CN110208006B - Simulated vehicle combined rack for perception test of parking system - Google Patents
Simulated vehicle combined rack for perception test of parking system Download PDFInfo
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- CN110208006B CN110208006B CN201910504170.6A CN201910504170A CN110208006B CN 110208006 B CN110208006 B CN 110208006B CN 201910504170 A CN201910504170 A CN 201910504170A CN 110208006 B CN110208006 B CN 110208006B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- 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
Abstract
The invention discloses a simulation vehicle combined rack for perception test of a parking system, which comprises a horizontally telescopic supporting platform invention, wherein the supporting platform invention is provided with a parking system for simulating vehicle arrangement, the parking system at least comprises an ultrasonic radar, a look-around camera and a forward-looking camera, the front and rear of the supporting platform invention are horizontally provided with a vehicle head sub-platform invention and a vehicle tail sub-platform invention at intervals, and the vehicle head sub-platform invention and the vehicle tail sub-platform invention are respectively provided with a bracket invention which is in one-to-one correspondence with the ultrasonic radar, the look-around camera and the forward-looking camera. The vehicle test system has the advantages that vehicles of different types can be simulated, the universality is high, the test cost of different vehicle types is reduced, the ultrasonic radar, the all-round looking camera and the front looking camera are mounted on the support, the installation and the replacement are convenient, meanwhile, the actual mounting position on a vehicle body is closer, and the test result is more accurate and reliable.
Description
Technical Field
The invention belongs to the field of vehicle testing, and particularly relates to a simulated vehicle combined rack for perception testing of a parking system.
Background
The parking system detects a parking position, draws a parking map and dynamically plans a parking path in real time through the ultrasonic radar, the look-around camera and the front-view camera which are arranged on the vehicle body, guides or directly controls the steering wheel to drive into the parking position, eliminates visual blind areas around the vehicle, helps a driver park more accurately and improves parking safety.
When the perception test is carried out on the parking system of the vehicle, a combined rack for simulating the vehicle is required to be designed, the parking system which is the same as the vehicle is arranged on the combined rack, and the combined rack can be used for the perception test of the parking system instead of the vehicle.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a simulated vehicle combination bench for a parking system perception test, which has a simple structure and can simulate various vehicles.
Therefore, the technical scheme adopted by the invention is as follows: a simulated vehicle combined rack for a sensing test of a parking system comprises a supporting platform capable of horizontally stretching, wherein the supporting platform is provided with a parking system for simulating vehicle arrangement, the parking system at least comprises an ultrasonic radar, a panoramic camera and a forward-looking camera, a vehicle head sub-platform and a vehicle tail sub-platform are horizontally arranged in front of and behind the supporting platform at intervals, and supports which correspond to the ultrasonic radar, the panoramic camera and the forward-looking camera one to one are respectively arranged on the vehicle head sub-platform and the vehicle tail sub-platform.
Preferably, the support comprises three-axis linear module and cloud platform, three-axis linear module includes lower horizontal axis, vertical axle and last horizontal axis, lower horizontal axis can install on locomotive sub-platform and rear of a vehicle sub-platform along its extending direction horizontal migration, the lower extreme of vertical axle is fixed on lower horizontal axis, go up the horizontal axis and can install on vertical axle with reciprocating, just go up the horizontal axis and be perpendicular with lower horizontal axis, the cloud platform is installed on last horizontal axis and can follow the extending direction horizontal migration of last horizontal axis, go up horizontal axis, vertical axle and cloud platform and all install towards the outside, ultrasonic radar, look around camera and forward looking camera are installed respectively on the cloud platform that corresponds. Structure more than adopting, be convenient for ultrasonic radar, look around the installation and the change of camera and foresight camera, through adjusting the triaxial linear module, can simulate ultrasonic radar, look around the arrangement mode of camera and foresight camera different positions on the automobile body, can realize angular adjustment through the cloud platform, and verify the perception ability under this arrangement direction and angle, go up the horizontal axis, vertical axle and cloud platform are all towards outside installation, can prevent ultrasonic radar, the signal of the sensor of look around camera and foresight camera is blockked by the support, lead to surveying perception precision reduction or survey perception scope and reduce.
