CN111105691B - A quality detection system for auxiliary driving equipment - Google Patents
A quality detection system for auxiliary driving equipment Download PDFInfo
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- CN111105691B CN111105691B CN202010014123.6A CN202010014123A CN111105691B CN 111105691 B CN111105691 B CN 111105691B CN 202010014123 A CN202010014123 A CN 202010014123A CN 111105691 B CN111105691 B CN 111105691B
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Abstract
本发明公开内容涉及一种辅助驾驶设备品质检测系统，包括仿真机器人、汽车驾驶模拟器、动感平台、太阳光模拟器、待检测辅助驾驶产品、语音识别模块、以及中央集成测控系统；仿真机器人模拟驾驶员各种行为；动感平台带动汽车驾驶模拟器运动模拟各种道路地形的运动姿态；太阳光模拟器模拟太阳光环境，对汽车驾驶模拟器进行高度可调、角度可调、照射功率可调的环绕照明；待检测辅助驾驶产品捕捉汽车驾驶模拟器中仿真机器人的危及行车安全的危险动作，并给出相应语音提醒；语音识别模块检测待检测辅助驾驶产品的语音播报内容；中央集成测控系统整合仿真机器人、汽车驾驶模拟器、动感平台、太阳光模拟器、待检测辅助驾驶产品、语音识别模块的各模块功能，并可实时同步控制各模块，以实现对待检测辅助驾驶产品的品质检测。
The disclosed content of the present invention relates to a quality detection system for auxiliary driving equipment, including a simulation robot, a car driving simulator, a dynamic platform, a solar simulator, an auxiliary driving product to be detected, a voice recognition module, and a central integrated measurement and control system; the simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to move and simulate the movement postures of various road terrains; the solar simulator simulates the sunlight environment, and performs surround lighting with adjustable height, adjustable angle, and adjustable irradiation power on the car driving simulator; the auxiliary driving product to be detected captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety, and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the auxiliary driving product to be detected; the central integrated measurement and control system integrates the functions of each module of the simulation robot, the car driving simulator, the dynamic platform, the solar simulator, the auxiliary driving product to be detected, and the voice recognition module, and can synchronously control each module in real time to realize the quality detection of the auxiliary driving product to be detected.
Description
Technical Field
The present disclosure relates generally to the field of driving safety, and more particularly, to a driving assistance apparatus quality detection system.
Background
Along with the progress of modern technology and the soundness of various traffic regulations, social consensus is formed on the hazard of fatigue driving and illegal driving, a large number of auxiliary driving products are developed, but the quality is good and uneven, and the quality detection means is relatively backward, mainly based on manual detection. However, the manual detection mode is used for judging the quality, and lacks scientific judgment standards, and the traditional manual driving behavior analysis has a series of problems of low efficiency, poor consistency, low repeatability, large random error and the like, and lacks scientific sample support tests.
Along with the soundness of various vehicle traffic regulations, detection and driving behavior research of various auxiliary driving products adopt normalization and scientificity lacking in traditional manual operation, and the problem is solved. With the advancement of technology in the automobile industry, the traditional project of manually carrying out real-vehicle operation is replaced by robots, and more, particularly, experiments with higher risk coefficients, such as a vehicle pedestrian collision experiment, a vehicle collision occupant injury evaluation experiment and other high-risk operations, are replaced by robots, and in view of the application feasibility, the invention aims at the simulation robots for automobile driving behavior research.
Along with the progress of science and technology, the traditional vehicle test needs the link of real vehicle external scene test, has gradually replaced by test under the indoor simulation environment to the risk that the uncontrollable factor of external environment is many and random event influences the test result has been reduced. Atlas Custom Systems has a whole car sunlight simulation solution, the structure is a gantry or suspended ceiling fixing mode, and the quantity of lamp sources is huge and the price is high.
The current all-dimensional illumination mode adopted by the automobile environment laboratory is extremely high in power consumption firstly, has severe requirements on power supply of a conventional building or a factory, is huge in light source quantity secondly, has large enough requirements on the laboratory space, cannot meet the space requirements of the conventional building, is extremely high in engineering cost again, and cannot bear high manufacturing cost for enterprises below medium-sized. According to the invention, 4 xenon lamps (or metal halogen lamps) are adopted to realize sunlight simulation of 1.5 m-1.5 m large-area AAA-level spectrum, uniformity and stability, the adjustment of the height and the irradiation angle of a light source is realized by combining an electric cylinder and a bracket structure, and 360-degree rail car 2910 is utilized to realize 360-degree arbitrary position irradiation of the light source around a vehicle. The whole set of solar simulator 2000 has greatly reduced power supply, space and cost, meets the energy-saving requirement, and greatly reduces the construction cost.
In view of the above problems, the present invention and its embodiments are presented below.
Disclosure of Invention
The following presents a simplified summary of the disclosure in order to provide a basic understanding of some aspects of the disclosure. It should be understood that this summary is not an exhaustive overview of the disclosure. It is not intended to identify key or critical elements of the present disclosure or to delineate the scope of the present disclosure. Its purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
According to the invention, a set of simulation driving environment is built, and the simulation robot is used for replacing information such as the accuracy, the missing report rate, the false report rate, the response time and the like of the manual detection auxiliary driving behavior detection equipment, so that the quality of the equipment to be detected is judged. The invention can provide scientific means for quality judgment of auxiliary driving behavior detection equipment.
