CN209560763U - A kind of intelligent automobile man-machine coordination driving experiment porch - Google Patents
A kind of intelligent automobile man-machine coordination driving experiment porch Download PDFInfo
- Publication number
- CN209560763U CN209560763U CN201821994953.4U CN201821994953U CN209560763U CN 209560763 U CN209560763 U CN 209560763U CN 201821994953 U CN201821994953 U CN 201821994953U CN 209560763 U CN209560763 U CN 209560763U
- Authority
- CN
- China
- Prior art keywords
- pedal
- transmission shaft
- electromagnetic driver
- brake pedal
- gear
- 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.)
- Active
Links
Landscapes
- Mechanical Control Devices (AREA)
Abstract
The utility model discloses a kind of intelligent automobile man-machine coordinations to drive experiment porch, it include bracket, first transmission shaft, second driving shaft, third transmission shaft, stepper motor, display screen, analogue system and pedal-driven mechanism, wherein branch is erected at the front of two driver seats, support plate is equipped on the top plate of bracket, first transmission shaft, one end of second driving shaft and third transmission shaft is pivotally connected on the supporting plate, first transmission shaft is connected with the output shaft of stepper motor, first transmission shaft is rotated under the driving of stepper motor, first gear is equipped on first transmission shaft, second gear and third gear are equipped on second driving shaft, the 4th gear is equipped on third transmission shaft, first gear and second gear are meshed, third gear and the 4th gear are meshed, the utility model has the advantages that experiment porch structure is simple, it is easy for installation.Experiment porch running part can be transformed, and the process of transformation is convenient and simple.
Description
Technical field
The utility model relates to a kind of driving experiment porch, in particular to it is flat that a kind of intelligent automobile man-machine coordination drives experiment
Platform.
Background technique
In recent years, with the development of intelligent automobile, autonomous driving vehicle has been increasingly becoming the developing direction of automobile industry.In
Before the practical non-industrialization of unmanned technology, the man-machine technology of driving altogether receives the extensive concern of insider both domestic and external.Root
Classification according to SAE to automatic Pilot, the man-machine test and evaluation technology for driving technology altogether towards L3 grades or more are becoming industry
The hot spot of interior research, and its exploitation for driving experiment porch also becomes a highly important job.
The man-machine system of driving altogether is divided into man-machine drive altogether of switch type and man-machine drives altogether with shared.Switch type is man-machine to drive generation one altogether
A little vehicle controls beyond except driver's ability scene or vehicle control beyond the scene except control loop limit of power,
Corresponding system or driver need to obtain the power of driving；The shared man-machine relationship for driving middle driver and intelligent driving system altogether
For the rather complicated dynamic interaction relationship of man-machine parallel control, the mode of the driving power distribution collaboration of driver and system according to
Expert classification can be divided into the Collaborative Control of Collaborative Control and haptic interaction formula to Introduced Malaria formula.
Chinese patent CN201610839897.6 is disclosed a kind of man-machine drives type electric boosting steering system and mode is cut altogether
The method changed can give full play to electric boosting steering system in the advantage manually turned to, and increase auto-steering function, and can
To realize the intelligence switching of both of which.The patent realizes the man-machine function of driving altogether of switch type, but man-machine compared to switch type
The applicability for the fraction scene driven altogether, it is shared it is man-machine drive altogether, have more selections in usage scenario.
Chinese patent CN107323457A discloses a kind of method of man-machine shared course changing control driven altogether, and this method is adopted
With Constrained Model Predictive Control, devise shared steering controller, under the premise of meeting safety, make vehicle as far as possible according to
Driver intention drives.The patent provides only control method, but does not provide the building plan of relevant experiment porch, therefore still
It can continue perfect.
Summary of the invention
The purpose of this utility model is to realize to the shared man-machine test and evaluation for driving system altogether, in order to compensate for driving
Misoperation that the person of sailing occurs in driving procedure and a kind of intelligent automobile man-machine coordination provided drives experiment porch.
