CN118130123A - Automatic driving test VRU low-visible carrying platform - Google Patents

Abstract

The invention discloses a low-visual carrying platform for an automatic driving test VRU, which comprises a shell, a steering system, a controller assembly and a driver. The invention ensures that the carrying platform has invisible vision, laser radar, millimeter wave radar and other sensing systems, and avoids interference to the sensing system of the automatic driving test vehicle during the automatic driving test. The invention adopts four-wheel independent driving and independent steering, can realize various steering and driving modes, and is used for simulating traffic actions such as straight running, crossing, steering, turning and the like of a VRU target object. The integrated shell uniformly bears the impact of rolling of the tested automatic driving test vehicle, and the shape of the low-low smooth composite material cannot damage the tested vehicle. And the cooling water cabin is arranged to refrigerate or heat the shell, so that the device can adapt to extreme weather conditions such as extremely cold, high temperature and the like. The invention solves the comprehensive problems of microwave stealth, high maneuverability, large structural strength, environmental adaptability and the like and the performance requirements, and meets the continuous use requirements of the automatic driving test scene.

Description

Automatic driving test VRU low-visible carrying platform

Technical Field

The invention relates to the technical field of automatic driving active safety test, in particular to a VRU target carrying platform technology for automatic driving test.

Background

Automated driving tests generally use VRU targets (Vulnerable road user, weak traffic participants) made of soft materials such as foam or fabric to simulate real traffic vehicles to perform dangerous, extreme, etc. traffic actions to detect the ability of the automated driving test vehicle to perceive the surrounding environment, handle emergencies, and coordinate interactions between the vehicle and the weak traffic participants. In the testing process, the VRU carrying platform cannot generate target detection interference on the vision, millimeter wave radar, laser radar and other sensing systems of the automatic driving test vehicle, so that the VRU carrying platform is required to have the invisible of the vision, microwave and other full sensing elements. In the automatic driving test, the VRU carrying platform is impacted and rolled when the automatic driving test vehicle runs at a high speed, and the VRU carrying platform must be ensured not to cause damage or stumbling and side turning to the test vehicle during the collision and rolling, so the VRU carrying platform is generally severely limited. In addition, under the working conditions of high temperature, high speed and the like, the control system and the power assembly generate more heat and are difficult to dissipate heat.

The thickness of the VRU carrying platform adopted in the current test is too large, the interference of the carrying platform to a sensing system and the insufficient maneuverability are not considered, and the comprehensive performance requirements of dangerous test working conditions, VRU action flexibility, broad-spectrum microwave stealth and the like cannot be considered. For example, the 'automobile AEB pedestrian test system' with the bulletin number of CN207894619U is characterized in that a VRU target object is driven by a belt, and the test working conditions such as turning, turning and the like of a pedestrian cannot be completed. For another example, the mobile chassis, the installation system, the object docking method and the automatic driving test method with the bulletin number of CN115931389a adopt a three-mecanum wheel configuration, and are all-metal airframe, so that it is difficult to meet the performance requirements of microwave stealth, rolling resistance and the like. Stringent test conditions place stringent mechanical and electrical demands on VRU carrying platforms, but no adequate solution exists at present.

Disclosure of Invention

The invention aims to provide a modular distributed assembly layout and broad-spectrum electromagnetic invisible design, which meet the requirements of automatic, efficient, reliable and safe automatic driving test. Is a low visual carrier platform for an autopilot test VRU.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

an automatic driving test VRU low-visual carrying platform is used for carrying VRU targets tested by an automatic driving test vehicle and comprises a shell, a steering system, a controller assembly and a driver; the shell is used for bearing the VRU target object, the steering system, the controller assembly and the driver; the VRU target object is movably connected with the shell through an electromagnetic attraction mechanism; the steering system is used for realizing the movement of the shell and comprises four groups, wherein the four groups of steering systems are symmetrically arranged on the central axis of the shell, a cavity is arranged in the shell, and the steering system is movably embedded in the cavity of the shell through a telescopic mechanism; the controller assembly is used for providing control instructions, data processing and fault monitoring; the driver is used for providing power for the steering system and receiving the control command of the controller assembly to realize different steering and driving modes of the steering system.

Preferably, the steering system comprises a steering mechanism, a driving system and a suspension system; the steering mechanism comprises a steering knuckle, wheels and a steering driving device; the steering driving device is connected with the steering knuckle, the steering knuckle is arranged on the driving system, and the driving system is connected with the wheels; the suspension system comprises an upper cross arm and a lower cross arm, and the telescopic mechanism is arranged between the upper cross arm and the lower cross arm; the upper cross arm and the lower cross arm are connected with the steering knuckle through a master pin.

Preferably, the telescopic mechanism comprises a spring vibration reduction assembly and a movable plate, the upper cross arm is connected with the lower cross arm through the movable plate, one end of the spring vibration reduction assembly is arranged on the lower cross arm, and the other end of the spring vibration reduction assembly is arranged on the upper cross arm in a penetrating mode.

Preferably, the steering driving device comprises a linear motor, a motor push rod and a trapezoid arm; the linear motor is connected with the steering knuckle through the motor push rod and the trapezoid arm in sequence.

Preferably, the cooling water tank is movably embedded in the cavity of the shell and is used for adjusting the temperature in the shell.

Preferably, the cooling water cabin comprises a water discharging valve body, a spring, a temperature sensor and a water-proof port; the water drain valve body is sleeved with a spring, and the bottom of the water drain valve body is connected with a water drain port through a sealing gasket; the internal temperature sensor and the auxiliary heating system of being equipped with of drain valve, the external cooling fan that is equipped with of drain valve.

Preferably, the system also comprises a positioning and communication antenna, wherein the positioning and communication antenna is in communication connection with the controller assembly, and the positioning and communication antenna is connected with a remote system through a wireless network and receives test tasks and instructions through the controller assembly to feed back the running state.

Preferably, the shell comprises an outer shell and an inner shell, and the inner shell is integrally formed by aviation aluminum; the shell is made of UPE material, and the UPE material has broad-spectrum wave absorbing property and can absorb multi-band millimeter waves; the surface of the shell is coated with gray frosted paint for absorbing and diffusely reflecting visible light and infrared light, detecting interference of a sensing system of the automatic driving test vehicle on the target object is reduced, and electromagnetic wave broad-spectrum stealth is realized.

Preferably, the height of the shell is smaller than 50mm, so that the automatic driving test vehicle is prevented from being damaged when being tested and rolled, and visual stealth is achieved when the automatic driving test vehicle is tested.

An application method of a low-visual carrying platform of an automatic driving test VRU comprises the following steps: fixing a VRU target object with collision telecommunication signals on the top center of a carrying platform of the integrated shell through a target object mounting seat and a target object mounting rod; the target object mounting seat is connected with the carrying platform through an electromagnetic attraction mechanism; the bottom of the carrying platform realizes the angle steering through four groups of independent steering systems and simulates the traffic behaviors of straight running, traversing, steering, turning around and turning around of a VRU target object; when an automatic driving test vehicle is in a process of testing a collision VRU target object, the test wheels of the automatic driving test vehicle are rolled onto a carrying platform, and all wheels at the bottom of the carrying platform retract into a shell of the carrying platform; the carrying platform of the integrated forming shell bears the load brought by rolling of all automatic driving test vehicles through a load uniform distribution structure, can bear single tire load of ton at maximum, and ensures that the carrying platform is not damaged during rolling; because the target object mounting seat is connected with the carrying platform by adopting the electromagnetic attraction mechanism, when the automatic driving test vehicle collides with the VRU target object, a collision telecommunication signal is triggered, and the carrying platform controls the electromagnetic attraction mechanism to release, so that the VRU target object is separated from the carrying platform, the safety of the automatic driving test vehicle and the test equipment in the test process is ensured, and the quick preparation and test deployment of the test are facilitated; after the test is finished, fixing the VRU target object on the center of the top of the carrying platform through the target object mounting seat and the target object mounting rod, and resetting collision telecommunication signals to wait for the next test; when the air conditioner is in a high-temperature environment, cold water is filled into the cooling water cabin, so that the shell of the carrying platform is kept at a low temperature, and the low temperature of the shell is blown to the electric element through cold air by a cooling fan arranged in the shell; along with external insolation or continuous operation, the carrying platform is heated, and when the temperature in the cooling water cabin reaches an alarm threshold preset by a temperature sensor, a high-temperature alarm signal is sent; at the moment, a tester opens a water discharging valve body of the cooling water cabin, discharges the heated water through a water discharging port, discharges the water discharging valve body after the water is discharged, and refills cold water, so that automatic driving test is continuously performed under the extremely high temperature condition; when the platform is in an extremely cold environment, an auxiliary heating system in the cooling water cabin is started to preheat, and the platform starts to work after the temperature of the platform reaches the working temperature.

Compared with the prior art, the invention has the following beneficial effects:

(1) The height of the assembly of the carrying platform adopted by the invention is less than 50mm, so that the visual stealth effect is better, and meanwhile, the automatic driving test vehicle is ensured not to be damaged when being rolled.

(2) The shell in the carrying platform adopts UPE material with broad-spectrum wave absorbing characteristic, and can absorb multi-band millimeter waves; the surface of the shell is coated with gray frosted paint, which can absorb and diffuse reflect visible light and infrared light. The detection interference of the automatic driving test vehicle sensing system on the VRU target object can be fully reduced, and the electromagnetic wave broad-spectrum stealth is realized. The carrying platform has low visibility under perception systems such as vision, laser radar, millimeter wave radar and the like, and interference to an automatic driving test vehicle perception system during automatic driving test is avoided.

(3) The invention integrates four groups of steering systems capable of working independently through the modular distributed assembly layout, realizes four-wheel drive and four-wheel steering, can realize various steering and driving modes, and is used for simulating traffic actions such as straight going, traversing, steering, turning and the like of a VRU target object.

(4) According to the invention, the cooling water cabin is added in the carrying platform, the temperature sensor is embedded, the temperature is convenient to feedback, and when the temperature exceeds a set threshold, an alarm is given, at the moment, the drainage button is pressed to release the overheat liquid, and then cold water is added through the re-injection hole; when the system is in an extremely cold environment, the auxiliary heating system in the cooling water cabin preheats the system, and starts to work after the temperature of the low-visible carrying platform reaches the working temperature, so that the whole visible carrying platform can adapt to automatic driving test under a wide-temperature traffic environment of minus 30-70 ℃.

(5) The invention enables the carrying platform to remotely receive the test task instruction of the test center control platform through the communication connection of the positioning and communication antenna and the controller assembly, wherein the steering, driving, controlling and other systems receive the corresponding instruction to execute task actions, can remotely transmit data to the carrying platform, distribute test tasks, update the system, remotely control the system and the like,

In summary, the invention comprehensively meets the test use requirements of the carrying platform in both mechanical and electrical systems.

In summary, the invention is used to carry the soft VRU target object as the target test object, and execute the traffic scene actions such as danger, limit, etc. The method can reduce the influence on the sensing system (vision, millimeter wave radar, laser radar and the like) of the tested autopilot vehicle by matching with the carrying platform, and simultaneously solve the comprehensive challenges in the aspects of microwave stealth, structural compactness, structural strength, environmental adaptability and the like of the carrying platform. The invention adopts four-wheel drive four-wheel steering design, can realize multiple steering and driving modes, and is used for simulating traffic actions such as straight running, traversing, steering, turning around and the like of a VRU target object. The shell adopts UPE material with broad-spectrum wave-absorbing property to absorb and scatter broad-spectrum electromagnetic wave completely, so as to realize electromagnetic wave stealth, and the appearance design of low and dark gray can realize visual stealth. The integrated shell uniformly bears the impact of rolling of the tested automatic driving vehicle, the structural strength is high, and the appearance of the low and smooth composite material cannot cause any damage to the tested vehicle. The cooling water cabin is arranged to forcedly cool or heat the cabin, so that the cooling water cabin can adapt to extreme weather conditions such as extremely cold, high temperature and the like.

Drawings

Fig. 1 is a schematic perspective view of a low visual carrying platform for an autopilot test VRU according to the present embodiment;

fig. 2 is a schematic top view of a low visual carrying platform for an autopilot test VRU according to the present embodiment;

Fig. 3 is a schematic structural diagram of a steering system in a low-visual carrying platform of an autopilot test VRU according to the present embodiment;

Fig. 4 is a multi-angle schematic diagram of the operation of the steering system in the low-visual carrying platform of the automatic driving test VRU according to the present embodiment;

fig. 5 is a schematic structural diagram of a cooling water tank in a low-visual carrying platform of an autopilot test VRU according to the present embodiment;

FIG. 6 is a schematic diagram of the operating principle of FIG. 5;

fig. 7 is a schematic structural diagram of connection between a low-visual carrying platform of an autopilot test VRU and a VRU target object according to the present embodiment;

fig. 8 is a schematic diagram of an autopilot test VRU low-vision carrier platform according to the present embodiment during an autopilot test vehicle test.

The numbers in the figure are as follows:

100. A carrying platform; 110. a housing; 120. an inner case; 130. a cooling water tank; 131. cooling fan 132, drain valve body 133, spring 134, temperature sensor 135, sealing pad 136, drain port; 140. a steering system; 141. a position sensor; 142. a linear motor; 143. a motor push rod; 144. a trapezoidal arm; 145. a wheel; 146. an upper cross arm; 147. a spring vibration damping assembly; 148. a lower cross arm; 149. a motor assembly; 1410. a knuckle; 1411. a kingpin; 150. a controller assembly; 160. a positioning and communication antenna; 170. a driver; 200. a target mounting base; 300. a target mounting bar; 400. a VRU target; 500. the wheels were tested.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

Fig. 1 is a schematic perspective view of a low visual carrying platform for an autopilot test VRU according to the present embodiment.

Fig. 2 is a schematic top view of a low visual carrying platform for an autopilot test VRU according to the present embodiment.

As shown in fig. 1 and 2, the low-vision carrying platform 100 for an autopilot test VRU according to the present invention is used for carrying a VRU target 400 tested by an autopilot test vehicle, and comprises a housing, a cooling water tank 130, a steering system 140, a controller assembly 150, a positioning and communication antenna 160, and a driver 170.

The housing is used to carry the VRU target 400, steering system 140, controller assembly 150, and driver 170; the VRU target 400 is movably connected to the housing by an electromagnetic attraction mechanism.

The shell comprises an outer shell 110 and an inner shell 120 of a rectangular mechanism, the inner shell 120 is arranged in the outer shell 110, and is used as an inner supporting structure of the outer shell 110, and the inner shell is integrally formed by aviation aluminum, can bear rolling of single-wheel loads of the 4-ton test wheel 500, and fully protects the autopilot test vehicle and equipment.

The housing 110 is made of UPE material, which has broad-spectrum wave absorbing property and can absorb multi-band millimeter waves. The surface of the shell 110 is coated with gray frosted paint for absorbing and diffusely reflecting visible light and infrared light, so as to reduce detection interference of a sensing system of the automatic driving test vehicle on a target object and realize broad-spectrum electromagnetic wave stealth.

The shell 110 adopts a low visual shell with the height less than 50mm, and meanwhile, the low visual shell adopts a smooth composite material, so that the damage to the automatic driving test vehicle can not be caused when the automatic driving test vehicle is tested and rolled, and meanwhile, the visual stealth of the automatic driving test vehicle during testing is realized.

Fig. 5 is a schematic structural diagram of a cooling water tank in a low-vision carrying platform of an autopilot test VRU according to the present embodiment.

Fig. 6 is a schematic diagram of the working principle of fig. 5.

As shown in fig. 5 and 6, a cooling water compartment 130 is provided between the outer shell 110 and the inner shell 120 for adjusting the temperature within the shell to provide forced cooling for low-vision carrier platform in-compartment equipment to ensure proper compartment temperature at high temperatures and provide all-weather testing capability. The cooling water tank 130 includes a water discharge valve 132, a spring 133, a temperature sensor 134, and a waterproof port 136.

The spring 133 is sleeved outside the water drain valve body 132, and the bottom of the water drain valve body is connected with the water drain port 136 through the sealing gasket 135; a temperature sensor 134 and an auxiliary heating system are arranged in the water drain valve body 132, and a cooling fan 131 is arranged outside the water drain valve body 132.

At high temperature, cold water is poured into the cooling water tank 130 to keep the outer wall of the integrated aviation inner casing 120 at a low temperature, and the cooling fan 131 blows the over-wall cold air toward the electric components. With external insolation or continued operation, the carrying platform 100 is heated and when the alarm threshold of the temperature sensor of 3-4 ℃ is reached, a high temperature alarm signal is sent. At this time, the tester pulls up the water discharge valve body, discharges the superheated water through 3-6 water discharge ports, discharges the water discharge valve body after the superheated water is discharged, and refills cold water, so as to ensure that the automatic driving test vehicle is continuously carried out under the extremely high temperature condition.

When the system is in an extremely cold environment, the auxiliary heating system in the cooling water tank preheats the system, and the platform 100 to be carried starts to work after the temperature reaches the working temperature. The low-visual carrying platform can be suitable for automatic driving test under wide-temperature traffic environment at-30-70 ℃.

The positioning and communication antenna 160 is in communication connection with the controller assembly 150 to provide centimeter-level positioning service for the carrying platform 100, and the positioning and communication antenna 6 is connected with a remote system through a wireless network and receives test tasks and instructions through the controller assembly 150 to feed back the running state.

Fig. 3 is a schematic structural diagram of a steering system in a low-visual carrying platform of an autopilot test VRU according to the present embodiment.

As shown in fig. 3, the steering system 140 adopts a disconnected ackerman steering trapezoid structure, and is used for realizing the movement of the carrying platform 100, the steering system 140 adopts four groups, and is symmetrically arranged by the central axis of the housing 110, a cavity is arranged in the housing 110 with a rectangular structure near the corners, and the steering system 140 is movably embedded in the cavity of the housing 110 through a telescopic mechanism.

The steering system 140 includes a steering mechanism, a motor assembly 149, and a suspension system in the form of a half-axle configuration of an independent suspension. The steering mechanism includes a knuckle 1410, wheels 145, a linear motor 142, a motor pushrod 143, a trapezoidal arm 144, and a position sensor 141.

The wheels 145 are independently steered and independently driven, the wheels 145 are connected with the motor shaft of the motor assembly 149, the motor assembly 149 adopts a hub motor configuration, the knuckle 1410 is connected with the housing of the motor assembly 149, the knuckle 1410 is connected with the motor push rod 143 through the trapezoid arm 144,

The motor push rod 143 is connected with the linear motor 142, the linear motor 142 drives the motor push rod 143 to move linearly, the motor push rod 143 is transmitted to the steering knuckle 1410 through the trapezoid arm 144, and the steering knuckle 1410 drives the wheels 145 to rotate, so that steering is realized. A position sensor 141 is located at one side of the linear motor 142 for feeding back the position of the motor push rod 143 in real time.

The wheel ends of each steering mechanism can be distributed on the carrying platform 110 through the disconnected ackerman steering trapezoid structure, so that the space occupation is small, the deployment and control are flexible, and the performance requirements of the steering system of various special vehicles are met. Compared with the traditional angle module wheel assembly, the vertical dimension is compact, and the angle module wheel assembly can be used for limiting application scenes with limited vehicle height.

The independent steering, independent driving and independent suspension of the four renting wheels of the steering system drive the carrying platform 110 to simulate the traffic behavior of VRU targets 400 such as pedestrians, bicycles and the like during testing.

Fig. 4 is a multi-angle schematic diagram of the operation of the steering system in the low-visual carrying platform of the automatic driving test VRU according to the present embodiment.

As shown in fig. 4, in the present embodiment, four sets of wheels in the steering system are provided with a plurality of steering modes, specifically as follows:

(a) The front wheels turn, and the front wheels are rotated to turn the carrying platform;

(b) The rear wheels are turned to turn the carrying platform;

(c) The front wheel and the rear wheel rotate in the same direction, and the carrying platform laterally translates without changing the course;

(d) The front and rear wheels rotate in opposite directions, and the carrying platform can realize small turning radius rotation;

(e) In-situ steering, each wheel rotates to enable the wheel axis to pass through the mass center, and the carrying platform can rotate around the mass center in-situ. The carrying platform provided with the distributed steering system can realize 360-degree omnidirectional high-maneuvering operation, and can simulate traffic behaviors such as straight running, crossing, steering, turning around and the like of a VRU target object.

The suspension system adopts a double-wishbone independent suspension system and comprises an upper wishbone 146 and a lower wishbone 148, wherein the upper wishbone 146 is connected with the lower wishbone 148 through a movable plate 1412, one end of a spring vibration reduction assembly 147 is arranged on the lower wishbone 148, and the other end of the spring vibration reduction assembly 147 is arranged on the upper wishbone 146 in a penetrating way. The knuckle 1410 is connected between the upper cross arm 146 and the lower cross arm 148 by a kingpin 1410. The steering mechanism is mounted in the cavity of the housing 110 by the upper cross arm 146, when the test vehicle is being tested against the VRU target 400, the test wheels of the test vehicle are rolled onto the carrier platform 100, at which point the wheels 1411 at the bottom of the housing 110 of the carrier platform 100 are under the weight of the test vehicle by the spring damper assembly 147, causing the lower cross arm 148 to approach the upper cross arm 146, thereby compressing the wheels 1411 into the cavity at the bottom of the housing 110 of the carrier platform 100. Because the shell 110 of the carrying platform 100 adopts an integrally formed shell, the whole shell can be contacted with the ground, so that the load is uniformly distributed to bear the load brought by rolling of all automatic driving test vehicles, and the carrying platform 100 can bear a single tire load of 4 tons at maximum, so that the carrying platform 100 is ensured not to be damaged during rolling.

A controller assembly 150 for providing control instructions, data processing, and fault monitoring; for providing steering system 140 control commands, resolving test tasks, and monitoring platform faults.

The driver 170 is configured to power the steering system 140 and receive control commands from the controller assembly 150 to implement speed and torque control of the steering system 140.

Fig. 7 is a schematic structural diagram of connection between a low-visual carrying platform of an autopilot test VRU and a VRU target object according to the present embodiment.

Fig. 8 is a schematic diagram of an autopilot test VRU low-vision carrier platform according to the present embodiment during an autopilot test vehicle test.

As shown in fig. 7 and 8, the application method of the low-visual carrying platform of the automatic driving test VRU provided by the invention comprises the following steps:

Fixing the VRU target 400 with the collision telecommunication signal at the top center of the carrying platform 100 of the integrally formed housing through the target mount 200 and the target mount bar 300; the target object mounting seat 200 is connected with the carrying platform 100 through an electromagnetic attraction mechanism;

The bottom of the carrying platform 100 realizes 360-degree steering through four groups of independent steering systems, and simulates the traffic behaviors of straight running, traversing, steering, turning around and turning around of the VRU target object 400;

When the autopilot test vehicle is in the process of testing the collision VRU target 400, the test wheels of the autopilot test vehicle are rolled onto the carrying platform 100, and all the wheels at the bottom of the carrying platform 100 retract into the shell of the carrying platform 100; the carrying platform 100 of the integrated forming shell bears the load brought by rolling of all automatic driving test vehicles through a load uniform distribution structure, can bear single tire load of 4 tons at maximum, and ensures that the carrying platform 100 is not damaged during rolling.

Because the target object mounting seat 200 is connected with the carrying platform 100 by adopting an electromagnetic attraction mechanism, when the automatic driving test vehicle collides with the VRU target object 400, a collision telecommunication signal is triggered, the carrying platform 100 controls the electromagnetic attraction mechanism to release, so that the VRU target object 400 is separated from the carrying platform 100, the safety of the automatic driving test vehicle and the test equipment in the test process is ensured, and the quick preparation and test deployment of the test are facilitated;

After the test is completed, fixing the VRU target 400 at the center of the top of the carrying platform 100 through the target mounting seat 200 and the target mounting rod 300 again, and resetting the collision telecommunication signal to wait for the next test;

When the carrier platform is in a high-temperature environment, cold water is poured into the cooling water compartment 130 to keep the housing of the carrier platform 100 at a low temperature, and the low temperature of the housing is blown to the electric components by cold air through the cooling fan 131 arranged in the housing;

With external insolation or continued operation, the carrying platform 100 is heated, and a high temperature alarm signal is sent when the temperature within the cooling water compartment 130 reaches the alarm threshold of the temperature sensor 134.

At this time, the tester opens the water drain valve 132 of the cooling water tank 130, discharges the heated water through the water drain 136, discharges the water drain valve 132 after the water is discharged, and refills the cold water, so as to ensure that the automatic driving test is continuously performed under the extremely high temperature condition;

When the platform is in an extremely cold environment, the auxiliary heating system in the cooling water tank 130 starts preheating, and the platform 100 starts to work after the temperature reaches the working temperature.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims (10)

1. An autopilot test VRU low vision carrier platform for providing carrier for VRU targets (400) tested by autopilot test vehicles, comprising a housing, a steering system (140), a controller assembly (150) and a driver (170);

the housing is used for carrying the VRU target object (400), the steering system (140), the controller assembly (150) and the driver (170); the VRU target object (400) is movably connected with the shell through an electromagnetic attraction mechanism;

the steering system (140) is used for realizing the movement of the shell, and comprises four groups, wherein the four groups of steering systems (140) are symmetrically arranged along the central axis of the shell, a cavity is arranged in the shell, and the steering system (140) is movably embedded in the cavity of the shell through a telescopic mechanism;

the controller assembly (150) is used for providing control instructions, data processing and fault monitoring;

The driver (170) is configured to power the steering system (140) and to receive the control instructions from the controller assembly (150) to implement different steering and driving modes of the steering system (140).

2. The automated driving test VRU low-vision carrier platform of claim 1, wherein the steering system (140) comprises a steering mechanism, a drive system, and a suspension system;

The steering mechanism comprises a steering knuckle (1410), wheels (145) and a steering drive; the steering driving device is connected with the steering knuckle (1410), the steering knuckle (1410) is arranged on the driving system, and the driving system is connected with the wheels (145);

The suspension system comprises an upper cross arm (146) and a lower cross arm (148), and the telescopic mechanism is arranged between the upper cross arm (146) and the lower cross arm (148); the upper cross arm (146) and the lower cross arm (148) are connected with the knuckle (1410) through a kingpin (1410).

3. The low visual carrying platform for an autopilot test VRU of claim 2 wherein said telescoping mechanism comprises a spring damper assembly (147) and a moveable plate (1412), said upper cross arm (146) and said lower cross arm (148) being connected by said moveable plate (1412), one end of said spring damper assembly (147) being disposed on said lower cross arm (148), the other end of said spring damper assembly (147) being disposed on said upper cross arm (146).

4. A low visual carrier platform for an autopilot test VRU according to claim 3 wherein the steering drive means comprises a linear motor (142), a motor pushrod (143), a trapezoid arm (144); the linear motor (142) is connected with a knuckle (1410) through the motor push rod (143) and the trapezoid arm (144) in sequence.

5. The low visual carrying platform for an autopilot test VRU of claim 1 further comprising a cooling water compartment (130), said cooling water compartment (3) being movably embedded within said cavity of said housing for adjusting the temperature within said housing.

6. The automated driving test VRU low visual carrier platform of claim 5, wherein said cooling water compartment (130) comprises a water drain valve (132), a spring (133), a temperature sensor (134) and a water port (136);

A spring (133) is sleeved outside the water drain valve body (132), and the bottom of the water drain valve body is connected with a water drain port (136) through a sealing gasket (135); a temperature sensor (134) and an auxiliary heating system are arranged in the water drain valve body (132), and a cooling fan (131) is arranged outside the water drain valve body (132).

7. The low visual carrier platform for an autopilot test VRU of claim 1 further comprising a positioning and communication antenna (160), the positioning and communication antenna (160) being communicatively coupled to the controller assembly (150), the positioning and communication antenna (6) being coupled to a remote system via a wireless network and receiving test tasks and instructions via the controller assembly (150) for feedback of operational status.

8. The autopilot test VRU low visual carrier platform of claim 1 wherein said housing comprises an outer shell (110) and an inner shell (120), said inner shell (120) being integrally formed of aviation aluminum; the shell (110) is made of UPE material, and the UPE material has broad-spectrum wave absorbing characteristics and can absorb multi-band millimeter waves;

The surface of the shell (110) is coated with gray frosted paint for absorbing and diffusely reflecting visible light and infrared light, so that detection interference of a perception system of the automatic driving test vehicle on the target object is reduced, and electromagnetic wave broad-spectrum stealth is realized.

9. An autopilot test VRU low visual carrier platform according to claim 1 wherein the height of the housing (110) is less than 50mm to ensure that the autopilot test vehicle is tested and rolled without damage to the autopilot test vehicle while achieving visual stealth during the autopilot test vehicle test.

10. An application method of a low-visual carrying platform of an automatic driving test VRU is characterized by comprising the following steps:

fixing a VRU target object (400) with collision telecommunication signals on the top center of a carrying platform (100) of the integrated shell through a target object mounting seat (200) and a target object mounting rod (300); the target object mounting seat (200) is connected with the carrying platform (100) through an electromagnetic attraction mechanism;

The bottom of the carrying platform (100) realizes 360-degree steering through four groups of independent steering systems, and simulates the traffic behaviors of straight running, traversing, steering, turning around and turning around of the VRU target object (400);

When an automatic driving test vehicle is in a process of testing a collision VRU target object (400), test wheels of the automatic driving test vehicle are rolled onto a carrying platform (100), and all wheels at the bottom of the carrying platform (100) retract into a shell of the carrying platform (100); the carrying platform (100) of the integrated shell bears the load brought by rolling of all automatic driving test vehicles through a load uniform distribution structure, can bear single tire load of 4 tons at maximum, and ensures that the carrying platform (100) is not damaged during rolling;

because the target object mounting seat (200) is connected with the carrying platform (100) by adopting an electromagnetic attraction mechanism, when the automatic driving test vehicle collides with the VRU target object (400), a collision telecommunication signal is triggered, and the carrying platform (100) controls the electromagnetic attraction mechanism to release, so that the VRU target object (400) is separated from the carrying platform (100), the safety of the automatic driving test vehicle and the test equipment in the test process is ensured, and the quick preparation and test deployment of the test are facilitated;

After the test is finished, fixing the VRU target object (400) on the top center of the carrying platform (100) through the target object mounting seat (200) and the target object mounting rod (300), and resetting collision telecommunication signals to wait for the next test;

when the environment is in a high-temperature environment, cold water is filled into the cooling water cabin (130), so that the shell of the carrying platform (100) is kept at a low temperature, and the low temperature of the shell is blown to the electric element through cold air by a cooling fan (131) arranged in the shell;

With external insolation or continuous operation, the carrying platform (100) is heated, and when the temperature in the cooling water cabin (130) reaches an alarm threshold preset by the temperature sensor (134), a high-temperature alarm signal is sent;

at the moment, a tester opens a water discharging valve body (132) of the cooling water cabin (130), discharges the heated water through a water discharging port (136), discharges the water discharging valve body (132) after the water is discharged, and refills cold water, so that the automatic driving test is continuously performed under the extremely high temperature condition;

when the platform is in an extremely cold environment, an auxiliary heating system in the cooling water tank (130) is started to preheat, and the platform (100) to be carried starts to work after the temperature reaches the working temperature.