CN114414256A - Device and method for testing turning passing boundary of intelligent networked automobile under perception deviation - Google Patents
Device and method for testing turning passing boundary of intelligent networked automobile under perception deviation Download PDFInfo
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Abstract
The invention discloses a device and a method for testing the turning passing boundary of an intelligent networked automobile under sensing deviation, wherein the device comprises a flexible belt-shaped component, wherein two ends of the flexible belt-shaped component are fixed by a base frame; at least one angle adjusting component is arranged in the middle of the flexible belt-shaped component; the angle adjusting assembly comprises at least two slidable bases, stand columns I are fixed on the bases, a stand column II is arranged between at least two adjacent bases, a support rod I and a support rod II are hinged to the stand columns II respectively, and the support rod I and the support rod II are hinged to the stand columns I on the two sides respectively; the flexible belt-shaped component is arranged between the stand column I and the stand column II in a penetrating mode, and the bending angle/radian of the flexible belt-shaped component is adjusted by adjusting the hinge angle between the stand column II and the stand column I. According to the actual operating environment, the invention can change the parameters of the barrier device such as position, angle, radius and the like, test the turning passing boundary and continuously correct the real minimum turning passing boundary.
Description
Technical Field
The invention relates to the technical field of intelligent networking automobile testing, in particular to a device and a method for testing the turning passing boundary of an intelligent networking automobile under the sensing deviation.
Background
Most of the existing intelligent internet vehicles can avoid and avoid obstacles according to a sensing system when turning, so that path planning is carried out. However, when a narrow curve is encountered, multiple reverse and forward path planning is required to pass through the curve.
When the vehicle turns in certain specific areas, the vehicle needs to pass through once according to the technical requirements. For example, in order to ensure smooth production logistics and avoid scattering of materials (powder and the like) in transportation, unmanned logistics vehicles need to pass through the factory floor once.
Patent publication No. CN1267702C discloses a method and apparatus for correcting a curve radius of a lane on which a vehicle travels in an Adaptive Cruise Control (ACC) system of the vehicle, the curve radius being accurately and rapidly corrected according to information about movement of a lead vehicle detected with a radar or the like. An apparatus for correcting a radius of a curve in an ACC system includes: the apparatus includes a means for calculating a virtual curve radius from information on horizontal movement of the guided vehicle, a means for calculating a relative horizontal position of the curve radius and a relative horizontal position of the virtual curve radius obtained by the ACC system, and a means for correcting the curve radius based on a value obtained by synthesizing the calculated relative horizontal positions.
Because the perception positioning system of the intelligent networked vehicle is limited by the environment, when the perception system has deviation, the positioning system has accumulative error, which causes inaccuracy of the positioning system, and the curve radius of the same intelligent networked vehicle under different environments is different.
According to the dynamics of the vehicle, referring to fig. 1, the minimum turning radius calculation formula of the vehicle is:
wherein R is the minimum turning radius of the vehicle; l is the vehicle length and psi is the maximum turning angle of the vehicle direction.
According to the minimum turning radius of the vehicle, the width of the minimum turning curve of the vehicle can be obtained:
D＝W+2R(1-cosψ) (2)
wherein W is the vehicle width; d is the minimum turning curve width of the vehicle.
The theoretical passing boundary of the automobile can be known from the formula (1) and the formula (2).
Considering the problem of the environmental sensing system, when the sensing system has a deviation, the positioning system will have an accumulated error, which is reflected in the vehicle length and the vehicle width as Δ L and Δ W.
The actual minimum turning radius calculation formula is therefore:
in the formula, the vehicle length calculation error is Δ L.
The minimum turning curve width of the vehicle is as follows:
D′＝W+2R′(1-cosψ)+ΔW (4)
in the equation, Δ W is a calculation error of the vehicle width due to the sensing deviation.
Therefore, when the error cannot be corrected, the risk that the intelligent internet vehicle cannot pass through can be caused.
In fact, the curve radius of the same intelligent networked automobile can be different in different environments, and the accumulated error of the whole automobile is difficult to determine and eliminate, so that the whole turning boundary of the automobile needs to be tested according to the actual environment to avoid accidents caused by perception deviation, but the influence of vehicle parameters and road parameters needs to be comprehensively considered and adjusted by a testing device. Such devices and methods have not been proposed in the prior art.
Interpretation of related terms:
the environment perception system comprises: the intelligent driving environment perception system is composed of an information acquisition unit, an information processing unit and an information transmission unit. The system acquires real-time information of surrounding environment and vehicles based on single sensor, multi-sensor information fusion or vehicle-mounted self-organizing network, and after the real-time information is identified and processed by the information processing unit according to a certain algorithm, information sharing inside the vehicles or between the vehicles is realized through the information transmission unit. Common environment perception sensors include ultrasonic sensors, millimeter wave radars, laser radars, vision sensors and the like, and the sensors are different in principle and characteristics and are also different in use in the environment perception technology.
The information disclosed in the background section above is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
In view of the above-mentioned existing defects, the present invention aims to provide a device and a method for testing the turning passing boundary of an intelligent networked automobile with sensing deviation, wherein a telescopic barrier device with adjustable radius is designed for testing, parameters such as the position, angle and radius of the barrier device are changed according to the actual operating environment, the turning passing boundary is tested, and the real turning passing boundary is continuously corrected.
The technical scheme of the invention is as follows:
a turn passing boundary testing device of an intelligent networked automobile under perception deviation comprises: the two ends of the flexible belt-shaped component are fixed by the base frame; at least one angle adjusting component is arranged in the middle of the flexible belt-shaped component; the angle adjusting assembly comprises at least two slidable bases, stand columns I are fixed on the bases, a stand column II is arranged between at least two adjacent bases, a support rod I and a support rod II are hinged to the stand columns II respectively, and the support rod I and the support rod II are hinged to the stand columns I on the two sides respectively; the flexible belt-shaped component is arranged between the stand column I and the stand column II in a penetrating mode, and the bending angle/radian of the flexible belt-shaped component is adjusted by adjusting the hinge angle between the stand column II and the stand column I.
Specifically, a sliding groove is formed in the support rod II, and the bottom of the stand column II is hinged to the sliding groove in a sliding mode.
Specifically, the pedestal comprises an upper base and a lower base, wherein a lifting mechanism is arranged between the upper base and the lower base, and the upper base is connected with the lower base in a lifting manner through the lifting mechanism; an upper side plate and a lower side plate are respectively fixed on the upper base and the lower base, and a gap is arranged between the upper side plate and the lower side plate in the transverse direction; the flexible ribbon assembly comprises an upper flexible ribbon and a lower flexible ribbon; the upper flexible belt and the lower flexible belt are respectively connected with the upper side plate and the lower side plate.
Specifically, elevating system includes vertical slide bar, vertical slide bar lower extreme and lower base fixed connection, but the upper base sliding sleeve establish on vertical slide bar, and the cover is equipped with sliding connection seat on the vertical slide bar between upper base and the lower base, is provided with horizontal lead screw on the lower base, is provided with the fixed connection seat on the horizontal lead screw, and it is articulated through the hinge subassembly between sliding connection seat and the fixed connection seat.
The invention also provides a method for testing the turning passing boundary of the intelligent networked automobile under the perception deviation, which adopts the testing device and comprises the following steps:
s1: starting an environment sensing system when the test vehicle is in an automatic driving mode;
s2: enclosing a simulated turn-through boundary with at least one of the test devices;
s3: the test vehicle passes through a turning boundary in an automatic driving mode, the radius of the flexible belt-shaped assembly is changed by adjusting the hinge angle between the upright post II and the upright post I in the angle adjusting assembly of the test device, and the actual minimum turning curve width of the test vehicle is measured.
Specifically, step S3 further includes: continuously reducing the width of the turning boundary according to a preset value until the test vehicle cannot pass through the turning boundary at one time in the automatic driving mode; and recording the turning boundary width of the last test vehicle which can pass through the turning boundary once in the automatic driving mode, wherein the turning boundary width is the actual minimum turning width.
Specifically, the step S2 further includes: the simulated turn-through boundary is in accordance with a theoretical minimum turn-through curve width.
The invention also provides another method for testing the turning passing boundary of the intelligent networked automobile under the perception deviation, which adopts the testing device and comprises the following steps:
s1: starting an environment sensing system when the test vehicle is in an automatic driving mode;
s2: enclosing a simulated turn-through boundary with at least one of the test devices;
s3: enabling a test vehicle to pass through a simulated turning boundary surrounded by the test device, and changing the radius of the flexible belt-shaped component by adjusting the hinge angle between the upright post II and the upright post I in the angle adjusting component, so as to change the width of the turning boundary and measure the actual minimum turning curve width of the test vehicle; through the height of adjusting elevating system, change the height of flexible banded subassembly, measure the actual turn lower boundary of intelligent networking car.
Compared with the prior art, the invention has the following beneficial effects:
the designed testing device can be properly adjusted according to parameters such as vehicle parameters and road parameters, and can continuously correct the real turning passing boundary.
Drawings
FIG. 1 is a schematic view of a prior art vehicle illustrating minimum turning radius and width of a passageway.
FIG. 2 is a three-dimensional schematic diagram of the device for testing the turning passing boundary of the intelligent networked automobile under the perception deviation.
Fig. 3 is a side view of the intelligent networked automobile turning passing boundary testing device under the sensing deviation.
FIG. 4 is a schematic view of an angle adjustment assembly of the present invention.
Fig. 5 is a schematic view of the lifting mechanism of the present invention.
In the figure, 100-pedestal, 101-upper base, 102-lower base, 103-upper side plate, 104-lower side plate, 200-flexible belt-shaped component, 201-upper flexible belt, 202-lower flexible belt, 300-angle adjusting component, 301-base, 302-upright post I, 303-upright post II, 304-support rod I, 305-support rod II, 306-sliding groove, 400-lifting mechanism, 401-vertical sliding rod, 402-sliding connection seat, 403-transverse screw rod, 404-fixed connection seat and 405-hinge component.
Detailed Description
In order to explain the technical content, the achieved objects and the effects of the present invention in detail, the following description is made in conjunction with the embodiments and the accompanying drawings. In the description of the present embodiments, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present embodiments and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Example 1
The turning passing boundary testing device for the intelligent networked automobile under the sensing deviation in the embodiment shown in fig. 2 to 5 mainly comprises a base frame 100, a flexible belt-shaped assembly 200 and an angle adjusting assembly 300. The frame 100 is used to fix two ends of the flexible strip assembly 200 to make the flexible strip assembly 200 in a spread state to simulate a road boundary, and the flexible strip material may be cloth material with good wear resistance, such as canvas. The gist of this embodiment is that at least one angle adjustment assembly 300 is also provided in the middle of the flexible ribbonized assembly 200. The angle adjusting assembly 300 comprises at least two slidable bases 301, stand columns I302 are fixed on the bases 301, a stand column II303 is further arranged between at least two adjacent bases 301, a support rod I304 and a support rod II305 are hinged to the stand column II303 respectively, and the support rod I304 and the support rod II305 are hinged to the stand columns I302 on the two sides respectively; the flexible belt-shaped component 200 is arranged between the upright I302 and the upright II303 in a penetrating way, and the bending angle or radian of the flexible belt-shaped component 200 is adjusted by adjusting the hinging angle between the upright II303 and the upright I302.
The embodiment is used for testing the boundary capability test of the intelligent networked automobile passing the minimum turning width in the automatic driving mode when in application. In general, the minimum turning width of the automobile can be obtained through a calculation formula, and the detailed description refers to background art formulas 1 and 2. However, in the automatic driving mode of the intelligent networked automobile, the turning radius of the intelligent networked automobile is determined by the environment sensing system, the environment sensing system obtains the environment location by combining the information of the sensors, and then radius correction is carried out, and if each sensor has a certain sensing error, the accumulated error superposition of the sensors is complex, and the curve radius of the same intelligent networked automobile is different in different environments, so that the location error of the whole automobile is difficult to correct in real time. In fact, when the intelligent networked automobile is positioned through the environment sensing system, errors do often occur, and some errors can be corrected by backing for multiple times subsequently, but in some occasions, for example, in order to ensure the smoothness of production logistics, the scattering of materials, powder and the like in transportation is avoided, and an unmanned logistics vehicle is required to pass through in a factory once. At this moment, if the positioning error of the whole vehicle is not considered, the intelligent networked vehicle has the risk of not passing through once. In the embodiment, the flexible belt-shaped component 200 is in an unfolded state and is simulated as a road boundary, the flexible belt-shaped component 200 is arranged between the upright post I302 and the upright post II303 in a penetrating manner, and included angles at different angles can be formed by adjusting the angle between the supporting rod I304 and the supporting rod II305, so that the canvas 1 in the flexible belt-shaped component is pulled to form different angles. In addition, the base of the angle adjusting component 300 is provided with a slidable pulley, the angle adjusting component 300 can be arranged at any transverse position of the flexible belt-shaped component 200 in a sliding manner, the angle adjusting component 300 can meet the requirement of the turning radius of the curve, the length of the curve is different, the installation is multiple, the curve is smoother, the effect of adjusting the radius of the flexible belt-shaped component 200 is achieved, the turning width can be adjusted by continuously adjusting the radius of the flexible belt-shaped component 200, the passing times of the intelligent internet automobile under different turning widths can be tested, the capacity of the turning boundary is determined, and therefore the purpose of the embodiment is achieved.
As a preferred solution of this embodiment, in order to enable the angle adjustment assembly 300 to adjust the radius of the flexible belt assembly 200 more smoothly, referring to fig. 4, a sliding groove 306 is disposed on the support rod II305, the bottom of the upright post II303 is slidably hinged on the sliding groove 306, and the angle between the upright posts can be adjusted while the distance is also adjusted.
The method for testing the turning passing boundary of the intelligent networking automobile under the perception deviation by using the testing device of the embodiment comprises the following steps:
s1: starting an environment sensing system when the test vehicle is in an automatic driving mode;
s2: enclosing a simulated turn-through boundary with at least one test device;
s3: the actual minimum turning curve width of the test vehicle is measured by passing the test vehicle through the turning boundary in the autonomous driving mode, changing the radius of the flexible belt assembly 200 by adjusting the articulation angle between the upright II303 and the upright I302 in the angle adjustment assembly 300 of the test apparatus.
The above test method may have two preferable starting modes, one is that in S2, the simulated turning passage boundary is set to conform to the theoretical minimum turning passage width as a starting point, that is, the theoretical minimum turning passage width obtained by using the formulas 1 and 2 in the background art, so that the setting can rationalize the reduction of the number of tests, but the possibility that the first test cannot pass at one time may occur. The other is that in S3, the width of the curve is set to a wider but reasonable width value, and the width of the curve boundary is continuously reduced according to a preset value until the test vehicle cannot pass through the curve boundary once in the automatic driving mode; the turning boundary width of the last test vehicle which can pass through the turning boundary once in the automatic driving mode is recorded, namely the actual minimum turning width, so that a great deal of time waste which cannot pass once can be avoided.
Example 2
In this embodiment, on the basis of embodiment 1, a lifting function of the testing device is added, so that the flexible strip assembly 200 has a lifting capability, specifically, as shown in fig. 5, the pedestal 100 includes an upper base 101 and a lower base 102, a lifting mechanism 400 is disposed between the upper base 101 and the lower base 102, and the upper base 101 is connected to the lower base 102 in a lifting manner through the lifting mechanism 400; an upper side plate 103 and a lower side plate 104 are respectively fixed on the upper base 101 and the lower base 102, and a gap is arranged between the upper side plate 103 and the lower side plate 104 in the transverse direction; the flexible strap assembly 200 includes an upper flexible strap 201 and a lower flexible strap 202; the upper flexible band 201 and the lower flexible band 202 are connected to the upper plate 103 and the lower plate 104, respectively. The lower base 102 can be connected with the base 301, and the upper base 101 drives the upper side plate 103 and the upper flexible belt 201 to ascend and descend by controlling the ascending and descending mechanism, so that the lower boundary test of turning can be simultaneously performed.
Preferably, in this embodiment, referring to fig. 5, the lifting mechanism 400 includes a vertical sliding rod 401, a lower end of the vertical sliding rod 401 is fixedly connected to the lower base 102, the upper base 101 is slidably sleeved on the vertical sliding rod 401, a sliding connection seat 402 is sleeved on the vertical sliding rod 401 between the upper base 101 and the lower base 102, a horizontal screw rod 403 is arranged on the lower base 102, a fixed connection seat 404 is arranged on the horizontal screw rod 403, and the sliding connection seat 402 is hinged to the fixed connection seat 404 through a hinge assembly 405. When the device works, the motor can drive or manually drive the transverse screw rod 403 to rotate, the fixed connecting seat 404 on the device is driven to transversely move, the hinge assembly 405 connected with the device stretches and retracts, the sliding connecting seat 402 is driven to stretch and retract, and the lower part of the upper base 101 is abutted against the sliding connecting seat 402, so that the upper side plate 103 can be driven to move up and down.
The method for testing the turning passing boundary of the intelligent networked automobile under the sensing deviation by using the testing device of the embodiment has the steps which are basically the same as those of the embodiment 1, and the only difference is that in the step S3, the height of the flexible belt-shaped assembly 200 is changed by adjusting the height of the lifting mechanism 400, so that the actual turning lower boundary of the intelligent networked automobile is measured.
Although both embodiments described above have been tested for a turning boundary, it should be emphasized that in some embodiments not described in detail, the testing device may also form a straight road boundary, or a continuous zigzag curve, with the point that only the hinge angle between the upright II303 and the upright I302 of the angle adjustment assembly 300 needs to be changed.
Although the invention has been described in detail above with reference to specific embodiments, it will be apparent to one skilled in the art that modifications or improvements may be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a turn of intelligence networking car passes through border testing arrangement under perception deviation which characterized in that includes:
the flexible belt-shaped component (200), both ends of the flexible belt-shaped component (200) are fixed by the base frame (100);
at least one angle adjusting component (300) is arranged in the middle of the flexible belt-shaped component (200);
the angle adjusting assembly (300) comprises at least two slidable bases (301), upright posts I (302) are fixed on each base (301), an upright post II (303) is arranged between at least two adjacent bases (301), a support rod I (304) and a support rod II (305) are respectively hinged on each upright post II (303), and the support rods I (304) and II (305) are respectively hinged with the upright posts I (302) on two sides;
the flexible ribbon assembly (200) is arranged between the upright post I (302) and the upright post II (303) in a penetrating mode, and the bending angle/radian of the flexible ribbon assembly (200) is adjusted by adjusting the hinge angle between the upright post II (303) and the upright post I (302).
2. The device for testing the turning passing boundary of the intelligent networked automobile under the perception deviation according to claim 1, is characterized in that: the supporting rod II (305) is provided with a sliding groove (306), and the bottom of the upright post II (303) is slidably hinged to the sliding groove (306).
3. The device for testing the turning passing boundary of the intelligent networked automobile under the perception deviation according to claim 1, is characterized in that: the pedestal (100) comprises an upper base (101) and a lower base (102), wherein a lifting mechanism (400) is arranged between the upper base (101) and the lower base (102), and the upper base (101) is connected with the lower base (102) in a lifting way through the lifting mechanism (400); an upper side plate (103) and a lower side plate (104) are respectively fixed on the upper base (101) and the lower base (102), and a gap is arranged between the upper side plate (103) and the lower side plate (104) in the transverse direction;
the flexible band assembly (200) comprises an upper flexible band (201) and a lower flexible band (202); the upper flexible belt (201) and the lower flexible belt (202) are respectively connected with the upper side plate (103) and the lower side plate (104).
4. The device for testing the turning passing boundary of the intelligent networked automobile under the perception deviation according to claim 3, characterized in that: the lifting mechanism (400) comprises a vertical sliding rod (401), the lower end of the vertical sliding rod (401) is fixedly connected with a lower base (102), an upper base (101) is slidably sleeved on the vertical sliding rod (401), a sliding connecting base (402) is sleeved on the vertical sliding rod (401) between the upper base (101) and the lower base (102), a transverse screw rod (403) is arranged on the lower base (102), a fixed connecting base (404) is arranged on the transverse screw rod (403), and the sliding connecting base (402) is hinged to the fixed connecting base (404) through a hinge assembly (405).
5. A method for testing the turning passing boundary of an intelligent networked automobile under perception deviation by adopting a testing device as claimed in any one of claims 1-2, which is characterized by comprising the following steps:
s1: starting an environment sensing system when the test vehicle is in an automatic driving mode;
s2: enclosing a simulated turn-through boundary with at least one of the test devices;
s3: the actual minimum turning curve width of the test vehicle is measured by passing the test vehicle through a turning boundary in an autonomous driving mode, changing the radius of the flexible belt-like assembly (200) by adjusting the articulation angle between the upright II (303) and the upright I (302) in the angle adjustment assembly (300) of the test device.
6. The method for testing the turning passing boundary of the intelligent networked automobile under the perceived deviation according to claim 5, wherein the step S3 further comprises: continuously reducing the width of the turning boundary according to a preset value until the test vehicle cannot pass through the turning boundary at one time in the automatic driving mode; and recording the turning boundary width of the last test vehicle which can pass through the turning boundary once in the automatic driving mode, wherein the turning boundary width is the actual minimum turning width.
7. The method for testing the turning passing boundary of the intelligent networked automobile under the perceived deviation according to claim 5, wherein the step S2 further comprises: the simulated turn-through boundary is in accordance with a theoretical minimum turn-through curve width.
8. A method for testing the turning passing boundary of an intelligent networked automobile under the perception deviation by adopting the testing device of any one of claims 3-4, which is characterized by comprising the following steps:
s1: starting an environment sensing system when the test vehicle is in an automatic driving mode;
s2: enclosing a simulated turn-through boundary with at least one of the test devices;
s3: enabling the test vehicle to pass through a simulated turning boundary surrounded by the test device, and changing the radius of the flexible belt-shaped assembly (200) by adjusting the hinge angle between the upright post II (303) and the upright post I (302) in the angle adjusting assembly (300), so as to change the width of the turning boundary and measure the actual minimum turning curve width of the test vehicle; the height of the flexible belt-shaped assembly (200) is changed by adjusting the height of the lifting mechanism (400), and the actual turning lower boundary of the intelligent networked automobile is measured.
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