 8；The bracket extended before and after the middle part of tailstock sub-platform 702 is additionally provided with a lower trunnion axis 9
8, which corresponds to the rear seat windscreen of vehicle.The arrangement of bracket 8 is suitable for most of vehicles, applied widely.
As shown in figure 4, passing through the ball screw being respectively equipped with respectively in lower trunnion axis 9, vertical axes 10 and upper trunnion axis 11
Nut body, installation slide unit 14 and servo motor realize movement, are provided with L shape on the installation slide unit 14 of upper trunnion axis 11
Holder bracket 15, holder 12 are mounted on the horizontal segment of holder bracket 15, and mounting structure is reliable and stable.Holder 12 is two axis clouds
Platform can be realized pitching and the angle adjustment of horizontal direction, meets ultrasonic radar, looks around camera and the installation of forward sight camera
Angle demand.
As shown in figures 1 and 3, it is connected between headstock sub-platform 701 and tailstock sub-platform 702 by electric pushrod 703, from
And realize the flexible of support platform 7, simulate various vehicles.In the present embodiment, headstock sub-platform 701 and tailstock sub-platform 702 it
Between be connected by two electric pushrods 703 being parallel to each other, between two electric pushrods 703 close to tailstock sub-platform 702
It is connected with stiffening plate 16, more due to 702 upper bracket 8 of tailstock sub-platform, adding stiffening plate 16 makes the knot of support platform 7
Structure is more stable.
As shown in figure 5, parking platform working cell includes: the first servo motor and second of X-axis beam left and right ends setting
Servo motor, the third servo motor of Y-axis beam, the 4th servo motor of Z axis beam, X-axis beam limit switch, Y-axis beam limit switch,
Z axis beam limit switch, X-axis indicator light, Y-axis indicator light, Z axis indicator light and PLC controller；
First servo motor signal control terminal connects the first servosignal of PLC controller transmitting terminal, the second servo motor letter
Number control terminal connects the second servosignal of PLC controller transmitting terminal, and third servo motor signal control terminal connects PLC controller the
Three servosignal transmitting terminals, the 4th servo motor signal control terminal connect the 4th servosignal transmitting terminal of PLC controller, X-axis beam
Limit switch is separately positioned on four marginal positions of X-axis beam, and X-axis beam limit switch signal transmitting terminal connects PLC controller X-axis
Beam limit signal receiving end, the setting of Y-axis beam limit switch connect PLC in Y-axis beam both ends, Y-axis beam limit switch signal transmitting terminal
Controller Y-axis beam limit signal receiving end, Z axis beam limit switch signal transmitting terminal connection PLC controller Z axis beam limit signal connect
Receiving end, X-axis indicator light signal receiving end connect PLC controller X-axis indication signal transmitting terminal, and Y-axis indicator light signal receiving end connects
PLC controller Y-axis indication signal transmitting terminal is connect, Z axis indicator light signal receiving end connects PLC controller Z axis indication signal and sends
End.In parking process realizes the response situation of parking platform analog obstacle object different location by the PLC controller, thus
Simulating vehicle combination rack is accurately tested.
Parking platform working cell further include: headstock sub-platform information acquisition unit, tailstock sub-platform information acquisition unit
Unit is adjusted with length of wagon；
Headstock sub-platform information acquisition unit signal sending end connects vehicle processor headstock signal receiving end, and tailstock is flat
Station information acquisition unit signal sending end connects vehicle processor tailstock signal receiving end, and length of wagon adjusts cell signal and sends
End connection vehicle processor vehicle body signal receiving end.The collection of data of parking and anti-is realized by the coordinateds of three units
It is fed to host computer or cloud, headstock information when wherein the acquisition of headstock sub-platform information acquisition unit is parked, tailstock sub-platform information
Tail information when acquisition unit acquisition is parked adjusts unit by length of wagon and processing is adjusted to length of wagon, meets not
With the test job of parking of length of wagon vehicle.
As shown in fig. 6, the PLC controller in parking platform working cell is carried out data interconnection by RS485 bus, lead to
PLC controller is crossed to interact data and host computer.