Preferably, a group of supports distributed in a V shape are respectively arranged at the front end of the vehicle head sub platform and the rear end of the vehicle tail sub platform, the V-shaped openings of the two groups of supports are opposite, and the lower horizontal shafts of the two groups of supports extend forwards and backwards; two ends of the headstock platform corresponding to the V shape are respectively provided with a bracket with a lower horizontal shaft extending left and right; two supports extending left and right of the lower horizontal shaft are respectively arranged at two ends of the tail sub-platform corresponding to the V shape, the four supports are symmetrically arranged in pairs, wherein the distance between the two supports positioned in the front is larger than the distance between the two supports positioned in the rear; the middle part of the tail platform is also provided with a bracket with a lower horizontal shaft extending forwards and backwards, and the position corresponds to the rear windshield of the vehicle. By adopting the structure, the support covers the distribution positions of the ultrasonic radar, the all-round camera and the front-view camera on the vehicle body comprehensively, so that the test range is more comprehensive.
Preferably, the lower horizontal shaft, the vertical shaft and the upper horizontal shaft are respectively moved through a ball screw nut mechanism, an installation sliding table and a servo motor which are respectively equipped, an L-shaped holder bracket is arranged on the installation sliding table of the upper horizontal shaft, and the holder is installed on the horizontal section of the holder bracket. By adopting the structure, the movement of the lower horizontal shaft, the vertical shaft and the upper horizontal shaft is convenient to control, and meanwhile, higher movement precision is ensured; the mounting structure of cloud platform is more reliable and more stable, and the working process is more steady.
Preferably, the holder is a two-axis holder. By adopting the structure, the angle adjustment in the pitching and horizontal directions can be realized, and the requirements on the installation angles of the ultrasonic radar, the panoramic camera and the forward-looking camera are met.
Preferably, the head sub-platform and the tail sub-platform are connected through an electric push rod, so that the support platform can stretch out and draw back. By adopting the structure, the length of the supporting platform can be controlled conveniently and accurately, and the adjustment is convenient.
Preferably, two electric push rods which are parallel to each other are connected between the vehicle head sub platform and the vehicle tail sub platform, and a reinforcing plate is connected between the two electric push rods which are close to the vehicle tail sub platform. By adopting the structure, the number of the supports of the vehicle tail sub-platform is large, the load is large, and the reinforcing plate can enable the structure of the supporting platform to be more stable and reliable.
The invention has the beneficial effects that: the vehicle test system has the advantages that vehicles of different types can be simulated, the universality is high, the test cost of different vehicle types is reduced, the ultrasonic radar, the all-round looking camera and the front looking camera are mounted on the support, the installation and the replacement are convenient, meanwhile, the actual mounting position on a vehicle body is closer, and the test result is more accurate and reliable.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the stent
FIG. 3 is a schematic structural diagram of a parking system sensing test bench;
fig. 4 is a schematic structural view of a parking platform and an obstacle table frame.
Detailed Description
The invention will be further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 4, a sensing test bed for a parking system mainly comprises a parking platform 1, a barrier rack and a simulated vehicle combination rack, wherein a parking space line is arranged on a platform surface of the parking platform 1 and used for testing the recognition capability of a panoramic camera on the parking space line, the parking space line with various specifications and sizes can be set according to actual requirements in order to meet the test requirements of different vehicles, the parking space line can be set into common parallel parking spaces, vertical parking spaces or inclined parking spaces in the shape of the parking space, and the parking space line is adopted for ground pasting in order to reduce the complexity of the parking platform 1; the simulated vehicle combined rack is arranged on the parking platform 1 and can move freely, a parking system for simulating vehicle arrangement is arranged on the simulated vehicle combined rack, and the parking system at least comprises an ultrasonic radar, a panoramic camera and a forward-looking camera; the barrier rack comprises two X-axis beams 2 which are respectively arranged on the front side and the rear side of the parking platform 1 and extend left and right, a Y-axis beam 3 which extends front and rear is arranged between the two X-axis beams 2, the front end and the rear end of the Y-axis beam 3 are respectively supported by the two X-axis beams 2, the Y-axis beam 3 can move left and right along the X-axis beams 2 under the driving of power, a Z-axis beam 4 which extends up and down is arranged on the Y-axis beam 3, the Z-axis beam 4 can move up and down and move back and forth along the Y-axis beams 3 under the driving of the respective power, a barrier fixing frame 5 is arranged at the lower end of the Z-axis beam 4, the barrier fixing frame 5 is positioned above the parking platform 1, the barrier fixing frame 5 is used for fixing various barriers, and the barriers can.
