CN114166529A - Omnidirectional steering movement variable-wheel-base P2X dummy equipment and cooperative control method thereof - Google Patents
Omnidirectional steering movement variable-wheel-base P2X dummy equipment and cooperative control method thereof Download PDFInfo
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Abstract
The invention discloses an omnibearing steering moving variable-wheel-base P2X dummy device and a cooperative control method thereof, wherein the device comprises a humanoid motion dummy, a driving motor, a mobile platform and a controller box; the communication between the dummy equipment and the vehicle, the communication between the dummy equipment and traffic lights and other infrastructures is realized through a signal transmitter and a signal receiver in the controller box; matching the motion state of the mobile platform with the motion state of the anthropomorphic motion dummy in a cooperative control mode to realize the motion state of the anthropomorphic motion dummy similar to a real pedestrian; the dummy with different heights and weights can be placed by adjusting the variable wheelbase support connection. The invention solves the problem that the dummy can not do anthropomorphic motion in intelligent auxiliary driving and human-vehicle interaction tests; the problem that the dummy falls sideways due to unstable gravity center in the motion process of different types of the dummy is solved; the device has the advantages of no interference to other traffic participants, anthropomorphic motion, variable wheel base, convenient disassembly and assembly, safety, reliability and the like.
Description
Technical Field
The invention relates to the technical field of intelligent and auxiliary driving tests, in particular to an omni-directional steering mobile variable-wheelbase P2X (Peerin duration to X) dummy device and a cooperative control method thereof.
Background
With the development of various computer technologies, automobiles become more intelligent and automatic. In the process of technology development and testing of the existing auxiliary driving and automatic driving vehicles facing the future, safe, convenient and reliable auxiliary testing equipment is needed so as to complete development, improvement, verification and optimization of various technologies.
A large amount of test work is required in the early stage for realizing anthropomorphic driving of the automatic driving vehicle, and various street crossing behaviors of pedestrians on a road need to be simulated, so that whether various devices carried by the automatic driving vehicle can correctly identify states of the pedestrians and timely make correct response, and validity and accuracy of various integrated algorithms are checked.
Most of the existing dummy testing equipment are in a traction or belt transmission mode, a moving track is mostly required to be laid, only linear motion of pedestrians can be simulated, the speed of a dummy is not controllable, and a traction rope or a transmission belt occupies the whole lane, so that other vehicles which normally run are influenced. The dummy body can not be controlled cooperatively, so that the dummy can not perform anthropomorphic motion, such as sudden motion direction change, stop, acceleration and the like, can not simulate various street crossing behaviors and motion postures of real pedestrians, and can not simulate actions of pedestrian standing observation and the like. The dummy equipment can not communicate with vehicles and other traffic facilities, and can not change the motion attitude or street crossing intention and the like in real time according to the motion condition of the vehicles, the traffic signal condition of traffic lights and the state condition of different road side equipment, so that the reliability of the automatic driving test experimental data is poor, and the reliability verification of the technology is inaccurate.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an omni-directional steering movement variable wheelbase P2X dummy device and a cooperative control method thereof, which can communicate with vehicles and other transportation facilities, know vehicle motion and roadside device states in real time, and be used for an autonomous vehicle to implement a great number of human-vehicle interaction test works in different scenes at the early stage of anthropomorphic driving, so as to check whether various devices carried by the autonomous vehicle can correctly identify pedestrian states and timely make correct responses and the validity and accuracy of various integrated algorithms. The specific scheme is as follows:
an omnibearing steering movement variable-wheelbase P2X dummy device is used for automatic driving vehicle human-vehicle interaction test work and comprises a human-like motion dummy, a mobile platform and a controller box;
universal wheels are arranged at the bottom of the moving platform, and Mecanum wheels driven by a Mecanum wheel driving motor are arranged on two sides of the moving platform;
the anthropomorphic motion dummy comprises a trunk, a movable head and four limbs; the trunk is fixed on the mobile platform through the dummy support rod, and the lower limbs of the trunk are suspended; the head is provided with a head driving motor, and the four limbs are provided with four limb driving motors;
the controller box is arranged on the mobile platform, and a signal receiver, a laser distance sensor and an ECU (Electronic Control Unit) are arranged in the controller box; the signal receiver receives a vehicle speed signal sent by a test vehicle in real time and sends the vehicle speed signal to the ECU; the laser distance sensor detects the distance X between the anthropomorphic motion dummy and the test vehicle in real time and sends the distance X to the ECU; the ECU takes the vehicle speed or the distance X as a motion triggering condition of the anthropomorphic motion dummy, and controls the displacement, the moment and the speed of the mobile platform by inputting the speed V to the Mecanum wheel omnidirectional mobile platform; and triggering the anthropomorphic motion dummy to carry out different anthropomorphic motion modes according to different input speeds V, determining the step lambda and the step frequency f of the anthropomorphic motion dummy under different anthropomorphic motion modes by cooperatively controlling the mobile platform and the anthropomorphic motion dummy, and further controlling the driving motors of the head and the limbs of the anthropomorphic motion dummy to rotate according to different speeds and directions so as to simulate different pedestrian crossing scene working conditions.