Headstock sub-platform information acquisition unit includes: odd number group headstock bracket working cell, which is more than or equal to three, if
There are three groups of headstock bracket working cells, first group of headstock bracket working cell is mounted on headstock sub-platform headstock position, and in addition
Two groups of headstock bracket working cells and third group headstock bracket working cell are respectively symmetrically mounted on first group of headstock bracket work
Unit two sides；
If there is five groups of headstock bracket working cells, first group of headstock bracket working cell is mounted on headstock sub-platform headstock position
Set, in addition second group of headstock bracket working cell, third group headstock bracket working cell, the 4th group of headstock bracket working cell and
5th group of headstock bracket working cell is respectively symmetrically mounted on first group of headstock bracket working cell two sides；It is corresponding odd when increasing
When the quantity of array headstock bracket working cell, headstock bracket work cell layout is carried out with above-mentioned rule；To subsequent installation
Corresponding ultrasonic sensor looks around camera and forward sight camera, is capable of providing corresponding location layout.
Tailstock sub-platform information acquisition unit includes: even number set headstock bracket working cell, which is more than or equal to four, if
There are four groups of tailstock bracket working cells, first group of tailstock bracket working cell is mounted on tailstock sub-platform tailstock position, and in addition
Two groups of tailstock bracket working cells and third group tailstock bracket working cell are respectively symmetrically mounted on first group of tailstock bracket work
Unit two sides；4th group of tailstock bracket working cell is mounted on first group of tailstock bracket working cell rear end, and extremely by first group
Third group tailstock bracket works cell rings around wherein；
If there is six groups of tailstock bracket working cells, first group of tailstock bracket working cell is mounted on tailstock sub-platform tailstock position
Set, in addition second group of tailstock bracket working cell, third group tailstock bracket working cell, the 4th group of tailstock bracket working cell and
5th group of tailstock bracket working cell is respectively symmetrically mounted on first group of tailstock bracket working cell two sides；6th group of tailstock bracket
Working cell is mounted on first group of tailstock bracket working cell rear end, and by first group to the 5th group tailstock bracket work cell rings
Around wherein；When increasing the quantity of corresponding even number set tailstock bracket working cell, the work of tailstock bracket is carried out with above-mentioned rule
Cell layout；To the corresponding ultrasonic sensor of subsequent installation, camera and forward sight camera are looked around, is capable of providing corresponding
Location layout.
Headstock bracket working cell and/or tailstock bracket working cell are respectively as follows: lower trunnion axis servo motor, vertical axes are watched
Take motor, upper trunnion axis servo motor and holder driving motor；
Horizontal axis signal transmitting terminal under lower trunnion axis servo motor signal receiving end connection dsp chip, vertical axes servo electricity
Machine signal receiving end connects dsp chip vertical axes signal sending end, and upper trunnion axis servo motor signal receiving end connects dsp chip
Upper trunnion axis signal sending end, holder driving motor signal receiving end connect dsp chip holder signal sending end；Pass through DSP core
Piece carries out signal control to corresponding motor, so as to adjust signal receiving angle, height or the vehicle body distance parked when testing
The width of stop line.
X axis quasi- take is assisted between the synchronous way of propelling of bi-motor and whole host computer by RS485 serial ports or LAN-TCP
View communication；
For the safety of testing crew during guarantee test and experimental rig, which is arranged a variety of safety devices and sets
Corresponding safety operation test specification.
Individual emergency stop switch is set in the control system of entire rack, and when pressing the emergency stop switch, entire rack is disconnected
Electricity simultaneously remains stationary；
Multiple-layer polychromatic status lamp is set on one jiao of top of rack, to show the states such as normal rack, failure, maintenance；
All directions beam end of travel is respectively provided with limit switch, prevents from occurring overtravel during test and damaging rack；
Shield is installed additional on each transmission parts, and preventing transmission mechanism from entering sundries influences service life, prevents simultaneously
Accidentally touching damages personnel；
Parking system working cell includes: ultrasonic radar, looks around camera and forward sight camera, in corresponding headstock branch
Frame working cell and tailstock bracket working cell install corresponding ultrasonic radar, look around camera and forward sight camera, thus
Complete parking manoeuvres instruction.
