CN113589799A - Vehicle intelligent driving and ADAS test environment simulation device, system and test method - Google Patents
Vehicle intelligent driving and ADAS test environment simulation device, system and test method Download PDFInfo
- Publication number
- CN113589799A CN113589799A CN202110930576.8A CN202110930576A CN113589799A CN 113589799 A CN113589799 A CN 113589799A CN 202110930576 A CN202110930576 A CN 202110930576A CN 113589799 A CN113589799 A CN 113589799A
- Authority
- CN
- China
- Prior art keywords
- driving
- connecting piece
- test
- vehicle
- adas
- 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.)
- Withdrawn
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 128
- 238000004088 simulation Methods 0.000 title claims abstract description 87
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 title claims abstract description 49
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 title claims abstract description 49
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 title claims abstract description 49
- 238000010998 test method Methods 0.000 title description 2
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 239000000725 suspension Substances 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims 1
- 238000004891 communication Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
Landscapes
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Business, Economics & Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a vehicle intelligent driving and ADAS test environment simulation device, which comprises: the road simulation unit is used for simulating intelligent driving of vehicles and roads for ADAS test; the suspension unit is fixed on the road simulation unit, suspends and fixes a target obstacle for testing, and drives the target obstacle to execute actions required by simulating a test environment on the road simulation unit according to a motion coordination control command; and the coordination control unit receives the external data to form a motion coordination control command. The invention also discloses a vehicle intelligent driving and ADAS test environment simulation system with the vehicle intelligent driving and ADAS test environment simulation device. And a vehicle intelligent driving and ADAS testing method using the vehicle intelligent driving and ADAS testing environment simulation system.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a vehicle intelligent driving and ADAS testing environment simulation device, and further relates to a vehicle intelligent driving and ADAS testing environment simulation system with the vehicle intelligent driving and ADAS testing environment simulation device. And a vehicle intelligent driving and ADAS testing method using the vehicle intelligent driving and ADAS testing environment simulation system.
Background
With the rapid improvement of information technology, electrical and electronic technology and mechanical level, the application field of mechatronics is continuously increased, so that the mechanical automation level and the quality and function of mechanical equipment are greatly improved at present, and the technology becomes one of important technical systems of modern industry.
For the current intelligent driving and ADAS tests, one test is carried out through a virtual simulation test, and the other test is carried out through a real vehicle road test. Both create problems in that: the virtual simulation test can only be used as auxiliary verification, the fidelity of the virtual environment is not enough, and the simulation test result cannot be completely relied on. And the real vehicle road test faces many restrictions, for example, the test period is long, the efficiency of the research and development of the automatic driving technology is greatly influenced, the test cost is huge, the running safety is not easy, and the like. When the real vehicle simulation test is carried out by utilizing the scene simulation, the scene needs to be closely matched with the test vehicle, and the design with low precision can disconnect the environment from the test vehicle, so that the hysteresis is presented, and the intelligent driving of the test vehicle and the decision of an ADAS system are influenced. Therefore, a mechatronic system that can be used for intelligent driving and ADAS test scenario simulation/test is needed.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to solve the technical problem of providing a vehicle intelligent driving and ADAS test environment simulation device which is based on a mechanical structure and digital control, can realize accurate control and can realize synchronous simulation of a test vehicle and a test scene.
Correspondingly, the invention also provides a vehicle intelligent driving and ADAS test environment simulation system with the vehicle intelligent driving and ADAS test environment simulation device. And a vehicle intelligent driving and ADAS testing method using the vehicle intelligent driving and ADAS testing environment simulation system.
In order to solve the above technical problems, the present invention provides an apparatus for simulating an intelligent driving and ADAS test environment of a vehicle, comprising:
the road simulation unit is used for simulating intelligent driving of vehicles and roads for ADAS test; exemplary, analog content thereof includes, but is not limited to: various road conditions for testing such as road width, slope and traffic lights;
the suspension unit is fixed on the road simulation unit, suspends and fixes a target obstacle for testing, and drives the target obstacle to execute actions required by simulating a test environment on the road simulation unit according to a motion coordination control command; illustratively, it simulates the actions required by the test environment, including but not limited to: a combination of all possibilities of linear movement of the target obstacle, horizontal movement of the target obstacle, rotational movement of the target obstacle, and the aforementioned movements;
and the coordination control unit receives the external data to form a motion coordination control command. Illustratively, the coordination control unit may be a control device such as an MCU, a computer, etc., and the coordination control unit is embedded with control software, and the functions required by the control software can be implemented by those skilled in the art through computer programming technology according to specific test requirements.
