CN115290339A - Automatic driving test platform - Google Patents
Automatic driving test platform Download PDFInfo
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- CN115290339A CN115290339A CN202210376811.6A CN202210376811A CN115290339A CN 115290339 A CN115290339 A CN 115290339A CN 202210376811 A CN202210376811 A CN 202210376811A CN 115290339 A CN115290339 A CN 115290339A
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- sensor assembly
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
Abstract
The invention discloses an automatic driving test platform which comprises a frame, a sensor assembly, a control assembly and an execution assembly, wherein the sensor assembly is arranged on the frame, the control assembly is electrically connected with the sensor assembly, the execution assembly is fixedly connected with the frame, and the execution assembly is electrically connected with the control assembly. The invention is used for solving the technical problem that the control precision of the automatic driving system has a large gap in laboratory test and actual application.
Description
Technical Field
The invention relates to the technical field of testing devices, in particular to an automatic driving testing platform.
Background
With the gradual development of the field of artificial intelligence, automatic control systems have been gradually expanded to various industries, such as various robots and machine devices carrying automatic control systems, for example, automobiles, sorting robots, sweeping robots, and the like, and particularly, in the field of vehicles, more and more companies are beginning to invest in research and development of automatic driving systems. When the reliable automatic driving system is determined through the process test, the subsequent test is to input the reliable automatic driving system into an actual vehicle for road test, and in order to reduce the test cost, the automatic driving system is generally tested through a test trolley in the prior art.
When the automatic driving system is tested, if the test precision comes in and goes out, the reliability of the automatic driving system is generally improved by optimizing the algorithm of the automatic driving system, but because the actual difference between the structure of the test trolley and the vehicle is large, the finally determined automatic driving system is difficult to be applied to all vehicle types, and the test result has a large difference from the precision of the automatic driving system in actual use.
Disclosure of Invention
The invention aims to provide an automatic driving test platform, which solves the technical problem that the control precision of the automatic driving system in laboratory test and actual application is greatly different.
In order to achieve the above object, the present invention provides an automatic driving test platform, which comprises a vehicle frame, a plurality of sensor assemblies, a control assembly and an execution assembly: the sensor assembly is adjustably arranged on the frame, the control assembly is electrically connected with the sensor assembly, the execution assembly is fixedly connected with the frame, and the execution assembly is electrically connected with the control assembly;
the control component is further configured to perform:
acquiring a target vehicle type and a test path;
planning a moving track of the sensor assembly according to the target vehicle type;
operating the execution assembly at a constant speed and controlling the sensor assembly to move according to the movement track;
acquiring data of a sensor detecting a preset obstacle within a period of time and a real-time moving track of the sensor assembly;
inputting the sensor detection data into the automatic driving test system to output an execution instruction;
and determining the determined installation position of the sensor assembly according to the execution instruction and the real-time movement track.
Optionally, the movement trajectory is a three-dimensional trajectory, and includes a travel trajectory in a first direction, a travel trajectory in a second direction, and a travel trajectory in a third direction.
Optionally, the planning of the movement track of the sensor assembly according to the target vehicle type includes:
determining an equal-scale scaling model based on the test trolley according to the target vehicle type;
determining installable positions of the sensor components in the scaled model;
and planning the moving track of the sensor component according to the mountable position.
Optionally, the step of determining the determined installation position of the sensor assembly according to the execution instruction and the real-time movement track includes:
simulating a simulation operation position of the intelligent trolley after the execution instruction is executed according to the execution instruction;
determining the distance between the simulated operation position and the preset barrier;
repeatedly executing the running positions after the intelligent vehicle is simulated to execute the execution instruction according to the execution instruction until the moving track of the sensor assembly reaches the end point, and obtaining the distance difference between the plurality of simulated running positions and the preset barrier;
and determining the real-time position of the sensor assembly corresponding to the simulated operation position with the distance difference value within a preset range as the installation position of the sensor assembly.
Optionally, the autopilot testing platform further comprises a display assembly;
the frame is provided with a mounting position for mounting the display assembly;
the frame is also provided with a placing table for placing a mouse, a keyboard and other typing equipment.
Optionally, the sensor assembly comprises at least one first sensor assembly;
the first sensor assembly comprises a first radar, a first support and a second support, the second support can be arranged on the first support in a lifting mode, and the first radar is arranged on the second support.