According to preferred embodiment, using seven groups of headstock bracket working cells and ten groups of tailstock bracket working cells, wherein seven groups
Headstock bracket working cell includes:
First group of headstock bracket working cell is mounted on headstock sub-platform headstock position, first group of headstock bracket working cell
Headstock forward sight camera is installed, in addition second group of headstock bracket working cell, third group headstock bracket working cell and the 4th group
Headstock bracket working cell is mounted on first group of headstock bracket working cell side, the 5th group of headstock bracket working cell, the 6th
Group headstock bracket working cell and the 7th group of headstock bracket working cell are mounted on first group of headstock bracket working cell other side,
Second group of headstock bracket working cell and the 5th group of headstock bracket working cell install respectively the first headstock ultrasonic sensor and
Second headstock ultrasonic sensor；Third group headstock bracket working cell and the 6th group of headstock bracket working cell install respectively
One headstock looks around camera and the second headstock looks around camera；4th group of headstock bracket working cell and the 7th group of headstock timberer
Make unit and third headstock ultrasonic sensor and the 4th headstock ultrasonic sensor are installed respectively；
Wherein ten groups of tailstock bracket working cells include:
First group of tailstock bracket working cell is mounted on tailstock sub-platform tailstock position, first group of tailstock bracket working cell
Tailstock forward sight camera is installed, in addition second group of tailstock bracket working cell, third group tailstock bracket working cell, the 4th group of vehicle
Tail bracket working cell, the 5th group of tailstock bracket working cell are mounted on first group of tailstock bracket working cell side, and the 6th group
Tailstock bracket working cell, the 7th group of tailstock bracket working cell, the 8th group of tailstock bracket working cell and the 9th group of tailstock branch
Frame working cell is mounted on first group of tailstock bracket working cell other side, second group of tailstock bracket working cell and the 6th group of vehicle
Tail bracket working cell is installed by the first tailstock ultrasonic sensor and the second tailstock ultrasonic sensor respectively；Third group tailstock branch
Frame working cell and the 7th group of tailstock bracket working cell install that first tailstock looks around camera and second tailstock is looked around and taken the photograph respectively
As head；Third tailstock supersonic sensing is installed in 4th group of tailstock bracket working cell and the 8th group of tailstock bracket working cell respectively
Device and the 4th tailstock ultrasonic sensor；5th group of tailstock bracket working cell and the 9th group of tailstock bracket working cell are pacified respectively
The dress third tailstock looks around camera and the 4th tailstock looks around camera；
VEHICLES MUST PARK WITHIN THE MARKED BAY for the realization that the parking system working cell installed by above-mentioned layout can optimize, and can be real
The accurate acquisition for data of now parking.
As shown in fig. 7, upper computer software is divided into three layers, every layer of function is described as follows:
First layer is responsible for signal input/output processing, parsing, load including CAN, RS485 signal；
The second layer is function or configuration layer, be responsible for carrying out the parameters such as motion profile, the speed of barrier rack configuration or
The preservation of configuration parameter, load, to the combination rack length of rack, the type of width and each sensor, quantity, the direction X/Y/Z,
Angle carries out configuration or the preservation of configuration parameter, load, and marks to the position sensor of barrier rack, combination rack
It is fixed.In addition this layer also completes the processing and movement parts anti-interference early warning to ECU correlation CAN signal of parking；
Third layer is application layer, is responsible for test cases editor and automatically generates test report of parking.
In addition, the upper computer software has test start button, test pause button and test to terminate status display mark.
But after the completion of systematic parameter configuration, after test start button is pressed, system will start to test, if test midway is pressed
Lower pause button, then system all in parking system will shut down, if pressing start button again, system will be after reforwarding
Turn.When the test is finished, upper computer software terminates display test.
Using 17 pack supports, wherein headstock sub-platform 701 uses seven pack supports 8, forms headstock bracket working cell, vehicle
Odd amount in addition to the round number platform 702 uses ten pack supports 8, forms tailstock bracket working cell；
The first electric pushrod servo motor and the second electric pushrod servo motor, the first row degree is arranged in electric pushrod 703
Bit switch and second stroke limit switch；First electric pushrod servo motor signal receiving end connects the first push rod of vehicle processor
Signal sending end, the second electric pushrod servo motor signal receiving end connect the second push rod of vehicle processor signal sending end, the
One stroke limit switch signal transmitting terminal connects vehicle processor first stroke signal receiving end, second stroke limit switch signal
Transmitting terminal connects vehicle processor second stroke signal receiving end, adjusts simulating vehicle by electric pushrod and combines rack length,
To which transformation measures size, to meet the demand of the test of parking of different automobile types.