As shown in fig. 3 and 4, the X-axis beam 2 is of a continuous beam structure and is not easy to deform, the X-axis beam 2 is provided with an X-axis guide rail and an X-axis rack which are parallel to each other, two ends of the Y-axis beam 3 are respectively provided with a first servo motor and an X-axis slider matched with the X-axis guide rail, an output shaft of the first servo motor is sleeved with a first gear meshed with the X-axis rack, and the first servo motor drives the Y-axis beam 3 to move along the X-axis guide rail through the meshing of the first gear and the X-axis rack. The Y-axis beam 3 adopts a simple beam structure and consists of two Y-axis sub-beams 301 which are parallel to each other and arranged at left and right intervals, the same ends of the two Y-axis sub-beams 301 are respectively connected through a connecting block, Y-axis guide rails which extend forwards and backwards are respectively arranged on the two Y-axis sub-beams 301, a Y-axis rack which is parallel to the Y-axis guide rails is arranged on one Y-axis sub-beam 301, a sliding table 6 which can slide along the Y-axis guide rails is arranged on the two Y-axis sub-beams 301, a second servo motor is arranged on the sliding table 6, a second gear which is meshed with the Y-axis rack is sleeved on an output shaft of the second servo motor, the second servo motor drives the sliding table 6 to move along the Y-axis guide rails through the meshing of the second gear and the Y-axis rack, and the torsion moment can be ignored due to the close distance between the two Y-axis sub-beams 301, so that the driving is adopted, a single, the left side and the right side of the through hole are respectively provided with a Z-axis sliding block, the left side and the right side of the Z-axis beam 4 are respectively provided with a Z-axis guide rail which extends up and down and is matched with the Z-axis sliding block, the Z-axis beam 4 is arranged between the two Z-axis sliding blocks of the sliding table 6 in a penetrating mode through the Z-axis guide rail, and the Z-axis beam 4 is located between the two Y-axis sub-beams 301. A ball screw pair with a screw rod extending up and down is arranged on the sliding table 6, the Z-axis beam 4 is arranged on a screw nut of the ball screw pair, and the ball screw pair drives the Z-axis beam 4 to move up and down through a third servo motor.
As shown in fig. 4, a dummy, a curb dummy, a step-like barrier, a box dummy, an L-shaped corner dummy, a white PVC pole or a smooth PVC pole is mounted on the barrier mount 5.
As shown in fig. 4, the Z-axis beam 4 has a smaller load, so the Z-axis beam 4 adopts a small-section profile, which reduces the processing difficulty and cost while ensuring higher strength and rigidity, and the surface of the Z-axis beam 4 is coated with a sound-absorbing material, which is a polyester fiber sound-absorbing cotton felt.
As shown in fig. 1 and 3, the simulated vehicle combination rack includes a support platform 7 capable of horizontally extending and retracting, a headstock sub-platform 701 and a tailstock sub-platform 702 are horizontally arranged in front of and behind the support platform 7 at intervals, and supports 8 corresponding to the ultrasonic radar, the looking-around camera and the front-view camera are respectively arranged on the headstock sub-platform 701 and the tailstock sub-platform 702. In this embodiment, the supporting platform 7 is made of an aluminum alloy plate due to a small load, so that the supporting platform 7 is convenient to move and stretch, the height of the supporting platform 7 is reduced as much as possible, and the universal ball is arranged at the lower part of the supporting platform 7.
As shown in fig. 1 to 3, the support 8 is composed of a three-axis linear module and a pan/tilt head 12, the three-axis linear module includes a lower horizontal shaft 9, a vertical shaft 10 and an upper horizontal shaft 11, the lower horizontal shaft 9 is horizontally movably installed on the head sub-platform 701 and the tail sub-platform 702 along the extending direction thereof, the lower end of the vertical shaft 10 is fixed on the lower horizontal shaft 9, in the present embodiment, the vertical shaft 10 is fixed on one side of the lower horizontal shaft 9 close to the edge of the supporting platform 7 through a connecting block, an upwardly extending backup plate is provided on the connecting block, the backup plate abuts against the inner side of the vertical shaft 10 to play a supporting role, the vertical shaft 10 is kept in a vertical state, the upper horizontal shaft 11 is vertically movably installed on the vertical shaft 10, the upper horizontal shaft 11 is perpendicular to the lower horizontal shaft 9, the pan/tilt head 12 is installed on the upper horizontal shaft, The vertical shaft 10 and the pan/tilt head 12 are both mounted towards the outside of the support platform 7, the ultrasound radar, the panoramic camera and the forward looking camera being mounted respectively on the corresponding pan/tilt head 12. Through 8 adjustment ultrasonic radar of support, look around the position of camera and foresight camera, need not to change supporting platform or support, can simulate ultrasonic radar promptly, look around the arrangement of camera and foresight camera in the different positions of automobile body, and verify the perception ability under this arrangement, the operation is simple and convenient, greatly reduced the research and development cost, ultrasonic radar, look around camera and foresight camera adopt same 8 installations of support, the processing equipment degree of difficulty of support 8 has been reduced, can adjust ultrasonic radar according to actual test needs simultaneously, look around the mounted position of camera and foresight camera, and convenient use.