Furthermore, the housing of the Mecanum wheel driving motor is connected and fixed on the mobile platform through a variable wheel base support.
Furthermore, the variable wheel base support connection comprises a strip-shaped connecting plate, and a plurality of connecting holes for fixing the connecting plate with the mobile platform are formed in the length direction of the connecting plate.
Furthermore, the signal receiver receives a red light and green light signal sent by a traffic signal lamp, and when the red light signal is received, the anthropomorphic motion dummy stops running at the street and holds for sightseeing; when the green light signal is sent, the anthropomorphic dummy walks or runs to cross the street.
Furthermore, the four-limb driving motor comprises a right big arm driving motor, a right small arm driving motor, a left big arm driving motor, a left small arm driving motor, a right thigh driving motor, a right shank driving motor, a left thigh driving motor and a left shank driving motor.
A coordinated control method for omnibearing steering moving variable-wheelbase P2X dummy equipment comprises the following working conditions: standing for sightseeing, walking at a constant speed to cross a street and running at a high speed to cross the street;
the cooperative control specifically comprises:
when the input speed V =0m/s, the anthropomorphic motion dummy is a standing and watching working condition, the Mecanum wheel driving motor and the anthropomorphic motion dummy limb driving motor are controlled to stop running, so that the motion of the motion dummy stops, and the step lambda is equal to 0 cm; meanwhile, the head driving motor is controlled to do reciprocating motion at a set speed, so that the head of the anthropomorphic dummy rotates to simulate a watching state;
when the input speed is more than 1.75m/s and less than V and less than 2m/s, the anthropomorphic motion dummy walks at a constant speed to cross the street, and a Mecanum wheel driving motor is controlled to operate according to set displacement, moment and speed, so that the mobile platform drives the anthropomorphic motion dummy to move at a constant speed on a specified route at a corresponding speed; meanwhile, determining the step lambda corresponding to the anthropomorphic motion dummy according to the input speed V, further calculating the step frequency f of the anthropomorphic motion dummy, and making the step frequency equal to the arm swinging frequency, and then controlling the four-limb driving motors to run at a matched rotating speed to realize the control of the four-limb swinging direction, frequency and amplitude of the anthropomorphic motion dummy, so that the anthropomorphic motion dummy simulates the leg-stepping swing arm state during constant-speed walking;
when the input speed V is more than 2m/s, the anthropomorphic dummy is a working condition of fast running and crossing the street; similarly, the moving speed of the anthropomorphic motion dummy is controlled by controlling the operation of the Mecanum wheel driving motor, and the anthropomorphic motion dummy can step the legs and swing the arms in a fast running state by controlling the operation of the driving motors of the four limbs.