Optionally, the environmental simulation apparatus is further improved, wherein the suspension unit comprises:
a plurality of portal frames fixed on the road simulation unit;
the stator structure is fixed on the plurality of portal frames;
a first connector movably connected to the stator structure;
the first driving subunit is used for driving the first connecting piece to move along the stator structure;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
a second driving subunit for driving a second connecting piece to move on the first connecting piece;
and a third driving subunit installed at either end of the second connecting member and rotating with the driving test target obstacle.
Optionally, the environmental simulation apparatus is further improved, including:
the row of stator structures are fixed between the two upright posts of the plurality of portal frames, and tracks are formed on two sides of the row of stator structures;
the first connecting piece is positioned below the stator structure and is connected with the track through rollers at two ends;
the first driving subunit is arranged on the first connecting piece and used for driving the first connecting piece to move along the track;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
and the second driving subunit is used for driving the second connecting piece to move on the first connecting piece. The scheme can avoid motion interference between the rotors, is more economical and practical, but is not high in strength without a double-stator structure scheme, and the stability also needs to be optimized.
Optionally, the environmental simulation apparatus is further improved, including:
two rows of stator structures which are fixed between two upright posts of the plurality of portal frames in parallel;
a first connecting member movably connected to the two stator structures;
two first driving subunits for driving the first connecting pieces to move along the two stator structures;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
a second driving subunit for driving a second connecting piece to move on the first connecting piece;
and a third driving subunit installed at either end of the second connecting member and rotating with the driving test target obstacle.
Optionally, the environmental simulation apparatus is further improved, and the second connector is a rigid connector.
Optionally, the environmental simulation apparatus is further improved, and the second connecting member is a connecting rod.
Optionally, the environment simulation apparatus is further improved, and the first to third driving subunits are motors.
In order to solve the above technical problem, the present invention provides a vehicle intelligent driving and ADAS test environment simulation system having the vehicle intelligent driving and ADAS test environment simulation apparatus, further comprising:
the positioning sensing unit is used for acquiring target obstacle positioning data in a simulated test environment and inputting the acquired positioning feedback data into the data processing unit;
the data processing unit is used for receiving the running state data of the test vehicle and forming a motion coordination control command according to the running state data of the test vehicle and the positioning feedback data;
or forming a motion coordination control command according to the test vehicle running state data and the positioning feedback data.
It needs to be further explained that:
the data processing unit is used for processing the running state data of the test vehicle without acquiring the running state data of the test vehicle when the real vehicle field test is carried out.
When the data processing unit is used for testing a closed field, longitudinal motion state data of a vehicle running on the rotating hub are required to be utilized: velocity, acceleration. And all motion states (transverse motion speed, longitudinal motion acceleration) of the target object in the preset test scene are reversely superposed in the longitudinal direction. And the control of the relative motion of the target object is realized when the test vehicle runs on the rotating hub.
Positioning feedback data: and the monitoring and regulation of the motion state after the superposition is realized, and the feedback similar to PID control is realized. Ensuring accuracy of the superimposition, safety limits for the superimposition at high speed of movement and the necessity for dynamic control of the object at the speed of superimposition.
In order to solve the technical problem, the invention provides a vehicle intelligent driving and ADAS testing method using the vehicle intelligent driving and ADAS testing environment simulation system, which comprises the following steps:
forming a simulated road for intelligent driving and ADAS testing of the vehicle;
enabling a target obstacle to execute actions required for simulating a test environment on the simulation road;
the test vehicle environment sensing system senses the action of the target barrier to form a driving decision, controls a test vehicle executing mechanism to execute the driving decision and collects vehicle running state data;
acquiring the action of the target obstacle through a positioning sensing unit to form positioning feedback data;
the vehicle running state data and the positioning feedback data form a motion coordination control instruction;
and sending the motion coordination control command to the suspension unit to control and execute the action required by the simulation test environment of the target obstacle.
