CN115290339B - Automatic driving test platform - Google Patents
Automatic driving test platform Download PDFInfo
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- CN115290339B CN115290339B CN202210376811.6A CN202210376811A CN115290339B CN 115290339 B CN115290339 B CN 115290339B CN 202210376811 A CN202210376811 A CN 202210376811A CN 115290339 B CN115290339 B CN 115290339B
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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 between 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 artificial intelligence field, an automatic control system has been gradually expanded to various robots and machine equipment of various industries, such as automobiles, sorting robots, sweeping robots and the like, carrying the automatic control system, and particularly, in the vehicle field, more and more companies begin to put into the development of an automatic driving system, the development of the existing automatic driving system is generally based on a simulation system, the code of the automatic driving system is operated on the simulation system, the vehicle in the simulation system is controlled, and various parameters are fed back, so that the reliability of the current automatic driving system is determined, and the short plates of the automatic driving system are summarized through the process analysis. When the reliable automatic driving system is determined through the process test, the reliable automatic driving system is input into an actual vehicle for the road test in the follow-up 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 testing the automatic driving system, if the test precision comes in and goes out, the reliability of the automatic driving system is generally improved by optimizing an algorithm of the automatic driving system, but the final automatic driving system is difficult to be applied to all vehicle types due to the fact that the structure of the test trolley is different from that of a vehicle, so that a large difference exists between a test result and 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 an automatic driving system laboratory is greatly different from that of the automatic driving system laboratory in practical application.
In order to achieve the above object, the present invention proposes an autopilot test platform, which comprises an autopilot test platform frame, a plurality of sensor assemblies, a control assembly and an execution assembly: the sensor assembly can be adjusted and 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 assembly 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;
the execution assembly is operated at a constant speed, and the sensor assembly is controlled to move according to the moving track;
acquiring data of detecting a preset obstacle by a sensor in a period of time and a real-time moving track of the sensor assembly;
inputting data of the sensor for detecting the preset obstacle into an 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 moving track is a three-dimensional track, and includes a moving track in a first direction, a moving track in a second direction, and a moving track in a third direction.
Optionally, the planning the movement track of the sensor assembly according to the target vehicle model includes:
determining an equal-proportion scaling model based on the test trolley according to the target vehicle type;
determining a mountable position of the sensor assembly in the equal-scale model;
and planning the moving track of the sensor assembly according to the mountable position.
Optionally, the step of determining the determined mounting position of the sensor assembly according to the execution instruction and the real-time movement track includes:
simulating a simulated running position of the test trolley after the execution instruction is executed according to the execution instruction;
determining the distance between the simulated running position and the preset obstacle;
repeatedly executing the operation positions of the test trolley after the execution of the execution instructions are simulated according to the execution instructions until the movement track of the sensor assembly reaches the end point, and obtaining the distance difference values between a plurality of simulated operation positions and the preset obstacle;
and determining the real-time position of the sensor assembly corresponding to the simulated running position of the distance difference value within a preset range as the installation position of the sensor assembly.
Optionally, the autopilot test platform further includes a display component;
the frame is provided with an installation position for installing the display assembly;
and the frame is also provided with a placing table for placing a mouse, a keyboard and other keying devices.
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, wherein 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 opposite first sides; the second bracket has a second side adjacent to the first side; the first side surface and the second side surface are respectively provided with a plurality of lifting height fixing mounting holes, and the mounting piece respectively penetrates 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 also has a third side, and the second bracket also has a fourth side disposed proximate to the third side; the lifting height fixed mounting hole of the third side face and the lifting height fixed mounting hole of the first side face are symmetrically arranged based on the central axis of the first support, the lifting height fixed mounting hole of the fourth side face and the lifting height fixed mounting hole of the second side face are symmetrically arranged based on the central axis of the second support, and the mounting piece is further used for penetrating through the lifting height fixed mounting hole of the third side face and the lifting height fixed mounting hole of the fourth side face.
Optionally, the second support includes first liftable piece, first angle change piece and second angle change piece, be provided with a plurality of lifting height fixed mounting holes on the first liftable piece, first angle change piece with first liftable piece fixed mounting, first angle change piece with second angle change piece can rotate the setting, second angle change piece with first radar is fixed to be set up.