It includes bracket, the first transmission shaft, that intelligent automobile man-machine coordination provided by the utility model, which drives experiment porch,
Two transmission shafts, third transmission shaft, stepper motor, display screen, analogue system and pedal-driven mechanism, wherein branch is erected at two and drives
The front of seat is sailed, support plate, one end of the first transmission shaft, second driving shaft and third transmission shaft are equipped on the top plate of bracket
It is pivotally connected on the supporting plate, the first transmission shaft is connected with the output shaft of stepper motor, drive of first transmission shaft in stepper motor
It is rotated under making, first gear is equipped on the first transmission shaft, second gear and third gear are equipped on second driving shaft,
The 4th gear is equipped on third transmission shaft, first gear and second gear are meshed, and third gear and the 4th gear are meshed,
Stepper motor, which drives, drives second driving shaft and third transmission shaft to synchronize rotation in the first transmission shaft rotation process, first passes
One end that moving axis is threaded through support plate is connected with first direction disk, and one end that third transmission shaft is threaded through support plate is connected with second
Steering wheel, display screen and analogue system are located at the rear portion of rack plate, are equipped with the first brake pedal side by side on the bottom plate of bracket
With the first gas pedal, the first brake pedal and the first gas pedal are corresponded at the position of first direction disk, on the bottom plate of bracket
It is also equipped with the second brake pedal and the second gas pedal side by side, pedal-driven mechanism is also provided on the bottom plate below bracket, the
Two brake pedals and the second gas pedal are located at the rear portion of pedal-driven mechanism, and the second brake pedal and the second gas pedal are by stepping on
The work of plate driving mechanisms control, pedal-driven mechanism are assemblied at the position of corresponding second direction disk, analogue system and stepping electricity
Machine, display screen are connected with pedal-driven mechanism, and analogue system controls the work of stepper motor and pedal-driven mechanism.
First transmission shaft is connected by retarder and shaft coupling with the output shaft of stepper motor.
The first electromagnetic driver, the control of the first electromagnetic driver are provided in the connection line of stepper motor and analogue system
The work of stepper motor.
It is two that display screen, which is symmetrical arranged,.
Analogue system is Dspace real-time emulation system.
Pedal-driven mechanism includes the first electric cylinder, the second electric cylinder, the first push rod, the second push rod, two first turn
Bar, two the second bull sticks, the first pressing plate, the second pressing plate, the second electromagnetic driver and third electromagnetic driver, wherein first is electronic
Hingedly on the first fixing plate, the first electric cylinder is connected with the front end of the first push rod and the first push rod is driven to carry out straight line fortune cylinder
Dynamic, the rear end of the first push rod is threaded through on the first pin shaft, and the front end of two the first bull sticks is articulated in the both ends of the first pin shaft respectively,
Two the first bull sticks are assemblied on the first support frame by fixed pin, and two the first bull sticks can be rotated around fixed pin, and two
The rear end of a first bull stick is articulated in the two sides of the first pressing plate respectively, and the first pressing plate leans with the second brake pedal, and first pushes away
Two the first bull sticks are driven to carry out rotation to drive the first pressing plate to step on the second brake pedal when bar is moved along a straight line
It steps on, the first electric cylinder is connected with the second electromagnetic driver and controls work by the second electromagnetic driver, and the second electric cylinder is hinged
In the second fixed plate, the second electric cylinder is connected with the front end of the second push rod and the second push rod is driven to move along a straight line, the
The rear end of two push rods is threaded through on the second pin shaft, and the front end of two the second bull sticks is articulated in the both ends of the second pin shaft respectively, and two
Second bull stick is assemblied on the second support frame by fixed pin, and two the second bull sticks can be rotated around fixed pin, and two
The rear end of two bull sticks is articulated in the two sides of the second pressing plate respectively, and the second pressing plate leans with the second gas pedal, the second push rod into
Two the second bull sticks are driven rotate to drive the second pressing plate to trample the second gas pedal when row linear motion, the
Two electric cylinders are connected with third electromagnetic driver and control work by third electromagnetic driver.
Be connected with power supply in analogue system and provide electric power by power supply, analogue system also with the first electromagnetic driver, second
Electromagnetic driver connects with third electromagnetic driver and instructs the first electromagnetic driver, the second electromagnetic driver and third electromagnetism to drive
The work of device is moved, host is also connected in analogue system, Matlab, Prescan and Carsim software, host fortune are housed in host
The man-machine software test platform driven altogether is built with Matlab/Simulink, host combines Prescan software and chooses experiment checkout area
Scape, Carsim software building Full Vehicle Dynamics model in host, first direction disk, the first brake pedal and the first gas pedal group
As a set of sieve skill G29, second direction disk, the second brake pedal and the second gas pedal group become another set of sieve skill G29, first
Steering wheel, the first brake pedal, the first gas pedal, second direction disk, the second brake pedal and second pedal pass through number
It is connected according to line with host, host passes through Matlab/Simulink software for first direction disk, the first brake pedal, the first throttle
Pedal, second direction disk, the second brake pedal and the second gas pedal and analogue system are attached, and driver passes through first party
To the action input of disk, the first brake pedal and the first gas pedal, in real time to analogue system direction of transfer disk corner, brake force
And throttle opening information, steering wheel needed for host finds out current automobile by the computing module inside Matlab/Simulink
Corner, brake force and accelerator open degree, and the first electromagnetic driver, the second electromagnetic driver and third are controlled by analogue system
The work of electromagnetic driver, and stepper motor, the first electric cylinder and the second electric cylinder are controlled, thus to second direction
Disk, the second brake pedal and the second gas pedal apply input, eventually by calculating being total to of getting in Matlab/Simulink
Drive coefficient and realize the amendment that inputs to driver, host is also connected with two display screens, host and two display screens with electricity
Source connects and provides electric power by power supply.