As shown in figure 8, the parking system working method includes:
S1, parking platform starting carry out signal response to X-axis beam, Y-axis beam and Z axis beam, after state without exception, move X-axis
Barrier is moved to simulating vehicle combination rack response bit to be measured and set by beam, Y-axis beam and Z axis beam, by PLC controller to X-axis
The CAN bus signal of beam, Y-axis beam and Z axis beam is parsed and is loaded, and transmits data to host computer by serial ports；
S2, simulating vehicle combine rack and carry out start-up operation, headstock sub-platform information acquisition unit and tailstock sub-platform letter
The CAN bus signal of breath acquisition unit is parsed and is loaded, and transmits data to host computer by serial ports；When input barrier
After testing information, ultrasonic radar, the ring of headstock sub-platform information acquisition unit and the response of tailstock sub-platform information acquisition unit
Data collection is carried out depending on camera and forward sight camera, determines position and corresponding parameter information that barrier occurs,
S2-1 adjusts vehicle by the first electric pushrod servo motor of electric pushrod and the second electric pushrod servo motor
Size, after vehicle dimension adjustment finishes, the barrier of parking platform is drawn close to simulating vehicle combination rack, and starting headstock is flat
Station information acquisition unit and tailstock sub-platform information acquisition unit, corresponding headstock bracket working cell adjust corresponding working position
It sets and carries out the acquisition of headstock data, tailstock bracket working cell adjusts corresponding position and carries out the acquisition of tailstock data；
The location of barrier is passed through the super of corresponding headstock bracket working cell and tailstock bracket working cell by S2-2
Sound radar looks around camera and forward sight camera is collected processing, and carries out early warning judgement, if in headstock or the tailstock
It carries out that corresponding warning data can not be obtained in test process, when causing accordingly to collide, records the position of collision and ultrasonic wave
Radar, the running parameter for looking around camera and forward sight camera, are uploaded to host computer；
In the detection process that park, parking platform and the corresponding running parameter of simulating vehicle combination rack are carried out by S3
Storage record, formation are parked test record, are uploaded to host computer and are carried out data collection, and for intelligent automobile parking system into
Row security evaluation.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (7)
1. one kind is parked, sensing capability test vehicle body mock combines rack electric control system characterized by comprising headstock
Platform information acquisition unit, tailstock sub-platform information acquisition unit and length of wagon adjust unit；
Headstock sub-platform information acquisition unit signal sending end connects vehicle processor headstock signal receiving end, tailstock sub-platform letter
It ceases acquisition unit signal sending end and connects vehicle processor tailstock signal receiving end, length of wagon adjusts cell signal transmitting terminal and connects
Connect vehicle processor vehicle body signal receiving end.
2. sensing capability test vehicle body mock combination rack electric control system according to claim 1 of parking, feature
It is, the headstock sub-platform information acquisition unit includes: odd number group headstock bracket working cell, which is more than or equal to three,
If there is three groups of headstock bracket working cells, first group of headstock bracket working cell is mounted on headstock sub-platform headstock position, in addition
Second group of headstock bracket working cell and third group headstock bracket working cell are respectively symmetrically mounted on first group of headstock timberer
Make unit two sides.
3. sensing capability test vehicle body mock combination rack electric control system according to claim 1 of parking, feature
It is, the tailstock sub-platform information acquisition unit includes: even number set headstock bracket working cell, which is more than or equal to four,
If there is four groups of tailstock bracket working cells, first group of tailstock bracket working cell is mounted on tailstock sub-platform tailstock position, in addition
Second group of tailstock bracket working cell and third group tailstock bracket working cell are respectively symmetrically mounted on first group of tailstock timberer
Make unit two sides；4th group of tailstock bracket working cell is mounted on first group of tailstock bracket working cell rear end, and by first group
To third group tailstock bracket work cell rings around wherein.