The environment simulation device controls the movement and the posture adjustment of a simulated target obstacle by loading the first driving subunit to the third driving subunit (the linear motor and the rotating motor) through the portal frame structure, can accurately output the moment and the coordinate position of the target obstacle, and ensures the working conditions of controlling the movement curve, acceleration and deceleration, emergency starting, braking and the like of the target obstacle. In order to reduce the influence on the road surface under an environment simulation system and the influence of the road surface on the system, not occupy the road surface and reduce the interference on a sensing system of a tested vehicle, a portal frame is used for hanging a connecting rod to connect a target barrier (vehicle). The suspension unit can not only meet the requirement of simulating the target obstacle in a straight line state, but also simulate the driving of a turning curve under the special condition, and can enlarge the richness of a simulation scene. Meanwhile, the movement delay between the barrier vehicle (object) and the portal frame can be eliminated through rigid connection, and the requirement of accurate control is met.
The vehicle intelligent driving and ADAS test environment simulation system controls the transverse and longitudinal movement of a target obstacle and the rotation (posture adjustment) of the target obstacle in a test scene through a suspension unit of an environment simulation device; the positioning data is fed back to the positioning sensing unit through the positioning sensing system, and the mechanical structure and the digital control are used for absorbing electromechanical integration test scene simulation. The test vehicle intelligent driving and ADAS decision system makes decision response through sensing data to control a vehicle execution system to control the vehicle running state, real-time vehicle running state data (such as CAN) are transmitted to a data processing unit, the data processing unit processes and predicts the data, calculates and outputs specific motion coordination control instructions to a coordination control unit, and the coordination control unit controls a suspension unit of an environment simulation device to carry out various transverse and longitudinal matched scene construction and attitude simulation of various obstacle target vehicles; meanwhile, the action of the target barrier simulated by the environment simulation device is fed back to the data processing unit through the sensing system to form a complete scene closed-loop control.
The invention realizes intelligent driving of the vehicle and simulation of ADAS test environment through electromechanical integration (mechanical structure and digital control), thereby greatly improving the control precision of the test scene; the target barrier (vehicle) rigidly connected through the connecting rod can control movement and perform posture adjustment without delay; the electromechanical integration can ensure that the test environment simulation system is more automatic and convenient to control. The invention can meet the scene simulation of high-speed and variable-speed movement of a target obstacle and a target vehicle during intelligent driving test, can meet the rigidity requirement under the condition of high-load movement, and can monitor and control mechanical structures of all parts by special software, a sensor and a computer which are compiled according to actual test requirements to coordinate construction of various scenes and forecast and safety protection of real-time change of the scenes and scene accidents.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a first structural schematic diagram of a first embodiment of the present invention.
Fig. 2 is a second structural diagram of the first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a second embodiment of the present invention.
Fig. 4 is a schematic diagram of a fourth embodiment of the present invention.
Description of the reference numerals
Gantry frame 2.1
Stator structure 2.2
A first connecting member 2.3;
second connecting part 2.4
A target obstacle 3.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the drawings. Further, it will be understood that, although the terms first, second, etc. may be used herein to describe various elements, parameters, components, regions, layers and/or sections, these elements, parameters, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, parameter, component, region, layer or section from another element, parameter, component, region, layer or section. Thus, a first element, parameter, component, region, layer or section discussed below could be termed a second element, parameter, component, region, layer or section without departing from the teachings of exemplary embodiments according to the present invention.
A first embodiment;
as shown in fig. 1 and fig. 2, the present invention provides a vehicle intelligent driving and ADAS testing environment simulation apparatus, including:
the road simulation unit 1 is used for simulating intelligent driving of vehicles and roads for ADAS test;
a suspension unit 2 fixed to the road simulation unit 1, suspending a fixed test target obstacle 3, such as a simulation vehicle, and driving the target obstacle 3 to perform an operation required for simulating a test environment on the road simulation unit according to a motion coordination control command;
and a coordination control unit (not shown) which receives the external data to form a motion coordination control command.
Correspondingly, the position of the coordination control unit can be selected according to actual conditions, and the data communication between the coordination control unit and the suspension unit 2 can adopt wired or wireless communication, such as ethernet, WIFI, 4G, 5G and the like.
A second embodiment;
as shown in fig. 3 and fig. 1, the present invention provides a vehicle intelligent driving and ADAS testing environment simulation apparatus, including:
the road simulation unit 1 is used for simulating intelligent driving of vehicles and roads for ADAS test;
a suspension unit 2 fixed to the road simulation unit 1, suspending a fixed test target obstacle 3, such as a simulation vehicle, and driving the target obstacle 3 to perform an operation required for simulating a test environment on the road simulation unit according to a motion coordination control command;
and a coordination control unit (not shown) which receives the external data to form a motion coordination control command.
Correspondingly, the position of the coordination control unit can be selected according to actual conditions, and the data communication between the coordination control unit and the suspension unit 2 can adopt wired or wireless communication, such as ethernet, WIFI, 4G, 5G and the like.
Wherein the suspension unit 2 includes:
a plurality of portal frames 2.1 fixed on the road simulation unit 1;
the device is provided with two rows of stator structures 2.2 which are fixed between two vertical columns of the multiple portal frames 2.1 in parallel;
a first connecting member 2.3, such as a cross-beam, movably connected to the stator structure 2.2;
two first driving subunits (not shown in the figure) for driving the first connecting piece 2.3 to move along the stator structure 2.2, the position of which can be selected according to the actual situation, for example, the first connecting piece 2.3 is mounted on;
a second connecting member 2.4, such as a rigid connecting rod, having one end movably connected to the first connecting member 2.3 and the other end suspending a test target barrier 3;
a second drive subunit (not shown in the figure) for driving the second connecting element to move on the first connecting element, the position of which can be selected according to the actual situation, for example, to be arranged on the second connecting element 2.4;
and a third driving subunit (not shown) installed at either end of the second connecting member 2.4 for driving the test object obstacle 3 to rotate, and whose position can be selected according to the actual situation, for example, installed on the second connecting member 2.4.
A third embodiment;
the invention provides a vehicle intelligent driving and ADAS test environment simulation device, which comprises:
the road simulation unit 1 is used for simulating intelligent driving of vehicles and roads for ADAS test;
a suspension unit 2 fixed to the road simulation unit 1, suspending a fixed test target obstacle 3, such as a simulation vehicle, and driving the target obstacle 3 to perform an operation required for simulating a test environment on the road simulation unit according to a motion coordination control command;
and a coordination control unit (not shown) which receives the external data to form a motion coordination control command.
Correspondingly, the position of the coordination control unit can be selected according to actual conditions, and the data communication between the coordination control unit and the suspension unit 2 can adopt wired or wireless communication, such as ethernet, WIFI, 4G, 5G and the like.
Wherein the suspension unit 2 includes:
a plurality of portal frames 2.1 fixed on the road simulation unit 1;
a row of stator structures 2.2 fixed between two vertical columns of the plurality of portal frames 2.1, and two sides of the stator structures are provided with tracks;
a first connecting member 2.3, for example a cross-beam, located below the stator structure 2.2, which is connected to the rail by means of two end rollers;
the first driving subunit is arranged on the first connecting piece 2.3 and is used for driving the first connecting piece 2.3 to move along the track;
a second connecting member 2.4, such as a rigid connecting rod, having one end movably connected to the first connecting member 2.3 and the other end suspending a test target barrier 3;
a second drive subunit for driving a second link 2.4 to move over said first link 2.3.
In any one of the first to third embodiments, the first to third driving subunits are motors, such as servo motors.
A fourth embodiment;
referring to fig. 4, the present invention provides a vehicle intelligent driving and ADAS test environment simulation system having the vehicle intelligent driving and ADAS test environment simulation apparatus according to any one of the first to third embodiments, further comprising:
the positioning sensing unit is used for acquiring target obstacle positioning data in a simulated test environment and inputting the acquired positioning feedback data into the data processing unit;
the data processing unit is used for receiving the running state data of the test vehicle and forming a motion coordination control command according to the running state data of the test vehicle and the positioning feedback data;
or forming a motion coordination control command according to the test vehicle running state data and the positioning feedback data.
A fifth embodiment;
the invention provides a vehicle intelligent driving and ADAS testing method using the vehicle intelligent driving and ADAS testing environment simulation system of the fourth embodiment, which comprises the following steps:
forming a simulated road for intelligent driving and ADAS testing of the vehicle;
enabling a target obstacle to execute actions required for simulating a test environment on the simulation road;
the test vehicle environment sensing system senses the action of the target barrier to form a driving decision, controls a test vehicle executing mechanism to execute the driving decision and collects vehicle running state data;
acquiring the action of the target obstacle through a positioning sensing unit to form positioning feedback data;
the vehicle running state data and the positioning feedback data form a motion coordination control instruction;
and sending the motion coordination control command to the suspension unit to control and execute the action required by the simulation test environment of the target obstacle.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (9)
1. The utility model provides a vehicle intelligence is driven and ADAS test environment analogue means which characterized in that includes:
the road simulation unit is used for simulating intelligent driving of vehicles and roads for ADAS test;
the suspension unit is fixed on the road simulation unit, suspends and fixes a target obstacle for testing, and drives the target obstacle to execute actions required by simulating a test environment on the road simulation unit according to a motion coordination control command;
and the coordination control unit receives the external data to form a motion coordination control command.
2. The environmental simulation apparatus of claim 1, wherein the suspension unit comprises:
a plurality of portal frames fixed on the road simulation unit;
the stator structure is fixed on the plurality of portal frames;
a first connector movably connected to the stator structure;
the first driving subunit is used for driving the first connecting piece to move along the stator structure;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
a second driving subunit for driving a second connecting piece to move on the first connecting piece;
and a third driving subunit installed at either end of the second connecting member and rotating with the driving test target obstacle.
3. The environmental simulation apparatus of claim 2, comprising:
the row of stator structures are fixed between the two upright posts of the plurality of portal frames, and tracks are formed on two sides of the row of stator structures;
the first connecting piece is positioned below the stator structure and is connected with the track through rollers at two ends;
the first driving subunit is arranged on the first connecting piece and used for driving the first connecting piece to move along the track;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
and the second driving subunit is used for driving the second connecting piece to move on the first connecting piece.
4. The environmental simulation apparatus of claim 2, comprising:
two rows of stator structures which are fixed between two upright posts of the plurality of portal frames in parallel;
a first connecting member movably connected to the two stator structures;
two first driving subunits for driving the first connecting pieces to move along the two stator structures;
one end of the second connecting piece is movably connected to the first connecting piece, and the other end of the second connecting piece is hung with a target obstacle for testing;
a second driving subunit for driving a second connecting piece to move on the first connecting piece;
and a third driving subunit installed at either end of the second connecting member and rotating with the driving test target obstacle.
5. The environmental simulation apparatus of any one of claims 2-4, wherein: the second connector is a rigid connector.
6. The environmental simulation apparatus of any one of claims 2-4, wherein: the second connecting piece is a connecting rod.
7. The environmental simulation apparatus of any one of claims 2-4, wherein: the first to third driving subunits are motors.
8. A vehicle intelligent driving and ADAS test environment simulation system having the vehicle intelligent driving and ADAS test environment simulation apparatus of claim 1, further comprising:
the positioning sensing unit is used for acquiring target obstacle positioning data in a simulated test environment and inputting the acquired positioning feedback data into the data processing unit;
the data processing unit is used for receiving the running state data of the test vehicle and forming a motion coordination control command according to the running state data of the test vehicle and the positioning feedback data;
or forming a motion coordination control command according to the test vehicle running state data and the positioning feedback data.
9. A method for intelligent driving and ADAS testing of a vehicle using the system for intelligent driving and ADAS testing environment simulation of a vehicle of claim 8, comprising the steps of:
forming a simulated road for intelligent driving and ADAS testing of the vehicle;
enabling a target obstacle to execute actions required for simulating a test environment on the simulation road;
the test vehicle environment sensing system senses the action of the target barrier to form a driving decision, controls a test vehicle executing mechanism to execute the driving decision and collects vehicle running state data;
acquiring the action of the target obstacle through a positioning sensing unit to form positioning feedback data;
the vehicle running state data and the positioning feedback data form a motion coordination control instruction;
and sending the motion coordination control command to the suspension unit to control and execute the action required by the simulation test environment of the target obstacle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110930576.8A CN113589799A (en) | 2021-08-13 | 2021-08-13 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
| CN202111336577.6A CN113885484A (en) | 2021-08-13 | 2021-11-12 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110930576.8A CN113589799A (en) | 2021-08-13 | 2021-08-13 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113589799A true CN113589799A (en) | 2021-11-02 |
Family
ID=78257741
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110930576.8A Withdrawn CN113589799A (en) | 2021-08-13 | 2021-08-13 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
| CN202111336577.6A Pending CN113885484A (en) | 2021-08-13 | 2021-11-12 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111336577.6A Pending CN113885484A (en) | 2021-08-13 | 2021-11-12 | Vehicle intelligent driving and ADAS test environment simulation device, system and test method |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113589799A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264485A (en) * | 2021-12-13 | 2022-04-01 | 南京邮电大学 | Simulation system for testing fault object of unmanned automobile |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117074048B (en) * | 2023-10-16 | 2024-02-13 | 中国汽车技术研究中心有限公司 | Intelligent vehicle testing method and system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006053561B8 (en) * | 2006-11-14 | 2011-05-12 | Kamga Fopoussi, Jacques Jüdicaël, Dr.-Ing. | Method and device for checking an emergency braking system |
| JP4230516B2 (en) * | 2007-07-17 | 2009-02-25 | 本田技研工業株式会社 | Obstacle device for vehicle driving experience |
| JP7025896B2 (en) * | 2017-11-13 | 2022-02-25 | 株式会社日立産機システム | Crane system and crane control method |
| CN108877374B (en) * | 2018-07-24 | 2021-03-30 | 长安大学 | Vehicle queue simulation system and method based on virtual reality and driving simulator |
| CN109269816B (en) * | 2018-10-09 | 2020-09-25 | 北京汽车集团有限公司 | Vehicle road testing device and vehicle road testing system |
-
2021
- 2021-08-13 CN CN202110930576.8A patent/CN113589799A/en not_active Withdrawn
- 2021-11-12 CN CN202111336577.6A patent/CN113885484A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264485A (en) * | 2021-12-13 | 2022-04-01 | 南京邮电大学 | Simulation system for testing fault object of unmanned automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113885484A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113885484A (en) | Vehicle intelligent driving and ADAS test environment simulation device, system and test method | |
| CN101558435B (en) | Driving simulator | |
| CN107901037B (en) | Robot joint dynamic model correction method | |
| EP2796849B1 (en) | Vehicle test apparatus and vehicle test system | |
| CN201242687Y (en) | Synchronous drive control device for lifting platform position | |
| CN102121874B (en) | Method, device and system for simulating inertia and running resistance of rail transit vehicle | |
| CN206251006U (en) | A kind of twin shaft artificial rotary table control device | |
| CN103970069B (en) | A kind of Biaxial synchronous and differential motion system and control compensation methods thereof | |
| CN104748981A (en) | New energy vehicle testing system based on driver-vehicle-road closed-loop control | |
| CN107727417A (en) | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether | |
| CN105277375A (en) | Electric wheel comprehensive performance test bench | |
| CN111061164A (en) | Unmanned aerial vehicle semi-physical simulation system and simulation method | |
| CN1963421A (en) | Testing apparatus for high temperature, superconducting, magnetic suspension and dynamic performance and testing method with the same | |
| CN204027835U (en) | A kind of Electric Motor Wheel is comprehensive performance test bed | |
| CN106227189A (en) | A kind of Two axle drive electric automobile hardware-in-the-loop test system synchronization control method | |
| CN105905320A (en) | Active gravity compensation system with yaw follow-up function | |
| CN103744297A (en) | Small-sized self-balance robot gesture simulator | |
| CN109434873B (en) | Method for measuring torque constant of robot joint servo motor | |
| CN107314906A (en) | A kind of automobile electro-mechanical brake system experimental bench | |
| CN107609316B (en) | Virtual prototype building method for railway traffic vehicle sliding plug door | |
| CN203941012U (en) | A kind of Electric Motor Wheel with Plumb load function is comprehensive performance test bed | |
| CN109766668B (en) | Real-time hybrid test method based on restart | |
| CN105186958A (en) | Neural network inverse system-based internal model control method for five-phase fault-tolerant permanent magnet motor | |
| CN104679000B (en) | Indoor simulation testing device and testing method for target object sensing capability of mobile robot | |
| CN103336439B (en) | Be controlled at the body gesture analogy method of ring emulation for vehicle steadily |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211102 |