The invention adopts the simulation robot with human facial features to realize the actions endangering driving safety, such as eyeball rotation, smiling, blowing, blinking, right look-aside, smoking, calling, hand-off, and the like, and all the execution parts are controlled by the high-precision flexible executor, and the action track is programmable, thereby having extremely high reliability, consistency, repeatability and accuracy, providing a rich programmable action library for assisting driving product detection and driving behavior research, and solving various defects existing in the current manual detection.
The invention integrates the vehicle environment simulation, the simulation robot bionic design and the software system linkage control, replaces manual detection, and provides scientific basis and reliable guarantee for auxiliary driving equipment quality detection.
According to the invention, aiming at an automobile environment laboratory, a set of sunlight simulator 2000 with AAA standard is built, and the sunlight simulator has the functions of adjusting the position, the height, the angle and the power of light, so that outdoor sunlight light changes in each period from sunrise to sunset can be tracked and simulated in real time, and a more real light environment is provided for illumination of the automobile environment laboratory.
The invention designs a simulation robot suitable for automobile driving behavior research, which adopts silica gel skin with a real face of 1:1, can capture pupils in infrared, and can realize actions endangering driving safety such as eyeball rotation, smiling, blinking, right look-aside, smoking, calling, double hands separating from a steering wheel and the like.
In order to achieve the above purpose, the invention provides a quality detection system of auxiliary driving equipment, which comprises a simulation robot, an automobile driving simulator, a dynamic platform, a sunlight simulator 2000, an auxiliary driving product to be detected, a voice recognition module and a central integrated measurement and control system, wherein the simulation robot simulates various behaviors of a driver, the dynamic platform drives the automobile driving simulator to move so as to simulate the movement postures of various road terrains, the sunlight simulator 2000 simulates the sunlight environment, the automobile driving simulator is subjected to high-level, angle-adjustable and irradiation power-adjustable surrounding illumination, the auxiliary driving product to be detected captures dangerous actions of the simulation robot in the automobile driving simulator, which endanger driving safety, and gives corresponding voice reminding, the voice recognition module detects voice broadcasting content of the auxiliary driving product to be detected, and the central integrated measurement and control system integrates the functions of the simulation robot, the automobile driving simulator, the dynamic platform, the sunlight simulator 2000, the auxiliary driving product to be detected and the voice recognition module, and can synchronously control the modules in real time so as to realize quality detection of the auxiliary driving product to be detected.
Further, the voice recognition module detects the voice broadcasting content of the auxiliary driving detector in an online or offline mode, and can feed back the detection result in real time.
Further, the simulation robot is manufactured by a method of generating a silica gel simulation head based on a virtual portrait.
Further, the simulation robot can simulate the behavior of a driver, including the actions endangering driving safety, such as making a breath, blinking eyes, looking left at right, smoking, making a call, separating hands from a steering wheel, and the like.
Furthermore, the auxiliary driving product to be detected can capture dangerous actions of the simulation robot, endanger driving safety, give corresponding voice prompt, have ADAS functions, and can broadcast driving condition early warning information such as lane pedestrians, illegal lane changing, careful collision and the like.
Furthermore, the automobile driving simulator is refitted by a real automobile type head, a three-dimensional simulation technology is adopted, the dynamic platform can read force feedback data in driving in real time and dynamically reflect the data to the body of a driver, and the state restoration of various road conditions such as centrifugal force, back pushing, shaking, jolt and the like of the real automobile can be realized, so that the driver can feel in the driving cabin, and the visual and tactile impact caused by various road condition effects during driving is experienced.
Further, the dynamic platform comprises a six-degree-of-freedom motion platform, and motion postures of various road terrains can be simulated by simulating translation and rotation of an object in three directions, namely front-back translation, left-right translation, up-down vertical motion, pitching, rolling and yawing and compound motion.
Further, the solar simulator 2000 is configured to simulate a solar environment by using 4 groups of array xenon lamps or metal halogen lamps, and has the advantages of 0-360 degree surrounding illumination, adjustable illumination height 1000-220mm from the ground, adjustable illumination angle 0-45 degrees and adjustable illumination power 50-100%.
Further, it is used for indoor auxiliary driving equipment quality detection.
The quality detection system for the auxiliary driving equipment comprises a simulation robot arranged at the position of a driver of the automobile driving simulator, the simulation robot simulates various behaviors of the driver, a dynamic platform drives the automobile driving simulator to move to simulate the movement postures of various road terrains, a sunlight simulator 2000 simulates the sunlight environment, high-adjustable, angle-adjustable and irradiation power-adjustable surrounding illumination is carried out on the automobile driving simulator, to-be-detected auxiliary driving products capture dangerous actions of the simulation robot endangering driving safety in the automobile driving simulator and give corresponding voice prompt, a voice recognition module detects voice broadcasting contents of to-be-detected auxiliary driving products and feeds back detection results, and a central integrated measurement and control system synchronously controls the modules in real time to achieve detection statistics and analysis of information such as accuracy, failure reporting rate, false reporting rate and response time of the to-be-detected auxiliary driving products.