As shown in fig. 1 and 3, a group of brackets 8 distributed in a V shape is respectively arranged at the front end of the vehicle head platform 701 and the rear end of the vehicle tail platform 702, that is, the orthographic projections of the brackets 8 distributed on the vehicle head platform 701 and the vehicle tail platform 702 are in a V shape, the number of the brackets 8 in each group is five, the V-shaped openings of the two groups of brackets 8 are opposite, and the lower horizontal shafts 9 of the two groups of brackets 8 extend back and forth; two ends of the headstock platform 701 corresponding to the V shape are respectively provided with a bracket 8 with a lower horizontal shaft 9 extending left and right; two supports 8 extending left and right of a lower horizontal shaft 9 are respectively arranged at two ends of the tail platform 702 corresponding to the V shape, the four supports 8 are symmetrically arranged in pairs, wherein the distance between the two supports 8 positioned in front is larger than the distance between the two supports 8 positioned in back; a bracket 8 with a lower horizontal shaft 9 extending forward and backward is also provided in the middle of the rear sub-platform 702, and the position corresponds to the rear windshield of the vehicle. The arrangement mode of the support 8 is suitable for most vehicle types, and the application range is wide.
As shown in fig. 2, the lower horizontal shaft 9, the vertical shaft 10 and the upper horizontal shaft 11 are respectively moved by a ball screw nut mechanism, a mounting sliding table 14 and a servo motor which are respectively equipped, an L-shaped pan-tilt bracket 15 is arranged on the mounting sliding table 14 of the upper horizontal shaft 11, and the pan-tilt 12 is mounted on a horizontal section of the pan-tilt bracket 15, so that the mounting structure is stable and reliable. The pan-tilt 12 is a two-axis pan-tilt, which can realize the angle adjustment in the pitching and horizontal directions, and meet the requirements of the installation angles of the ultrasonic radar, the panoramic camera and the forward-looking camera.
As shown in fig. 1 and 3, the headstock platform 701 and the tailstock platform 702 are connected through an electric push rod 703, so that the support platform 7 can be extended and retracted to simulate various vehicles. In this embodiment, the vehicle head sub-platform 701 and the vehicle tail sub-platform 702 are connected through two electric push rods 703 which are parallel to each other, and a reinforcing plate 16 is connected between the two electric push rods 703 which are close to the vehicle tail sub-platform 702, so that the structure of the supporting platform 7 is more stable due to the fact that the number of the upper supports 8 of the vehicle tail sub-platform 702 is larger, and the reinforcing plate 16 is additionally arranged.
Claims (6)
1. A simulated vehicle combination rack for perception testing of a parking system, characterized in that: the parking system comprises an ultrasonic radar, a panoramic camera and a forward-looking camera, wherein the supporting platform (7) can horizontally stretch out and draw back, the supporting platform (7) is provided with a parking system for simulating vehicle arrangement, the parking system at least comprises the ultrasonic radar, the panoramic camera and the forward-looking camera, a vehicle head sub-platform (701) and a vehicle tail sub-platform (702) are horizontally arranged in front of and behind the supporting platform (7) at intervals, and the vehicle head sub-platform (701) and the vehicle tail sub-platform (702) are respectively provided with a bracket (8) which is in one-to-one correspondence with the ultrasonic radar, the panoramic camera and the forward-looking camera;
the support (8) consists of a three-axis linear module and a pan-tilt (12), the three-axis linear module comprises a lower horizontal shaft (9), a vertical shaft (10) and an upper horizontal shaft (11), the lower horizontal shaft (9) can be horizontally movably mounted on a vehicle head sub-platform (701) and a vehicle tail sub-platform (702) along the extension direction of the lower horizontal shaft, the lower end of the vertical shaft (10) is fixed on the lower horizontal shaft (9), the upper horizontal shaft (11) can be vertically and movably mounted on the vertical shaft (10), the upper horizontal shaft (11) is perpendicular to the lower horizontal shaft (9), the pan-tilt (12) is mounted on the upper horizontal shaft (11) and can horizontally move along the extension direction of the upper horizontal shaft (11), and the ultrasonic radar, the panoramic camera and the forward camera are respectively mounted on the corresponding pan-tilt (12);
a group of V-shaped distributed brackets (8) are respectively arranged at the front end of the headstock platform (701) and the rear end of the tailstock platform (702), the V-shaped openings of the two groups of brackets (8) are opposite, and the lower horizontal shafts (9) of the two groups of brackets (8) extend forwards and backwards; two ends of the headstock platform (701) corresponding to the V shape are respectively provided with a bracket (8) extending from left to right of a lower horizontal shaft (9); two supports (8) extending left and right of a lower horizontal shaft (9) are respectively arranged at two ends of the tail sub-platform (702) corresponding to the V shape, the four supports (8) are symmetrically arranged in pairs, wherein the distance between the two supports (8) positioned in front is greater than the distance between the two supports (8) positioned in back; a bracket (8) extending from the front to the rear of the lower horizontal shaft (9) is arranged in the middle of the vehicle tail sub-platform (702), and the position of the bracket (8) corresponds to the rear windshield of the vehicle.