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 bracket, wherein the radar bracket and the first guide rail can be arranged in a sliding manner, and the second radar bracket are fixedly arranged;
the second sensor module further comprises a second guide rail, and the second guide rail and the first guide rail can be arranged in a sliding mode.
Optionally, the second radar support includes second radar slider, third angle change piece, fourth angle change piece and fifth angle change piece, the slider with the second guide rail can slide the setting, third angle change piece with second radar slider fixed connection, third angle change piece with fourth angle change piece angle can change to be connected, fourth angle change piece with fifth angle change piece angle can change to be connected.
Optionally, the sensor assembly comprises at least one third sensor module comprising at least two third radars, said third radars being arranged around the frame.
Optionally, the autopilot test platform further includes at least two omni-directional antennas, the omni-directional antennas are disposed on the frame, and the projections of the two omni-directional antennas on the ground are not coincident.
Optionally, the autopilot test platform still includes the camera subassembly, the camera subassembly includes camera, camera support, locking slider and third guide rail, the camera support with locking slider fixed connection, locking slider can slide set up in third guide rail, the camera with camera support fixed connection.
The beneficial effects of the invention are as follows:
according to the technical scheme, the frame, the sensor assembly, the control assembly and the execution assembly are arranged on the automatic driving test platform, physical structures such as seats, sound and the like in a vehicle are simplified through the assemblies, and only various sensor assemblies required by automatic driving system tests, the control assembly carrying the automatic driving system and the execution assembly moving according to driving signals of the control assembly are reserved, so that the test cost required by a hardware platform in actual environment tests is greatly simplified, and the actual installation position of the 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 through changing the installation positions of hardware. The technical problem that the control precision of the automatic driving system is greatly different from that of the automatic driving system in laboratory test and practical application is solved.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic diagram of an autopilot test platform in one embodiment.
FIG. 2 is a schematic diagram of an autopilot test platform in one embodiment.
FIG. 3 is a schematic diagram of an autopilot test platform in one embodiment.
FIG. 4 is a flow chart of a control flow executed by a control component of the autopilot test platform in one embodiment.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
The invention provides an automatic driving test platform, which aims to solve the technical problem that the control precision of an automatic driving system is greatly different from that of the automatic driving system in laboratory test and practical application.
In an embodiment, as shown in fig. 1 and fig. 4, the autopilot test platform includes a frame, a sensor assembly, a control assembly and an execution assembly, wherein the sensor assembly is disposed 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 sensor component detects the surrounding environment and generates detection data, the control component sends out a driving signal according to the detection data, and the execution component drives the frame to move in position according to the driving signal. According to the technical scheme, the frame, the sensor assembly, the control assembly and the execution assembly are arranged on the automatic driving test platform, physical structures such as seats, sound and the like in a vehicle are simplified through the assemblies, and only various sensor assemblies required by automatic driving system testing, the control assembly carrying the automatic driving system and the execution assembly moving according to driving signals of the control assembly are reserved, so that the testing cost required by a hardware platform in actual environment testing is greatly reduced.
The control assembly is further configured to perform:
s1, acquiring a target vehicle type and a test path;
the real-time information can be obtained by 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 the movement track of the sensor assembly according to the target vehicle model includes:
determining an equal-proportion scaling model based on the test trolley according to the target vehicle type;
determining a mountable position of the sensor assembly in the equal-scale model;
and planning the moving track of the sensor assembly according to the mountable position.
After the data detected by the sensor assembly are fed back to the automatic driving system, the automatic driving system can feed back an execution instruction, so that the accuracy of the execution instruction in different installable positions can be accurately measured in one test process according to the movement track of the sensor assembly. It should be noted that, in order to make the measurement data more accurate, the movement track of the sensor assembly may be further set to run at a constant speed.
S3, running the execution assembly at a constant speed and controlling the sensor assembly to move according to the moving track;
s4, acquiring data of a sensor for detecting a preset obstacle in a period of time and a real-time moving track of the sensor assembly;
the real-time moving track is a track within a period of time, so that the real-time moving track is a part or all of the moving track, and the distance between the trolley and the preset obstacle during detection of the sensor assembly can be more conveniently positioned based on the moving track and the data of the preset obstacle. In this case, in order to more quickly position the sensor assembly, the movement locus of the sensor assembly may also be set to move at a constant speed.