Drawings
The above and other objects, features and advantages of the present disclosure will be more readily appreciated by reference to the following description of the specific details of the present disclosure taken in conjunction with the accompanying drawings. The drawings are only for the purpose of illustrating the principles of the present disclosure. The dimensions and relative positioning of the elements in the figures are not necessarily drawn to scale. In the drawings:
FIG. 1 illustrates a system frame diagram of a driving assist device quality detection system according to the present disclosure;
FIG. 2 illustrates an event detection performance schematic of a driving assist device quality detection system according to the present disclosure;
Fig. 3 is a schematic view showing the overall structure of a solar simulator 2000 device according to the present disclosure;
FIG. 4 shows a schematic view of the illumination source and its angular support portion of a solar simulator 2000 device according to the present disclosure;
FIG. 5 shows a schematic view of the elevating bracket 2600 and the chassis portion of the solar simulator 2000 device according to the present disclosure;
FIG. 6 shows a schematic diagram of the layout of the modules within the chassis of a solar simulator 2000 device according to the present disclosure;
FIG. 7 shows a rail car 2910 and a rail section schematic of a solar simulator 2000 device according to the present disclosure;
FIG. 8 illustrates a schematic external view of a simulation robot in accordance with the present disclosure;
FIG. 9 illustrates a control schematic of a single node of a flexible actuator of an simulation robot in accordance with the present disclosure;
FIG. 10 illustrates a face generation process schematic of a simulation robot in accordance with the present disclosure;
FIG. 11 shows a block diagram of the upper body limb of an simulation robot in accordance with the present disclosure;
FIG. 12 illustrates a schematic diagram of a simulation robot upper body actuator distribution in accordance with the present disclosure;
Fig. 13 shows a schematic view of a hand structure of a simulation robot according to the present disclosure.
Fig. 14 shows a schematic diagram of an initialization procedure according to the present disclosure.
FIG. 15 illustrates a main thread flow schematic of an simulation robot in accordance with the present disclosure.
FIG. 16 illustrates a read-execute-to-bit flow diagram according to the present disclosure.
Fig. 17 shows a schematic flow chart of reading alarm information of a product to be detected according to the present disclosure.
FIG. 18 illustrates a schematic flow diagram of a simulation robot flow in accordance with the present disclosure.
Fig. 19 shows a schematic of a solar simulator flowsheet according to the present disclosure.
Fig. 20 shows a schematic diagram of a solar simulator reciprocation flow according to the present disclosure.
Fig. 21 shows a schematic diagram of an overall linkage setup flow of a driving behavior monitoring test system according to the present disclosure.
Reference numerals:
a solar simulator 2000;
an illumination light source 2100;
Angle bracket 2200, chevron shaped structure 2210, "<" shaped structure 2220;
an angle cylinder 2300;
triangular support 2400;
An illumination source base 2500;
lifting support 2600;
A lifting cylinder 2700;
Chassis 2800
Electronic ballast 2810, servo control unit 2820, control board 2830, relay 2840, control host 2850, and power supply system 2860;
Rail car 2910, endless rail 2920 electric motor 2930, and anti-skid rubber wheel 2940.
Detailed Description
An exemplary disclosure of the present disclosure will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual inventive disclosure are described in this specification. It will be appreciated, however, that in the development of any such actual disclosure, numerous implementation-specific decisions may be made to achieve the developers' specific goals, and that these decisions may vary from one implementation to another.
It should be noted that, in order to avoid obscuring the present disclosure due to unnecessary details, only the device structures closely related to the solution according to the present disclosure are shown in the drawings, and other details not greatly related to the present disclosure are omitted.
It is to be understood that the present disclosure is not limited to the described embodiments due to the following description with reference to the drawings. Herein, features between different implementations may be substituted or borrowed where possible, and one or more features may be omitted in one implementation.
It should also be understood that references to "vertical", "horizontal", "parallel" in this disclosure are intended to include the case of + -10% on the basis of standard definitions. For example, perpendicular generally refers to an included angle of 90 degrees relative to a reference line, but in the present disclosure, perpendicular refers to a range of 80-100 degrees.
The present disclosure is described below with reference to the accompanying drawings.
[ Overall System frame ]
One aspect of the present disclosure relates to a driving assistance apparatus quality detection system. Fig. 1 is a system frame diagram of a driving assistance apparatus quality detection system according to the present disclosure. Referring to fig. 1, the quality detection system of the auxiliary driving device comprises a simulation robot, an automobile driving simulator (a large-scale automobile simulator is illustrated in the figure), a dynamic platform (not shown), a sunlight simulator, an auxiliary driving product to be detected (a product to be detected in the figure), a voice recognition module (not shown) and a central integrated measurement and control system, wherein the simulation robot simulates various behaviors of a driver, the dynamic platform drives the automobile driving simulator to move so as to simulate the movement postures of various road terrains, the sunlight simulator simulates the sunlight environment, performs high-level, angle-adjustable and irradiation power-adjustable surrounding illumination on the automobile driving simulator, captures dangerous actions of the simulation robot in the automobile driving simulator, endangering driving safety, gives corresponding voice prompt, and the voice recognition module detects the voice broadcasting content of the auxiliary driving product to be detected.