2. The simulated vehicle combination rack for perception testing of a parking system as claimed in claim 1, wherein: the upper horizontal shaft (11), the vertical shaft (10) and the pan-tilt head (12) are all installed towards the outside.
3. The simulated vehicle combination rack for perception test of a parking system as claimed in claim 1 or 2, wherein: the horizontal shaft (9), the vertical shaft (10) and the upper horizontal shaft (11) move through a ball screw nut mechanism, an installation sliding table (14) and a servo motor which are respectively equipped, an L-shaped holder support (15) is arranged on the installation sliding table (14) of the upper horizontal shaft (11), and the holder (12) is installed on the horizontal section of the holder support (15).
4. The simulated vehicle combination rack for perception testing of a parking system as claimed in claim 1, wherein: the holder (12) is a two-axis holder.
5. The simulated vehicle combination rack for perception testing of a parking system as claimed in claim 1, wherein: the vehicle head sub-platform (701) is connected with the vehicle tail sub-platform (702) through an electric push rod (703), so that the support platform (7) can stretch out and draw back.
6. The simulated vehicle combination rack for perception testing of a parking system of claim 5, wherein: two parallel electric push rods (703) are connected between the vehicle head sub platform (701) and the vehicle tail sub platform (702), and a reinforcing plate (16) is connected between the two electric push rods (703) close to the vehicle tail sub platform (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910504170.6A CN110208006B (en) | 2019-06-12 | 2019-06-12 | Simulated vehicle combined rack for perception test of parking system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910504170.6A CN110208006B (en) | 2019-06-12 | 2019-06-12 | Simulated vehicle combined rack for perception test of parking system |
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| CN110208006A CN110208006A (en) | 2019-09-06 |
| CN110208006B true CN110208006B (en) | 2020-06-09 |
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| CN201910504170.6A Active CN110208006B (en) | 2019-06-12 | 2019-06-12 | Simulated vehicle combined rack for perception test of parking system |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011013681A1 (en) * | 2011-03-11 | 2012-09-13 | Valeo Schalter Und Sensoren Gmbh | A method for detecting a parking space, parking assistance system and motor vehicle with a parking assistance system |
| CN104176051B (en) * | 2014-07-31 | 2016-07-13 | 奇瑞汽车股份有限公司 | Automated parking system test device and method of testing |
| US10325502B2 (en) * | 2016-02-10 | 2019-06-18 | Ford Global Technologies, Llc | Parallel parking assistant |
| US10571562B2 (en) * | 2016-03-25 | 2020-02-25 | Magna Electronics Inc. | Vehicle short range sensing system using RF sensors |
| CN106092177B (en) * | 2016-08-02 | 2018-06-29 | 吉林大学 | Environmentally sensitive is configured and test intelligent electric motor car testing stand |
| CN111257843B (en) * | 2017-10-20 | 2022-08-02 | 深圳市道通科技股份有限公司 | Car blind area radar calibration equipment |
| CN208314185U (en) * | 2018-05-17 | 2019-01-01 | 驭势科技（北京）有限公司 | The test device of radar position |
| CN108952273A (en) * | 2018-08-06 | 2018-12-07 | 上海义嘉工业技术有限公司 | A kind of Omni-mobile AGV parking apparatus |
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