S5, inputting data of the sensor for detecting the preset obstacle into an 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 movement track.
Based on the executable method steps, an actual installation position of the sensor assembly can be accurately determined in a test period; 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 assemblies which can be matched when the current automatic driving test system is matched with a target vehicle type can be determined, and the matching degree of the installation position of hardware and the automatic driving test system is improved through changing the installation position of the hardware, so that the execution precision of the automatic driving test system is improved. The technical problem that the control precision of the automatic driving system is greatly different from that of the automatic driving system in laboratory test and practical application is solved.
It should be noted that, because of the deviation of the automatic driving test system, the automatic driving test system is the installation position most suitable 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 in order to improve the accuracy of an automatic driving test system, an algorithm is generally optimized.
Optionally, the moving track is a three-dimensional track, and includes a moving track in a first direction, a moving track in a second direction, and a moving track in a third direction.
The installable position is determined by scaling the parameters of the test trolley and the parameters of the target vehicle model in equal proportion; since each of the sensor assemblies is three-dimensionally movable, the mountable position can be scaled and determined by adjusting to meet an equal ratio.
Optionally, the barrier is disposed along the test path in a direction facing any one surface of the frame, and may be disposed on a plurality of surfaces in sequence. By the arrangement mode, variables can be reduced, and in a test process, the accuracy of the automatic driving test system of a plurality of installation positions of the sensor assembly is tested. The accuracy of the autopilot test system when multiple sensor assemblies are tested is also possible. The obstacle may be set with reference to reality, for example, the side direction, the front direction, or the obstacle may be set as an object whose position changes in real time.
In an alternative embodiment, the step of determining the determined mounting position of the sensor assembly according to the execution instructions and the real-time movement trajectory includes:
simulating a simulated running position of the test trolley after the execution instruction is executed according to the execution instruction;
the automatic driving test system at this time does not directly feedback-control the test cart, but outputs a corresponding execution instruction according to the detection data of the real-time sensor assembly, and determines the simulation running position after simulation in the simulation system.
Determining the distance between the simulated running position and the preset obstacle;
repeatedly executing the operation positions of the test trolley after the execution of the execution instructions are simulated according to the execution instructions until the movement track of the sensor assembly reaches the end point, so as to obtain the distance difference values between a plurality of simulated operation positions and the preset obstacle;
and determining the real-time position of the sensor assembly corresponding to the simulated running position of the distance difference value within a preset range as the determined installation position of the sensor assembly.
Through the process, a plurality of simulation running positions can be determined in one test process, a plurality of distance difference values are determined, the simulation running positions of which the distance difference values are in a preset range are determined, and the real-time positions of the sensor assemblies at the corresponding moments in the moving track are the corresponding determined installation positions of the sensor assemblies of the current automatic driving test system.
Based on the above embodiment, at this time, if there are a plurality of determined optimal simulated running positions, the simulated running position at this time is determined as the simulated running position, and step S2 "plan the movement track of the sensor assembly according to the target vehicle model" is executed again. Until only one simulation run position is determined. In addition, the following scheme may be also performed:
planning a plurality of different movement tracks of the sensor assemblies according to the target vehicle type;
and for each moving track, executing the steps S3-S6 once, and selecting the determined installation position with the largest occurrence number 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 mounting sides, the test can be performed on each side, the moving track is optimized once, the subsequent calculation amount is reduced, and the comprehensive test is performed, namely, the simultaneous execution is performed:
s3, running the execution assembly at a constant speed and controlling the sensor assembly to move according to the moving track;
s4, acquiring data of a sensor for detecting a preset obstacle in a period of time and a real-time moving track of the sensor assembly;
s5, inputting data of the sensor for detecting the preset obstacle 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 movement track.
The above-described procedure makes it possible to determine the mounting positions of a plurality of the sensor assemblies in a combined manner.
In one embodiment, as shown in fig. 1, the autopilot test platform further includes a display assembly, a mounting location 101 is provided on the frame 10, and a placement table 102 is also provided on the frame 10.