Working principle of the utility model is:
When different Driving Scenes of the driver on display screen, first direction disk, the first braking are stepped on experimental bench
When plate and the first gas pedal are operated, in terms of steering wheel angle, gas pedal aperture and brake pedal aperture can be generated
Input, and it is directed to different Driving Scene and road conditions, the computing module of the Matlab/Simulink software simulation system in host
Current desired steering wheel angle, gas pedal aperture and brake pedal aperture, required steering wheel angle, throttle can be calculated
The difference of pedal opening and brake pedal aperture and driver institute input signal passes through the second direction disk that is connected on host, the
Two brake pedals and the second gas pedal provide.Second direction disk, the second brake pedal and the second gas pedal pass through data line
It is connected with host, they respectively have a corresponding input module in Matlab/Simulink software simulation system, second direction disk,
Second brake pedal and the input module of the second gas pedal and first direction disk, the first brake pedal and the first gas pedal
Input module together constitutes the man-machine importation for driving experiment porch altogether.
The input module of first direction disk and second direction disk together constitutes the steering wheel angle importation of system, i.e.,
System orientation disk corner input=k × first direction disk corner+(1-k) × second direction disk corner.Wherein k is to drive coefficient, k altogether
It is got by the calculating of Matlab/Simulink software simulation system.Similarly, the first brake pedal and the second brake pedal is defeated
Enter module and together constitute the brake pedal force importation of system, is i.e. Braking system pedal force input=braking of k × first is stepped on
Plate power+(1-k) × second brake pedal force, wherein k is to drive coefficient altogether, and k passes through Matlab/Simulink software simulation system meter
It gets；The input module of first gas pedal and the second gas pedal together constitutes the input unit of the accelerator open degree of system
Divide, i.e. the system accelerator open degree=gas pedal of k × first aperture+(1-k) × second gas pedal aperture, wherein k is to drive to be altogether
Number, k are got by the calculating of Matlab/Simulink software simulation system.
By stepper motor, the output torque on the first transmission shaft is realized for the corner control of second direction disk, and stepping is electric
The output of machine is then controlled by the first electromagnetic driver that data line connects, first electromagnetic driver by data line with
Dspace real-time emulation system is connected, and Dspace real-time emulation system and host pass through twisted pair line connection, and can be from host
The corner exported required for second direction disk is obtained, and is translated into the torque for needing stepper motor to export, Dspace is real-time
Analogue system indirectly controls the output torque of stepper motor by controlling the first electromagnetic driver, is finally reached control second direction
The purpose of the corner of disk.
Meanwhile second electromagnetic driver and third electromagnetic driver pass through data line and Dspace real-time emulation system phase
Even.Dspace real-time emulation system and host can obtain the second brake pedal and the by twisted pair line connection from host
The brake-pedal load and accelerator open degree of two gas pedal required inputs, and it is translated into the first electric cylinder and the second electric cylinder
The power that should be exported is driven by the second electromagnetic driver and third electromagnetism that are connected on the first electric cylinder and the second electric cylinder
Dynamic device drives the first pressing plate by the first push rod and the second push rod to drive the first electric cylinder and the second electric cylinder thrust output
The control to the second brake pedal and the second gas pedal is realized with the second pressing plate.
In addition to controlling second direction disk, the output torque of stepper motor passes through the first transmission shaft, by first gear with
Second gear engagement transmits torque to third gear by second driving shaft later, and third gear engages to pass with the 4th gear
Torque is passed, by adjusting the input of first direction disk to achieve the effect that man-machine to drive altogether.