The invention has the beneficial effects that: the invention realizes the communication between the dummy equipment and the vehicle, the communication between the dummy equipment and the traffic signal lamp and other infrastructures through the signal transmitter and the signal receiver in the controller box, and realizes the triggering of the movement of the dummy equipment in different test scenes. The motion state of the mobile platform is matched with the motion state of the anthropomorphic motion dummy through the controller in a cooperative control mode, so that anthropomorphic actions of the anthropomorphic motion dummy are realized, such as sudden motion direction change, stop, acceleration and the like, and various street crossing behaviors and motion postures of real pedestrians are simulated. The dummy with different heights and weights can be placed by adjusting the variable wheelbase support connection, so that the dummy is not easy to fall sideways in the moving process. Therefore, the requirements of different test scenes in the early development and test work of the automatic driving vehicle for realizing the anthropomorphic driving can be met, experimental data with better reliability is provided for the development and test work, and the reliability verification of the technology is guaranteed.
Drawings
Fig. 1 is a schematic view of the prosthetic device of the present invention.
Fig. 2 is a schematic diagram of the anthropomorphic motion dummy of the present invention.
FIG. 3 is a diagram of a mobile platform according to the present invention.
FIG. 4 is a schematic view of the variable wheelbase support connection of the present invention.
Fig. 5 is a schematic view of the dummy support bar of the present invention.
FIG. 6 is a flow chart of the cooperative control logic of the present invention.
Fig. 7 is a schematic view of the communication of the dummy device of the present invention.
1-mecanum wheel, 2-mecanum wheel driving motor, 3-variable wheelbase supporting connection, 4-inner hexagon bolt, 5-moving platform, 6-universal wheel, 7-controller box, 8-dummy supporting rod, 9-gasket, 10-screw, 11-hexagon nut, 12-small hexagon nut, 13-connecting hole, 14-screw connecting hole, 15-head driving motor, 16-right big arm driving motor, 17-right small arm driving motor, 18-left big arm driving motor, 19-left small arm driving motor, 20-right thigh driving motor, 21-right shank driving motor, 22-left thigh driving motor and 23-left shank driving motor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in figure 1, the invention relates to an omnibearing steering and moving variable-axle-distance P2X dummy device with body parts capable of being cooperatively controlled, which comprises an anthropomorphic motion dummy, a driving motor, a mobile platform and a controller box.
As shown in fig. 3, the mobile platform is made of stainless steel and is formed by welding a stainless steel pipe and a stainless steel sheet, and the mobile platform further comprises a variable wheel base support connection, a mecanum wheel, a universal wheel, a mecanum wheel drive motor and a controller box. The axle distance-variable support is connected, one end of the axle distance-variable support is connected with the shell of the driving motor through screws, the other end of the axle distance-variable support is connected with the moving platform through hexagon socket head cap screws, and the Mecanum wheels are connected with the driving motor to support the whole chassis and enable the chassis to move.
As shown in fig. 4, the variable-wheelbase support link 3 includes a strip-shaped link plate, and a plurality of link holes 13 for fixing to the movable platform 5 are formed along a length direction of the link plate. When the height of the anthropomorphic motion dummy is higher, the connecting hole connected with the moving platform can be adjusted, the distance between the Mecanum wheel and the moving platform is increased, the wheel base of the device is widened, the gravity center of the device is reduced, and the stability is enhanced.
The universal wheels are welded with the stainless steel pipes to support the chassis and allow the structure to rotate horizontally by 360 degrees. The controller box is placed on the mobile platform and connected with the Mecanum wheel driving motor and the driving motor on the body of the anthropomorphic motion dummy, and the rotating speed and the rotating direction of the Mecanum wheel driving motor and the driving motors of the head and the limbs of the anthropomorphic motion dummy are controlled in a cooperative control mode, so that the motion frequency and the swing amplitude of the limbs of the anthropomorphic motion dummy are controlled, and the motion synchronization of the mobile chassis and the motion of the anthropomorphic motion dummy is matched with the motion state of a real pedestrian.
As shown in fig. 5, the dummy support rod is made of steel bar, a hexagonal nut is welded on the lower portion of the dummy support rod and is provided with threads, and the support rod penetrates through the moving platform and is connected with the nut for connecting the chassis with the anthropomorphic motion dummy.