Optionally, the first sensor assembly further comprises a mount; the first bracket has an opposite first side; the second bracket has a second side adjacent to the first side; the first side surface and the second side surface are both provided with a plurality of lifting height fixing mounting holes, and the mounting pieces are respectively arranged by penetrating through the lifting height fixing mounting holes of the first side surface and the lifting height fixing mounting holes of the second side surface;
the first bracket is also provided with a third side surface, and the second bracket is also provided with a fourth side surface which is arranged close to the third side surface; the high fixed mounting hole of lifting of third side with the high fixed mounting hole of lifting of first side is based on the axis symmetry of first support sets up, the high fixed mounting hole of lifting of fourth side with the high fixed mounting hole of lifting of second side is based on the axis symmetry of second support sets up, the installed part still is used for passing the high fixed mounting hole of lifting of third side and the high fixed mounting hole setting of lifting of fourth side.
Optionally, the second support includes first liftable piece, first angle change piece and second angle change piece, be provided with the high fixed mounting hole of a plurality of lifts on the first liftable piece, first angle change piece with first liftable piece fixed mounting, first angle change piece with the rotatable setting of second angle change piece, second angle change piece with first radar fixed setting.
Optionally, the sensor assembly includes at least one second sensor module, and the second sensor module is disposed around the autopilot test platform;
the second sensor module comprises a first guide rail, a second radar and a second radar support, the radar support and the first guide rail are arranged in a sliding mode, and the second radar support are fixedly arranged;
the second sensor module further comprises a second guide rail, and the second guide rail and the first guide rail are arranged in a sliding mode.
Optionally, the second radar support includes a second radar sliding block, a third angle changing member, a fourth angle changing member, and a fifth angle changing member, the sliding block is slidably disposed on the second guide rail, the third angle changing member is fixedly connected to the second radar sliding block, the third angle changing member is connected to the fourth angle changing member in an angle-changeable manner, and the fourth angle changing member is connected to the fifth angle changing member in an angle-changeable manner.
Optionally, the sensor assembly comprises at least one third sensor module, the third sensor assembly comprising at least two third radars, the third radars being provided around the frame.
Optionally, the automatic driving test platform further comprises at least two omnidirectional antennas, the omnidirectional antennas are arranged on the frame, and the projections of the two omnidirectional antennas on the ground are not overlapped.
Optionally, the autopilot test platform still includes the camera subassembly, the camera subassembly includes camera, camera support, locking slide and third guide rail, the camera support with locking slide fixed connection, locking slide slidable set up in the third guide rail, the camera with camera support fixed connection.
The beneficial effects of the invention are:
according to the technical scheme, the automatic driving test platform is provided with the frame, the sensor assembly, the control assembly and the execution assembly, physical structures such as seats and sounds in a vehicle are simplified through the assemblies, and only various sensor assemblies required by an automatic driving system test, the control assembly carrying the automatic driving system and the execution assembly moving according to a driving signal of the control assembly are reserved, so that the test cost required by a hardware platform in an actual environment test is greatly simplified, and the actual installation position of one sensor assembly can be accurately determined in a test period through the test scheme; when the number is large, the installation positions of the sensor assemblies can be determined, so that the optimal installation positions of the sensor assemblies which can be matched when the current automatic driving test system is matched with a target vehicle type can be determined, and the execution precision of the automatic driving test system is improved by changing the installation positions of hardware. The technical problem that great difference exists in control accuracy of the automatic driving system in laboratory test and actual application is solved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic diagram of an embodiment of an autopilot test platform.
FIG. 2 is a schematic diagram of an exemplary autopilot test platform.
FIG. 3 is a schematic diagram of an exemplary autopilot test platform.
FIG. 4 is a flow diagram illustrating a control flow performed by the control component of the autopilot test platform in one embodiment.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
The invention provides an automatic driving test platform, aiming at solving the technical problem that the control precision of the automatic driving system has larger difference when the automatic driving system is tested and actually applied.
In an embodiment, as shown in fig. 1 and 4, the automatic driving test platform includes a frame, a sensor assembly, a control assembly, and an execution assembly, the sensor assembly is disposed on the frame, the control assembly is electrically connected to the sensor assembly, the execution assembly is fixedly connected to the frame, and the execution assembly is electrically connected to the control assembly.
The sensor assembly detects the surrounding environment and generates detection data, the control assembly sends out driving signals according to the detection data, and the execution assembly drives the frame to move in position according to the driving signals. According to the technical scheme, the automatic driving test platform is provided with the frame, the sensor assembly, the control assembly and the execution assembly, the physical structures of seats, sounds and the like in a vehicle are simplified through the assemblies, and only various sensor assemblies required by the automatic driving system test, the control assembly carrying the automatic driving system and the execution assembly moving according to the driving signal of the control assembly are reserved, so that the test cost required by a hardware platform in the actual environment test is greatly simplified.
The control component is further configured to perform:
s1, acquiring a target vehicle type and a test path;
at the moment, the real-time information can be obtained, and the method can be realized through user input and database selection.
S2, planning a moving track of the sensor assembly according to the target vehicle type;
in an optional embodiment, the planning of the movement track of the sensor assembly according to the target vehicle type includes:
determining an equal-scale scaling model based on the test trolley according to the target vehicle type;
determining a mountable position of the sensor component in the scaled model;
and planning the moving track of the sensor component according to the mountable position.
After the data detected by the sensor assembly is fed back to the automatic driving system, the automatic driving system can feed back an execution instruction, so that the moving track of the sensor assembly can be planned according to the mountable positions, and the accuracy of the execution instruction when the sensor assembly is at different mountable positions can be accurately determined in the process of one test. It should be noted that, in order to make the measured data more accurate, the moving track of the sensor assembly may be further set to run at a constant speed.
S3, operating the execution assembly at a constant speed and controlling the sensor assembly to move according to the movement track;
s4, acquiring data of a sensor detecting a preset obstacle within a period of time and a real-time moving track of the sensor assembly;
the real-time moving track is a part or all of the moving track due to the track in a period of time, and based on the moving track and the data of the preset barrier, the running speed of the trolley is set to be a constant speed, so that the distance between the trolley and the preset barrier during detection of the sensor assembly can be more conveniently positioned. At this time, in order to position the sensor assembly more quickly, the movement track of the sensor assembly may also be set to move at a constant speed.
S5, inputting the detection data of the sensor into the automatic driving test system to output an execution instruction;
and S6, determining the determined installation position of the sensor assembly according to the execution instruction and the real-time moving track.
Based on the above executable method steps, an actual mounting location of the sensor assembly can be accurately determined during a test cycle; when the number of the test periods is large, the installation positions of the sensor assemblies can be determined, so that the optimal installation position of the sensor assembly which can be matched when the current automatic driving test system is matched with a target vehicle type can be determined, the matching degree of the installation position of the hardware and the automatic driving test system is improved through changing the installation position of the hardware, and the execution precision of the automatic driving test system is improved. The technical problem that great difference exists in control accuracy of the automatic driving system during laboratory testing and actual application is solved.
It should be noted that, because the automatic driving test system has a deviation, the automatic driving test system is the most suitable installation position for the current vehicle type and the current test system. But does not necessarily correspond to an optimal test mounting location. In the prior art, hardware is generally installed at an optimal position, and the accuracy of the automatic driving test system is generally improved by optimizing an algorithm.
Optionally, the movement trajectory is a three-dimensional trajectory, and includes a travel trajectory in a first direction, a travel trajectory in a second direction, and a travel trajectory in a third direction.
Wherein, the installable position is determined after scaling the parameters of the test trolley and the parameters of the target vehicle type in equal proportion; since each of the sensor elements is three-dimensionally movable, it is possible to satisfy the scaling and determine the mountable position by adjusting.
Alternatively, the obstacle may be provided along the test path in a direction in which any one side of the vehicle frame faces, and may be provided on a plurality of sides in sequence. By the arrangement mode, variables can be reduced, and the accuracy of the automatic driving test system of a plurality of installation positions of the sensor assembly can be tested in one test process. The accuracy of the autopilot test system may also be tested when multiple sensor assemblies are tested. The obstacle may be set with reference to reality, and may be set to a side direction, a front direction, or an object whose position changes in real time.
In an optional embodiment, the step of determining the determined installation position of the sensor component according to the execution instruction and the real-time movement track comprises:
simulating the simulated operation position of the intelligent trolley after the execution instruction is executed according to the execution instruction;
it should be noted that, the automatic driving test system does not directly feedback and control the intelligent vehicle, but outputs a corresponding execution instruction according to the real-time detection data of the sensor assembly, and determines the simulated operation position after simulation in the simulation system.
Determining the distance between the simulated operation position and the preset barrier;
repeatedly executing the running positions after the intelligent vehicle is simulated to execute the execution instruction according to the execution instruction until the moving track of the sensor assembly reaches the end point, so as to obtain the distance difference between the plurality of simulated running positions and the preset obstacle;
and determining the real-time position of the sensor assembly corresponding to the simulated operation position with the distance difference value within a preset range as a determined installation position of the sensor assembly.
Through the process, a plurality of simulated operation positions can be determined in one test process, a plurality of distance difference values are determined, the simulated operation positions with the distance difference values within a preset range are determined, and the real-time position of the sensor assembly at the corresponding moment in the moving track is the determined installation position of the sensor assembly corresponding to the current automatic driving test system.
Based on the above embodiment, at this time, if there are a plurality of determined optimal simulated operation positions, the determined simulated operation position is determined as the simulated operation position, and step S2 of "planning the movement trajectory of the sensor assembly according to the target vehicle model" is executed again. Until only one simulated operating position is determined. In addition, the following scheme can also be executed:
planning the moving tracks of a plurality of different sensor assemblies according to the target vehicle type;
and step S3-S6 is executed once for each moving track, and the determined installation position with the most occurrence times is selected as the optimal position.
It should be noted that, when the number of the sensor assemblies is plural, and the sensor assemblies are respectively located on different installation sides, each side can be tested first, a movement track is optimized once, the subsequent calculation amount is reduced, and the comprehensive test is performed, that is, the following steps are performed simultaneously:
s3, operating the execution assembly at a constant speed and controlling the sensor assembly to move according to the movement track;
s4, acquiring data of a sensor for detecting a preset obstacle within a period of time and a real-time moving track of the sensor assembly;
s5, inputting the detection data of the sensor into the automatic driving test system to output an execution instruction;
and S6, determining the determined installation position of the sensor assembly according to the execution instruction and the real-time moving track.
The installation positions of a plurality of sensor assemblies can be comprehensively determined through the process.
In one embodiment, as shown in fig. 1, the automatic driving test platform further includes a display assembly, a mounting position 101 is disposed on the vehicle frame 10, and a placing table 102 is further disposed on the vehicle frame 10.
Wherein, the installation position 101 is used for installing the display component, and the placing table 102 is used for placing a mouse, a keyboard and other key-in devices. By the scheme, the operation console and the test equipment for testing and running the automatic driving system can be combined on the automatic driving test platform, the codes and the operation mode of the automatic driving system can be conveniently changed in real time, the test is convenient, and a user does not need to hold a computer for testing.
In this case, the mounting position 101 may be a mounting hole or a fastening hole, and the display module is fixedly mounted on the mounting position 101 by a common mounting and fixing manner such as fastening, mounting hole fixing connection, suspension, and the like. The display component can be realized by various display devices such as a liquid crystal display screen, an LCD display screen and the like, and is mainly used for displaying an interactive interface and a test interface of the automatic driving system, a test state of a current automatic driving test platform and the like.
Optionally, the display panel displays the driving information in the backward direction of the automatic driving test platform, so that a user can conveniently observe the test effect in real time at the back.
In one embodiment, as shown in fig. 1 and 2, the sensor assembly includes at least one first sensor assembly 20;
the first sensor assembly 20 includes a first radar 205, a first bracket 201, and a second bracket, the second bracket is disposed on the first bracket 201 in a liftable manner, and the first radar 205 is disposed on the second bracket.
Wherein, the second support can be set up on first support 201 with lifting means that the relative position of second support and first support 201 can change, thereby make the height that first radar 205 is located change, theoretically, when testing, as long as the height is higher, the scope of the barrier that first radar 205 detected is just more comprehensive, when testing the function of autopilot system, can test out the test result that first radar 205 is in different heights through the height that changes first radar 205 this moment, thereby can conveniently select when which test height, autopilot system's test effect promotes great, can also further propose the design suggestion that has the referential for the setting position and the height of the first radar 205 of the actual vehicle that carries on autopilot system.
In this case, the first radar 205 is a laser radar, and the laser radar can scan 360 degrees without dead angles, so that a relatively distant and wide obstacle can be tested during testing.
In one embodiment, as shown in FIG. 2, the first sensor assembly 20 further comprises a mount; the first bracket 201 has an opposite first side; the second bracket has a second side adjacent to the first side; the first side surface and the second side surface are both provided with a plurality of lifting height fixing mounting holes 2021, and the mounting pieces are respectively arranged through the lifting height fixing mounting holes 2021 of the first side surface and the lifting height fixing mounting holes 2021 of the second side surface.
The relative position of the first bracket 201 and the second bracket is fixed by the mounting piece passing through the lifting height fixing mounting hole 2021, the height of the first radar 205 can be conveniently changed, and in addition, the mounting piece passes through the lifting height fixing mounting hole 2021 for fixing, and the fastening degree is more stable than that of direct nesting.
