CN116448462A - Simulation system for automatic driving technology of vehicle - Google Patents
Simulation system for automatic driving technology of vehicle Download PDFInfo
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- CN116448462A CN116448462A CN202310532092.7A CN202310532092A CN116448462A CN 116448462 A CN116448462 A CN 116448462A CN 202310532092 A CN202310532092 A CN 202310532092A CN 116448462 A CN116448462 A CN 116448462A
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- 238000004088 simulation Methods 0.000 title claims abstract description 67
- 238000005516 engineering process Methods 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 24
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- 230000004927 fusion Effects 0.000 abstract description 5
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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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Abstract
The utility model relates to the technical field of automatic driving, in particular to a simulation system of a vehicle automatic driving technology, which can truly simulate various road conditions of the running of a vehicle and the actual state of the vehicle, so that the simulation result is consistent with the actual running condition of the vehicle, and is beneficial to the efficient fusion of a vehicle machine system and the vehicle; comprises a platform and a plurality of supporting parts, wherein the supporting parts are used for rolling and supporting the vehicle tyre; still include master control unit, a plurality of flywheel, a plurality of motor, link and gesture box, pitch and control around the platform, supporting part goes up and down, the flywheel is supporting part transmission respectively and is connected, the output shaft and the flywheel transmission of motor are connected, the link is installed on the platform, the link is with the chassis rigid connection of survey vehicle, gesture box sets up on the link, be provided with the gyroscope in the gesture box, the spirit level, acceleration sensor, master control unit is connected with the platform, a plurality of supporting part, the control box of a plurality of motors, link and gesture box electricity, master control unit and survey vehicle data connection.
Description
Technical Field
The utility model relates to the technical field of automatic driving, in particular to a simulation system of a vehicle automatic driving technology.
Background
With the development of automobile technology and the increasing demands of people on travel quality, the automobile automatic driving technology is receiving more and more attention. The autopilot technology has two main modes: a bicycle intelligent mode and a bicycle-road cooperative mode; the bicycle intelligent mode is to acquire external information based on a vehicle sensor and control automatic driving of a vehicle; the vehicle-road cooperative mode is based on dynamic real-time information interaction of vehicles and vehicles, and further controls automatic driving of the vehicles based on deep fusion of an information system and a physical system.
In order to test and optimize the automatic driving technology of the vehicle, a simulation system and a test bench are indispensable, and various simulation systems and test benches for the automatic driving technology of the vehicle are proposed in the prior art, for example, a fusion test bench of an automatic driving system is proposed in Chinese utility model patent with patent number of ZL 202022189015.0; for example, an automatic driving test system is proposed in Chinese patent application publication No. CN 115290349A; for example, a simulation test system and method for automatic driving is proposed in chinese patent application publication No. CN 115061388A.
As can be seen from the above prior art, the simulation system of the existing vehicle autopilot technology involves a deeper data simulation aspect such as scene simulation, video data shooting, vehicle data acquisition, etc., but less simulation on the running road condition of the vehicle and the actual running state of the vehicle, so that the simulation result obtained based on the existing simulation technology does not coincide with the actual running condition of the vehicle, for example, when the vehicle is simulated to walk on a bumpy road condition, the existing simulation system cannot apply the bumpy road condition to the vehicle to be tested, the vehicle to be tested cannot detect the difference between the bumpy road condition and the flat road condition, and thus the simulation of the running posture of the vehicle under different road conditions cannot be realized, and then, for example, when the vehicle is simulated to run, the vehicle to be tested cannot detect factors such as running resistance, etc., so that the vehicle to be unfavorable for efficient fusion of the vehicle to the vehicle system and the vehicle.
Disclosure of Invention
In order to solve the technical problems, the utility model provides the simulation system of the vehicle automatic driving technology, which can simulate the actual running state of the vehicle running under various road conditions more truly, enables the simulation result to be consistent with the actual running state of the vehicle, and is favorable for effectively fusing the vehicle machine system and the vehicle.
The utility model relates to a simulation system of a vehicle automatic driving technology, which comprises a platform and a plurality of supporting parts, wherein the supporting parts are used for rolling and supporting vehicle tires; the platform can actively pitch back and forth and incline left and right, the plurality of supporting parts can actively lift, the central shafts of the plurality of flywheels are respectively connected with the plurality of supporting parts in a transmission way, the output shafts of the plurality of motors are respectively connected with the central shafts of the plurality of flywheels in a transmission way, the plurality of motors are respectively provided with a control box, the connecting frame is arranged on the platform, the connecting frame is rigidly connected with the chassis of the tested vehicle, the gesture box is arranged on the connecting frame, a gyroscope, a level gauge and an acceleration sensor are arranged in the gesture box, and the main control unit is electrically connected with the platform, the plurality of supporting parts, the control boxes of the plurality of motors, the connecting frame and the gesture box and is in data connection with the tested vehicle; the vehicle to be tested is driven onto the platform, tires of the vehicle are respectively pressed on the supporting parts, the connecting frame is rigidly connected with the chassis of the vehicle, the connecting frame connects the vehicle body with the platform, and the vehicle damage caused by the fact that inertia is separated from the platform and the supporting parts when the vehicle to be tested is accelerated or braked and decelerated severely is avoided. The main control unit is used for realizing control actions according to the input scene simulation data, and the main control unit inputs the simulation scene data and the simulation data of each sensor and the radar to the tested vehicle, so that the vehicle automatically makes corresponding operation, and conventional automatic driving simulation is realized. When the vehicle starts to run, the wheels drive the corresponding supporting parts to rotate, the supporting parts drive the corresponding flywheel to rotate, the flywheel simulates the inertia of the vehicle, meanwhile, the flywheel drives the motor to run, so that the motor generates electricity, the resistance of the motor simulates the resistance of the vehicle running, the output power of the motor is controlled to simulate the resistance of different conditions of the vehicle, such as the resistance in downwind or the resistance in top wind, the resistance in ascending or descending, and the simulated road condition is input into the main control console unit. In addition, the platform can automatically adjust the inclination angle and direction according to the gradient and inclination data under the conditions of gradient, inclination, bumping degree and the like of the road, and the plurality of supporting parts actively raise and lower the simulated bumping road condition. The gyroscope, the level meter, the acceleration sensor and other elements in the gesture box detect the actual gesture of the vehicle body, gesture data are sent to the main control unit, the main control unit compares the actual gesture data with gesture data fed back by the vehicle machine, so that the vehicle machine program and data are calibrated, the purposes of optimizing and detecting the vehicle machine program and the automatic driving technology are achieved, various road conditions of running of the vehicle and the actual state of the vehicle can be truly simulated, the simulation result is consistent with the actual condition of running of the vehicle, and the vehicle are effectively fused.
Preferably, the plurality of flywheels are provided with a rotation speed sensor and a mechanical braking device; the speed sensor detects the speed of the flywheel, the real running speed of the vehicle is calculated through the speed of the flywheel, meanwhile, the acceleration performance of the vehicle can be detected by combining the speed change condition of the flywheel, the main control unit compares the real running speed with the speed output by the vehicle, so that the running data deviation of the vehicle is corrected and detected, the vehicle in the later period can be conveniently optimized and improved in running performance, the flywheel is subjected to auxiliary braking through the mechanical braking device, the motor braking failure of a plurality of flywheels is avoided, and meanwhile, the mechanical braking device can provide larger resistance for the vehicle, so that the high-resistance road conditions such as wading, sand and the like are simulated.
Preferably, the supporting part comprises a conveying frame, a crawler mechanism, a steering plate, a plurality of supporting springs and a lifting cylinder, wherein the crawler mechanism is arranged on the conveying frame and is provided with a plurality of rollers and a crawler sleeved on the rollers, one roller of the crawler mechanism is in transmission connection with a flywheel, the inner end of the steering plate is in rotation connection with the platform, the conveying frame is elastically arranged on the steering plate through the plurality of supporting springs, the lifting cylinder is arranged on the steering plate, and the moving end of the lifting cylinder is connected with the conveying frame; the crawler belt of the crawler belt mechanism rolls and supports the tire of the tested vehicle, the simulated road surface, when the tire rotates, the crawler belt of the crawler belt mechanism and a plurality of rollers synchronously rotate, the tested vehicle is simulated to run, when the vehicle rotates and turns, the steering plate drives the conveying frame to synchronously rotate, the tested vehicle is simulated to turn, the conveying frame is elastically supported by a plurality of supporting springs, the lifting cylinder stretches or shortens according to the data of the main control unit, the lifting cylinder pushes the conveying frame and the crawler belt mechanism to lift or lower, thereby simulating a bumpy road surface, simulating a real road surface, improving the simulation accuracy, and setting a telescopic sleeve with a guiding function between the conveying frame and the steering plate can further improve the connection stability between the conveying frame and the steering plate.
Preferably, the connecting rotating shaft of the steering plate and the platform is concentric with the steering main pin shaft of the vehicle; the steering plate is concentric with the main pin shaft of the vehicle, so that the detected tire is more close to the real condition during steering, automatic alignment of wheels is facilitated, the simulation system of the automatic driving technology of the vehicle is applicable to vehicles of different models by setting the position of the connecting shaft of the steering plate and the platform to be an adjustable structure, the universality is better, the real turning angle of the vehicle can be detected by setting the angle sensors on the steering plate and the platform, the turning angle is compared with the turning angle fed back by the vehicle, and the deviation value of turning can be checked.
Preferably, the device also comprises a plurality of transmission shafts and a plurality of universal shafts, wherein the rotating shafts of the plurality of supporting parts are respectively connected with the plurality of transmission shafts in a transmission way, the two ends of each universal shaft are connected with the transmission shafts and the central shaft of the flywheel in a transmission way through cross shafts, and the middle part of each universal shaft is provided with a telescopic structure; through the transmission connection of transmission shaft and cardan shaft for the supporting part is at the lift in-process, the drive flywheel that can be stable rotates, and the transmission is effectual.
Preferably, the platform comprises a panel, a bottom plate, stand columns, two-way connectors, longitudinal beams, brackets and connecting columns, wherein the stand columns are installed in the middle of the bottom plate, the upper ends of the stand columns are rotationally connected with the lower ends of the two-way connectors in the left-right direction, the middle of the longitudinal beams are rotationally connected with the upper ends of the two-way connectors in the front-back direction, the front ends and the rear ends of the longitudinal beams are respectively connected with the middle of the two brackets, a plurality of supporting parts are installed on the two brackets, the inner ends of a plurality of steering plates are rotationally connected with the two brackets, a driving assembly is arranged between the two brackets and the bottom plate, the panel is installed on the two connecting columns, and a plurality of avoiding openings for avoiding a plurality of supporting parts and connecting frames are formed in the panel; the stand column, the two-way joint and the longitudinal beam form a supporting structure of the platform, the stand column and the two-way joint are rotationally connected in the left-right direction, the two-way joint and the longitudinal beam are rotationally connected in the front-back direction, under the cooperation of the driving component, the panel and the tested vehicle incline left-right, the panel and the tested vehicle pitch back-and-forth, the road conditions of ascending and descending slopes and inclining left-right are simulated, the structure is simple, and the technology is mature and reliable.
Preferably, the driving assembly comprises a plurality of second pushing cylinders, the lower ends of the second pushing cylinders are connected with the bottom plate, the upper ends of the second pushing cylinders are respectively connected with the two brackets, and the second pushing cylinders are connected with the main control unit; the main control unit controls the extension or shortening of the corresponding second pushing cylinder according to the road condition data, so that a plurality of panels and the detected vehicle incline correspondingly, the technology is mature, and the supporting force is high.
Preferably, the device also comprises two springboards which are respectively and rotatably connected with the two ends of the panel of the platform; the two gangboards are lapped between the ground and the panel of the platform, so that the tested vehicle can stably drive on the panel of the platform and safely drive off the panel of the platform.
Preferably, the device further comprises a plurality of telescopic supporting rods, wherein the lower ends of the telescopic supporting rods are connected with a panel of the platform, and the upper ends of the telescopic supporting rods are connected with a connecting frame; before the tested vehicle drives onto the platform, the telescopic support rods shrink to reduce the height of the connecting frame, after the tested vehicle drives onto the platform, the telescopic support rods stretch to push the connecting frame up to be close to the vehicle chassis, the connecting frame is convenient to connect with the vehicle chassis, and after simulation work is completed, the telescopic support rods shrink to enable the connecting frame to reduce the height, so that the phenomenon that the connecting frame collides with the vehicle chassis is avoided.
Preferably, an emergency steel cable is connected between the connecting frame and the longitudinal beam, and the emergency steel cable limits the extension of the plurality of telescopic supporting rods to the limit length; the distance that the connecting frame moved is limited through emergent steel cable, avoids the vehicle to damage a plurality of flexible bracing pieces because of inertia is too big, improves the reliability and the life of equipment.
Compared with the prior art, the utility model has the beneficial effects that: the vehicle to be tested is driven onto the platform, tires of the vehicle are respectively pressed on the supporting parts, the connecting frame is rigidly connected with the chassis of the vehicle, the connecting frame connects the vehicle body with the platform, the situation that when the vehicle to be tested is accelerated or braked and decelerated severely, the vehicle is damaged due to inertia and separation from the platform and the supporting parts is avoided, the main control unit is used for inputting scene simulation data, the main control unit inputs the simulation scene data and simulation data of each sensor and radar to the vehicle to be tested, the vehicle automatically makes corresponding operation, the conventional automatic driving simulation is realized, when the vehicle starts to drive, the wheels drive the corresponding supporting parts to rotate, the supporting parts drive the corresponding flywheel to rotate, the inertia of the vehicle is simulated through the flywheel, meanwhile, the flywheel drives the motor to operate, the motor generates electricity, the resistance of the motor simulates the resistance of the vehicle to drive, the resistance of different situations of the vehicle is simulated through controlling the output power of the motor, for example, resistance in downwind or resistance in windward, resistance in uphill or downhill, simulated road conditions such as gradient, inclination and bumping degree of a road are input into the main control desk unit, the platform automatically adjusts the inclination angle and direction according to the gradient and inclination data, a plurality of supporting parts actively raise and lower the simulated bumping road conditions, elements such as gyroscopes, gradienters, acceleration sensors and the like in the gesture boxes detect the actual gesture of the vehicle body and send gesture data to the main control unit, the main control unit compares the actual gesture data with gesture data fed back by the vehicle machine, thereby calibrating the vehicle machine program and data, realizing the purposes of optimizing and detecting the vehicle machine program and automatic driving technology, truly simulating various road conditions of the vehicle and the actual state of the vehicle, enabling the simulation result to be consistent with the actual condition of the vehicle, the method is favorable for efficiently fusing the vehicle-mounted system and the vehicle.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic side elevational view of the present utility model;
FIG. 3 is a schematic diagram of the front view of the present utility model;
FIG. 4 is a schematic structural view of the support, drive shaft, cardan flywheel, motor, etc.;
FIG. 5 is a schematic diagram of the front view of the structure of the support, drive shaft, cardan flywheel, motor, etc.;
FIG. 6 is a schematic structural view of a platform or like structure;
FIG. 7 is a schematic view of the structure of the connection frame and the posture box;
the reference numerals in the drawings: 1. a platform; 2. a support part; 3. a flywheel; 4. a motor; 5. a connecting frame; 6. a posture box; 7. a carriage; 8. a crawler mechanism; 9. a steering plate; 10. a support spring; 11. a lifting cylinder; 12. a transmission shaft; 13. a universal shaft; 14. a bottom plate; 15. a column; 16. a two-way joint; 17. a longitudinal beam; 18. a bracket; 19. a connecting column; 20. a second pushing cylinder; 21. a springboard; 22. and (5) a telescopic supporting rod.
Detailed Description
In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. This utility model may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example 1
As shown in fig. 1, 2 and 3, a simulation system of a vehicle autopilot technique includes a platform 1 and a plurality of support portions 2, the plurality of support portions 2 being for rolling support of vehicle tires; the platform 1 can actively pitch back and forth and incline left and right, the supporting parts 2 can actively lift, the central shafts of the flywheel 3 are respectively connected with the supporting parts 2 in a transmission way, the output shafts of the motor 4 are respectively connected with the central shafts of the flywheel 3 in a transmission way, the motor 4 is provided with a control box, the connecting frame 5 is arranged on the platform 1, the connecting frame 5 is rigidly connected with the chassis of the tested vehicle, the gesture box 6 is arranged on the connecting frame 5, a gyroscope, a level meter and an acceleration sensor are arranged in the gesture box 6, the main control unit is electrically connected with the platform 1, the supporting parts 2, the control boxes of the motor 4, the connecting frame 5 and the gesture box 6, and the main control unit is in data connection with the tested vehicle.
The tested vehicle is driven onto the platform 1, tires of the vehicle are respectively pressed on the supporting parts 2, the connecting frame 5 is rigidly connected with the chassis of the vehicle, the connecting frame 5 connects the vehicle body with the platform 1, damage caused by the fact that inertia is separated from the platform 1 and the supporting parts 2 when the tested vehicle is accelerated or braked and decelerated is avoided, the main control unit is used for inputting scene simulation data, the main control unit inputs the simulation scene data and simulation data of each sensor and radar to the tested vehicle, so that the vehicle automatically makes corresponding operation, conventional automatic driving simulation is realized, when the vehicle starts driving, the wheels drive the corresponding supporting parts 2 to rotate, the supporting parts 2 drive the corresponding flywheel 3 to rotate, the inertia of the vehicle is simulated by the flywheel 3, meanwhile, the flywheel 3 drives the motor 4 to operate, the motor 4 generates electricity, and the resistance of the motor 4 simulates the resistance of the vehicle driving, by controlling the output power of the motor 4 to simulate the resistance of different situations of the vehicle, such as the resistance in downwind or the resistance in windward, the resistance in uphill or downhill, and inputting the simulated road conditions, such as the gradient, the gradient and the bumpy degree of the road, in the main control desk unit, the platform 1 automatically adjusts the inclination angle and the direction according to the gradient and the gradient data, the plurality of supporting parts 2 actively raise and lower the simulated bumpy road conditions, the elements such as the gyroscope, the level meter and the acceleration sensor in the gesture box 6 detect the actual gesture of the vehicle body and send the gesture data to the main control unit, the main control unit compares the actual gesture data with the gesture data fed back by the vehicle machine, thereby calibrating the vehicle program and the data, realizing the purposes of optimizing and detecting the vehicle program and the automatic driving technology, being capable of truly simulating various road conditions of the running of the vehicle and the actual state of the vehicle, the simulation result is matched with the actual running condition of the vehicle, and the vehicle-mounted system and the vehicle are effectively fused.
Example 2
As shown in fig. 1, 3, 4 and 5, a simulation system of a vehicle autopilot technique includes a platform 1 and a plurality of support portions 2, the plurality of support portions 2 being for rolling support of vehicle tires; the platform 1 can actively pitch back and forth and incline left and right, the supporting parts 2 can actively lift, the central shafts of the flywheel 3 are respectively connected with the supporting parts 2 in a transmission way, the output shafts of the motor 4 are respectively connected with the central shafts of the flywheel 3 in a transmission way, the motor 4 is provided with a control box, the connecting frame 5 is arranged on the platform 1, the connecting frame 5 is rigidly connected with the chassis of the tested vehicle, the gesture box 6 is arranged on the connecting frame 5, a gyroscope, a level meter and an acceleration sensor are arranged in the gesture box 6, the main control unit is electrically connected with the platform 1, the supporting parts 2, the connecting frame 5 and the gesture box 6, and the main control unit is electrically connected with the tested vehicle through the data, and the flywheel 3 is provided with a rotation speed sensor and a mechanical braking device; the supporting part 2 comprises a conveying frame 7, a crawler mechanism 8, a steering plate 9, a plurality of supporting springs 10 and a lifting cylinder 11, wherein the crawler mechanism 8 is arranged on the conveying frame 7, the crawler mechanism 8 is provided with a plurality of rollers and a crawler sleeved on the rollers, one roller of the crawler mechanism 8 is in transmission connection with the flywheel 3, the inner end of the steering plate 9 is in rotation connection with the platform 1, the conveying frame 7 is elastically arranged on the steering plate 9 through the plurality of supporting springs 10, the lifting cylinder 11 is arranged on the steering plate 9, and the moving end of the lifting cylinder 11 is connected with the conveying frame 7; the connecting rotating shaft of the steering plate 9 and the platform 1 is concentric with the steering main pin shaft of the vehicle; the universal shaft is characterized by further comprising a plurality of transmission shafts 12 and a plurality of universal shafts 13, wherein the rotation shafts of the plurality of support parts 2 are respectively connected with the plurality of transmission shafts 12 in a transmission manner, two ends of each universal shaft 13 are connected with the transmission shafts 12 and the central shaft of the flywheel 3 in a transmission manner through cross shafts, and the middle part of each universal shaft 13 is provided with a telescopic structure.
In the real simulation, the crawler belt of the crawler belt mechanism 8 rolls and supports the tire of the tested vehicle, the road surface is simulated, when the tire rotates, the crawler belt of the crawler belt mechanism 8 and a plurality of rollers synchronously rotate, the tested vehicle is simulated to run, the rollers of the crawler belt mechanism 8 are connected with the universal shaft 13 through the transmission of the transmission shaft 12, the flywheel 3 is driven to rotate, the supporting part 2 can stably drive the flywheel 3 to rotate in the lifting process, the rotation speed sensor detects the rotation speed of the flywheel 3, the real running speed of the vehicle is calculated through the rotation speed of the flywheel 3 and the acceleration performance of the vehicle can be detected, the main control unit compares the real running speed with the speed output by the vehicle, thereby correcting and detecting the running data deviation of the vehicle machine, facilitating the optimization and improvement of the later vehicle in running performance, carrying out auxiliary braking on the flywheel 3 through the mechanical braking device, avoiding the braking failure of a plurality of motors 4, the vehicle is provided with larger resistance to simulate high-resistance road conditions such as wading, sand and the like, when the vehicle rotates and turns, the steering plate 9 drives the conveying frame 7 to synchronously rotate to simulate the turning of the tested vehicle, the steering plate 9 is concentric with the main pin shaft of the vehicle, so that the tested tire is more close to the real condition during the turning, the automatic wheel alignment is facilitated, the simulation system of the automatic driving technology of the vehicle is suitable for vehicles of different models by setting the position of the connecting shaft of the steering plate 9 and the platform 1 as an adjustable structure, the universality is good, the real turning angle of the vehicle can be detected by setting angle sensors on the steering plate 9 and the platform 1, the turning angle is compared with the turning angle fed back by the vehicle, the turning deviation value can be verified, the conveying frame 7 is elastically supported by a plurality of supporting springs 10, the lifting cylinder 11 is stretched or shortened according to the data of the main control unit, the pushing conveying frame 7 and the crawler belt mechanism 8 are lifted or lowered, so that a bumpy road surface is simulated, simulation of a real road surface is realized, simulation accuracy is improved, and the connecting stability between the conveying frame 7 and the steering plate 9 can be further improved by arranging the telescopic sleeve with a guiding function between the conveying frame 7 and the steering plate 9.
Example 3
As shown in fig. 1, 6 and 7, a simulation system of a vehicle autopilot technique includes a platform 1 and a plurality of support portions 2, the plurality of support portions 2 being for rolling support of vehicle tires; the platform 1 can actively pitch back and forth and incline left and right, the supporting parts 2 can actively lift, the central shafts of the flywheels 3 are respectively connected with the supporting parts 2 in a transmission way, the output shafts of the motors 4 are respectively connected with the central shafts of the flywheels 3 in a transmission way, the motors 4 are respectively provided with control boxes, the connecting frame 5 is arranged on the platform 1, the connecting frame 5 is rigidly connected with the chassis of a tested vehicle, the gesture box 6 is arranged on the connecting frame 5, a gyroscope, a level gauge and an acceleration sensor are arranged in the gesture box 6, the main control unit is electrically connected with the platform 1, the supporting parts 2, the control boxes of the motors 4, the connecting frame 5 and the gesture box 6, the main control unit is in transmission connection with the tested vehicle data connecting platform 1, the bottom plate 14, the upright post 15, the bidirectional joint 16, the longitudinal beam 17, the bracket 18 and the connecting column 19, the upper end of the upright post 15 is rotatably connected with the lower end of the bidirectional joint 16 in the left-right direction, the middle part of the longitudinal beam 17 is rotatably connected with the middle part 16 in the left-right direction, the upper end of the bracket 17 is rotatably connected with the two end of the bracket 18, the two end parts of the bracket 18 are rotatably connected with the two front end parts 18 of the bracket 2, the two bracket 18 are rotatably connected with the two end parts 18 of the front end parts of the bracket 2, the two bracket 18 are rotatably connected with the front end parts 18 and two end parts of the front end 18 are respectively, the front end part of the bracket 2 are rotatably connected with the front end part 2, and two end parts of the front end 18 are respectively, and two end parts of the front end 18 are connected with the front end part of the front end part and the front end part 18 and the front end is connected with the front end part and back end is connected with the front end part; the driving assembly comprises a plurality of second pushing cylinders 20, wherein the lower ends of the second pushing cylinders 20 are connected with a uniform bottom plate 14, the upper ends of the second pushing cylinders 20 are respectively connected with two brackets 18, and the second pushing cylinders 20 are connected with the main control unit; the two springboards 21 are respectively connected with two ends of the panel of the platform 1 in a rotating way; the device also comprises a plurality of telescopic supporting rods 22, wherein the lower ends of the telescopic supporting rods 22 are connected with the panel of the platform 1, and the upper ends of the telescopic supporting rods 22 are connected with the connecting frame 5; an emergency steel cable is connected between the connecting frame 5 and the longitudinal beam 17, and the emergency steel cable limits the extension of the plurality of telescopic support rods 22 to a limit length.
When the simulation work is carried out, before a tested vehicle drives on the platform 1, the plurality of telescopic support rods 22 shrink to reduce the height of the connecting frame 5, the two gangboards 21 are overlapped between the ground and the panel of the platform 1, the tested vehicle drives on the panel of the platform 1, the plurality of telescopic support rods 22 stretch to push the connecting frame 5 up to be close to the chassis of the vehicle, the connecting frame 5 is conveniently connected with the chassis of the vehicle, the upright post 15, the bidirectional joint 16 and the longitudinal beam 17 form a supporting structure of the platform 1 when the road conditions are simulated, the upright post 15 is rotationally connected with the bidirectional joint 16 in the left-right direction, the bidirectional joint 16 and the longitudinal beam 17 are rotationally connected in the front-rear direction, the main control unit controls the corresponding second pushing cylinders 20 to stretch or shorten according to road condition data, the panel and the tested vehicle are pushed by the cooperation of the second pushing cylinders 20, the panel and the tested vehicle tilt back and forth, the panel pitch back and pitch is simulated, the connecting frame 5 is separated from the chassis of the vehicle after the simulation work is finished, the plurality of telescopic support rods 22 shrink to reduce the height of the connecting frame 5, the connecting frame 5 is prevented from colliding with the chassis of the vehicle along the gangboards 21, the emergency support rods are prevented from moving along the road conditions, and the distance of the vehicle from the emergency support frames is prevented from being greatly damaged when the vehicle is simulated, the vehicle is prevented from moving along the emergency support frames, and the road conditions is greatly limited, and the road conditions is prevented from being greatly damaged, and the device is prevented from the device is greatly damaged when the device is greatly damaged, and is a device when the device is subjected to the device.
As shown in fig. 1 to 7, in the simulation system of the vehicle autopilot technology of the present utility model, when in operation, firstly, a vehicle to be tested is driven to a panel of a platform 1 along a springboard 21, wheels are respectively pressed on tracks of a plurality of crawler mechanisms 8, a plurality of telescopic support rods 22 are extended, a connecting frame 5 is rigidly connected with a vehicle chassis, then a main control unit is used for inputting scene simulation data, the main control unit inputs the simulation scene data and simulation data of each sensor and radar to the vehicle to be tested, the vehicle automatically makes corresponding operations according to the simulation data, conventional autopilot simulation is realized, when the vehicle starts running, the wheels drive rollers of the corresponding crawler mechanisms 8 to rotate, the rollers of the crawler mechanisms 8 drive corresponding flywheels 3 to rotate through a transmission shaft 12 and universal shafts 13, the inertia of the vehicle itself is simulated through the flywheels 3, meanwhile, the flywheel 3 drives the motor 4 to run, so that the motor 4 generates electricity, the resistance of the motor 4 simulates the resistance of the vehicle in different conditions, the output power of the motor 4 is controlled to simulate the resistance of the vehicle, then a simulated road condition is input into the main control console unit, the main control unit controls the corresponding second push cylinder 20 to extend or shorten according to the gradient and gradient data of the road condition, the inclination angle and direction of the panel of the platform 1 are adjusted, the lifting cylinder 11 extends or shortens according to the data of the main control unit, the conveying frame 7 and the crawler mechanism 8 are pushed to rise or fall, thus simulating a bumpy road surface, the gyroscope, the level meter, the acceleration sensor and other elements in the gesture box 6 detect the actual gesture of the vehicle body, the gesture data are transmitted to the main control unit, the main control unit compares the actual gesture data with the gesture data fed back by the vehicle machine, and the vehicle machine program and data are calibrated, the purposes of optimizing and detecting the vehicle program and the automatic driving technology are achieved, the simulation is completed finally, the connecting frame 5 is separated from the chassis of the vehicle when the telescopic supporting rods 22 are contracted, and the vehicle is driven to open the panel of the platform 1 along the gangway 21.
The main functions realized by the utility model are as follows:
1. the system can truly simulate various road conditions of the running of the vehicle and the actual state of the vehicle, so that the simulation result is consistent with the actual running condition of the vehicle, and the system of the vehicle is beneficial to the efficient fusion of the vehicle and the vehicle;
2. the road condition of jolt can be simulated;
3. the gradient and the angle of the road can be simulated;
4. the inertia and resistance of the vehicle can be simulated.
The installation mode, the connection mode or the setting mode of the simulation system for the automatic driving technology of the vehicle are common mechanical modes, and can be implemented as long as the beneficial effects of the simulation system can be achieved; the flywheel 3, the motor 4, the gesture box 6, the crawler mechanism 8, the supporting spring 10, the lifting cylinder 11, the universal shaft 13, the transmission shaft 12, the second pushing cylinder 20, the telescopic supporting rod 22, the emergency steel cable and the rotating speed sensor of the simulation system for the automatic driving technology of the vehicle are purchased in the market, and a person skilled in the art only needs to install and operate according to the attached using instruction without creative labor of the person skilled in the art.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.
Claims (10)
1. A simulation system of a vehicle autopilot technology, comprising a platform (1) and a plurality of support parts (2), wherein the support parts (2) are used for rolling and supporting vehicle tires; the device is characterized by further comprising a main control unit, a plurality of flywheels (3), a plurality of motors (4), a connecting frame (5) and a posture box (6), wherein the platform (1) actively tilts front and back and left and right, a plurality of supporting parts (2) actively lift, central shafts of the plurality of flywheels (3) are respectively connected with the transmission of the plurality of supporting parts (2), output shafts of the plurality of motors (4) are respectively connected with the central shafts of the plurality of flywheels (3), the plurality of motors (4) are respectively provided with a control box, the connecting frame (5) is installed on the platform (1), the connecting frame (5) is rigidly connected with a chassis of a vehicle to be tested, the posture box (6) is arranged on the connecting frame (5), a gyroscope, a level gauge and an acceleration sensor are arranged in the posture box (6), the main control unit is electrically connected with the platform (1), the plurality of supporting parts (2), the control boxes of the plurality of motors (4), the connecting frame (5) and the posture box (6), and the main control unit is electrically connected with the vehicle to be tested.
2. A vehicle autopilot technology simulation system according to claim 1, characterized in that a number of flywheels (3) are provided with a rotational speed sensor and a mechanical brake.
3. A simulation system for vehicle autopilot technology according to claim 1, characterized in that the supporting part (2) comprises a carriage (7), a crawler mechanism (8), a steering plate (9), a plurality of supporting springs (10) and a lifting cylinder (11), wherein the crawler mechanism (8) is mounted on the carriage (7), the crawler mechanism (8) is provided with a plurality of rollers and a crawler sleeved on the rollers, one roller of the crawler mechanism (8) is in transmission connection with the flywheel (3), the inner end of the steering plate (9) is in rotational connection with the platform (1), the carriage (7) is elastically mounted on the steering plate (9) through a plurality of supporting springs (10), the lifting cylinder (11) is mounted on the steering plate (9), and the moving end of the lifting cylinder (11) is connected with the carriage (7).
4. A simulation system for the automatic driving technique of a vehicle according to claim 3, characterized in that the connecting axis of the steering plate (9) and the platform (1) is concentric with the steering kingpin axis of the vehicle.
5. The simulation system of the automatic driving technology of the vehicle according to claim 1, further comprising a plurality of transmission shafts (12) and a plurality of universal shafts (13), wherein the rotation shafts of the plurality of supporting parts (2) are respectively connected with the plurality of transmission shafts (12) in a transmission manner, two ends of the universal shafts (13) are connected with the transmission shafts (12) and a central shaft of the flywheel (3) in a transmission manner through cross shafts, and a telescopic structure is arranged in the middle of the universal shafts (13).
6. A simulation system of a vehicle autopilot technique as claimed in claim 1 or 3, characterized in that the platform (1) comprises a panel, a base plate (14), a column (15), a two-way joint (16), a longitudinal beam (17), a bracket (18) and a connecting column (19), the column (15) is mounted in the middle of the base plate (14), the upper end of the column (15) is rotatably connected with the lower end of the two-way joint (16) in the left-right direction, the middle of the longitudinal beam (17) is rotatably connected with the upper end of the two-way joint (16) in the front-rear direction, the longitudinal beam (17) is respectively connected with the middle of the two brackets (18) at the front-rear ends, a plurality of supporting parts (2) are mounted on the two brackets (18), and the inner ends of a plurality of steering plates (9) are rotatably connected with the two brackets (18), a driving assembly is arranged between the two brackets (18) and the base plate (14), the panel is mounted on the two connecting column (19), and the panel is provided with a plurality of avoidance openings for avoiding a plurality of supporting parts (2) and connecting frames (5).
7. The simulation system of the automatic driving technology of the vehicle according to claim 6, wherein the driving assembly comprises a plurality of second pushing cylinders (20), lower ends of the second pushing cylinders (20) are connected with a uniform bottom plate (14), upper ends of the second pushing cylinders (20) are respectively connected with two brackets (18), and the second pushing cylinders (20) are electrically connected with the main control unit.
8. A simulation system for vehicle autopilot technology according to claim 1, further comprising two springboards (21), the two springboards (21) being rotatably connected to the two ends of the deck (1) panel, respectively.
9. The simulation system for the automatic driving technology of the vehicle according to claim 1, further comprising a plurality of telescopic supporting rods (22), wherein the lower ends of the plurality of telescopic supporting rods (22) are connected with a panel of the platform (1), and the upper ends of the plurality of telescopic supporting rods (22) are connected with a connecting frame (5).
10. A simulation system for the automatic driving technique of a vehicle according to claim 1 or 6, characterized in that an emergency cable is connected between the connecting frame (5) and the longitudinal beam (17), which emergency cable limits the extension of the plurality of telescopic support rods (22) to a limit length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310532092.7A CN116448462A (en) | 2023-05-10 | 2023-05-10 | Simulation system for automatic driving technology of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310532092.7A CN116448462A (en) | 2023-05-10 | 2023-05-10 | Simulation system for automatic driving technology of vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN116448462A true CN116448462A (en) | 2023-07-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310532092.7A Withdrawn CN116448462A (en) | 2023-05-10 | 2023-05-10 | Simulation system for automatic driving technology of vehicle |
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| CN (1) | CN116448462A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268797A (en) * | 2023-11-21 | 2023-12-22 | 中汽研汽车检验中心(宁波)有限公司 | Vehicle rapid centering device in automobile collision test and application method |
-
2023
- 2023-05-10 CN CN202310532092.7A patent/CN116448462A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268797A (en) * | 2023-11-21 | 2023-12-22 | 中汽研汽车检验中心(宁波)有限公司 | Vehicle rapid centering device in automobile collision test and application method |
| CN117268797B (en) * | 2023-11-21 | 2024-02-06 | 中汽研汽车检验中心(宁波)有限公司 | Vehicle rapid centering device in automobile collision test and application method |
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