4. according to the described in any item sensing capability test vehicle body mock combination rack electrical control systems that park of claim 2-3
System, which is characterized in that the bracket working cell includes: that lower trunnion axis servo motor, vertical axes servo motor, upper trunnion axis are watched
Take motor and holder driving motor；
Horizontal axis signal transmitting terminal under lower trunnion axis servo motor signal receiving end connection dsp chip, vertical axes servo motor letter
Number receiving end connects dsp chip vertical axes signal sending end, water on upper trunnion axis servo motor signal receiving end connection dsp chip
Flat axis signal transmitting terminal, holder driving motor signal receiving end connect dsp chip holder signal sending end.
5. according to the described in any item sensing capability test vehicle body mock combination rack electrical control systems that park of claim 2-3
System, which is characterized in that the bracket working cell further include: ultrasonic radar looks around camera and forward sight camera, corresponding
Bracket working cell corresponding ultrasonic radar is installed, looks around camera and forward sight camera, refer to complete parking manoeuvres
It enables.
6. sensing capability test vehicle body mock combination rack electric control system according to claim 1 of parking, feature
It is, further includes:
The first electric pushrod servo motor and the second electric pushrod servo motor is arranged in electric pushrod 703, and first stroke limit is opened
It closes and second stroke limit switch；First electric pushrod servo motor signal receiving end connects the first push rod of vehicle processor signal
Transmitting terminal, the second electric pushrod servo motor signal receiving end connect the second push rod of vehicle processor signal sending end, the first row
Degree bit switch signal sending end connects vehicle processor first stroke signal receiving end, and second stroke limit switch signal is sent
End connection vehicle processor second stroke signal receiving end.
7. a kind of working method for sensing capability test vehicle body mock combination rack electric control system of parking, which is characterized in that
Include the following steps:
S1, simulating vehicle combine rack and carry out start-up operation, and headstock sub-platform information acquisition unit and tailstock sub-platform information are adopted
The CAN bus signal of collection unit is parsed and is loaded, and transmits data to host computer by serial ports；When input barrier test
After information, the ultrasonic radar of headstock sub-platform information acquisition unit and the response of tailstock sub-platform information acquisition unit is looked around and is taken the photograph
As head and forward sight camera progress data collection, the position and corresponding parameter information that barrier occurs are determined,
S2 adjusts vehicle dimension by the first electric pushrod servo motor of electric pushrod and the second electric pushrod servo motor,
After vehicle dimension adjustment finishes, the barrier of parking platform is drawn close to simulating vehicle combination rack, starting headstock sub-platform letter
Cease acquisition unit and tailstock sub-platform information acquisition unit, corresponding headstock bracket working cell adjust corresponding operating position into
Head data of driving a vehicle acquisition, tailstock bracket working cell adjust corresponding position and carry out the acquisition of tailstock data；
The location of barrier is passed through the ultrasonic wave thunder of corresponding headstock bracket working cell and tailstock bracket working cell by S3
It reaches, look around camera and forward sight camera is collected processing, and carry out early warning judgement, if surveyed in headstock or the tailstock
Corresponding warning data can not be obtained during examination, when causing accordingly to collide, record the position of collision and ultrasonic radar, ring
Depending on the running parameter of camera and forward sight camera, it is uploaded to host computer；
The simulating vehicle combination corresponding running parameter of rack in the detection process that park, is carried out storage record, forms pool by S4
Vehicle test record is uploaded to host computer and carries out data collection, and for carrying out security evaluation to intelligent automobile parking system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910504203.7A CN110095295B (en) | 2019-06-12 | 2019-06-12 | Electric control system and working method of car body simulation combined rack for parking sensing capability test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910504203.7A CN110095295B (en) | 2019-06-12 | 2019-06-12 | Electric control system and working method of car body simulation combined rack for parking sensing capability test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110095295A true CN110095295A (en) | 2019-08-06 |