In one embodiment, as shown in fig. 2, the first bracket 201 further has a third side, and the second bracket further has a fourth side disposed adjacent to the third side; the third side and the fourth side are both provided with a lifting height fixing mounting hole 2021, and the mounting member is further configured to pass through the lifting height fixing mounting hole 2021 of the third side and the lifting height fixing mounting hole 2021 of the fourth side.
At this moment, through fixed two relative faces, can be so that the structure at this moment is more stable, the uneven condition of atress that probably has when can avoiding the single face to fix moreover, further prolong the life of first support 201, second support and installed part. It should be noted that, at this time, the sizes and the positions of the holes on the first side surface, the third side surface, the second side surface, and the fourth side surface of the first bracket 201 may all have different sizes and different heights, but the lifting height fixing mounting holes 2021 that need to be passed through on the two adjacent surfaces need to have at least one overlapping hole surface, that is, at least one overlapping hole surface exists on the first side surface and the second side surface and/or at least one overlapping hole surface exists on the third side surface and the fourth side surface, the areas of the overlapping hole surfaces are designed as needed, and the shapes of the mounting members are specially designed, so that at least one overlapping hole surface and another hole opposite to the same at the same time can be implemented by one mounting member. Therefore, the relative structure of the first support 201 and the second support can be further stabilized, and the design is convenient for users to design other structures in the first support 201 and the second support, so that the change is convenient according to the real-time situation.
The lifting height fixing mounting holes 2021 of the third side and the lifting height fixing mounting holes 2021 of the first side are symmetrically arranged based on a central axis of the first bracket 201, the lifting height fixing mounting holes 2021 of the fourth side and the lifting height fixing mounting holes 2021 of the second side are symmetrically arranged based on a central axis of the second bracket, and the mounting piece is further used for passing through the lifting height fixing mounting holes 2021 of the third side and the lifting height fixing mounting holes 2021 of the fourth side.
The mounting piece is arranged to pass through the lifting height fixing mounting hole 2021 of the third side surface and the lifting height fixing mounting hole 2021 of the fourth side surface, and the mounting piece is also arranged to pass through the lifting height fixing mounting hole 2021 of the first side surface and the lifting height fixing mounting hole 2021 of the second side surface. Through fixed two relative faces, can be so that the structure at this moment more stable, the uneven condition of atress that may have when can avoiding the single face to fix moreover further prolongs the life of first support 201, second support and installed part.
Alternatively, the mounting member at this time may be a latch or the like.
Optionally, the mounting member is a screw, and a thread rotatably disposed with the screw is disposed in the mounting hole.
The relative position of the first support 201 and the second support can be further limited by the threaded rotation fixation, and the fixation of the relative position which is more effective is realized.
In an embodiment, as shown in fig. 2, the second bracket includes a first liftable member 202, a first angle changing member 203, and a second angle changing member 204, the first liftable member 202 is provided with a plurality of lifting height fixing mounting holes 2021, the first angle changing member 203 is fixedly mounted with the first liftable member 202, the first angle changing member 203 and the second angle changing member 204 are rotatably disposed, and the second angle changing member 204 is fixedly disposed with the first radar 205.
The first liftable member 202 may be connected to the first bracket 201 in a liftable manner, so as to drive the height of the first angle changing member 203 and the height of the second angle changing member 204 to change, the first angle changing member 203 may be provided with an arc-shaped fixing hole 2031 and a central hole 2032, the second angle changing member 204 may be provided with a rotation fixing hole 2041 and a central hole 2032, the connecting member passes through the central hole 2032, and at this time, the first angle changing member 203 and the second angle changing member 204 may rotate relatively, and when the connecting member rotates to a desired angle, the connecting member may be inserted into the arc-shaped fixing hole 2031 and the rotation fixing hole 2041 having coincident hole surfaces to pass through the first angle changing member 203 and the second angle changing member 204 via the angle locking member, so as to further flexibly change the detection angle of the first radar 205. Theoretically, when the height is sufficient and the angle net rotates in a certain direction, the first radar 205 at this time can realize the dead-angle-free detection of the side where the first radar 205 rotates, so that the test result of a certain side is optimized. The stability of the control performance of the automatic driving system in the limit state can be tested.
Further, since the first radar 205 is a laser radar, the laser point cloud having two adjustable degrees of freedom of pitch, up and down is output in combination with the first angle changing member 203 and the second angle changing member 204.
Alternatively, the first angle change member 203 and the second angle change member 204 may be implemented using a duckbill holder.
The pitching adjustment can be carried out through the duckbill frame.
Optionally, the first support 201 and the first liftable member 202 are both square tubes, and the length and width of the cross section of one of the two is greater than that of the cross section of the other of the two, so that effective nesting is achieved.
In one embodiment, as shown in FIG. 1, the sensor assembly includes at least one second sensor module 30, the second sensor module 30 being disposed about the autopilot test platform.
By being arranged around the automatic driving test platform, the metal objects around the automatic driving test platform can be used for measuring the lower ground, so that the performance of the second sensor module 30 at the moment can be comprehensively realized. The test of the automatic driving test system is convenient.
In one embodiment, as shown in fig. 3, the second sensor module 30 includes a first rail 301, a second radar 307, and a second radar bracket, wherein the radar bracket is slidably disposed with the first rail 301, and the second radar 307 is fixedly disposed with the second radar bracket.
Wherein, through the setting of first guide rail 301, can realize the change of second radar 307 along the position of first guide rail direction, the test data when conveniently testing second radar 307 is in each position to autopilot test system's when further measuring corresponding position accuracy.
In an embodiment, as shown in fig. 3, the second sensor module 30 further includes a second guide rail 302, and the second guide rail 302 is slidably disposed with the first guide rail 301.
At this time, the position of the second radar 307 along the second rail 302 and the direction of the first rail 301 may be changed, so that the second radar 307 may appear at any point of the plane formed by the first rail 301 and the second rail 302, thereby more comprehensively testing the test data of the second radar 307 at each position, and further measuring the accuracy of the automatic driving test system at the corresponding position.
Optionally, the first rail 301 is arranged perpendicular to the second rail 302.
By vertically arranging the two, the coordinate position of the second radar 307 at the moment can be more accurately positioned, and the operation of a triangular coordinate system is not needed, so that the subsequent processing process is reduced, and the faster test of the automatic driving test system is realized.
In an embodiment, as shown in fig. 3, the second radar support includes a second radar sliding block 303, a third angle changing member 304, a fourth angle changing member 305, and a fifth angle changing member 306, the sliding block is slidably disposed on the second guiding rail 302, the third angle changing member 304 is fixedly connected to the second radar sliding block 303, the third angle changing member 304 is variably connected to the fourth angle changing member 305, and the fourth angle changing member 305 is variably connected to the fifth angle changing member 306.
It should be noted that the variable connection of the angle at this time can be realized by referring to the implementation manner of the variable connection of the angle of the first angle changing member 203 and the angle of the second angle changing member 204, or by directly setting the angle and fixing the relative position between the two by screws, through the above-mentioned embodiment, the measurement of two adjustable degrees of freedom of pitch and yaw of the second radar 307 can be further realized, and the measurement of two adjustable degrees of freedom of up and down, left and right can also be realized, so that the installation conditions of different second radars 307 can be simulated, and the more comprehensive test of the automatic driving test system can be realized.
Optionally, the second radar 307 is a millimeter wave radar. The millimeter wave radar realized based on the embodiment can realize the measurement of a longer distance and can also carry out the measurement of four adjustable degrees of freedom including up-down, left-right, pitching and yawing.
Optionally, third angle change 304 and fourth angle change 305 comprise a duckbill rack. The millimeter wave radar can do pitching movement.
In an embodiment, as shown in fig. 3, the second sensor module 30 further includes a third rail 308, the first rail 301 is a longitudinal rail, the second rail 302 is a transverse rail, the third rail 308 is a longitudinal rail, and the third rail 308 and the second rail 302 are spaced apart by a predetermined distance.
The upper part and the lower part of the longitudinal guide rail are respectively fixed with the locking slide blocks on the upper transverse guide rail and the lower transverse guide rail, and the millimeter wave radar can be driven to move left and right. Through the scheme, the stability of the transverse moving direction can be ensured. It should be noted that the preset distance at this time is set according to actual needs.
In one embodiment, as shown in FIG. 1, the sensor assembly includes at least one third sensor module 40, which includes at least two third radars, which are disposed about the frame 10.
The third radar can cover a large detection range and perform short-distance detection quickly.
Wherein the third radar is an ultrasonic radar. The ultrasonic radar can realize large-range detection.
In one embodiment, frame 10 is equipped with 2 ultrasonic radars on each of the front, rear, left, and right sides.
In one embodiment, as shown in fig. 1, the autopilot test platform further includes at least two omnidirectional antennas 50, the omnidirectional antennas 50 are disposed on the frame 10, and the projections of the two omnidirectional antennas 50 on the ground are not overlapped.
At this time, the omnidirectional antenna 50 is used as two positioning points, the two points position a straight line, when the position of the automatic driving test platform changes, the positioning points of the two omnidirectional antennas 50 also change, namely the state of the straight line also changes, so that the operations of advancing, retreating, turning and the like of the automatic driving test platform can be quickly judged according to the change of coordinates, the real-time motion state of the automatic driving test platform can be more accurately fed back to the automatic driving test system, and further control and test are facilitated.
Optionally, omni-directional antenna 50 is a mushroom omni-directional antenna, is disposed on the top of frame 10, is electrically connected to the control assembly, and provides GPS information to the control assembly.
In an embodiment, as shown in fig. 1, the autopilot test platform further includes a camera assembly 60, where the camera assembly 60 includes a camera, a camera bracket, a locking slider, and a fourth guide rail, the fourth guide rail is disposed on the frame, the camera bracket is fixedly connected with the locking slider, the locking slider is slidably disposed on the fourth guide rail, and the camera is fixedly connected with the camera bracket.
Through above-mentioned embodiment, can realize the removal of camera in the fourth guide rail direction, the moving direction of fourth guide rail can set up according to actual need.
Optionally, the camera assembly 60 is disposed below the frame ceiling. Thereby ensuring that the camera assembly 60 is not affected by glare and rain.
Optionally, the camera support is an angularly rotatable support, and can output image data with two adjustable degrees of freedom, namely pitching and left and right.
Optionally, the camera support is a duckbill frame and can be adjusted in pitch. The duckbill frame is arranged on the locking slide block on the guide rail and can move left and right.
In an embodiment, as shown in fig. 1, the control component includes a computing unit, a combined positioning host, a laser radar host, a CAN module, a 4G router, a power tap, and the like, the computing unit, the combined positioning host, the laser radar host, the CAN module, the 4G router, and the power tap are electrically connected to each other, the execution component includes a wire control chassis, the equipment box component is disposed on the frame 10, and the wire control chassis is disposed at the bottom of the frame 10.
The control assembly can realize the test function of most vehicles, and the drive-by-wire chassis can realize the steering, advancing and other functions of the automatic driving test platform.
Optionally, the equipment box assembly 70 in the middle of the frame 10 has a receiving cavity and a cover 701, which is a flip cover. The control assembly is disposed in the receiving cavity of the equipment box assembly 70. When the cover 701 is closed, the accommodation chamber is sealed. The tightness of the working environment of the electrical device is ensured through the test.
Optionally, the automatic driving test platform further comprises an emergency stop switch, and the automatic driving test platform stops running after being pressed down. Make things convenient for the outer personnel of car in time to stop the vehicle, prevent to cause the accident.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Claims (10)
1. An autopilot testing platform, characterized in that autopilot testing platform includes frame, a plurality of sensor assemblies, control assembly and executive component: the sensor assembly is adjustably arranged on the frame, the control assembly is electrically connected with the sensor assembly, the execution assembly is fixedly connected with the frame, and the execution assembly is electrically connected with the control assembly;
the control component is further configured to perform:
acquiring a target vehicle type and a test path;
planning a moving track of the sensor assembly according to the target vehicle type;
operating the execution assembly at a constant speed and controlling the sensor assembly to move according to the movement track;
acquiring data of a sensor detecting a preset obstacle within a period of time and a real-time moving track of the sensor assembly;
inputting the sensor detection data into the automatic driving test system to output an execution instruction;
and determining the determined installation position of the sensor assembly according to the execution instruction and the real-time movement track.
2. The autopilot testing platform of claim 1 wherein the movement trajectory is a three-dimensional trajectory including a first direction of travel trajectory, a second direction of travel trajectory, and a third direction of travel trajectory.
3. The automated driving testing platform of claim 1, wherein the planning the movement trajectory of the sensor assembly according to the target vehicle model comprises:
determining an equal-scale scaling model based on the test trolley according to the target vehicle type;
determining a mountable position of the sensor component in the scaled model;
and planning the moving track of the sensor component according to the mountable position.
4. The automated driving testing platform of claim 1, wherein the step of determining the determined mounting location of the sensor assembly based on the execution instructions and the real-time movement trajectory comprises:
simulating a simulated operation position of the intelligent trolley after the execution instruction is executed according to the execution instruction;
determining the distance between the simulated operation position and the preset barrier;
repeatedly executing the running positions after the intelligent vehicle is simulated to execute the execution instruction according to the execution instruction until the moving track of the sensor assembly reaches the end point, and obtaining the distance difference between the plurality of simulated running positions and the preset barrier;
and determining the real-time position of the sensor assembly corresponding to the simulated operation position with the distance difference value within a preset range as the installation position of the sensor assembly.
5. The automated driving testing platform of claim 1, further comprising a display component;
the frame is provided with a mounting position for mounting the display assembly;
the frame is also provided with a placing table for placing a mouse, a keyboard and other typing equipment.
6. The autopilot testing platform of claim 1 wherein the sensor assembly includes at least a first sensor assembly;
the first sensor assembly comprises a first radar, a first bracket and a second bracket, the second bracket can be arranged on the first bracket in a lifting way, and the first radar is arranged on the second bracket; the first sensor assembly further comprises a mount; the first bracket has an opposite first side; the second bracket has a second side adjacent to the first side; the first side surface and the second side surface are both provided with a plurality of lifting height fixing mounting holes, and the mounting pieces are respectively arranged by penetrating through the lifting height fixing mounting holes of the first side surface and the lifting height fixing mounting holes of the second side surface;
the first bracket further has a third side, and the second bracket further has a fourth side disposed adjacent to the third side; the lifting height fixing mounting holes of the third side surface and the lifting height fixing mounting holes of the first side surface are symmetrically arranged based on the central axis of the first support, the lifting height fixing mounting holes of the fourth side surface and the lifting height fixing mounting holes of the second side surface are symmetrically arranged based on the central axis of the second support, and the mounting piece is also used for passing through the lifting height fixing mounting holes of the third side surface and the lifting height fixing mounting holes of the fourth side surface; the second support includes first liftable piece, first angle change and second angle change, be provided with the high fixed mounting hole of a plurality of lifting on the first liftable piece, first angle change with first liftable piece fixed mounting, first angle change with the rotatable setting of second angle change, second angle change with the fixed setting of first radar.
7. The autopilot testing platform of claim 1 wherein the sensor assembly includes at least one second sensor module and at least one third sensor module, the second sensor module disposed about the autopilot testing platform;
the second sensor module comprises a first guide rail, a second radar and a second radar support, the radar support and the first guide rail are arranged in a sliding mode, and the second radar support are fixedly arranged;
the second sensor module further comprises a second guide rail, and the second guide rail and the first guide rail are arranged in a sliding manner;
the sensor assembly comprises the third sensor assembly comprises at least two third radars, and the third radars are arranged on the periphery of the frame.
8. The autopilot testing platform of claim 7 wherein the second radar mount includes a second radar slide, a third angle change member, a fourth angle change member, and a fifth angle change member, the slide slidably disposed with the second guide rail, the third angle change member fixedly coupled with the second radar slide, the third angle change member angularly variably coupled with the fourth angle change member, the fourth angle change member angularly variably coupled with the fifth angle change member.
9. The autopilot testing platform of claim 1 wherein said autopilot testing platform further comprises at least two omnidirectional antennas, said omnidirectional antennas being disposed on said frame and wherein the projections of said omnidirectional antennas on the ground are offset.
10. The autopilot testing platform of claim 1 further comprising a camera assembly, wherein the camera assembly includes a camera, a camera mount, a locking slide, and a third rail, wherein the camera mount is fixedly coupled to the locking slide, wherein the locking slide is slidably disposed on the third rail, and wherein the camera is fixedly coupled to the camera mount.
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| CN109625092A (en) * | 2019-01-25 | 2019-04-16 | 威海鸣川汽车技术有限公司 | A kind of electric car automatic Pilot chassis |
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| CN110162051A (en) * | 2019-05-23 | 2019-08-23 | 天津清智科技有限公司 | A kind of advanced DAS (Driver Assistant System) of automobile and automated driving system test platform |
| CN110455554A (en) * | 2019-09-03 | 2019-11-15 | 酷黑科技（北京）有限公司 | A kind of unmanned vehicle test macro and method |
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| CN209103151U (en) * | 2018-12-29 | 2019-07-12 | 北京长城华冠汽车技术开发有限公司 | A kind of open test macro of automatic Pilot |
| CN109625092A (en) * | 2019-01-25 | 2019-04-16 | 威海鸣川汽车技术有限公司 | A kind of electric car automatic Pilot chassis |
| CN110162051A (en) * | 2019-05-23 | 2019-08-23 | 天津清智科技有限公司 | A kind of advanced DAS (Driver Assistant System) of automobile and automated driving system test platform |
| CN110455554A (en) * | 2019-09-03 | 2019-11-15 | 酷黑科技（北京）有限公司 | A kind of unmanned vehicle test macro and method |
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