The utility model has the beneficial effects that
Technical solution provided by the utility model realizes driver and shared drive of control loop is weighed, and improves driving peace
Full property and operating reliability.Experiment porch is safe and reliable, sturdy and durable, and the service life is long.Experiment porch structure is simple, installation side
Just.Experiment porch running part can be transformed, and the process of transformation is convenient and simple.The output signal sensitivity of stepper motor
Height, precision are high.The power of driving simulator can be controlled by the second gas pedal of control and the second brake pedal.Pass through bull stick
Structure drives pedal pressing plate to control the second gas pedal and the second brake pedal, and mechanism is ingenious in design, can eliminate pedal
Turning torque caused by uneven surface.
Detailed description of the invention
Fig. 1 is test platform overall structure diagram described in the utility model.
Fig. 2 is pedal-driven mechanism structure schematic diagram described in the utility model.
Fig. 3 is analogue system connection relationship structural block diagram described in the utility model.
Reference number is as follows in upper figure:
1, bracket 2, the first transmission shaft 3, second driving shaft 4, third transmission shaft
5, stepper motor 6, display screen 7, analogue system 8, pedal-driven mechanism
9, driver seat 10, support plate 11, first gear 12, second gear
13, third gear 14, the 4th gear 15, first direction disk 16, second direction disk
17, the first brake pedal 18, the first gas pedal 19, the second brake pedal
20, the second gas pedal 21, retarder 22, shaft coupling 23, the first electromagnetic driver
24, the first electric cylinder 25, the second electric cylinder 26, the first push rod 27, the second push rod
28, the first bull stick 29, the second bull stick 30, the first pressing plate 31, the second pressing plate
32, the second electromagnetic driver 33, third electromagnetic driver 34, the first fixed plate
35, the first support frame 36, the second fixed plate 37, the second support frame 38, the first pin shaft
39, the second pin shaft 40, power supply 41, host.
Specific embodiment
Shown in please referring to Fig.1 to Fig.3:
Intelligent automobile man-machine coordination provided by the utility model drive experiment porch include bracket 1, the first transmission shaft 2,
Second driving shaft 3, third transmission shaft 4, stepper motor 5, display screen 6, analogue system 7 and pedal-driven mechanism 8, wherein bracket 1
It is located at the front of two driver seats 9, support plate 10, the first transmission shaft 2,3 and of second driving shaft are equipped on the top plate of bracket 1
One end of third transmission shaft 4 is articulated in support plate 10, and the first transmission shaft 2 is connected with the output shaft of stepper motor 5, and first
Transmission shaft 2 is rotated under the driving of stepper motor 5, and first gear 11, second driving shaft 3 are equipped on the first transmission shaft 2
On be equipped with second gear 12 and third gear 13, the 4th gear 14, first gear 11 and second are equipped on third transmission shaft 4
Gear 12 is meshed, and third gear 13 and the 4th gear 14 are meshed, and stepper motor 5 drives in 2 rotation process of the first transmission shaft
Second driving shaft 3 and third transmission shaft 4 is driven to synchronize rotation, the first transmission shaft 2 is threaded through one end connection of support plate 10
There is a first direction disk 15, one end that third transmission shaft 4 is threaded through support plate 10 is connected with second direction disk 16, display screen 6 and imitative
True system 7 is located at the rear portion of 1 top plate of bracket, is equipped with the first brake pedal 17 side by side on the bottom plate of bracket 1 and the first throttle is stepped on
At the position of the corresponding first direction disk 15 of plate 18, the first brake pedal 17 and the first gas pedal 18, on the bottom plate of bracket 1 also simultaneously
It equipping equipped with the second brake pedal 19 and the second gas pedal 20, pedal-driven mechanism 8 is also provided on the bottom plate of 1 lower section of bracket,
Second brake pedal 19 and the second gas pedal 20 are located at the rear portion of pedal-driven mechanism 8, the second brake pedal 19 and the second oil
Door pedal 20 controls work by pedal-driven mechanism 8, and pedal-driven mechanism 8 is assemblied at the position of corresponding second direction disk 16,
Analogue system 7 is connected with stepper motor 5, display screen 6 and pedal-driven mechanism 8, and analogue system 7 controls stepper motor 5 and steps on
The work of plate driving mechanism 8.
First transmission shaft 2 is connected by retarder 21 and shaft coupling 22 with the output shaft of stepper motor 5.
The first electromagnetic driver 23, the first electromagnetic driver are provided in the connection line of stepper motor 5 and analogue system 7
The work of 23 control stepper motors 5.
It is two that display screen 6, which is symmetrical arranged,.
Analogue system 7 is Dspace real-time emulation system.
Pedal-driven mechanism 8 includes the first electric cylinder 24, the second electric cylinder 25, the first push rod 26, the second push rod 27, two
28, two the second bull sticks 29 of a first bull stick, the first pressing plate 30, the second pressing plate 31, the second electromagnetic driver 32 and third electromagnetism
Driver 33, wherein the first electric cylinder 24 is hinged in the first fixed plate 34, the front end of the first electric cylinder 24 and the first push rod 26
It is connected and the first push rod 26 is driven to move along a straight line, the rear end of the first push rod 26 is threaded through on the first pin shaft 38, and two
The front end of one bull stick 28 is articulated in the both ends of the first pin shaft 38 respectively, and two the first bull sticks 28 are assemblied in first by fixed pin
On support 35, two the first bull sticks 28 can be rotated around fixed pin, and the rear end of two the first bull sticks 28 is articulated in respectively
The two sides of one pressing plate 30, the first pressing plate 30 lean with the second brake pedal 19, drive when the first push rod 26 is moved along a straight line
Two the first bull sticks 28 rotate to drive the first pressing plate 30 to trample the second brake pedal 19, the first electric cylinder 24
It is connected with the second electromagnetic driver 32 and work is controlled by the second electromagnetic driver 32, it is solid that the second electric cylinder 25 is hinged on second
On fixed board 36, the second electric cylinder 25 is connected with the front end of the second push rod 27 and the second push rod 27 is driven to move along a straight line, the
The rear end of two push rods 27 is threaded through on the second pin shaft 39, and the front end of two the second bull sticks 29 is articulated in the two of the second pin shaft 39 respectively
End, two the second bull sticks 29 are assemblied on the second support frame 37 by fixed pin, two the second bull sticks 29 can around fixed pin into
Row rotation, the rear end of two the second bull sticks 29 are articulated in the two sides of the second pressing plate 31 respectively, and the second pressing plate 31 is stepped on the second throttle
Plate 20 leans, and two the second bull sticks 29 is driven to carry out rotation to drive the second pressing plate when the second push rod 27 is moved along a straight line
31 pair of second gas pedal 20 is trampled, and the second electric cylinder 25 is connected with third electromagnetic driver 33 and is driven by third electromagnetism
Dynamic device 33 controls work.
Be connected in analogue system 7 power supply 40 and by power supply 40 provide electric power, analogue system 7 also with the first electromagnetic driver
23, the second electromagnetic driver 32 and third electromagnetic driver 33 connect and instruct the first electromagnetic driver 23, the second electromagnetic drive
The work of device 32 and third electromagnetic driver 33, is also connected with host 41 in analogue system 7, in host 41 equipped with Matlab,
Prescan and Carsim software, host 41 build the man-machine software test platform driven altogether, host with Matlab/Simulink
41 joint Prescan softwares choose experiment test scene, Carsim software building Full Vehicle Dynamics model in host 41, first party
Become a set of sieve skill G29 to disk 15, the first brake pedal 17 and 18 groups of the first gas pedal, second direction disk 16, second is braked
Pedal 19 and 20 groups of the second gas pedal become another set of sieve skill G29, first direction disk 15, first the 17, first oil of brake pedal
Door pedal 18, second direction disk 16, the second brake pedal 19 and the second gas pedal 20 are connected by data line with host 41,
Host 41 is by Matlab/Simulink software by first direction disk 15, the first brake pedal 17, the first gas pedal 18, the
Two steering wheels 16, the second brake pedal 19 and the second gas pedal 20 are attached with analogue system 7, and driver passes through first party
To the action input of disk 15, the first brake pedal 17 and the first gas pedal 18, turn in real time to 7 direction of transfer disk of analogue system
Angle, brake force and throttle opening information, host 41 find out current automobile institute by the computing module inside Matlab/Simulink
Steering wheel angle, brake force and the accelerator open degree needed, and first the 23, second electricity of electromagnetic driver is controlled by analogue system 7
The work of magnetic driven device 32 and third electromagnetic driver 33, and to stepper motor 5, the first electric cylinder 24 and the second electric cylinder 25 into
Row control, inputs to apply to second direction disk 16, the second brake pedal 19 and the second gas pedal 20, eventually by driving altogether
Coefficient realizes the amendment inputted to driver, and host 41 is also connected with two display screens 6, and host 41 and two display screens 6 are equal
It is connect with power supply 40 and provides electric power by power supply 40.
Working principle of the utility model is:
When different Driving Scenes of the driver on display screen 6, first direction disk 15, first is braked on experimental bench
When pedal 17 and the first gas pedal 18 are operated, steering wheel angle, gas pedal aperture and brake pedal aperture can be generated
The input of aspect, and it is directed to different Driving Scene and road conditions, the Matlab/Simulink software simulation system 7 in host 41
Computing module can calculate current desired steering wheel angle, gas pedal aperture and brake pedal aperture, required direction
The difference of disk corner, gas pedal aperture and brake pedal aperture and driver institute input signal is by being connected on host 41
Second direction disk 16, the second brake pedal 19 and the second gas pedal 20 provide.Second direction disk 16,19 and of the second brake pedal
Second gas pedal 20 is connected by data line with host 41, they respectively have in Matlab/Simulink software simulation system 7
Corresponding input module, the input module and first party of second direction disk 16, the second brake pedal 19 and the second gas pedal 20
The man-machine input unit for driving platform altogether is together constituted to the input module of disk 15, the first brake pedal 17 and the first gas pedal 18
Point.
The input module of first direction disk 15 and second direction disk 16 together constitutes the steering wheel angle input unit of system
Divide, i.e. system orientation disk corner input=k × first direction disk corner+(1-k) × second direction disk corner.Wherein k is to drive altogether
Coefficient, k are got by the calculating of Matlab/Simulink software simulation system 7.Similarly, the first brake pedal 17 and the second system
The input module of dynamic pedal 19 together constitutes the brake pedal force importation of system, i.e. Braking system pedal force input=k
× the first brake pedal force+(1-k) × second brake pedal force, wherein k is to drive coefficient altogether, and k is soft by Matlab/Simulink
The calculating of part analogue system 7 is got；The input module of first gas pedal 18 and the second gas pedal 20 together constitutes system
The importation of accelerator open degree, i.e. the system gas pedal of accelerator open degree=k × first aperture+(1-k) × second gas pedal are opened
Degree, wherein k is to drive coefficient altogether, and k is got by the calculating of Matlab/Simulink software simulation system 7.
By stepper motor 5, the output torque on the first transmission shaft 2 is realized for the corner control of second direction disk 16, and is walked
Output into motor 5 is then controlled by the first electromagnetic driver 23 of data line connection, and the first electromagnetic driver 23 is logical
Data line to be crossed to be connected with Dspace real-time emulation system 7, Dspace real-time emulation system 7 and host 41 pass through twisted pair line connection,
And can be from the corner of output required for acquisition second direction disk 16 in host 41, and be translated into and need stepper motor 5 defeated
Torque out, the output that Dspace real-time emulation system 7 indirectly controls stepper motor 5 by controlling the first electromagnetic driver 23 turn
Square is finally reached the purpose of the corner of control second direction disk 16.
Meanwhile second electromagnetic driver 32 and third electromagnetic driver 33 pass through data line and Dspace real-time simulation system
System 7 is connected.Dspace real-time emulation system 7 and host 41 can obtain the second system by twisted pair line connection from host 41
The brake-pedal load and accelerator open degree of dynamic 20 required input of pedal 19 and the second gas pedal, and it is electronic to be translated into first
The power that cylinder 24 and the second electric cylinder 25 should export, by be connected on the first electric cylinder 24 and the second electric cylinder 25 second
Electromagnetic driver 32 and third electromagnetic driver 33 drive 25 thrust output of the first electric cylinder 24 and the second electric cylinder, and pass through
First push rod 26 and the second push rod 27 drive the first pressing plate 30 and the second pressing plate 31 to realize to the second brake pedal 19 and the second oil
The control of door pedal 20.
In addition to controlling second direction disk 16, the output torque of stepper motor 5 passes through the first transmission shaft 2, passes through the first tooth
Wheel 11 is engaged with second gear 12, transmits torque to third gear 13, third gear 13 and the 4th by second driving shaft 3 later
Gear 14 engages to transmit torque, by adjusting the input of first direction disk 15 to achieve the effect that man-machine to drive altogether.
Claims (7)
1. a kind of intelligent automobile man-machine coordination drives experiment porch, it is characterised in that: include bracket, the first transmission shaft, second
Transmission shaft, third transmission shaft, stepper motor, display screen, analogue system and pedal-driven mechanism, wherein branch is erected at two driving
The front of seat is equipped with support plate on the top plate of bracket, and one end of the first transmission shaft, second driving shaft and third transmission shaft is equal
On the supporting plate, the first transmission shaft is connected with the output shaft of stepper motor, and the first transmission shaft drives stepper motor for pivot joint
Under rotated, first gear is equipped on the first transmission shaft, second gear and third gear are equipped on second driving shaft,
The 4th gear is equipped on three transmission shafts, first gear and second gear are meshed, and third gear and the 4th gear are meshed, step
It is driven into motor and second driving shaft and third transmission shaft is driven to synchronize rotation, the first transmission in the first transmission shaft rotation process
One end that axis is threaded through support plate is connected with first direction disk, and one end that third transmission shaft is threaded through support plate is connected with second party
To disk, display screen and analogue system are located at the rear portion of rack plate, be equipped with side by side on the bottom plate of bracket the first brake pedal and
First gas pedal, the first brake pedal and the first gas pedal correspond at the position of first direction disk, on the bottom plate of bracket also
It is equipped with the second brake pedal and the second gas pedal side by side, pedal-driven mechanism is also provided on the bottom plate below bracket, and second
Brake pedal and the second gas pedal are located at the rear portion of pedal-driven mechanism, and the second brake pedal and the second gas pedal are by pedal
Driving mechanisms control work, pedal-driven mechanism is assemblied at the position of corresponding second direction disk, analogue system and stepper motor,
Display screen is connected with pedal-driven mechanism, and analogue system controls the work of stepper motor and pedal-driven mechanism.
2. a kind of intelligent automobile man-machine coordination according to claim 1 drives experiment porch, it is characterised in that: described the
One transmission shaft is connected by retarder and shaft coupling with the output shaft of stepper motor.
3. a kind of intelligent automobile man-machine coordination according to claim 1 drives experiment porch, it is characterised in that: the step
The first electromagnetic driver is provided on into the connection line of motor and analogue system, the first electromagnetic driver controls stepper motor
Work.
4. a kind of intelligent automobile man-machine coordination according to claim 1 drives experiment porch, it is characterised in that: described is aobvious
It is two that display screen, which is symmetrical arranged,.
5. a kind of intelligent automobile man-machine coordination according to claim 1 drives experiment porch, it is characterised in that: described is imitative
True system is Dspace real-time emulation system.
6. a kind of intelligent automobile man-machine coordination according to claim 1 drives experiment porch, it is characterised in that: described steps on
Plate driving mechanism includes the first electric cylinder, the second electric cylinder, the first push rod, the second push rod, two the first bull sticks, two second
Bull stick, the first pressing plate, the second pressing plate, the second electromagnetic driver and third electromagnetic driver, wherein the first electric cylinder is hinged on
In one fixed plate, the first electric cylinder is connected with the front end of the first push rod and the first push rod is driven to move along a straight line, and first pushes away
The rear end of bar is threaded through on the first pin shaft, and the front end of two the first bull sticks is articulated in the both ends of the first pin shaft respectively, and two first
Bull stick is assemblied on the first support frame by fixed pin, and two the first bull sticks can be rotated around fixed pin, and two first turn
The rear end of bar is articulated in the two sides of the first pressing plate respectively, and the first pressing plate leans with the second brake pedal, and the first push rod carries out straight
Two the first bull sticks are driven rotate to drive the first pressing plate to trample the second brake pedal when line moves, the first electricity
Dynamic cylinder is connected with the second electromagnetic driver and controls work by the second electromagnetic driver, and it is fixed that the second electric cylinder is hinged on second
On plate, the second electric cylinder is connected with the front end of the second push rod and the second push rod is driven to move along a straight line, after the second push rod
End is threaded through on the second pin shaft, and the front end of two the second bull sticks is articulated in the both ends of the second pin shaft respectively, and two the second bull sticks are logical
It crosses fixed pin to be assemblied on the second support frame, two the second bull sticks can be rotated around fixed pin, after two the second bull sticks
End is articulated in the two sides of the second pressing plate respectively, and the second pressing plate leans with the second gas pedal, and the second push rod moves along a straight line
When drive two the second bull sticks carry out rotation to drive the second pressing plate the second gas pedal is trampled, the second electric cylinder with
Third electromagnetic driver is connected and controls work by third electromagnetic driver.
7. a kind of intelligent automobile man-machine coordination driving experiment porch, feature described according to claim 1 or 3 or 4 or 6 exist
In: be connected with power supply in the analogue system and provide electric power by power supply, analogue system also with the first electromagnetic driver, second
Electromagnetic driver connects with third electromagnetic driver and instructs the first electromagnetic driver, the second electromagnetic driver and third electromagnetism to drive
The work of device is moved, host is also connected in analogue system, Matlab, Prescan and Carsim software, host fortune are housed in host
The software test platform of man-machine coordination driving is built with Matlab/Simulink, host combines Prescan software and chooses experiment survey
Examination hall scape, Carsim software building Full Vehicle Dynamics model in host, first direction disk, the first brake pedal and the first throttle are stepped on
Board group becomes a set of sieve skill G29, and second direction disk, the second brake pedal and the second gas pedal group become another set of sieve skill G29,
First direction disk, the first brake pedal, the first gas pedal, second direction disk, the second brake pedal and the second gas pedal are equal
It is connected by USB line with host, host passes through Matlab/Simulink software for first direction disk, the first brake pedal, first
Gas pedal, second direction disk, the second brake pedal and the second gas pedal and analogue system are attached, and driver passes through the
The action input of one steering wheel, the first brake pedal and the first gas pedal, in real time to analogue system direction of transfer disk corner, system
Power and throttle opening information, side needed for host finds out current automobile by the computing module inside Matlab/Simulink
To disk corner, brake force and accelerator open degree, and controlled by analogue system the first electromagnetic driver, the second electromagnetic driver and
The work of third electromagnetic driver, and stepper motor, the first electric cylinder and the second electric cylinder are controlled, thus to second party
Apply to disk, the second brake pedal and the second gas pedal and input, driver's input is repaired eventually by coefficient realization is driven altogether
Just, host is also connected with two display screens, and host and two display screens connect to power supply and provide electric power by power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821994953.4U CN209560763U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent automobile man-machine coordination driving experiment porch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821994953.4U CN209560763U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent automobile man-machine coordination driving experiment porch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209560763U true CN209560763U (en) | 2019-10-29 |
Family
ID=68300987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821994953.4U Active CN209560763U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent automobile man-machine coordination driving experiment porch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209560763U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109493681A (en) * | 2018-11-30 | 2019-03-19 | 吉林大学 | A kind of man-machine test-drive platform driven altogether of intelligent automobile |
-
2018
- 2018-11-30 CN CN201821994953.4U patent/CN209560763U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109493681A (en) * | 2018-11-30 | 2019-03-19 | 吉林大学 | A kind of man-machine test-drive platform driven altogether of intelligent automobile |
| CN109493681B (en) * | 2018-11-30 | 2024-02-20 | 吉林大学 | Driving test platform for intelligent automobile man-machine co-driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109493681A (en) | A kind of man-machine test-drive platform driven altogether of intelligent automobile | |
| CN109613916B (en) | Driver is at initiative collision avoidance simulation test platform of ring car | |
| CN209560763U (en) | A kind of intelligent automobile man-machine coordination driving experiment porch | |
| CN104748981A (en) | New energy vehicle testing system based on driver-vehicle-road closed-loop control | |
| CN108572576B (en) | Man-machine co-driving and unmanned technology and vehicle-mounted external driving robot for testing | |
| CN101393081A (en) | Electric power-assisted steering test stand | |
| CN105999695A (en) | Simulated driving game car somatosensory drive simulating system | |
| CN103794104A (en) | Flight simulator autothrottle system | |
| CN209394657U (en) | A kind of small-sized omnidirectional's robot moving platform towards subway tunnel inspection work | |
| CN110228474A (en) | It is a kind of can free switching unmanned equation motorcycle race arrestment mechanism | |
| CN103010022A (en) | Pedal with adjustable lever ratio and automobile | |
| CN111710210A (en) | Aircraft attitude control simulation training device | |
| CN108961913A (en) | It is man-machine to drive altogether and unmanned technology and test commercial vehicle intelligent driving simulator | |
| CN206399671U (en) | A kind of automobile steering-by-wire road resistance simulated experiment platform | |
| CN108154746A (en) | A kind of drive simulation experiment porch | |
| CN106882255B (en) | Composite operating rod device for controlling novel ambulance with multiple degrees of freedom | |
| CN201594332U (en) | Loader forklift operation teaching instrument | |
| CN210865193U (en) | Mountain region excavator simulation training platform | |
| CN103499926B (en) | The emulation mode of AMT speed change box clutch simulation table and clutch separation and joint | |
| CN205615510U (en) | Car automatic pilot actuating mechanism | |
| CN108447338B (en) | IPT flight simulation system with motion system | |
| CN202650297U (en) | Six-freedom-degree platform autocrane simulation operation system realized by arranging connection rod mechanism | |
| CN110065485A (en) | A kind of fax braking system for low-speed electronic automobile | |
| CN201104259Y (en) | Automobile front shining lamp light modulation system experiment platform based on three axis parallel connection mechanism principle | |
| CN206505585U (en) | A kind of multi-purpose type VR driver's cabs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |