CN213274866U

CN213274866U - Test platform for automatically driving automobile

Info

Publication number: CN213274866U
Application number: CN202022018781.0U
Authority: CN
Inventors: 常秋香
Original assignee: Ningbo Yuanxixing Intelligent Technology Co ltd
Current assignee: Ningbo Yuanxixing Intelligent Technology Co ltd
Priority date: 2020-09-15
Filing date: 2020-09-15
Publication date: 2021-05-25
Anticipated expiration: 2030-09-15

Abstract

A test platform for automatically driving car is composed of runway, simulating car and motion simulating unit for driving said simulating car to run on said runway to generate the action needed by test, and consisting of power car, at least one parallel four-bar linkage mechanism with a pair of relative first and second connecting rods fixed to said simulating car and another pair of relative third and fourth connecting rods with two ends respectively connected to said first and second connecting rods, and power source with output end connected to at least one of said third and fourth connecting rods for driving them to rotate synchronously. After the structure is adopted, the required performance of the automatic driving automobile to be tested can be conveniently tested, and the parallel four-bar linkage mechanism has the advantages of simple structure, low cost, reliable action and the like, so that the test platform is easy to popularize and apply.

Description

Test platform for automatically driving automobile

Technical Field

The utility model relates to a vehicle test technical field, concretely relates to test platform of automatic driving car.

Background

An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which can realize unmanned driving through a computer system under the unmanned active operation. In order to ensure the driving safety of the automatic driving automobile, all performances of the automobile need to be tested in advance, and meanwhile, the automatic driving automobile can be preferably tested on real road conditions in consideration of the testing accuracy, but the operation can cause danger to other vehicles on the road, namely, great potential safety hazards exist in the testing process. Therefore, vehicle simulation test devices have been designed, such as similar devices disclosed in documents with chinese patent publication No. CN108414232B and chinese patent application publication No. CN111397915A, to ensure the test accuracy of the automatically driven vehicle by simulating various complex road conditions in the test scene while ensuring the test safety. However, most of the existing analog testing devices have complicated structures, and further improvement is still needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that to prior art's current situation, provide a simple structure's automatic driving car's test platform.

For solving the technical problem, the utility model discloses the technical scheme who adopts does: a test platform of an automatic driving automobile comprises a runway simulating an actual road surface, a simulation vehicle and a motion simulation unit used for driving the simulation vehicle to run on the runway so that the simulation vehicle can generate actions required by the test, and is characterized in that: the motion simulation unit comprises a power vehicle capable of running on a track, at least one parallel four-bar linkage mechanism and a power source positioned on the power vehicle, wherein one pair of first connecting rods and one pair of second connecting rods which are oppositely arranged in the parallel four-bar linkage mechanism are respectively fixed on the power vehicle and a simulation vehicle, two ends of the other pair of third connecting rods and the other pair of fourth connecting rods which are oppositely arranged in the parallel four-bar linkage mechanism are respectively rotatably connected with the first connecting rods and the second connecting rods, and the output end of the power source is connected with at least one connecting rod in the third connecting rod and the fourth connecting rod to drive the third connecting rod and the fourth connecting rod to synchronously rotate.

In the above aspect, it is further preferable that two parallel four-bar linkages are provided, and are respectively distributed in parallel, and corresponding corners of the two parallel four-bar linkages are connected by an intermediate rod to form a three-dimensional square structure.

In the above solution, it is further improved that a guide rail extending along the track extending direction is laid on the track, and the power vehicle is provided with a guide member which is matched with the guide rail and enables the power vehicle to travel along the guide rail, so as to ensure that the power vehicle travels along the track.

Preferably, the guide rail is designed as a long groove with a U-shaped cross section, the guide member includes a first bearing installed at a lower end portion of the rotating shaft and rolling in the long groove, and an upper end portion of the rotating shaft is connected to a chassis frame of the power vehicle through a second bearing, so that the guide rail has a minimum influence on the vehicle running on the ground.

In each of the above solutions, the power source may be an oil cylinder, a cylinder body of the oil cylinder is hinged to the power vehicle, and a piston rod of the oil cylinder is hinged to at least one of the third and fourth connecting rods to form the output end.