Wherein the mounting location 101 is used for mounting the display assembly, and the placement table 102 is used for placing a mouse, a keyboard and other typing devices. Through the scheme, the operation table and the test equipment for testing and running the automatic driving system can be combined on the automatic driving test platform, codes and operation modes of the automatic driving system are conveniently changed in real time, testing is convenient, and a user does not need to additionally hold a computer for testing.
It should be noted that, the mounting position 101 may be a mounting hole or a fastening hole, and the display assembly is fixedly mounted on the mounting position 101 by fastening, fixedly connecting the mounting hole, and suspending in a conventional mounting and fixing manner. The display component can be realized by adopting 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 an automatic driving system, the test state of a current automatic driving test platform and the like.
Optionally, the display panel displays towards the direction of backing up of the automatic driving test platform, so that a user can observe the test effect in real time at the rear.
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 that is liftably disposed on the first bracket 201, the first radar 205 being disposed on the second bracket.
The second support can be lifted to be arranged on the first support 201, so that the relative position of the second support and the first support 201 can be changed, the height of the first radar 205 is changed, in theory, when the test is performed, the range of the obstacle detected by the first radar 205 is more comprehensive as long as the height is higher, when the function of the autopilot system is tested, the test results of the first radar 205 at different heights can be rapidly tested by changing the height of the first radar 205 at the moment, and therefore, when the test height is selected, the test effect of the autopilot system is improved greatly, and further design suggestions with references can be provided for the set position and the height of the first radar 205 of the vehicle actually carrying the autopilot system.
It should be noted that, the first radar 205 is a laser radar at this time, and the laser radar may realize 360 degrees of dead angle-free scanning, so that the obstacle with a longer range and a wider range may be tested when the test is performed.
In one embodiment, as shown in FIG. 2, the first sensor assembly 20 further includes a mount; the first bracket 201 has opposite first sides; the second bracket is provided with a second side surface close to the first side surface; the first side and the second side are each provided with a plurality of lifting height fixing holes 2021, and the mounting member is respectively disposed through the lifting height fixing holes 2021 of the first side and the lifting height fixing holes 2021 of the second side.
Wherein, the relative position of the first bracket 201 and the second bracket is fixed through the mounting piece passing through the lifting height fixing mounting hole 2021, so that the height of the first radar 205 can be conveniently changed, in addition, the fastening degree is more stable compared with the direct nesting through the mounting piece passing through the lifting height fixing mounting hole 2021.
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 each 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 time, through fixed two opposite faces, can make the structure more stable this moment, can avoid the uneven circumstances of atress that probably has when single face is fixed moreover, further lengthen first support 201, second support and installed part's life. In this case, the sizes and positions of the holes on the first side, the third side, and the second side and the fourth side of the first bracket 201 may be different from each other, but the lifting height fixing holes 2021 that need to be penetrated by the two adjacent sides need to have at least one overlapping hole surface, that is, the first side and the second side have at least one overlapping hole surface and/or the third side and the fourth side have at least one overlapping hole surface, the area of the overlapping hole surfaces is designed according to the needs, and the shape of the mounting member is specially designed, so that at least one overlapping hole surface and another hole opposite to the overlapping hole surface of the mounting member can be realized. Therefore, the relative structure of the first support 201 and the second support can be further stabilized, and the design can facilitate the user to design other structures in the first support 201 and the second support, and the transformation is convenient according to the real-time condition.
The third side lifting height fixing and mounting hole 2021 and the first side lifting height fixing and mounting hole 2021 are symmetrically arranged based on the central axis of the first bracket 201, the fourth side lifting height fixing and mounting hole 2021 and the second side lifting height fixing and mounting hole 2021 are symmetrically arranged based on the central axis of the second bracket, and the mounting piece is further used for penetrating through the third side lifting height fixing and mounting hole 2021 and the fourth side lifting height fixing and mounting hole 2021.
Wherein the mounting member is disposed through the third side elevation height fixing mounting hole 2021 and the fourth side elevation height fixing mounting hole 2021, and the mounting member is also disposed through the first side elevation height fixing mounting hole 2021 and the second side elevation height fixing mounting hole 2021. Through two fixed opposite faces, can make the structure more stable this moment, can avoid the uneven circumstances of atress that probably will when single face is fixed moreover, further prolong first support 201, second support and installed part's life.