The central integrated measurement and control system mainly comprises a central control host machine for controlling the modules, wherein the central control host machine synchronously controls the simulation robot, the automobile driving simulator, the dynamic platform, the sunlight simulator 2000, the auxiliary driving product to be detected and the voice recognition module.
The simulation robot adopts a method for generating a silica gel simulation head based on a virtual portrait, and has the design flow of standard and standard face model generation, face 3D database generation, head 3D data generation, head 3D printing mould generation, head mould generation to be generated, silica gel head model generation and hair implantation, wherein the simulation robot can simulate driver behaviors such as actions endangering driving safety, such as blowing, blinking eyes, looking left and right, smoking, calling, hand-free steering wheel and the like.
Preferably, the automobile driving simulator can be refitted by a real automobile type headstock, an advanced three-dimensional simulation technology is adopted, a dynamic platform can be a six-degree-of-freedom motion platform, and a six-degree-of-freedom electric cylinder drives a headstock chassis, so that the headstock is directly driven to move, force feedback data in driving can be read in real time, and the data are dynamically reflected to a simulation robot body, so that the centrifugal force, back pushing, shaking, jolt and state restoration of various road conditions of the real automobile can be realized, a driver can feel in a cockpit of the automobile, and visual and tactile impact caused by various road condition effects during driving can be experienced. The six-degree-of-freedom motion platform can simulate the motion gestures of various road terrains by simulating the translation and rotation of an object in three directions, namely front-back translation, left-right translation, vertical motion, pitching, rolling and yawing and compound motion.
Optionally, the device that the driving simulator of the automobile does not need to use, can use any other suitable device instead of the driving simulator of the automobile, as long as the requirement of quality detection of the product to be detected can be met, for example, the dynamic platform simulates the motion postures of various road terrains, and the motion postures are directly fed back to the simulation robot body, and then the same detection analysis can be carried out by other modules.
The sunlight simulator adopts a metal halogen lamp 2 x2 array to simulate the sunlight environment, and is provided with 360-degree surrounding illumination, adjustable illumination height 1000-220mm from the ground, adjustable illumination angle 0-45 degrees and adjustable illumination power 50-100% of the automobile driving simulator.
The product to be detected can capture dangerous actions of the simulation robot endangering driving safety in an infrared manner, give corresponding voice prompt, have ADAS functions, and can broadcast driving condition early warning information such as lane pedestrians, illegal lane change, careful collision and the like.
The voice recognition module detects the voice broadcast content of the product to be detected in an online/offline mode, 98% accuracy can be achieved under the condition of existence or non-existence of a network, time delay is within 800ms, and the detection result can be fed back in real time. The voice recognition module collects voice alarm information of a product to be detected, the system can compare the collected result with the current action executed by the simulation robot, so that the accuracy rate and false alarm rate of the detection result are analyzed, the false alarm rate is counted according to the comparison of the times of executing the action by the simulation robot and the voice alarm times, and the total times of the action of the simulation robot and the correct detection times are counted.
Optionally, the protocol recognition module may be used to replace the voice recognition module to recognize the warning information of the auxiliary driving device to be detected.
Referring to fig. 2, the detection rate of the auxiliary driving device quality detection system is set as:
detection rate = positive number/true number of events 100%;
The number of the real events is the number of the dangerous actions actually happened to the simulation robot, namely the sum of the number of the positive detection and the number of the dangerous actions actually happened to the non-detected simulation robot (missing detection number).
The accuracy of the auxiliary driving device quality detection system is set as follows:
accuracy = positive number/number of detected events 100%;
The detected event number is the number of times that the product to be detected detects dangerous actions of all the simulation robots, namely the sum of the number of times that dangerous actions of the simulation robots are correctly detected (positive detection number) and the number of times that dangerous actions of the simulation robots are incorrectly detected (false detection number, namely that the simulation robots do not actually make dangerous actions).
In addition:
false positive rate = false positive number/number of detected events 100%;
miss rate = miss count/true event count 100%.
Preferably, the automobile driving simulator also comprises a projector and an annular projection wall (see figure 1), wherein the annular projection wall is arranged right in front of the automobile driving simulator, the road condition of the first visual angle of the automobile is projected through the projector, and then the dynamic platform drives the automobile driving simulator to move according to the road condition to simulate the movement postures of various road terrains.
Preferably, referring to fig. 1, the control device may further include a control device, such as a wired touch screen, an IPAD device connected through a wireless route, a notebook computer, a desktop computer, or a voice control device, for controlling the central control host.
The central integrated measurement and control system synchronously controls the central control host of each module to realize information detection statistics and analysis of accuracy, false alarm rate, reaction time and the like of the auxiliary driving product to be detected.
Preferably, the driving assistance apparatus quality detection method may include the form of:
1. The method comprises the steps of setting an automobile driving simulator into an automatic driving mode, projecting road surface information to an annular projection wall through a three-channel projector, feeding back the actual sense of the driving limbs of the automobile in the running process of the automobile in real time through a dynamic platform, setting a sunlight simulator to be linked with a scene, simulating solar rays under the current road conditions along with the road conditions, opening an auxiliary driving product to be detected, setting a simulation robot to execute a driving dangerous action endangering driving safety in a flow mode, 5, recognizing alarm information of the auxiliary driving product to be detected through voice (or protocol), and 6, counting information such as the detection rate, the accuracy, the false alarm rate, the missing alarm rate and the response time of the auxiliary driving product to be detected through system software according to the action executed by the simulation robot and the voice (or protocol) alarm information.