In addition, the further improvement is that an auxiliary rod which is parallel to the first connecting rod is arranged between the third connecting rod and the fourth connecting rod, and a piston rod of the oil cylinder is rotationally connected with the auxiliary rod, so that the whole rotation is more stable. .

In each of the above aspects, the power source may preferably be a motor and a gear set linked with an output shaft of the motor, and end gears of the gear set may be linked with the third and fourth links. By adopting the scheme, the control is more accurate, and the movement is more sensitive and stable.

Preferably, the gear set comprises a driving gear mounted on the output shaft of the motor and a driven gear engaged with the driving gear, and the driven gear is rotatably mounted on the first connecting rod and fixed with the end of the third connecting rod or the end of the fourth connecting rod.

Compared with the prior art, because the utility model discloses a parallel four-bar linkage among the plane link mechanism, make the motor vehicle can drive the simulation car and go on the runway, the speed of a motor vehicle that changes the motor vehicle through control can let the simulation car realize slowing down, emergency braking, road conditions such as emergency stop, accessible control power supply rotates with this parallel four-bar linkage of drive again simultaneously, and then make the simulation car can do the action of being close to or keeping away from in the motor vehicle, can be with simulating out the sudden change in the actual vehicle condition way, road conditions such as interlude, so adopt the utility model discloses, can conveniently carry out the test work of required performance to the autopilot car that awaits measuring, and because parallel four-bar linkage simple structure, with low costs, the action is reliable, advantages such as easy to carry out, make such test platform easily popularize and apply.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1 (with the simulated vehicle removed);

FIG. 3 is an enlarged schematic view of portion B of FIG. 1 (with the simulated vehicle removed);

FIG. 4 is a schematic view of a portion of FIG. 1 taken in the direction C;

fig. 5 is a schematic view of another embodiment of the power source of fig. 2.

Detailed Description

The present invention will be described in further detail with reference to the following embodiments.

Fig. 1 to 4 show a preferred embodiment of a test platform for an auto-pilot vehicle, which comprises a track 1, a simulation vehicle 2 and a motion simulation unit 3 for driving the simulation vehicle to run on the track so that the simulation vehicle can generate the motion required for the test, wherein the track 1 is an annular track (or other existing shapes), and the upper surface of the track 1 is designed to be up-and-down wavy according to the need to simulate the road conditions of an uphill slope, a downhill slope and the like of an actual road surface, i.e. the upper surface of the track 1 can simulate the actual road surface. The simulation vehicle 2 can make sudden lane change, penetration, deceleration, sudden braking, sudden stopping and other vehicle conditions on the runway 1 under the driving of the motion simulation unit so as to test the reaction of the automatic driving vehicle 10 to be tested which runs later. In order to make the simulated vehicle more flexible, the simulated vehicle in the embodiment only has a local vehicle shell 21 and two wheels 22 which are located below the local vehicle shell 21 and distributed on the same side.

The motion simulation unit 3 comprises a power vehicle 4 capable of running on the runway, a parallel four-bar linkage 5 and a power source positioned on the power vehicle, wherein the power vehicle 4 can be an existing conventional vehicle, and is operated by a driver to run on the runway, but considering the requirement of needing a long-time test, the unmanned vehicle controlled by a whole-course computer is preferably adopted. In order to ensure that the motor vehicle 4 travels on the track 1 along the track, a guide rail 11 extending in the track extending direction is laid on the track 1, and the motor vehicle 4 is provided with a guide 6 which is engaged with the guide rail 11 to cause the motor vehicle 4 to travel along the guide rail 11. Here, the guide rail 11 is designed as a long groove with a U-shaped cross section, the corresponding guide member 6 includes a first bearing 62 mounted at the lower end of the rotating shaft 61 and rolling in the long groove, and the upper end of the rotating shaft 61 is connected to the chassis frame 41 of the power vehicle 4 through a second bearing 63, so that the guide rail 11 is not obtrusive to the runway, the influence on the running vehicles on the runway is minimized, and the overall structure is more reasonable.

The four-bar linkage 5 may be one, and may be vertically or horizontally disposed. However, in order to have better rigidity and ensure that the simulated vehicle 2 can smoothly move as required, in the embodiment, two parallel four-bar linkages 5 are arranged and are respectively parallel to each other. For convenience of description, two parallel four-bar linkages 5 vertically distributed are taken as an example to illustrate, wherein a pair of first and

second links

51 and 52 vertically arranged in each parallel four-bar linkage 5 are respectively vertically fixed on the body 42 of the motor vehicle 4 and the shell 21 of the simulated vehicle 2, another pair of third and

fourth links

53 and 54 vertically arranged in each parallel four-bar linkage 5 are respectively provided with an axle hole at both ends, and are respectively sleeved on the upper ends of the first and

second links

51 and 52 to realize rotational connection, both ends of the fourth link 54 are also provided with axle holes respectively, each axle hole is sleeved on the lower end of the first link 51 and the lower end of the second link 52 to realize rotational connection, corresponding angles of the two parallel four-bar linkages are connected by an intermediate rod 55, that is, the intermediate rod 55 has four, and both ends are also provided with axle holes respectively, each sleeve is sleeved on the corresponding first connecting rod and the second connecting rod. That is, the corresponding intermediate links 55 connected to the respective ends of the first link 51 are fixed relative to the vehicle 4, and similarly, the corresponding intermediate links 55 connected to the respective ends of the second link 52 are also fixed relative to the simulated vehicle 2, thereby forming a three-dimensional square structure with a variable shape. Certainly, to ensure that the third and fourth connecting rods can synchronously and stably rotate, the same side ends of the third and fourth connecting rods can also be rigidly connected through shaft sleeves, and each shaft sleeve is sleeved on the first connecting rod 51 and the second connecting rod 52, so that the third and fourth connecting rods can also be rotatably connected with the first connecting rod and the second connecting rod.

The output end of the power source is connected with at least one of the third and fourth connecting rods to drive the third and fourth connecting rods to synchronously rotate, in this embodiment, the power source is an oil cylinder 7, a cylinder body 71 of the oil cylinder 7 is hinged on the vehicle body 42 of the power vehicle 4, and a piston rod 72 of the oil cylinder can be hinged with the third connecting rod 53 or the fourth connecting rod 54 to form the output end. In order to facilitate the connection between the piston rod 72 and the third connecting rod (or the fourth connecting rod) and to make the third connecting rod and the fourth connecting rod uniformly stressed, an auxiliary rod 56 is further arranged between the third connecting rod and the fourth connecting rod, the auxiliary rod 56 is distributed in parallel with the first connecting rod, and the piston rod 72 of the oil cylinder 7 is hinged with the auxiliary rod 56.

During testing, the power vehicle 4 runs on the runway 1 along the guide rail 11 in the whole course under the control of a computer, the power vehicle 4 moves to drive the simulation vehicle 2 to run on the runway 1 through the parallel four-bar linkage 5, and the simulation vehicle 2 can realize speed reduction, emergency braking, emergency stopping and other road conditions by changing the speed of the power vehicle 4, so that the reaction of the to-be-tested automatic driving vehicle 10 running in the runway 1 in the future is tested. Meanwhile, the computer can control the action of the oil cylinder 7 according to needs to drive the synchronous rotation of the two parallel four-bar linkages 5, so that the simulation vehicle 2 can move close to a lane of the power vehicle 4 (see fig. 3) or far away from the lane of the power vehicle 4 (see fig. 2)), namely, the conditions of sudden lane change, penetration and the like of the vehicle in actual vehicle conditions can be simulated, and the reaction of the automatic driving vehicle 10 to be tested which runs behind in a runway can be tested.

Obviously, by adopting the embodiment, the speed of the vehicle force 4 and the action of the oil cylinder 7 are controlled by a computer, and the parallel four-bar linkage 5 with simple structure and convenient manufacture is combined, so that the simulated vehicle can simulate the actual vehicle condition on the actual road surface, and the device has the advantages of reliable action, low cost and easy implementation.

In order to make the control more accurate and smooth and the response faster, the power source may also adopt a motor 8 and a gear set 9 linked with an output shaft of the motor 8, and end gears of the gear set may be linked with the third link 53 and the fourth link 54. Referring to fig. 5, the motor 8 is mounted on the body 42 of the motor vehicle 4, the output shaft of the motor 8 is mounted with a driving gear 91, the first link 51 is rotatably mounted with a driven gear 92 engaged with the first gear 91, and the driven gear 92 is fixed on the end of the fourth link 54 by a bolt, so that the driving gear 91 and the driven gear 92 constitute the above-mentioned gear set 9, that is, the driven gear 92 becomes the end gear of the gear set in the present embodiment. Of course, according to the speed change requirement, the number of gears can be increased to realize multi-stage speed change.

When the simulation vehicle is used, the motor 8 is started, the driving gear 91 can be driven to rotate, and then the driven gear 92, the fourth connecting rod 54 and the third connecting rod 53 are driven to rotate around the first connecting rod 51, so that the actions of changing lanes, inserting and the like of the simulation vehicle are realized.

Besides the transmission structure, the driven gear can be directly installed and fixed on a shaft sleeve, the shaft sleeve is sleeved on one of the first connecting rods, and two ends of the shaft sleeve are rigidly connected with the third connecting rod and the fourth connecting rod.

Similarly, after the motor starts, the rotation of driving gear 91 drives driven gear 92 and axle sleeve to rotate, because axle sleeve and third, fourth connecting rod rigid connection, consequently just can drive third, fourth connecting rod in step and rotate together, such connected mode belongs to equally promptly within the scope that needs the protection.

Claims

1. The utility model provides an automatic test platform who drives car, includes runway (1) of simulation actual road surface, simulation car (2) and is used for driving the simulation car and goes on the runway and make this simulation car can produce the motion simulation unit (3) that the test needs, its characterized in that: the motion simulation unit (3) comprises a power vehicle (4) capable of running on a track, at least one parallel four-bar linkage (5) and a power source positioned on the power vehicle, wherein a pair of first connecting rods (51) and a pair of second connecting rods (52) which are oppositely arranged in the parallel four-bar linkage (5) are respectively fixed on the power vehicle (4) and the simulation vehicle (2), two ends of another pair of third connecting rods (53) and fourth connecting rods (54) which are oppositely arranged in the parallel four-bar linkage (5) are respectively in rotating connection with the first connecting rods (51) and the second connecting rods (52), and the output end of the power source is connected with at least one of the third connecting rods and the fourth connecting rods to drive the third connecting rods and the fourth connecting rods to synchronously rotate.

2. The test platform of claim 1, wherein: the two parallel four-bar linkage mechanisms (5) are respectively distributed in parallel, and corresponding angles of the two parallel four-bar linkage mechanisms (5) are connected through a middle rod (55) to form a three-dimensional square structure.

3. The test platform of claim 1, wherein: the track (1) is paved with a guide rail (11) extending along the track extension direction, and the power vehicle (4) is provided with a guide part (6) which is matched with the guide rail (11) to enable the power vehicle to walk along the guide rail.

4. The test platform of claim 3, wherein: the guide rail (11) is designed into a long groove with a U-shaped section, the guide piece (6) comprises a first bearing (62) which is arranged at the lower end part of the rotating shaft (61) and rolls in the long groove, and the upper end part of the rotating shaft (61) is connected to a chassis frame (41) of the power vehicle through a second bearing (63).

5. The test platform of any one of claims 1 to 4, wherein: the power source is an oil cylinder (7), a cylinder body (71) of the oil cylinder is hinged on the power vehicle, and a piston rod (72) of the oil cylinder is hinged with at least one of the third connecting rod and the fourth connecting rod to form the output end.

6. The test platform of claim 5, wherein: an auxiliary rod (56) which is parallel to the first connecting rod (51) is arranged between the third connecting rod (53) and the fourth connecting rod (54), and a piston rod (72) of the oil cylinder is rotationally connected with the auxiliary rod (56).

7. The test platform of any one of claims 1 to 4, wherein: the power source is a motor (8) and a gear set (9) linked with an output shaft of the motor, and a tail end gear in the gear set is linked with the third connecting rod and the fourth connecting rod.

8. The test platform of claim 7, wherein: the gear set (9) consists of a driving gear (91) arranged on an output shaft of the motor (8) and a driven gear (92) meshed with the driving gear, and the driven gear (92) is rotatably arranged on the first connecting rod (51) and fixed with the end part of the third connecting rod (53) or the end part of the fourth connecting rod (54).