Alternatively, the mounting member at this time may be a latch or the like.
Optionally, the mounting member is a screw, and a screw tooth rotatably disposed with the screw is disposed in the mounting hole.
The relative positions of the first bracket 201 and the second bracket can be further limited through screw thread rotation fixation, so that more effective fixation of the relative positions 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, wherein a plurality of lifting height fixing holes 2021 are formed in the first liftable member 202, the first angle changing member 203 is fixedly mounted to the first liftable member 202, the first angle changing member 203 and the second angle changing member 204 can be rotatably disposed, and the second angle changing member 204 is fixedly disposed to the first radar 205.
The first liftable element 202 may be connected with the first bracket 201 in a liftable manner, so as to drive the first angle changing element 203 and the second angle changing element 204 to change in height, the first angle changing element 203 may be provided with an arc-shaped fixing hole 2031 and a central hole 2032, the second angle changing element 204 may be provided with a rotation fixing hole 2041 and a central hole 2032, and the connecting element may pass through the central hole 2032, at this time, the first angle changing element 203 and the second angle changing element 204 may rotate relatively, and when rotating to a desired angle, the first angle changing element 203 and the second angle changing element 204 may be inserted into the arc-shaped fixing hole 2031 and the rotation fixing hole 2041 with coincident hole surfaces through the first angle changing element 203 and the second angle changing element 204, so as to further flexibly change the detection angle of the first radar 205. Theoretically, when the height is enough and the angle network rotates in a certain direction, the first radar 205 can realize dead angle-free detection on the side where the first radar 205 turns, 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 is favorably tested.
Further, since the first radar 205 is a laser radar, a laser point cloud with two degrees of freedom of pitching, up and down is output in combination with the first angle changing element 203 and the second angle changing element 204.
Alternatively, the first angle varying member 203 and the second angle varying member 204 may be implemented using duckbill frames.
The duck bill frame can be used for pitching adjustment.
Optionally, the first support 201 and the first liftable element 202 are square tubes, and the length and width of the section of one of the two square tubes is larger than the length and width of the section of the other square tube, so that effective nesting is achieved, and compared with a round tube, the square tube has lower degree of freedom, and the structure is more stable.
In one embodiment, as shown in fig. 1, the sensor assembly includes at least one second sensor module 30, and the second sensor module 30 is disposed around the autopilot test platform.
By being disposed around the autopilot test platform, the metal objects around the autopilot test platform and the lower ground can be measured, thereby comprehensively outputting the performance of the second sensor module 30 at the moment. And the test of the automatic driving test system is convenient.
In an 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, where the radar bracket is slidably disposed on the first rail 301, and the second radar 307 is fixedly disposed on the second radar bracket.
The first guide rail 301 is configured to change the position of the second radar 307 along the direction of the first guide rail, so that test data of the second radar 307 at each position can be conveniently tested, and accuracy of the automatic driving test system at the corresponding position can be further measured.
In an embodiment, as shown in fig. 3, the second sensor module 30 further includes a second guide rail 302, where the second guide rail 302 is slidably disposed with the first guide rail 301.
At this time, a change in the position of the second radar 307 along the second rail 302 and the first rail 301 direction may be achieved so that the second radar 307 may appear at any point on the plane constituted by the first rail 301 and the second rail 302, thereby more comprehensively testing the test data of the second radar 307 at various positions by a waste person, thereby further measuring the accuracy of the automated driving test system at the corresponding positions.
Alternatively, the first rail 301 is disposed perpendicular to the second rail 302.
Through the perpendicular arrangement of the two, the coordinate position where the second radar 307 is located at the moment can be more accurately positioned, the operation of a triangular coordinate system is not needed, the subsequent processing process is reduced, and the automatic driving test system is more rapidly tested.
In an embodiment, as shown in fig. 3, the second radar support includes a second radar slider 303, a third angle changing piece 304, a fourth angle changing piece 305, and a fifth angle changing piece 306, where the slider and the second rail 302 can be slidably disposed, the third angle changing piece 304 is fixedly connected to the second radar slider 303, the angle between the third angle changing piece 304 and the fourth angle changing piece 305 can be changed, and the angle between the fourth angle changing piece 305 and the fifth angle changing piece 306 can be changed.
It should be noted that, the connection of the angle change at this time may be realized by referring to the implementation manner that the angle of the first angle change element 203 and the second angle change element 204 can be changed, or the relative position between the two may be fixed by screws after the angle is directly set.
Alternatively, the second radar 307 is a millimeter wave radar. The millimeter wave radar realized based on the embodiment not only can realize remote measurement, but also can measure four adjustable degrees of freedom of up and down, left and right, pitching and yawing.
Optionally, the third angle change 304 and the fourth angle change 305 form a duckbill frame. 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 guide rail 308, the first guide rail 301 is a longitudinal guide rail, the second guide rail 302 is a transverse guide rail, the third guide rail 308 is a longitudinal guide rail, and the third guide rail 308 and the second guide rail 302 are disposed at a predetermined distance.
The upper part and the lower part of the longitudinal guide rail are respectively fixed with locking sliding blocks on the upper transverse guide rail and the lower transverse guide rail, and can drive the millimeter wave radar to move left and right. Through the scheme, the stability of the transverse moving direction can be ensured. The preset distance 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, the third sensor module 40 including at least two third radars, the third radars being disposed about the frame 10.
The third radar can cover a larger detection range and can quickly detect in a short time.
Wherein the third radar is an ultrasonic radar. Ultrasonic radars can achieve a wide range of detection.
In one embodiment, frame 10 houses 2 ultrasonic radars each in front, back, left, and right.
In one embodiment, as shown in fig. 1, the autopilot test platform further includes at least two omni-directional antennas 50, wherein the omni-directional antennas 50 are disposed on the frame 10, and the projections of the two omni-directional antennas 50 on the ground are not coincident.
At this time, the omnidirectional antenna 50 is used as two positioning points, the two positioning points are positioned into a straight line, when the position of the automatic driving test platform is changed, the positioning points of the two omnidirectional antennas 50 are also changed, namely the state of the straight line is also changed, so that the operation of advancing, retreating, turning and the like of the automatic driving test platform can be rapidly judged according to the change of coordinates, and the real-time motion state of the automatic driving test platform can be more accurately fed back to an automatic driving test system, thereby being convenient for further control and test.
Optionally, omni-directional antenna 50 is a mushroom-shaped omni-directional antenna, is disposed on top of frame 10, and is electrically connected to 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 support, a locking slider, and a fourth guide rail, where the fourth guide rail is disposed on the frame, the camera support 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 support.
Through the embodiment, the camera can move in the direction of the fourth guide rail, and the moving direction of the fourth guide rail can be set according to actual needs.
Optionally, the camera assembly 60 is disposed below the frame roof. So that it is ensured that the camera module 60 is not affected by strong light and rainwater.
Optionally, the camera support is an angle rotatable support, and can output image data with two adjustable degrees of freedom of pitching and left and right.
Optionally, the camera support is a duckbill support, and can be adjusted in a pitching manner. The duckbill frame is arranged on the locking slide block on the guide rail and can move left and right.
In one embodiment, as shown in fig. 1, the control assembly 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 assembly includes a wire control chassis, the equipment box assembly is disposed on the frame 10, and the wire control chassis is disposed at the bottom of the frame 10.
The test function of most vehicles can be realized through the control component, and in addition, the wire control chassis can realize the functions of steering, advancing and the like of an automatic driving test platform.
Optionally, the middle part of the frame 10 is provided with a containing cavity for the equipment box assembly 70 and a cover 701, which is a flip cover. The control assembly is disposed in the receiving cavity of the equipment cabinet assembly 70. When the cover 701 is closed, the receiving chamber is sealed. The tightness of the working environment of the electric device is ensured through the test.
Optionally, the autopilot test platform further includes a scram switch, and the autopilot test platform stops operating when pressed. The vehicle is convenient for the personnel outside the vehicle to stop the vehicle in time, and accidents are prevented.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Claims (8)
1. An autopilot test platform, characterized in that the autopilot test platform includes a frame, a plurality of sensor assemblies, a control assembly, and an execution assembly: the sensor assembly can be adjusted and 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 assembly 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;
the execution assembly is operated at a constant speed, and the sensor assembly is controlled to move according to the moving track;
acquiring data of detecting a preset obstacle by a sensor in a period of time and a real-time moving track of the sensor assembly;
inputting data of the sensor for detecting the preset obstacle into an automatic driving test system to output an execution instruction;
determining a determined installation position of the sensor assembly according to the execution instruction and the real-time movement track;
the planning the moving track of the sensor assembly according to the target vehicle type comprises the following steps:
determining an equal-proportion scaling model based on a test trolley according to the target vehicle type;
determining a mountable position of the sensor assembly in the equal-scale model;
planning a moving track of the sensor assembly according to the mountable position;
the step of determining the installation position of the sensor assembly according to the execution instruction and the real-time moving track comprises the following steps:
simulating a simulated running position of the test trolley after the execution instruction is executed according to the execution instruction;
determining the distance between the simulated running position and the preset obstacle;
repeatedly executing the operation positions of the test trolley after the execution of the execution instructions are simulated according to the execution instructions until the movement track of the sensor assembly reaches the end point, and obtaining the distance difference values between a plurality of simulated operation positions and the preset obstacle;
and determining the real-time position of the sensor assembly corresponding to the simulated running position of the distance difference value within a preset range as the installation position of the sensor assembly.
2. The autopilot test platform of claim 1 wherein the movement trajectory is a three-dimensional trajectory including a first direction movement trajectory, a second direction movement trajectory, and a third direction movement trajectory.
3. The autopilot test platform of claim 1 wherein the autopilot test platform further includes a display assembly;
the frame is provided with an installation position for installing the display assembly;
and the frame is also provided with a placing table for placing a mouse, a keyboard and other keying devices.
4. The autopilot test platform of claim 1 wherein the sensor assembly includes 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; the first sensor assembly further includes a mount; the first bracket has opposite first sides; the second bracket has a second side adjacent to the first side; the first side surface and the second side surface are respectively provided with a plurality of lifting height fixing mounting holes, and the mounting piece respectively penetrates 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 also has a third side, and the second bracket also has a fourth side disposed proximate to the third side; the lifting height fixed mounting holes of the third side face and the lifting height fixed mounting holes of the first side face are symmetrically arranged based on the central axis of the first bracket, the lifting height fixed mounting holes of the fourth side face and the lifting height fixed mounting holes of the second side face are symmetrically arranged based on the central axis of the second bracket, and the mounting piece is further used for penetrating through the lifting height fixed mounting holes of the third side face and the lifting height fixed mounting holes of the fourth side face; the second support comprises a first lifting part, a first angle change part and a second angle change part, wherein a plurality of lifting height fixed mounting holes are formed in the first lifting part, the first angle change part is fixedly mounted with the first lifting part, the first angle change part and the second angle change part can be rotatably arranged, and the second angle change part and the first radar are fixedly arranged.
5. The autopilot test 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 being disposed about the autopilot test platform;
the second sensor module comprises a first guide rail, a second radar and a second radar bracket, wherein the radar bracket and the first guide rail can be arranged in a sliding manner, and the second radar bracket are fixedly arranged;
the second sensor module further comprises a second guide rail, and the second guide rail and the first guide rail can be arranged in a sliding mode;
the third sensor module comprises at least two third radars, and the third radars are arranged around the frame.
6. The autopilot test platform of claim 5 wherein the second radar bracket includes a second radar slide, a third angle change, a fourth angle change, and a fifth angle change, the slide being slidably disposed with the second rail, the third angle change being fixedly coupled with the second radar slide, the third angle change being variably coupled with the fourth angle change, the fourth angle change being variably coupled with the fifth angle change.
7. The autopilot test platform of claim 1 further including at least two omni-directional antennas, the omni-directional antennas being disposed on the frame and the projections of the two omni-directional antennas on the ground being non-coincident.
8. The autopilot test platform of claim 1 further including a camera assembly, the camera assembly including a camera, a camera support, a locking slide and a third rail, the camera support being fixedly connected with the locking slide, the locking slide being slidably disposed in the third rail, the camera being fixedly connected with the camera support.
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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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