As shown in fig. 2, the anthropomorphic motion dummy includes a plastic housing which is lightweight and each part of the limbs or trunk is detachable, a head driving motor, and a limb driving motor. The head driving motor and the limb driving motor work through cooperative control.
For example, when various devices mounted on an automatic driving test vehicle and various integrated algorithms perform a test work for avoiding pedestrians during anthropomorphic driving. The test vehicle is communicated with the anthropomorphic motion dummy device, a signal transmitter is mounted on the test vehicle, the speed of the vehicle is monitored in real time, a speed signal is sent to a controller box of the anthropomorphic motion dummy device, the speed of the vehicle is received through a signal receiver in the controller box, and the distance between the test vehicle and the automatic driving test vehicle is detected in real time through a laser distance sensor in the controller box. And inputting a speed V to the Mecanum wheel omnidirectional moving platform according to the distance X from the vehicle as a trigger condition of the motion of the anthropomorphic motion dummy device, and controlling the displacement, the moment and the speed of the Mecanum wheel omnidirectional moving platform through an ECU (electronic control unit) in a controller box so as to control the positive and negative rotation, the stop and the rotating speed of driving motors of the head and the four limbs of the anthropomorphic motion dummy. The different input speeds V trigger the anthropomorphic motion dummy to carry out different anthropomorphic motion working conditions, and the different anthropomorphic motion working conditions promote the driving motor on the body of the anthropomorphic motion dummy to rotate according to different speeds and directions. And further, different pedestrian crossing scene working conditions can be simulated, namely the same dummy motion states with different distances X and the different dummy motion states with the same distances X. Therefore, whether various devices mounted on the automatic driving vehicle can correctly identify the state of the pedestrian or not is checked, correct response is made in time, and effectiveness and accuracy of various integrated algorithms are checked.
The following lists several anthropomorphic motion working conditions, which are applied to different pedestrian crossing test scene requirements, but are not limited to the above. For example:
1. the pedestrian stays on the feet to watch
2. Pedestrian walks across street at uniform speed
3. Pedestrian fast running street
The mobile platform and the anthropomorphic motion dummy realize the cooperative control:
and an ECU in the controller box controls the displacement, the moment and the speed of the Mecanum wheel omnidirectional mobile platform and outputs a speed V.
When the speed V =0m/s, the anthropomorphic motion dummy holds a look at, with a step λ equal to 0 cm. And controlling the Mecanum wheel driving motor 2 and the limb driving motor of the anthropomorphic motion dummy to stop running, so that the motion of the limbs driving motor stops, and the step lambda is equal to 0 cm. Meanwhile, the head driving motor 15 is controlled to do reciprocating motion at a set speed, so that the head of the anthropomorphic dummy can rotate to simulate the watching state.
When the speed is 1.75m/s < V <2m/s, the anthropomorphic motion dummy walks at a constant speed. Controlling a Mecanum wheel driving motor 2 to run according to set displacement, moment and speed, so that the moving platform 5 with the anthropomorphic motion dummy moves at a constant speed on a designated route at a corresponding speed; meanwhile, the corresponding step length lambda of the anthropomorphic motion dummy is determined according to the input speed V (when the pedestrian walks across the street at a constant speed, the step length lambda is about 65 cm;), the step length frequency f of the anthropomorphic motion dummy is further calculated, the step length frequency is set to be equal to the arm swinging frequency, then the driving motors of the four limbs are controlled to run at the matched rotating speeds to realize the control of the swinging direction, the frequency and the amplitude of the four limbs of the anthropomorphic motion dummy, so that the anthropomorphic motion dummy simulates the swing arm state of the swing of the leg when the pedestrian walks at a constant speed
When V is more than 2m/s, the anthropomorphic motion dummy runs quickly; similarly, the moving speed of the anthropomorphic motion dummy is controlled by controlling the operation of the Mecanum wheel driving motor 2, and the anthropomorphic motion dummy can step the legs and swing the arms in a fast running state by controlling the operation of the driving motors of the four limbs. When the pedestrian runs across the street quickly, the stride is large, with a stride λ of about 85 cm.
According to the fact that the speed of the pedestrian is equal to the product of the step length and the step frequency, the step length lambda of the pedestrian is unequal under different motion working conditions. The step length can be obtained through the input speed V of the pedestrian, the step length frequency f of the anthropomorphic motion dummy is further calculated, and the step length frequency is set to be equal to the arm swing frequency. The stride and the stride frequency of the anthropomorphic motion dummy are controlled by inputting the motion speed V of the dummy equipment, namely the positive and negative rotation and the rotating speed of a driving motor of the head and the four limbs of the anthropomorphic motion dummy are controlled, the swinging direction, the frequency and the amplitude of the four limbs of the anthropomorphic motion dummy are further controlled, and the motion synchronization of the mobile platform and the motion of the anthropomorphic motion dummy is matched with the motion state of a real pedestrian.
A block diagram of the coordinated control logic is shown in fig. 6. The "speed difference" refers to a difference in rotational speed between the driving motors, for example, the left upper limb motor includes: left big arm driving motor and left forearm driving motor, for example: the left large arm needs to be rotated (swung) in the range of-15 deg. to 15 deg., and the left small arm needs to be rotated (swung) in the range of-30 deg. to 30 deg.. The rotation speed of the motor is different from that of the motor, so that the swing amplitude is changed.
The implementation of the dummy movement is triggered by taking the automatic driving test vehicle and dummy communication as an example:
when various devices carried by the automatic driving test vehicle and various integrated algorithms are used for avoiding the test work of pedestrians in the process of anthropomorphic driving. The test vehicle is communicated with the anthropomorphic motion dummy device, a signal transmitter is arranged on the test vehicle, the speed of the vehicle is monitored in real time, a speed signal is sent to a controller box of the anthropomorphic motion dummy device, the speed information of the vehicle is received through a signal receiver in the controller box, and the distance between the test vehicle and the automatic driving test vehicle is detected in real time through a laser distance sensor in the controller box. According to the fact that the distance X from the vehicle is used as a trigger condition for the motion of the anthropomorphic motion dummy device, different pedestrian street crossing scene working conditions can be simulated, namely the same trigger distance X dummy device moves in different motion states, and the different trigger distance X dummy device moves in the same motion state. Therefore, whether various devices mounted on the automatic driving vehicle can correctly identify the state of the pedestrian or not is checked, correct response is made in time, and effectiveness and accuracy of various integrated algorithms are checked.
As shown in fig. 7, the implementation of the motion of the dummy is triggered by taking the communication between the traffic light and the dummy as an example:
the traffic signal lamp can send red light and green light signals through the signal transmitter, the signals are received through the signal receiver in the controller box of the dummy device, and when the traffic signal lamp is red light, the anthropomorphic motion dummy stops running and is stationed and watched at the street. When the lamp is green, the anthropomorphic dummy walks or runs to cross the street.
Claims (6)
1. An omnibearing steering moving variable-wheelbase P2X dummy device is used for automatic driving vehicle human-vehicle interaction test work and is characterized by comprising a human-like motion dummy, a moving platform (5) and a controller box (7);
universal wheels (6) are arranged at the bottom of the moving platform (5), and Mecanum wheels (1) driven by a Mecanum wheel driving motor (2) are arranged on two sides of the moving platform;
the anthropomorphic motion dummy comprises a trunk, a movable head and four limbs; the trunk is fixed on the movable platform (5) through a dummy support rod (8), and the lower limbs of the trunk are suspended; the head is provided with a head driving motor (15), and the four limbs are provided with four limb driving motors;
the controller box (7) is arranged on the mobile platform (5), and a signal receiver, a laser distance sensor and an ECU are arranged in the controller box; the signal receiver receives a vehicle speed signal sent by a test vehicle in real time and sends the vehicle speed signal to the ECU; the laser distance sensor detects the distance X between the anthropomorphic motion dummy and the test vehicle in real time and sends the distance X to the ECU; the ECU takes the vehicle speed or the distance X as a motion triggering condition of the anthropomorphic motion dummy, and controls the displacement, the moment and the speed of the mobile platform (5) by inputting the speed V to the Mecanum wheel omnidirectional mobile platform; and triggering the anthropomorphic motion dummy to carry out different anthropomorphic motion modes according to different input speeds V, determining the step lambda and the step frequency f of the anthropomorphic motion dummy under different anthropomorphic motion modes by cooperatively controlling the mobile platform and the anthropomorphic motion dummy, and further controlling the driving motors of the head and the limbs of the anthropomorphic motion dummy to rotate according to different speeds and directions so as to simulate different pedestrian crossing scene working conditions.
2. The omni-directional steering movement variable wheelbase P2X prosthetic device according to claim 1, characterized in that the housing of the mecanum wheel drive motor (2) is fixed to the mobile platform (5) by a variable wheelbase support connection (3).
3. The omni-directional steering movement variable wheelbase P2X prosthetic device according to claim 2, wherein the variable wheelbase support link (3) comprises a bar-shaped link plate having a plurality of link holes (13) along its length for attachment to the mobile platform (5).
4. The omni-directional steering movement variable wheelbase P2X dummy device according to claim 1, wherein the signal receiver is further configured to receive a red light and green light signal sent by a traffic signal light, and when the red light signal is received, the anthropomorphic motion dummy stops running on the street to hold a look at; when the green light signal is sent, the anthropomorphic dummy walks or runs to cross the street.
5. The omni-directional steering movement variable wheelbase P2X dummy device according to claim 1, wherein the four limbs drive motors include a right upper arm drive motor (16), a right lower arm drive motor (17), a left upper arm drive motor (18), a left lower arm drive motor (19), a right thigh drive motor (20), a right lower leg drive motor (21), a left thigh drive motor (22), a left lower leg drive motor (23).
6. The method for coordinately controlling the omni-directional steering movement variable-wheelbase P2X dummy device according to claim 1, wherein the pedestrian crossing scene conditions include: standing for sightseeing, walking at a constant speed to cross a street and running at a high speed to cross the street;
the cooperative control specifically comprises:
when the input speed V =0m/s, the anthropomorphic motion dummy is a standing and watching working condition, the Mecanum wheel driving motor (2) and the anthropomorphic motion dummy limb driving motors are controlled to stop running to stop moving, and the step lambda is equal to 0 cm; meanwhile, the head driving motor (15) is controlled to do reciprocating motion at a set speed, so that the head of the anthropomorphic dummy can rotate to simulate the observation state;
when the input speed is more than 1.75m/s and less than V and less than 2m/s, the anthropomorphic motion dummy walks at a constant speed to cross the street, and the Mecanum wheel driving motor (2) is controlled to operate according to the set displacement, moment and speed, so that the moving platform (5) drives the anthropomorphic motion dummy to move at a constant speed on the designated route at a corresponding speed; meanwhile, determining the step lambda corresponding to the anthropomorphic motion dummy according to the input speed V, further calculating the step frequency f of the anthropomorphic motion dummy, and making the step frequency equal to the arm swinging frequency, and then controlling the four-limb driving motors to run at a matched rotating speed to realize the control of the four-limb swinging direction, frequency and amplitude of the anthropomorphic motion dummy, so that the anthropomorphic motion dummy simulates the leg-stepping swing arm state during constant-speed walking;
when the input speed V is more than 2m/s, the anthropomorphic dummy is a working condition of fast running and crossing the street; similarly, the moving speed of the anthropomorphic motion dummy is controlled by controlling the operation of the Mecanum wheel driving motor (2), and the anthropomorphic motion dummy can step the legs and swing the arms in a fast running state by controlling the operation of the driving motors of the four limbs.
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| CN109000937A (en) * | 2018-09-21 | 2018-12-14 | 吉林大学 | A kind of pedestrian's autonomous collision avoidance experimental test platform |
| CN109632331A (en) * | 2018-12-12 | 2019-04-16 | 长安大学 | A kind of the ADAS system pedestrian impact test device and its test method of low cost |
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