| CN110095295B CN110095295B (en) | 2020-08-07 |
Family
ID=67450787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910504203.7A Active CN110095295B (en) | 2019-06-12 | 2019-06-12 | Electric control system and working method of car body simulation combined rack for parking sensing capability test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110095295B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
| CN204269818U (en) * | 2014-12-16 | 2015-04-15 | 重庆集诚汽车电子有限责任公司 | A kind of vehicle reversing radar testing rack of simulated automotive bumper |
| CN205263310U (en) * | 2015-12-07 | 2016-05-25 | 苏州东进自动化系统有限公司 | Regional automatic test equipment of radar detection that backs a car |
| CN106092177A (en) * | 2016-08-02 | 2016-11-09 | 吉林大学 | Intelligent electric motor car testing stand is used in environmentally sensitive configuration and test |
| CN205899005U (en) * | 2016-07-06 | 2017-01-18 | 同致电子科技（厦门）有限公司 | Automatic testing arrangement of radar of backing a car |
| CN206523631U (en) * | 2017-02-20 | 2017-09-26 | 安徽江淮汽车集团股份有限公司 | A kind of radar for backing car test system |
| CN107727412A (en) * | 2017-10-31 | 2018-02-23 | 上海驰助汽车零部件有限公司 | One kind parametrization adjustable tail-gate stand |
| CN109375635A (en) * | 2018-12-20 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | A kind of autonomous driving vehicle road environment sensory perceptual system and method |
-
2019
- 2019-06-12 CN CN201910504203.7A patent/CN110095295B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
| CN204269818U (en) * | 2014-12-16 | 2015-04-15 | 重庆集诚汽车电子有限责任公司 | A kind of vehicle reversing radar testing rack of simulated automotive bumper |
| CN205263310U (en) * | 2015-12-07 | 2016-05-25 | 苏州东进自动化系统有限公司 | Regional automatic test equipment of radar detection that backs a car |
| CN205899005U (en) * | 2016-07-06 | 2017-01-18 | 同致电子科技（厦门）有限公司 | Automatic testing arrangement of radar of backing a car |
| CN106092177A (en) * | 2016-08-02 | 2016-11-09 | 吉林大学 | Intelligent electric motor car testing stand is used in environmentally sensitive configuration and test |
| CN206523631U (en) * | 2017-02-20 | 2017-09-26 | 安徽江淮汽车集团股份有限公司 | A kind of radar for backing car test system |
| CN107727412A (en) * | 2017-10-31 | 2018-02-23 | 上海驰助汽车零部件有限公司 | One kind parametrization adjustable tail-gate stand |
| CN109375635A (en) * | 2018-12-20 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | A kind of autonomous driving vehicle road environment sensory perceptual system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110095295B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104634321B (en) | The check device of vehicle driver's auxiliary system | |
| CN110887672B (en) | Whole car of intelligence car is at ring test system | |
| CN202267871U (en) | Automatic obstacle avoidance robot platform | |
| CN112061412B (en) | Unmanned aerial vehicle intelligent hangar suitable for multiple installation demands | |
| CN107521478A (en) | Control method based on ultrasonic radar and millimetre-wave radar | |
| CN112014113A (en) | Indoor whole car hardware is at ring test device | |
| KR101510338B1 (en) | Device for inspecting lane departure warning system of vehicle | |
| CN110220715A (en) | One kind is parked sensing capability testboard electric control system and working method | |
| CN110155163A (en) | A kind of unmanned steering system and vehicle | |
| CN211943155U (en) | Multi-sensor fusion intelligent integrated vehicle | |
| CN110220716A (en) | Parking system perception test platform | |
| CN112133153A (en) | Unmanned vehicle line control chassis teaching training platform and use method thereof | |
| CN113140140A (en) | Education training is with driving car with autopilot function | |
| CN113879325B (en) | Automatic driving auxiliary testing device, method and system | |
| CN110095295A (en) | One kind is parked sensing capability test vehicle body mock combination rack electric control system and working method | |
| CN202413623U (en) | Following-up automobile rearview mirror | |
| CN215298518U (en) | Real standard platform of adjusting is surveyed to networking vehicle sensor | |
| CN109094558A (en) | A kind of pure electric vehicle and its anti-collision system and avoiding collision | |
| CN209356920U (en) | Containing multi-source onboard sensor ring intelligent vehicle in ring test platform | |
| CN102941826A (en) | Method and device for ensuring driving safety of electric power engineering vehicle | |
| CN206400349U (en) | A kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire | |
| CN111137237A (en) | School bus and device for preventing children from leaving behind | |
| CN209961908U (en) | Personalized blind area detection automatic test stand | |
| CN112606801B (en) | Adjustable wheelbase formula is parked and is used AGV | |
| CN116954109A (en) | Parallel steering system of aircraft tractor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |