CN208119291U - A kind of intelligent vehicle moved for simulating intelligent body in unmanned test - Google Patents
A kind of intelligent vehicle moved for simulating intelligent body in unmanned test Download PDFInfo
- Publication number
- CN208119291U CN208119291U CN201820592799.1U CN201820592799U CN208119291U CN 208119291 U CN208119291 U CN 208119291U CN 201820592799 U CN201820592799 U CN 201820592799U CN 208119291 U CN208119291 U CN 208119291U
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- intelligent
- simulating
- test
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 46
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003930 cognitive ability Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, including a bottom plate, pan front and rear portion are respectively provided with a groove, two transmission shafts are installed in every groove, it further include four wheels, each wheel passes through the output axis connection of corresponding transmission shaft and a minitype speed reducing motor being fixed in bottom plate groove respectively, each minitype speed reducing motor passes through the electric machine controller that harness is fixed on bottom plate with one respectively and connect, each electric machine controller passes through harness and connect with the master controller being fixed on bottom plate, the power input of master controller is connect by the lithium battery that harness is fixed on bottom plate with one；The utility model can simulate intelligent body, that is, static-obstacle thing, the motion state of dynamic barrier in unmanned test, guarantee the authenticity of test, the personal injury that may cause in test process is effectively prevented simultaneously, improves reliability when road on automatic driving vehicle.
Description
Technical field
The utility model belongs to pilotless automobile test equipment, is related to a kind of for simulating intelligence in unmanned test
The intelligent vehicle of body movement.
Background technique
With domestic and international automotive engineering continuous development with it is perfect, unmanned technology is seasonable and gives birth to, unmanned dependence
Artificial intelligence, vision calculate, radar and global positioning system cooperative cooperating, collection environment sensing, cognition, decision rule and driving are controlled
The functions such as system allow computer can be under the operation of nobody class active, independently, reliably and securely in specific ring in one
Border downward driving.Its cardinal principle is that, by vehicle-mounted sensor-based system perception road environment, automatic planning travelling line simultaneously controls vehicle
Reach predeterminated target；Simultaneously according to road, vehicle location and obstacle information obtained is perceived, control vehicle steering and
Speed, to enable the vehicle to safely and reliably travel on road.
With the development of automatic driving vehicle technology in recent years, domestic and international major research institute, colleges and universities are all in actively research and development nothing
People drive the relevant technologies, in the R&D process of automatic driving vehicle, in order to be best understood from, study, need largely test with
And the correctness of verification algorithm is gone in the simulation of real scene, that is, needs to design a kind of test and evaluation automatic driving vehicle intelligence
Method.But if all tests carry out in true traffic scene, it will be it is abnormally dangerous and inefficient, therefore,
Need to construct the test scene of simulation to replace true traffic scene, to complete a large amount of test early period.
However, most of simulation tests focus on the simulation of road environments, and neglect in unmanned test simulation at this stage
Depending on influence of the intelligent body (such as pedestrian, bicycle, automobile, bus etc.) played in unmanned, tend not to complete
Face, system, objectively reflect automatic driving vehicle the research of cognitive ability level how, and it is mostly important in unmanned technology
Be it is unmanned during avoidance, evade the improvement of the technologies such as pedestrian.
As Patent No. CN106096192A patent in, describe a kind of building of the test scene of automatic driving vehicle
Method and apparatus, obtain scene properties set by user, determine the map to match with the scene properties and intelligence respectively
Body generates test scene according to the map and intelligent body determined.Using the scheme of the invention, although can be improved test scene
Efficiency is constructed, which does not teach how the movement of simulation intelligent body to be tested, and the test scene constructed is still not
True traffic scene can be replaced, which focuses on the simulation of road environment, and ignores the movement of intelligent body at nobody
Generated influence in driving.
Summary of the invention
In order to improve the validity and authenticity of test, and comprehensive, system, objectively test and evaluation automatic driving car
To the cognitive ability of traffic environment and traffic behavior in certain traffic scene, the utility model provides a kind of for mould
Intend the intelligent vehicle that intelligent body moves in unmanned test.The intelligent vehicle can simulate intelligent body, that is, quiet in unmanned test
The motion state of state barrier, dynamic barrier, guarantees the authenticity of test, while effectively preventing to make in test process
At personal injury, improve reliability when road on automatic driving vehicle.
The present invention adopts the following technical scheme that realization：
A kind of intelligent vehicle moved for simulating intelligent body in unmanned test, which is characterized in that including a bottom plate,
Pan front and rear portion are respectively provided with a groove, and two transmission shafts are equipped in every groove, further include four wheels, each
Wheel is respectively by the output axis connection of corresponding transmission shaft and a minitype speed reducing motor being fixed in bottom plate groove, often
A minitype speed reducing motor passes through the electric machine controller that harness is fixed on bottom plate with one respectively and connect, and each electric machine controller is equal
It is connect by harness with the master controller being fixed on bottom plate, the power input of master controller is fixed on by harness with one
Lithium battery connection on bottom plate.
Further technical solution includes：
There are multiple apertures being symmetrically and evenly distributed on the bottom plate, can by bolt or screw by electric machine controller with
And master controller is fixed on bottom plate.
The wheel is Mecanum wheel.
Pass through CAN line communication connection between master controller and electric machine controller.
In the master controller have wireless communication module, master controller can by wireless communication module with it is unmanned
The ECU of vehicle establishes wireless telecommunications connection.
The bottom plate is rectangle.
The bottom plate is made of metal material.
Compared with prior art the beneficial effects of the invention are as follows：
1. the utility model, which is created, has built a kind of intelligent vehicle moved for simulating intelligent body in unmanned test, with
Previous unmanned test environmental simulation the difference is that, present invention adds the intelligent volume elements during unmanned
Element, rather than simple road environment simulation, can simulate the movement of the intelligent bodies such as pedestrian, automobile under true traffic scene, have
The test of effect of anticipation to(for) intelligent body behavior of automatic driving vehicle, sensor cognitive disorders under true unmanned environment
Problems are reported situations, and reliability, the validity of unmanned test are improved, and effective prevention algorithm defect has very
Big practical significance；
2. simultaneously, the intelligent vehicle advantage lower, compact and flexible due to its chassis, can reach detection automatic driving vehicle
Upper sensor sensitivity level and the purpose for checking sensor monitoring dead angle position；
3. controlling minitype speed reducing motor in the intelligent vehicle using electric machine controller, being driven with line traffic control and replace traditional machine
Tool transmission, transmission is accurate, error is small, and saves weight and space, keeps trolley more flexible；
4. the wheel of the intelligent vehicle uses special Mecanum wheel, the forward, traversing of intelligent vehicle, diagonal etc. may be implemented
Comprehensive locomotive function can be neatly realized in motion mode, ensure that the accuracy of simulation intelligent body movement；
5. the detection of correlated performance is carried out to automatic driving vehicle by really simulating real traffic environment, it can be effective
Reduction automatic driving vehicle on a possibility that causing an accident behind road, the generation to avoid traffic accident can mention to a certain extent
High people travel this society for road on automatic driving vehicle to improve people for the degree of belief of automatic driving vehicle
The acceptance level of phenomenon.
Detailed description of the invention
The present invention will be further described below with reference to the drawings：
Fig. 1 is described in the utility model a kind of for simulating the knot for the intelligent vehicle that intelligent body moves in unmanned test
Structure schematic diagram；
Fig. 2 is described in the utility model a kind of for simulating the original for the intelligent vehicle that intelligent body moves in unmanned test
Manage schematic diagram；
Fig. 3 is described in the utility model a kind of for simulating the bottom for the intelligent vehicle that intelligent body moves in unmanned test
The structural schematic diagram of plate；
In figure：1, wheel, 2, transmission shaft, 3, minitype speed reducing motor, 4, bottom plate, 5, electric machine controller, 6, lithium battery, 7,
Master controller, 8, aperture, 9, groove.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing：
A kind of intelligent vehicle moved for simulating intelligent body in unmanned test, including a bottom plate 4,4 front of bottom plate
It is respectively provided with a groove 9 with rear portion, two transmission shafts 2 are installed in every groove 9, further includes four wheels 1, on bottom plate 4
With multiple apertures 8 being symmetrically and evenly distributed, electric machine controller 5 and master controller 7 can be fixed on by bolt or screw
On bottom plate 4.Bottom plate 4 is a rectangular metal plate, and other shapes, the aperture 8 on bottom plate 4 can also be made into according to specific test macro
Its number and distribution form can also be changed, as the case may be to reach easily installation electric machine controller 5 and main control
The purpose of device 7.Each wheel 1 passes through corresponding transmission shaft 2 and a micro speed reducing being fixed in 4 groove of bottom plate respectively
Motor 3 is connected, and each minitype speed reducing motor 3 is connect by harness with an electric machine controller being fixed on bottom plate 45 respectively,
Each electric machine controller 5 is connect by harness with the master controller 7 being fixed on bottom plate 4, each with control in master controller 7
Take turns the program of minitype speed reducing motor 3, the lithium electricity that the power input of master controller 7 is fixed on bottom plate 4 by harness and one
Pond 6 connects.
Wherein, which is driven using line traffic control replaces traditional machine driving come passing movement instruction, eliminates complexity
Cumbersome mechanical structure simplifies the structure of intelligent vehicle, and the relatively reliable control for realizing movement.Master controller 7 and electricity
It is all connected by line traffic control between machine controller 5, electric machine controller 5 and minitype speed reducing motor 3, master controller 7 and electric machine controller 5
Between communicated by CAN line, revolving speed is controlled by power supply between electric machine controller 5 and minitype speed reducing motor 3.
Wheel 1 uses special Mecanum wheel, can be realized the Omnibearing-displacements function such as forward, traversing, diagonal, more quasi-
The true multi-faceted motor function for simulating the intelligent bodies such as pedestrian, vehicle, wheel 1 are bolted with transmission shaft 2.
When the intelligent vehicle is used for unmanned test, wireless communication module is had in master controller 7, can pass through wireless telecommunications
Module is communicated wirelessly with automatic driving vehicle ECU and is connect, and ECU inputs Cognitive Aptitude Test task, master control to master controller 7
Corresponding motor message can be passed to each turbin generator controller 5 by line traffic control according to the difference of test assignment by device 7 processed, each wheel electricity
Machine controller 5 carries out revolving speed control to corresponding minitype speed reducing motor 3, and each wheel 1 is driven to be moved accordingly, to realize not
Same, multi-faceted athletic performance, can accurately simulate the movement shape of the intelligent bodies such as pedestrian, vehicle under real roads environment
State, to improve the accuracy of unmanned test.
Claims (7)
1. a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, which is characterized in that including a bottom plate
(4), bottom plate (4) front and rear is respectively provided with a groove (9), is equipped with two transmission shafts (2) in every groove (9), also
Including four wheels (1), each wheel (1) is fixed in bottom plate (4) groove by corresponding transmission shaft (2) with one respectively
Minitype speed reducing motor (3) output axis connection, each minitype speed reducing motor (3) is fixed on bottom plate by harness and one respectively
(4) electric machine controller (5) connection on, each electric machine controller (5) pass through harness and the main control being fixed on bottom plate (4)
The power input of device (7) connection, master controller (7) is connected by the lithium battery (6) that harness and one are fixed on bottom plate (4)
It connects.
2. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is that there are multiple apertures (8) being symmetrically and evenly distributed on the bottom plate (4), it can be by bolt or screw by motor control
Device (5) and master controller (7) are fixed on bottom plate (4).
3. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is, the wheel (1) is Mecanum wheel.
4. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is, passes through CAN line communication connection between master controller (7) and electric machine controller (5).
5. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is, wireless communication module is had in the master controller (7), and master controller (7) can pass through wireless communication module and nobody
The ECU for driving vehicle establishes wireless telecommunications connection.
6. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is, the bottom plate (4) is rectangle.
7. according to claim 1 a kind of for simulating the intelligent vehicle that intelligent body moves in unmanned test, feature
It is, the bottom plate (4) is made of metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820592799.1U CN208119291U (en) | 2018-04-25 | 2018-04-25 | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820592799.1U CN208119291U (en) | 2018-04-25 | 2018-04-25 | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208119291U true CN208119291U (en) | 2018-11-20 |
Family
ID=64186316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820592799.1U Expired - Fee Related CN208119291U (en) | 2018-04-25 | 2018-04-25 | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208119291U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900493A (en) * | 2019-02-20 | 2019-06-18 | 苏州风图智能科技有限公司 | Barrier analogy method and device in unmanned vehicle test scene |
| CN111381575A (en) * | 2018-12-28 | 2020-07-07 | 成都鼎桥通信技术有限公司 | Automatic test method, device, server, electronic equipment and storage medium |
| CN114279719A (en) * | 2021-12-15 | 2022-04-05 | 南京邮电大学 | Unmanned automobile test simulation device |
-
2018
- 2018-04-25 CN CN201820592799.1U patent/CN208119291U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111381575A (en) * | 2018-12-28 | 2020-07-07 | 成都鼎桥通信技术有限公司 | Automatic test method, device, server, electronic equipment and storage medium |
| CN111381575B (en) * | 2018-12-28 | 2021-08-31 | 成都鼎桥通信技术有限公司 | Automatic test method, device, server, electronic equipment and storage medium |
| CN109900493A (en) * | 2019-02-20 | 2019-06-18 | 苏州风图智能科技有限公司 | Barrier analogy method and device in unmanned vehicle test scene |
| CN114279719A (en) * | 2021-12-15 | 2022-04-05 | 南京邮电大学 | Unmanned automobile test simulation device |
| CN114279719B (en) * | 2021-12-15 | 2024-02-02 | 南京邮电大学 | Unmanned automobile test simulation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110160804B (en) | Test method, device and system for automatically driving vehicle | |
| Zhang et al. | Power management comparison for a dual-motor-propulsion system used in a battery electric bus | |
| Wang et al. | Hybrid electric vehicle energy management with computer vision and deep reinforcement learning | |
| Li et al. | Intelligent environment-friendly vehicles: Concept and case studies | |
| CN109187041A (en) | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area | |
| CN208119291U (en) | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test | |
| Wu et al. | Development and evaluation of an intelligent energy-management strategy for plug-in hybrid electric vehicles | |
| Zhang et al. | Improved short-term speed prediction using spatiotemporal-vision-based deep neural network for intelligent fuel cell vehicles | |
| DE102012216115A1 (en) | A vehicle and method for estimating a range for the vehicle | |
| CN103176472A (en) | Four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system | |
| Zhang et al. | Route planning and power management for PHEVs with reinforcement learning | |
| CN110687828A (en) | Intelligent networking automobile simulation test system based on whole automobile hardware-in-loop | |
| CN109878506A (en) | Vehicle control system, control method for vehicle and storage medium | |
| CN111137136B (en) | Braking response method and system for pure electric vehicle | |
| CN106240705A (en) | A kind of based on double-wheel self-balancing dolly before and after grey neural network prediction algorithm | |
| Mello et al. | Energy-optimal speed trajectories between stops | |
| Xue et al. | An improved energy management strategy for 24t heavy-duty hybrid emergency rescue vehicle with dual-motor torque increasing | |
| CN106515718A (en) | Method and system for controlling a hybrid vehicle | |
| Wang et al. | Research on application in intelligent vehicle automatic control system | |
| CN106494388A (en) | A kind of hybrid vehicle energy management and speed-regulating device and method | |
| Awadallah et al. | A system analysis and modeling of a HEV based on ultracapacitor battery | |
| CN116135654A (en) | Vehicle running speed generation method and related equipment | |
| Liu et al. | Power split control strategy for a series hybrid electric vehicle using fuzzy logic | |
| Song et al. | State-of-the-art and development trends of energy management strategies for intelligent and connected new energy vehicles: a review | |
| Uysal et al. | Modelling and fuzzy logic based control scheme for a series hybrid electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 |