The various specific devices used in the methods described above are exemplary and are not to be considered limiting of the scope of the present disclosure.
The auxiliary driving equipment quality detection system in the invention is mainly used for indoor detection and can be used for outdoor detection.
[ Sunlight simulator 2000]
Referring to fig. 3-7, there are shown an overall schematic of a solar simulator 2000 device, an illumination source 2100 and its angular bracket 2200, lifting bracket 2600 and chassis 2800, a layout of various modules within chassis 2800, rail car 2910 and a rail section according to the present disclosure.
Referring to fig. 3-7, the solar simulator 2000 apparatus includes an illumination light source 2100, an electronic ballast 2810, a lift cylinder 2700, a lift bracket 2600, an angle cylinder 2300, an angle bracket 2200, a servo control unit 2820, a control host 2850, and a power supply system 2860.
Specifically, referring to fig. 3, the solar simulator 2000 device sequentially comprises an annular track 2920, optionally an arc track, a rail car 2910 positioned on the annular track 2920, a chassis positioned on the rail car 2910, modules such as an electronic ballast 2810, a servo control unit 2820, a control host 2850, a power supply system 2860 and the like, a lifting bracket 2600 and a lifting cylinder 2700 positioned on a floor, an illumination light source base 2500 positioned on the lifting bracket 2600, a triangular bracket 2400 and an angle cylinder 2300 positioned on the illumination light source base 2500, an angle bracket 2200 rotatably connected to the top of the triangular bracket 2400, and an illumination light source 2100 mounted on the angle bracket 2200 from bottom to top.
Referring to fig. 4, the illumination light source 2100 is composed of 4 groups of xenon lamps or metal halogen lamps, and parameters such as light intensity are controlled by the electronic ballast 2810, so that outdoor sunlight illumination spectrum and light intensity can be more truly simulated, and a high-power xenon lamp (or metal halogen lamp) lamp array is used as an illumination light source, so that the illumination light source has spectral distribution and illumination intensity which are more similar to those of sunlight. The angle bracket 2200 comprises a main body structure in a shape of Chinese character 'Tian' and two "<" shaped structures 2220, wherein 4 groups of xenon lamps or metal halogen lamps are respectively fixed in the Chinese character 'Tian' shaped structures 2210, and can be fixed on the inner side of the Chinese character 'Tian' shaped structures 2210 in a conventional fixing manner such as welding, riveting, screws and the like; the main body structure of the angle bracket 2200 can be formed by splicing materials with certain hardness or integrally forming the angle bracket, two "<" shaped structures 2220 are respectively formed at the left side and the right side of the middle part of the square-shaped structure 2210 backwards (the direction opposite to the light source emitting direction), each "<" shaped structure 2220 is hinged and fixed with one end of one of the two angle electric cylinders 2300, the lower end part of each "<" shaped structure 2220 is fixedly connected with the cross-shaped structure at the left side and the right side of the middle part of the square-shaped structure 2210 and the connecting part of the "mouth-shaped" structure, the upper end part of each "<" shaped structure 2220 is fixed at the position which is about one third of the side length of the square-shaped structure 2210 at the top part of the square-shaped structure 2210 at the left side and the right side of the square-shaped structure 2210, an illumination light source base 2500 is arranged below the angle bracket 2200, the other end of each of the two angle electric cylinders 2300 is hinged and fixed on the illumination light source base 2500, alternatively, the other end of the angle electric base 2300 is fixed through a triangle convex formed on the illumination base 2300, the two angle brackets 2400 are respectively formed at the right side and left side and right side of the square-shaped structure 2200 are respectively rotated, and the angle bracket 2200 is respectively rotatable, and the angle bracket 2200 is rotatable at right side and left side opposite angles is achieved respectively, the illumination at a certain angle to the horizontal plane is 45-degree nodding.
Referring to fig. 5, a square bump and a bar bump are respectively disposed on the left and right sides of the lower portion of the illumination light source base 2500, and a slot is disposed in the middle of the bar bump. The lifting support 2600 is a scissor lift support 2600 (the scissor lift support 2600 may adopt a conventional general structure, and the detailed structure thereof will not be described here again), and a lifting height of about 2m can be achieved. The fork hinges on the left and right sides of the scissor type lifting support 2600 are respectively and correspondingly connected to the left and right sides of the lower portion of the illumination light source base 2500, and the upper ends of the fork hinges are respectively hinged to the square bumps and the grooves in the middle positions of the bar bumps in a sliding connection mode, so that stable lifting of the scissor type lifting support 2600 is achieved.
The bottom of the scissor fork type lifting bracket 2600 is also provided with a chassis, the lower end parts of the fork type hinges are respectively hinged and fixed on the chassis, one end of the lifting cylinder 2700 is hinged and fixed on the middle hinge of the fork type hinge of the scissor fork type lifting bracket 2600, and the other end of the lifting cylinder 2700 is also hinged and fixed on the chassis, and optionally, the other end of the angle cylinder 2300 can be hinged and fixed through a triangle bulge formed on the chassis. Therefore, the lifting cylinder 2700 pushes the middle hinge of the scissor lift bracket 2600 to vertically lift the scissor lift bracket 2600, thereby controlling the height adjustment of the lift bracket 2600.
As can be seen from the above, the elevation cylinder 2700 is used to drive the scissor fork type elevation support 2600 to elevate the illumination light source 2100 and the angle cylinder 2300 is used to drive the angle support 2200 to adjust the illumination angle of the illumination light source 2100, so as to achieve the illumination of the light rays with different heights and angles of the automobile driving simulator.
Alternatively, an illumination scene such as a variegated light may be implemented by providing a diaphragm, a shading pattern sheet, or the like on an exit surface of each lamp of the illumination light source 2100, for example, a high-power xenon lamp (or a metal halogen lamp) lamp array.
The electronic ballast 2810, the servo control unit 2820, the control host 2850 and the power supply system 2860 are integrated in the chassis, the chassis is divided into a front accommodating space and a rear accommodating space, one accommodating space accommodates the electronic ballast 2810, optionally, the electronic ballasts 2810 are in 4 groups, the other accommodating space accommodates the servo control unit 2820, the control host 2850 and the power supply system 2860, the other accommodating space accommodates the servo control unit 2820, the control host 2820 and the power supply system 2860, optionally, the servo control unit 2820 comprises 4 groups, 2 groups control lifting and lowering, the left 2 groups control angles, the number of the control host 2850 is2, the control can be realized by a PLC, and the electronic ballast 2810 can also comprise a relay 2840 for realizing high-power conversion and a control board 2830 for realizing signal conversion.
The electronic ballast 2810, the servo control unit 2820, the control host 2850 and the power supply system 2860 are integrated in the chassis, so that the whole machine is simpler, more convenient and beneficial to move, the integrated design is different from the mode that the traditional control cabinet is externally arranged outside a support structure and is independently used as the control cabinet, only one 220V power supply cable is needed for the integrated design of the external cable, and the integral illumination light source 2100360 degrees can rotate around the automobile driving simulator to be realized.
Referring to fig. 7, the lifting bracket 2600 is disposed on the rail vehicle 2910, the rail vehicle 2910 is disposed on the annular rail 2920 or the arc-shaped rail, the rail vehicle 2910 is driven to move by adopting an electric motor 2930, the bottom of the rail vehicle 2910 is provided with an anti-slip rubber wheel 2940, and the rail vehicle 2910 can travel along the paved annular rail 2920 or the arc-shaped rail, and the movement speed of the rail vehicle 2910 can be controlled by remote control or software, so that the 360-degree position random adjustment of the light source around the automobile driving simulator is realized.
Alternatively, a device for collecting the outdoor environment light intensity in real time may be further included, and the solar simulator 2000 apparatus may adjust the illumination light source 2100 according to the collected outdoor light intensity information so that it is consistent with the outdoor light intensity.
[ Simulation robot ]
Referring to fig. 8-13, there are respectively shown an outline schematic of a simulation robot, a control schematic of a single node of a flexible actuator, a face generation process schematic of the simulation robot, an upper body limb structure diagram, an upper body actuator distribution schematic, and a hand structure schematic of the simulation robot according to the present disclosure.
8-13, The simulation robot comprises a head, two arms, a trunk, a hand, a flexible actuator and a motion controller thereof, a simulation robot control host and a simulation robot power supply system, so that the simulation robot can simulate human motions and expressions in a specified environment, wherein motion expression simulation is realized based on the control of the flexible actuator, each joint part adopts the flexible actuator to drive a skeleton structure, the motion controller receives an upper motor motion control signal to control the motion of the flexible actuator of each joint part, the head can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head lifting and head lowering and/or left and right turning motions, the arms can realize arm waving, the trunk can realize body rotation, and the hand has multiple degrees of freedom, so that the functions of grabbing objects and/or holding a steering wheel can be realized.
Specifically, referring to fig. 8, a final outline schematic of the simulation robot after the steps of silica gel skin, hair implantation, putting on a coat, etc. are performed, which mainly realizes the simulation of human actions and expressions in a specific environment. Referring to fig. 9, the motion expression simulation is realized based on the control of a flexible actuator, and each joint part adopts the flexible actuator to drive the skeleton structure. Optionally, the system can adopt a PLC as a motion control unit to receive an upper motor motion control signal so as to control the flexible actuator of each joint part to act.
Fig. 10 is a schematic diagram showing a face generation process of a simulation robot according to the present disclosure, in which real face data is collected first, then a head mold is designed according to 3D data information, and finally a silicone skin is manufactured according to the mold and hair implantation and a silicone coloring process are performed.
The head of the simulation robot can be directly purchased for the existing products in the market and can also be self-made, and the internal structure of the simulation robot comprises a head skull built-in eyelid opening and closing steering engine, an eyeball rotating steering engine, a mouth opening and closing steering engine, a head pitching steering engine, a neck rotating steering engine, a bionic human vertebra and a bionic human mandible. Can realize the actions of eyelid opening and closing, eyeball rotation, mouth opening and closing, head lifting and head lowering, head turning left and right, and the like.
Fig. 11-13 are upper body limb structure diagrams, upper body actuator distribution diagrams and hand structure diagrams of the simulation robot. The limb of the simulation robot is the upper half body, comprises a trunk and two arms, and can realize the actions of arm swing, body rotation and the like. Specifically, as each joint part adopts a flexible actuator to drive a skeleton structure, the upper body limb of the simulation robot respectively comprises a left shoulder joint and a right shoulder joint (joints 1 and 9 in fig. 12) arranged at the shoulder positions, and can respectively drive the left and right whole arms to realize upward lifting or downward lowering rotation, namely, rotation around the axis of the shoulder, and parameters of a reduction ratio 36 and a range of motion of-180 degrees to +180 degrees can be selected; the left and right upper arm joints (joints 3 and 11 in fig. 12) arranged at the upper arm positions can respectively realize the rotation of the left and right upper arms around the upper arm axis towards the inner side and the outer side of the trunk on the plane perpendicular to the plane of the trunk, the parameters of a reduction ratio 36 and a movement range of-90 DEG to +90 DEG can be selected, the left and right shoulder joint joints (joints 2 and 10 in fig. 12) respectively connected with the left and right shoulder joints and the left and right upper arm joints can respectively drive the left and right whole arms to realize the rotation motion of opening towards the outer side of the trunk and closing towards the inner side of the trunk on the plane of the trunk, the parameters of a reduction ratio 36 and a movement range of-93 DEG plus 99.17 DEG can be selected, the left and right forearm joints (joints 5 and 13 in fig. 12) arranged at the forearm positions can respectively realize the rotation of the left and right forearm around the forearm axis towards the inner side and the outer side of the trunk on the plane perpendicular to the plane of the trunk, the parameters of a reduction ratio 36 and a movement range of-90 DEG to +90 DEG can be selected, the left and right forearm joints and the right forearm joints are respectively connected with the left and right forearm joints and the left and right upper arm joints (joints and right upper joints are respectively driven to rotate towards the upper side of the trunk in the plane of the upper side of the trunk and 12), the simulation robot comprises a simulation robot body, wherein parameters of a reduction ratio 36 and a motion range of minus 92.54 degrees to minus 38.79 degrees are selected, left and right wrist joints are arranged between left and right hand parts and left and right forearm joints of the simulation robot body, each wrist joint comprises an upper wrist joint (joints 6 and 14 in fig. 12) and a lower wrist joint (joints 7 and 15 in fig. 12), the upper wrist joint can rotate in the same rotation direction as the elbow joint, so that the wrist can realize movements such as upwarp, the reduction ratio 39.015 and the motion range of minus 42.5 degrees to minus 42.5 degrees can be selected, the lower wrist joint can realize rotations in the same rotation direction as the shoulder joint, so that the wrist can realize movements such as clapping, the reduction ratio 39.015 and the motion range of minus 42.5 degrees are selected, the upper half body of the simulation robot body is provided with a rotation joint (joint 8 in fig. 12), and the simulation robot body can rotate around the axial direction of the trunk, and the motion range of limbs can be selected to minus 97.11 degrees.
Referring to fig. 13, the hand of the simulation robot can directly purchase the existing products in the market and can also be self-made, the left hand and the right hand of the hand have 6 degrees of freedom respectively, and the functions of grabbing cigarette ends, mobile phones, mineral water bottles and hand steering wheels can be easily realized.
The upper computer of the simulation robot can be controlled by a mobile terminal or a PC, and corresponding operation flow and action editing can be written according to requirements.
[ System flow design method ]
Referring to fig. 14-21, the auxiliary driving device quality detection system is designed as follows:
a) The whole operation flow is as follows:
1) Setting the vehicle simulator in an automatic driving mode, projecting road surface information to an annular projection wall by a three-channel projector, and feeding back the limb feeling of vehicle driving in the vehicle running process in real time by a dynamic platform;
2) Setting a sunlight simulator to link with a scene, and simulating the sun rays under the current road condition in real time along with the road condition;
3) Opening auxiliary driving equipment to be detected;
4) Setting the simulation robot to execute the flow-type illegal driving action;
5) Identifying the warning information of the auxiliary driving equipment to be detected by voice (or protocol);
6) And the system software calculates the information such as the accuracy rate, the missing report rate, the false report rate, the response time and the like of the auxiliary driving behavior detection equipment according to the action executed by the robot and the voice (or protocol) alarm information.
B) Software initialization
Referring to fig. 14, the software needs to complete the following when initialized:
1) Loading a panel and welcome the interface, acquiring and displaying the system time;
2) Loading/newly-built products to be detected;
3) Connecting the serial port of the robot, namely detecting whether the serial port is connected successfully, if so, opening the serial port and executing normal driving actions, otherwise, prompting that the serial port is not connected by the elastic frame;
4) And (3) connecting the serial ports of the solar simulator, namely detecting whether the connection is successful, opening the serial ports, starting the servo, inquiring whether the solar simulator is reset, and executing the operations of sending a reset instruction or inputting the current position of the solar simulator according to reset feedback.
C) Action flow of simulation robot
The simulation robot performs actions such as smoking, making a call, closing eyes, making yawns, fatigue driving, looking right by looking right, looking left, looking right, separating from a steering wheel, rotating eyeballs, raising heads, lowering heads and the like through the action function interface.
Referring to fig. 15-17, the process is illustrated as follows:
1) The upper computer sends out a corresponding action instruction;
2) After receiving the action instruction, the lower computer sends a return value;
3) The upper computer reads the return value and starts a read execution in-place notification thread;
4) The lower computer sends an execution in-place notification in the execution action process;
The return value of 0 represents that the lower computer can execute the current action, and the alarm mark position 1 represents that a certain action being executed by the lower computer has reached the detection range, and the alarm information received at the moment is effective alarm information.
The thread for reading and executing in-place notification and reading alarm information of the product to be detected by the upper computer is described as follows:
1) A main thread, which is used for sending out an action instruction and reading a return value, and starting a read execution in-place notification thread according to whether the return value is correct or not;
2) Reading an execution in-place notification thread, namely reading an execution in-place notification sent by a lower computer, changing an icon displayed on an interface and the like;
3) Reading alarm information of a product to be detected, changing icons and the like.
Wherein, the first execution in place notification represents that the robot action has been in place, and the second execution in place notification represents that the robot action execution is completed.
Robot flowsheet setup, see fig. 18, thread description is as follows:
1) A robot flow thread, namely sending the action of the robot, reading an execution in-place notification sent by a lower computer, changing icons and the like;
2) And reading alarm information threads of the product to be detected, namely reading information sent by the product to be detected, changing icons and the like (the same as that in single action).
D) Flow setting of sunlight simulator
Referring to fig. 19-20, a solar simulator flow setting flow and a reciprocating motion flow chart are included, firstly, actions including height adjustment and the like and holding time of the solar simulator are set, then the system sends an action starting position and an action ending position of the solar simulator according to the obtained action and starting and ending positions of the current solar simulator, then whether the current line is the last line is detected, if yes, the movement is ended, and if not, the movement of the next line is continued.
E) Integral linkage setting of driving behavior monitoring and testing system
Thread specification
1) Reading information of a solar simulator after starting and simulating actions of a robot in the current step, reading and transmitting a starting position of the solar simulator, reading the current position of the current solar simulator, moving the solar simulator, transmitting actions of the robot, reading and executing in-place notification and the like;
2) A solar simulator reciprocating thread, which is used for sending the starting position and the ending position of the solar simulator to carry out reciprocating motion;
3) And reading alarm information flow of the product to be detected, namely reading information sent by the product to be detected, changing icons and the like.
The following table shows a certain number of data of quality detection of certain product auxiliary driving equipment:
Product name, haikang
It will be understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, or components, but do not preclude the presence or addition of one or more other features, integers, or components.
It will be appreciated that features described and/or illustrated with respect to the present disclosure may be combined with other features in the same or similar manner, or substituted for other features, without departing from the spirit of the disclosure.
The present disclosure has been described above in connection with the accompanying drawings, but it should be apparent to those skilled in the art that the descriptions are exemplary and not limiting the scope of the present disclosure. Various modifications and alterations of this disclosure may be made by those skilled in the art in light of the spirit and principles of this disclosure, and such modifications and alterations are also within the scope of this disclosure.
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| CN111736701A (en) * | 2020-06-24 | 2020-10-02 | 上海商汤临港智能科技有限公司 | Assisted driving interaction method and device based on in-vehicle digital human, and storage medium |
| CN111968450B (en) * | 2020-10-26 | 2021-01-05 | 成都运达科技股份有限公司 | Dynamic control method, device and system for train driving simulator and storage medium |
| CN113191952A (en) * | 2021-06-02 | 2021-07-30 | 重庆渝微电子技术研究院有限公司 | Spliced image evaluation method for 360-degree panoramic looking-around equipment |
| CN114081496A (en) * | 2021-11-09 | 2022-02-25 | 中国第一汽车股份有限公司 | Test system, method, equipment and medium for driver state monitoring device |
| CN114426246A (en) * | 2021-12-30 | 2022-05-03 | 山东力山特智能科技股份有限公司 | A driving person image detection system and device |
| CN114310966A (en) * | 2022-01-19 | 2022-04-12 | 招商局检测车辆技术研究院有限公司 | Simulation robot for testing intelligent cabin of automobile |
| CN117133096B (en) * | 2023-10-26 | 2024-01-09 | 中汽研汽车检验中心(宁波)有限公司 | Test system and test method for driver attention monitoring system |
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| CN101872559A (en) * | 2010-06-08 | 2010-10-27 | 广东工业大学 | A virtual driving active safety early warning system and early warning method for automobile driving simulator |
| DE202014009903U1 (en) * | 2013-01-27 | 2015-01-19 | Bestsim GmbH | Training and training simulator |
| CN105388021A (en) * | 2015-10-21 | 2016-03-09 | 重庆交通大学 | ADAS virtual development and test system |
| CN107452268A (en) * | 2017-07-03 | 2017-12-08 | 扬州大学 | A kind of multi-mode driving platform and its control method based on simulator |
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