CN117589476B - Simulation test system for intelligent driving - Google Patents
Simulation test system for intelligent driving Download PDFInfo
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- CN117589476B CN117589476B CN202410073698.3A CN202410073698A CN117589476B CN 117589476 B CN117589476 B CN 117589476B CN 202410073698 A CN202410073698 A CN 202410073698A CN 117589476 B CN117589476 B CN 117589476B
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- 238000004088 simulation Methods 0.000 title claims abstract description 64
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- 238000004378 air conditioning Methods 0.000 claims description 6
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
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- 230000004888 barrier function Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
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- 230000001276 controlling effect Effects 0.000 description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
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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 invention discloses a simulation test system for simulating intelligent driving, which belongs to the field of unmanned driving of automobiles and comprises a camera bellows, wherein a test bench, a weather simulation unit, a visual target projection simulation unit and a radar target simulation unit are arranged in the camera bellows, the visual target projection simulation unit and the radar target simulation unit are positioned at the front side of the test bench, the radar target simulation unit is positioned between the test bench and the visual target projection simulation unit, and a test vehicle is arranged on the test bench; the intelligent driving module can simulate various driving environments through the visual target projection simulation unit, the radar target simulation unit and the weather simulation unit, the simulation on the ground is completed through the wheels, the road surface environment required by the vehicle body during driving can be rapidly adjusted according to the tested requirements, the adjustment is sensitive, the driving performance of the intelligent driving module during encountering road surface emergency is better tested, and the production cost is greatly reduced.
Description
Technical Field
The invention relates to the field of unmanned driving of automobiles, in particular to a simulation test system for intelligent driving.
Background
The intelligent driving module (system) is an important component for controlling the running process of the automobile in unmanned mode, and in order to ensure the driving safety, the intelligent driving module needs to be subjected to simulation test, real vehicle test and hardware-in-loop test, wherein the simulation test method is low in cost and high in test efficiency, and is an important test method;
for example, chinese patent with the authority of CN112444401B discloses an unmanned vehicle test device with a controllable road surface moving target, which can solve the problem of simulating the running state of an obstacle in the running of an unmanned vehicle and presenting road test scenes of various running tracks, and provides as many test scenes as possible for the unmanned vehicle;
if the Chinese patent with the authority of the publication number of CN215414386U discloses a test device for an unmanned automobile, the test device is provided with a barrier plate and an unmanned automobile test model, the top end of the unmanned automobile test model is provided with a barrier induction module for inducing the barrier plate, the barrier plate moves at a constant speed, in an acceleration or deceleration state under the drive of a driving motor, so that the automobile can be tested for braking conditions when facing different emergency conditions, the test is more convenient, a longitudinal guide rail and a movable trolley are arranged on the inner side of the longitudinal guide rail, the movable trolley is arranged at the bottom end of a beam, the movable trolley drives the beam to longitudinally move, and then the barrier plate is adjusted to different directions in front of the unmanned automobile test model, so that the reaction of the unmanned automobile when facing the emergency conditions in different directions is conveniently tested, and the test result is more comprehensive;
to sum up, need test intelligent driving module's travelling performance on different weather, different environment and different road surfaces when carrying out simulation test to intelligent driving module, wherein, intelligent driving module's test on different road surfaces is a big key degree of difficulty of test, traditional ground simulation unit generally need set up more accessories, just can simulate different ground through the road surface of various accessory constitution differences according to different demands, its structure is comparatively complicated, manufacturing cost is higher, and the adjustment process is comparatively troublesome when adjusting the ground environment, can not be according to the required road surface environment when the automobile body of quick regulation of the demand of test is gone.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems existing in the prior art, the invention aims to provide a simulation test system for simulating intelligent driving, which can simulate various running environments through a visual target projection simulation unit, a radar target simulation unit and a weather simulation unit, and can quickly adjust the road environment required by a vehicle body when the vehicle runs according to the test requirement, so that the adjustment is sensitive, the driving performance of an intelligent driving module when encountering road emergency is better tested, and the production cost is greatly reduced.
2. Technical proposal
In order to solve the problems, the invention adopts the following technical scheme.
The utility model provides a simulation intelligent driving simulation test system, includes the camera bellows, internally mounted of camera bellows has testboard, weather analog unit, is located visual target projection analog unit and the radar target analog unit of testboard front side, radar target analog unit is located between testboard and the visual target projection analog unit, be provided with test vehicle on the testboard, test vehicle includes the automobile body, install wheel, visual identification unit, radar detection unit and the intelligent driving module of being tested on the automobile body, wheel, visual identification unit and radar detection unit all with intelligent driving module electric connection, the periphery side that wheel and testboard contacted is the ground of grabbing, the ground frictional force of grabbing of wheel is adjustable, just the ground of grabbing of wheel is provided with a plurality of bellying outwards, the bellying is in grabbing subaerial position adjustable, the protruding height-adjustable.
Further, weather simulation unit is including installing at the inside top of camera bellows and being located the spraying system on testboard upper portion and installing at the inside air conditioning system of camera bellows, visual target projection simulation unit includes projecting apparatus and curtain, curtain fixed connection is inside and be located the front side of testboard at the camera bellows, projecting apparatus fixed connection is at the inside top of camera bellows, radar target simulation unit includes two front and back guide rails of fixed connection in the inside downside of camera bellows and being located between testboard and the curtain, two all install a plurality of fore-and-aft travelling car that can follow fore-and-aft guide rail axis direction and remove on the front and back guide rail, two fore-and-aft travelling car on the front and back guide rail is a set of relatively one, two of same group on the fore-and-aft travelling car fixedly connected with left and right guide rail, a plurality of all be equipped with on the left and right travelling car that can follow left and right guide rail axis and remove, the upside fixedly connected with radar target simulator of left and right travelling car.
Further, the wheel comprises a wheel hub assembled on a vehicle body, a rim is fixedly connected to the outer side of the wheel hub, a tire is assembled on the outer side of the rim, the circumferential side surface of the tire is a ground surface which is contacted with a test bench, the tire is of a double-layer structure, the inner layer of the tire is an inner cushion layer, the outer layer of the tire is an anti-slip layer made of magnetorheological rubber, a controllable power supply is fixedly connected to the inner part of the rim, and an exciting coil connected with the controllable power supply is assembled on the tire;
the inside of rim is equipped with a plurality of annular rotatory actuating device, and a plurality of all fixedly connected with automatic strut on the annular rotatory actuating device, be equipped with protruding support body on the automatic strut.
Further, the number of the exciting coils is a plurality, and the exciting coils are arranged on the tire in a rectangular array.
Further, the automatic support comprises a transverse support fixedly connected to the annular rotary driving device, two ends of the transverse support are fixedly connected with guide rail bodies, guide rods are slidably connected to the guide rail bodies, one ends of the guide rods, far away from the transverse support, of the guide rods are fixedly connected with a protruding support body, small electric push rods are fixedly connected to the transverse support, and the output ends of the small electric push rods are fixedly connected with the protruding support body.
Further, the protruding support body comprises a transverse rail body fixedly connected to one end, far away from the transverse support, of the two guide rods, and the transverse rail body is provided with a side support body through a horizontal adjusting piece.
Further, the transverse rail body is also provided with another side support body through another horizontal adjusting piece.
Further, the horizontal adjusting piece comprises a transmission motor fixedly connected to the transverse rail body, the output end of the transmission motor is fixedly connected with a screw rod extending to the interior of the transverse rail body, the side support body is slidably connected to the transverse rail body, threaded holes are formed in the side support body, and the two side support bodies are respectively connected with the two screw rods through two threaded holes.
Further, one end fixedly connected with rolling ware of the rail body, be equipped with the tight stretching strap that rises on the rolling ware, the tight stretching strap that rises stretches out the one end of rolling ware and bypasses two tight stretching straps and the one end that the rail body kept away from the rolling ware link to each other.
Further, a plurality of middle supporting bodies are slidably connected between the two side supporting bodies on the transverse rail body, two through holes are formed in the middle supporting bodies, the screw penetrates through the middle supporting bodies through the through holes, and return springs are assembled between the two adjacent middle supporting bodies and between the adjacent side supporting bodies and the middle supporting bodies.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
according to the scheme, various environments can be simulated for the vehicle body to run through the visual target projection simulation unit, the radar target simulation unit and the weather simulation unit, the running performance of the intelligent driving module under various environments is tested, and through improvement of wheels, the simulation on the ground can be completed through the wheels, the structure of the ground simulation unit is simplified, the road surface environment required by the vehicle body during running can be regulated through regulating the wheels according to the test requirements, and the regulation is sensitive, so that the driving performance of the intelligent driving module during encountering road surface emergency is tested better.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the wheel of the present invention;
FIG. 4 is a schematic cross-sectional view of a wheel of the present invention;
FIG. 5 is a schematic view of a cross-sectional structure of a wheel according to another aspect of the present invention;
FIG. 6 is an enlarged view of a portion of the invention at A in FIG. 5;
FIG. 7 is an enlarged side view of the invention at A in FIG. 5;
FIG. 8 is a schematic view of a boss stay in accordance with the present invention;
FIG. 9 is a schematic view of a part of the structure of the convex supporting body of the present invention.
The reference numerals in the figures illustrate:
1. a camera bellows; 2. a test bench; 3. testing the vehicle; 4.visual target projection simulation unit；5、Radar target simulation unitThe method comprises the steps of carrying out a first treatment on the surface of the 6. A weather simulation unit; 7. a vehicle body; 8. a wheel; 9. a projector; 10. a curtain; 11. front and rear guide rails; 12. a trolley is moved back and forth; 13. left and right guide rails; 14. a trolley is moved left and right; 15. a radar target simulator; 16. a spraying system; 17. an air conditioning system; 18. a hub; 19. a rim; 20. a tire; 21. an exciting coil; 22. an annular rotary drive device; 23. an automatic support; 24. a convex support body; 25. a transverse bracket; 26. a guide rail body; 27. a guide rod; 28. a small electric push rod; 29. a transverse rail body; 30. a side support body; 31. a middle support body; 32. a rotating shaft; 33. tensioning the supporting belt; 34. a winder; 35. a drive motor; 36. a screw; 37. a return spring; 38. an inner bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
Examples:
referring to fig. 1-2, a simulation test system for simulating intelligent driving includes a camera bellows 1, wherein a test bench 2, a visual target projection simulation unit 4 and a radar target simulation unit 5 are installed in the camera bellows 1, the visual target projection simulation unit 4 and the radar target simulation unit 5 are positioned in front of the test bench 2, and a weather simulation unit 6 is also installed in the camera bellows 1 for simulating various weather;
the weather simulation unit 6 comprises a spraying system 16 arranged at the top end of the interior of the camera bellows 1 and positioned on the upper portion of the test bench 2, and an air conditioning system 17 arranged in the interior of the camera bellows 1, wherein the spraying system 16 can release water flow to simulate rainwater weather, the air conditioning system 17 can adjust the temperature in the interior of the camera bellows 1, an air pipe is further arranged in the interior of the camera bellows 1, and an air outlet of the air pipe is positioned on the peripheral side of the test bench 2, so that various wind forces can be simulated.
The test board 2 is provided with a test vehicle 3, the test vehicle 3 comprises a vehicle body 7, wheels 8, a visual identification unit, a radar detection unit and an intelligent driving module to be tested are arranged on the vehicle body 7, and the vehicle body 7, the wheels 8, the visual identification unit and the radar detection unit are electrically connected with the intelligent driving module;
wherein, after the vehicle body 7 is started, the wheels 8 are driven to rotate, so that the vehicle body 7 runs on the test bench 2;
the visual target projection simulation unit 4 can project projections with environmental image features on the front side of the test bench 2, different environmental image features represent different articles, such as roads, buildings, traffic lights and the like, different environments can be formed by combining the different environmental image features, and the visual recognition unit is used for recognizing the projected environmental image features so as to determine the front environment and input the front environment into the intelligent driving module;
as shown in fig. 1-2, the visual target projection simulation unit 4 includes a projector 9 and a curtain 10, where the curtain 10 is fixedly connected inside the camera bellows 1 and located at the front side of the test stand 2, and the projector 9 is preferably fixedly connected at the top of the camera bellows 1, and at this time, the projection with the environmental image features can be projected on the curtain 10 by the projector 9 for display.
The radar target simulation unit 5 can release an electric signal representing the characteristics of an obstacle at the front side of the test bench 2, different environment image characteristics represent different objects such as roadblocks, vehicles, pedestrians and the like, and the radar detection unit is used for identifying the electric signal representing the obstacle so as to determine the position of the obstacle in front and input the position into the intelligent driving module;
as shown in fig. 1-2, the radar target simulation unit 5 includes two front and rear guide rails 11 fixedly connected to the lower side of the interior of the camera bellows 1 and located between the test board 2 and the curtain 10, a plurality of front and rear moving trolleys 12 capable of moving along the axial direction of the front and rear guide rails 11 are mounted on the two front and rear guide rails 11, the front and rear moving trolleys 12 on the two front and rear guide rails 11 are in a group one by one, the two front and rear moving trolleys 12 of the same group are fixedly connected with left and right guide rails 13, the distance between the left and right guide rails 13 and the test board 2 can be adjusted by moving the front and rear moving trolleys 12 on the front and rear guide rails 11, the left and right moving trolleys 14 capable of moving along the axial direction of the left and right guide rails 13 are mounted on the plurality of left and right guide rails 13, the radar target simulator 15 is fixedly connected to the upper side of the left and right moving trolleys 14, and the radar target simulator 15 is used for releasing electric signals representing the characteristics of obstacles.
The intelligent driving module can automatically control the operation of the vehicle body 7 when determining the front environment and the obstacle, and is a module to be tested, and detailed description of the intelligent driving module is omitted in the technical scheme;
among them, the test stand 2 is preferably a conveyor belt, and the movement speed of the conveyor belt and the movement speed of the vehicle body 7 are kept identical, whereby the displacement of the vehicle body 7 in the camera bellows 1 can be reduced, and the vehicle body 7 can be detected for traveling in a small space.
The core of the technical scheme is that the peripheral side surface of the wheel 8, which is in contact with the test bench 2, is a ground grabbing surface, the ground grabbing friction force of the wheel 8 is adjustable, the running of the vehicle body 7 on different environment roads can be simulated through adjusting the ground grabbing friction force, such as roads, rain roads or snow, the ground grabbing surface of the wheel 8 is provided with a plurality of protruding parts which can protrude outwards, the position of the protruding parts on the ground grabbing surface is adjustable, the protruding height of the protruding parts is adjustable, and protruding jolting on the road can be simulated through arranging the protruding parts on the ground grabbing surface.
As shown in fig. 2-3, a structure of the wheel 8 is described in detail herein, specifically, the wheel 8 includes a hub 18 assembled on a vehicle body 7, a rim 19 is fixedly connected to an outer side of the hub 18, a tire 20 is assembled on an outer side of the rim 19, a circumferential side surface of the tire 20 is a ground surface contacting with the test bench 2, the tire 20 is of a double-layer structure, an inner layer is an inner cushion layer and can be inflated for the wheel 8 to perform normal operation, an outer layer of the tire 20 is an anti-slip layer made of magnetorheological rubber, a controllable power supply is fixedly connected to an inner portion of the rim 19, an exciting coil 21 connected with the controllable power supply is assembled on the tire 20, and at this time, the exciting coil 21 is electrified through the controllable power supply, so that a magnetic field is generated by the exciting coil 21, the magnetic field causes the magnetorheological rubber to perform magnetorheological, and friction force of the anti-slip layer is adjusted.
The magnetorheological rubber in the technical scheme is a mixture of silicon rubber and iron powder, and the material is low in cost and convenient to produce.
Meanwhile, the number of the exciting coils 21 is preferably a plurality, and the plurality of exciting coils 21 are arranged on the tire 20 in a rectangular array, at this time, by dividing the tire 20 into a plurality of anti-skid partitions, each anti-skid partition is opposite to one exciting coil 21, and each anti-skid partition is controlled by each exciting coil 21, the circumferential side of the tire 20 can be kept with different friction force, so that the change of the road surface friction force in a small range can be simulated more sensitively.
As shown in fig. 3-5, in order to control the ground grabbing surface to form a protruding portion, a plurality of annular rotation driving devices 22 are assembled in the rim 19, automatic supporting frames 23 are fixedly connected to the annular rotation driving devices 22, protruding supporting bodies 24 are assembled on the automatic supporting frames 23, the annular rotation driving devices 22 can drive the protruding supporting bodies 24 to rotate, the area where the ground grabbing surface and the protruding supporting bodies 24 are opposite is adjusted, the distance between the protruding supporting bodies 24 and the annular rotation driving devices 22 can be adjusted by the automatic supporting frames 23, when the distance is increased, the protruding supporting bodies 24 can abut against the inner walls of the tires 20, the ground grabbing surface of the tires 20 protrudes outwards, and the protruding portion is formed.
The annular rotary drive device 22 is a device which can drive the automatic support 23 into annular movement inside the rim 19, and can be a slip ring motor.
And, as shown in fig. 4, a plurality of inner brackets 38 in annular arrays can be fixedly connected to the rim 19, and the inner brackets 38 are connected with the tire 20, and the inner brackets 38 are arranged at the connection part of each anti-slip partition, so that when one anti-slip partition forms a protruding part, the influence on other partitions is small.
As shown in fig. 5-7, the automatic support 23 includes a transverse bracket 25 fixedly connected to the annular rotation driving device 22, two ends of the transverse bracket 25 are fixedly connected with guide rail bodies 26, two guide rail bodies 26 are slidably connected with guide rods 27, one end of each guide rod 27, which is far away from the transverse bracket 25, is fixedly connected with a convex support body 24, the sliding direction of the convex support body 24 can be guided through the guide rail bodies 26 and the guide rods 27, the stability of the automatic support 23 is ensured, a small electric push rod 28 is fixedly connected to the transverse bracket 25, the output end of the small electric push rod 28 is fixedly connected with the convex support body 24, at the moment, the small electric push rod 28 can drive the convex support body 24 to linearly move by starting, the distance between the convex support body 24 and the annular rotation driving device 22 is adjusted, the adjusting mode is simpler, and the adjusting process is stable.
As shown in fig. 5-9, the protruding support 24 includes a transverse rail 29 fixedly connected to one end of two guide rods 27 far away from the transverse bracket 25, and an edge support 30 is assembled on the transverse rail 29 through a horizontal adjusting member, and at this time, the position of the edge support 30 is adjusted through the horizontal adjusting member, so that the position of the protruding part formed on the ground can be adjusted;
the cross rail 29 may be further provided with another side support 30 via another horizontal adjusting member, and at this time, the width of the formed protrusion may be adjusted by adjusting the distance between the two side supports 30 to form protrusions with different widths.
Here, as shown in fig. 8-9, the horizontal adjusting member includes a transmission motor 35 fixedly connected to the transverse rail 29, an output end of the transmission motor 35 is fixedly connected with a screw 36 extending to the inside of the transverse rail 29, an axis of the screw 36 is the same as a moving direction of the side supporting body 30, the side supporting body 30 is slidably connected to the transverse rail 29, a threaded hole is formed in the side supporting body 30, the two side supporting bodies 30 are respectively connected with the two screw 36 through the two threaded holes, the screw 36 can be driven to rotate after the transmission motor 35 is started, the screw 36 can drive the side supporting body 30 in threaded connection with the screw to move when rotating, the position of the side supporting body 30 is adjusted, and a round hole is formed in the side supporting body 30, so that the side supporting body 30 and the other screw 36 are arranged in a staggered manner, and the round hole is not affected by each other.
Meanwhile, as shown in fig. 8, in order to disperse the extrusion force of the side support 30 on the tire 20 and reduce the concentrated stress, one end of the transverse rail 29 is fixedly connected with a winder 34, the winder 34 is provided with a tension support belt 33, one end of the tension support belt 33 extending out of the winder 34 is connected with one end of the transverse rail 29 away from the winder 34 by bypassing the two tension support belts 33, at this time, after the position adjustment of the two side support 30 is completed, the tension support belts 33 are wound by the winder 34, so that the tension support belts 33 are kept in a tight state on the two side support bodies 30, and when the raised support 24 and the tire 20 are abutted, the extrusion force of the tire 20 caused by the planar contact between the tension support belts 33 and the tire 20 is dispersed relative to the point contact of the side support bodies 30 and the tire 20.
As shown in fig. 8-9, in order to apply a propping force to the middle position of the tensioning brace belt 33, a plurality of middle braces 31 are slidably connected on the transverse rail 29 and between the two side braces 30, two through holes are formed in each of the plurality of middle braces 31, a screw 36 penetrates through the middle braces 31 through the through holes, return springs 37 are arranged between two adjacent middle braces 31 and between two adjacent side braces 30 and the middle braces 31, and after the positions of the side braces 30 are adjusted, the positions of the middle braces 31 can be automatically adjusted by pressing the return springs 37 on the middle braces 31, so that the middle braces 31 are uniformly distributed between the two side braces 30;
the return spring 37 is preferably sleeved outside the screw 36, and the deflection of the return spring 37 can be reduced by limiting the return spring 37 by the screw 36.
Meanwhile, the rotating shafts 32 are rotatably connected to the ends, far away from the guide rods 27, of the side support bodies 30 and the middle support body 31, the rotating shafts 32 are abutted against the side support bodies 30, and at the moment, when the tensioning support belt 33 moves, abrasion can be reduced through rotation of the rotating shafts 32.
The working principle of the invention is as follows: when in use, the vehicle body 7 is placed on the test bench 2, and the intelligent driving module is used for controlling the vehicle body 7 to run on the test bench 2;
the method comprises the steps that water flow is released through a spraying system 16 to simulate different rainwater weather in the running process of a vehicle body 7, the temperature inside a camera bellows 1 is regulated through an air conditioning system 17, different wind power is simulated through air exhaust of an air outlet of an air pipe, so that different weather environments are formed, and a simulation experiment is carried out on the running process of the vehicle body 7 in the different weather environments;
meanwhile, projection with the characteristic of an environment image is projected on a curtain 10 for display through a projector 9, the distance between the radar target simulator 15 and the test bench 2 is adjusted through the movement of the front-back moving trolley 12 on the front-back guide rail 11, the transverse position of the radar target simulator 15 is adjusted through the movement of the left-right moving trolley 14 on the left-right guide rail 13, and then an electric signal representing the characteristic of an obstacle is released through the radar target simulator 15;
the vehicle body 7 is used for identifying projected environment image features through a visual identification unit during running, determining the front environment and inputting the front environment into the intelligent driving module, and identifying electric signals representing obstacles through a radar detection unit, determining the front obstacles and inputting the front obstacles into the intelligent driving module;
in the running process of the vehicle body 7, a controllable power supply is used for electrifying the exciting coil 21, so that the exciting coil 21 generates a magnetic field, the magnetic field enables magnetorheological rubber to generate magnetorheological, the friction force of an anti-skid layer is regulated, and the sideslip phenomenon caused by the fact that the ground grabbing force is reduced suddenly on a rainy and snowy road surface is simulated;
the annular rotary driving device 22 can drive the convex supporting body 24 to rotate, the area where the ground is grabbed and the convex supporting body 24 are opposite is adjusted, then the distance between the convex supporting body 24 and the annular rotary driving device 22 is adjusted through the automatic supporting frame 23, the convex supporting body 24 is abutted against the inner wall of the tire 20, the ground grabbed by the tire 20 is outwards protruded to form a protruding part, and the running of the wheel 8 on a bumpy road is simulated.
The intelligent driving module automatically controls the operation of the vehicle body 7 after determining the front environment and the obstacle, and at the moment, the running process of the vehicle body 7 is monitored to test the running performance of the intelligent driving module under various environments.
To sum up, this technical scheme can simulate various environment through setting up vision target projection simulation unit 4, radar target simulation unit 5 and weather simulation unit 6 and supply automobile body 7 to go, test intelligent driving module's performance of going under various environment, and through the improvement to wheel 8, can accomplish the simulation to ground through wheel 8, the structure of ground simulation unit has been simplified, very big reduce the cost, and can be according to the demand of test through the required road surface environment when adjusting the automobile body 7 of wheel 8 quick and going, adjust comparatively sensitively, thereby better drivability when meetting the road surface emergency to intelligent driving module tests.
The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (10)
1. The utility model provides a simulation test system for emulation intelligent driving, includes camera bellows (1), internally mounted of camera bellows (1) has testboard (2), weather analog unit (6), is located visual target projection analog unit (4) and radar target analog unit (5) of testboard (2) front side, radar target analog unit (5) are located between testboard (2) and visual target projection analog unit (4), be provided with test vehicle (3) on testboard (2), test vehicle (3) include automobile body (7), install wheel (8), visual identification unit, radar detection unit and the intelligent driving module that is tested on automobile body (7), wheel (8), visual identification unit and radar detection unit all with intelligent driving module electric connection, its characterized in that: the circumference of wheel (8) and testboard (2) contact is grabbed ground, grab ground frictional force of wheel (8) is adjustable, just grab ground of wheel (8) is provided with a plurality of bellying that can outwards bellied, the bellying is in grabbing subaerial position adjustable, the protruding height-adjustable of bellying.
2. The simulation test system for simulating intelligent driving according to claim 1, wherein: the weather simulation unit (6) is including installing spray system (16) on camera bellows (1) inside top and being located testboard (2) upper portion and installing air conditioning system (17) inside camera bellows (1), vision target projection simulation unit (4) are including projecting apparatus (9) and curtain (10), curtain (10) fixed connection is inside just being located the front side of testboard (2) in camera bellows (1), projecting apparatus (9) fixed connection is at the inside top of camera bellows (1), radar target simulation unit (5) are including fixed connection in camera bellows (1) inside downside and be located two front and back guide rail (11) between testboard (2) and curtain (10), two all install a plurality of front and back travelling car (12) that can follow front and back guide rail (11) axis direction and remove, two front and back travelling car (12) on front and back guide rail (11) are a set of one by one, two front and back travelling car (12) of same set are provided with on the left and right travelling car (13) fixed connection, left and right travelling car (13) are equipped with on the left and right travelling car (13).
3. The simulation test system for simulating intelligent driving according to claim 1, wherein: the wheel (8) comprises a wheel hub (18) assembled on a vehicle body (7), a rim (19) is fixedly connected to the outer side of the wheel hub (18), a tire (20) is assembled on the outer side of the rim (19), the circumferential side surface of the tire (20) is a ground grabbing surface contacted with a test bench (2), the tire (20) is of a double-layer structure, the inner layer of the tire is an inner cushion layer, the outer layer of the tire (20) is an anti-skid layer made of magnetorheological rubber, a controllable power supply is fixedly connected to the inner part of the rim (19), and an exciting coil (21) connected with the controllable power supply is assembled on the tire (20);
the inside of rim (19) is equipped with a plurality of annular rotatory actuating device (22), a plurality of all fixedly connected with automatic strut (23) on annular rotatory actuating device (22), be equipped with protruding support body (24) on automatic strut (23).
4. A simulated test system for simulating intelligent driving as claimed in claim 3, wherein: the number of the exciting coils (21) is a plurality, and the exciting coils (21) are arranged on the tire (20) in a rectangular array.
5. A simulated test system for simulating intelligent driving as claimed in claim 3, wherein: automatic strut (23) include transverse support (25) of fixed connection on annular rotatory driving device (22), the equal fixedly connected with guide rail body (26) in both ends of transverse support (25), two equal sliding connection has guide arm (27) on guide rail body (26), one end and protruding support body (24) fixed connection of transverse support (25) are kept away from to guide arm (27), still fixedly connected with little electric putter (28) on transverse support (25), the output and the protruding support body (24) fixed connection of little electric putter (28).
6. The simulation test system for simulating intelligent driving according to claim 5, wherein: the protruding support body (24) comprises a transverse rail body (29) fixedly connected to one end, far away from the transverse support (25), of the two guide rods (27), and an edge support body (30) is assembled on the transverse rail body (29) through a horizontal adjusting piece.
7. The simulation test system for simulating intelligent driving according to claim 6, wherein: the transverse rail body (29) is also provided with another side support body (30) through another horizontal adjusting piece.
8. The simulation test system for simulating intelligent driving according to claim 6, wherein: the horizontal adjusting piece comprises a transmission motor (35) fixedly connected to the transverse rail body (29), the output end of the transmission motor (35) is fixedly connected with a screw rod (36) extending to the inside of the transverse rail body (29), the side support body (30) is slidably connected to the transverse rail body (29), threaded holes are formed in the side support body (30), and the two side support bodies (30) are respectively connected with the two screw rods (36) through two threaded holes.
9. The simulation test system for simulating intelligent driving according to claim 8, wherein: one end fixedly connected with rolling ware (34) of rail body (29), be equipped with on rolling ware (34) and rise tight stretching strap (33), the one end that rises tight stretching strap (33) and stretches out rolling ware (34) is walked around two and is rises tight stretching strap (33) and rail body (29) and keep away from the one end of rolling ware (34) and link to each other.
10. The simulation test system for simulating intelligent driving according to claim 9, wherein: the transverse rail body (29) is further connected with a plurality of middle supporting bodies (31) in a sliding manner between two side supporting bodies (30), two through holes are formed in the middle supporting bodies (31), the screw rods (36) penetrate through the middle supporting bodies (31) through the through holes, and return springs (37) are respectively arranged between the two adjacent middle supporting bodies (31) and between the two adjacent side supporting bodies (30) and the middle supporting bodies (31).
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| CN118259605B (en) * | 2024-05-30 | 2024-08-23 | 南昌智能新能源汽车研究院 | Hardware-in-loop simulation test device and method for new energy automatic driving automobile |
| CN118483666B (en) * | 2024-07-15 | 2024-09-17 | 成都世源频控技术股份有限公司 | Radar simulation test system based on unmanned aerial vehicle |
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