A quality detection system for auxiliary driving equipment

Abstract

The disclosed content of the present invention relates to a quality detection system for auxiliary driving equipment, including a simulation robot, a car driving simulator, a dynamic platform, a solar simulator, an auxiliary driving product to be detected, a voice recognition module, and a central integrated measurement and control system; the simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to move and simulates the movement postures of various road terrains; the solar simulator simulates the sunlight environment, and performs surround lighting with adjustable height, adjustable angle, and adjustable irradiation power on the car driving simulator; the auxiliary driving product to be detected captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety, and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the auxiliary driving product to be detected; the central integrated measurement and control system integrates the functions of each module of the simulation robot, the car driving simulator, the dynamic platform, the solar simulator, the auxiliary driving product to be detected, and the voice recognition module, and can synchronously control each module in real time to realize the quality detection of the auxiliary driving product to be detected.

Description

Technical Field

[0001] The present invention generally relates to the field of driving safety technology, and more specifically, to a quality detection system for auxiliary driving equipment. Background Art

[0002] With the advancement of modern technology and the improvement of various traffic laws, a social consensus has been formed on the harmfulness of fatigue driving and illegal driving. A large number of assisted driving products have emerged, but the quality is uneven, and the quality detection methods are relatively backward, mainly based on manual detection. However, the manual detection method lacks scientific judgment standards to judge the quality, and the traditional manual driving behavior analysis has a series of criticisms such as low efficiency, poor consistency, low repeatability, large random errors, etc., and lacks scientific sample support experiments.

[0003] With the improvement of various vehicle traffic regulations, the detection of various types of auxiliary driving products and driving behavior research using traditional manual operations lacks standardization and scientificity, and this problem needs to be solved. With the advancement of technology in the automotive industry, more and more projects that are traditionally performed by humans on real vehicles are replaced by robots, especially tests with high risk factors, such as: vehicle-pedestrian collision tests, vehicle collision passenger injury assessment tests and other high-risk operations. In view of the above application feasibility, the present invention is a simulation robot for automobile driving behavior research.

[0004] With the advancement of technology in the automotive industry, the traditional vehicle testing that requires real vehicle external scene testing has been gradually replaced by testing in indoor simulated environments, thereby reducing the risk of uncontrollable factors in the external environment and random events affecting the test results. Atlas Custom Systems has a whole vehicle sunlight simulation solution, which is a gantry or ceiling fixed structure, with a large number of light sources and is expensive.

[0005] The current all-round lighting method used in automotive environmental laboratories, first of all, has extremely high power consumption and places stringent requirements on the power supply of conventional buildings or factories; secondly, the number of light sources is huge, and the laboratory space needs to be large enough, and conventional buildings cannot meet its space requirements; thirdly, the project cost is extremely high, and medium-sized and smaller enterprises cannot afford the expensive cost. The present invention uses 4 xenon lamps (or metal halide lamps) to achieve 1.5m*1.5m large-area AAA-level spectrum, uniformity and stability of sunlight simulation, combined with electric cylinders and bracket structures to adjust the light source height and irradiation angle, and uses a 360° rail car 2910 to achieve 360° illumination of the light source around the vehicle at any position. The entire set of solar simulators 2000 has greatly reduced power supply, space, and cost, is more in line with energy-saving requirements, and greatly reduces project costs.

[0006] In view of the above problems, the present invention and its embodiments are proposed below. Summary of the invention

[0007] A brief summary of the disclosure of the present invention will be given below in order to provide a basic understanding of certain aspects of the disclosure of the present invention. It should be understood that this summary is not an exhaustive summary of the disclosure of the present invention. It is not intended to determine the key or important parts of the disclosure of the present invention, nor is it intended to limit the scope of the disclosure of the present invention. Its purpose is simply to give certain concepts in a simplified form as a prelude to a more detailed description discussed later.

[0008] In view of the above problems, the present invention has built a set of simulated driving environment, using simulation robots to replace manual detection of information such as the accuracy rate, missed alarm rate, false alarm rate and reaction time of the auxiliary driving behavior detection equipment, so as to determine the quality of the equipment to be inspected. The present invention can provide a scientific means for judging the quality of auxiliary driving behavior detection equipment.

[0009] The present invention adopts a simulation robot with human facial features to realize actions that endanger driving safety, such as eye movement, smiling, yawning, blinking, looking around, smoking, making phone calls, and taking both hands off the steering wheel. All execution components are controlled by high-precision flexible actuators, and the action trajectory is programmable. It has extremely high reliability, consistency, repeatability, and accuracy. It can provide a rich programmable action library for auxiliary driving product testing and driving behavior research, and solves the various drawbacks of current manual detection.

[0010] The present invention integrates vehicle environment simulation, simulation robot bionic design, and software system linkage control to replace manual inspection, providing a scientific basis and reliable guarantee for the quality inspection of auxiliary driving equipment.

[0011] The present invention aims at the automobile environment laboratory, builds a set of AAA-level standard solar simulator 2000, and has the functions of adjusting light position, height, angle, and power. It can track and simulate the changes of outdoor sunlight in each period from sunrise to sunset in real time, and provide a more realistic light environment for the automobile environment laboratory lighting.

[0012] The present invention designs a simulation robot suitable for automobile driving behavior research. The simulation robot adopts silicone skin and has a 1:1 real person face. The pupil can be captured by infrared and can realize actions that endanger driving safety, such as eye movement, smiling, yawning, blinking, looking around, smoking, making phone calls and taking both hands off the steering wheel.

[0013] In order to achieve the above-mentioned purpose, the present invention provides a quality detection system for assisted driving equipment, including a simulation robot, a car driving simulator, a dynamic platform, a solar simulator 2000, an assisted driving product to be detected, a voice recognition module, and a central integrated measurement and control system; the simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to move to simulate the movement posture of various road terrains; the solar simulator 2000 simulates the sunlight environment, and performs surround lighting with adjustable height, adjustable angle, and adjustable irradiation power on the car driving simulator; the assisted driving product to be detected captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety, and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the assisted driving product to be detected; the central integrated measurement and control system integrates the functions of each module of the simulation robot, car driving simulator, dynamic platform, solar simulator 2000, assisted driving product to be detected, and voice recognition module, and can synchronously control each module in real time to realize quality detection of the assisted driving product to be detected.

[0014] Furthermore, the speech recognition module detects the speech broadcast content of the assisted driving detector in an online or offline manner, and can provide real-time feedback on the detection result.

[0015] Furthermore, the simulated robot is manufactured by a method of generating a silicone simulated head based on a virtual portrait.

[0016] Furthermore, the simulation robot can simulate driver behaviors, including: yawning, blinking, looking around, smoking, making phone calls, and taking both hands off the steering wheel, etc., which are actions that endanger driving safety.

[0017] Furthermore, the assisted driving products to be tested can capture dangerous actions of the simulated robot that endanger driving safety and give corresponding voice reminders. At the same time, they have ADAS functions and can broadcast driving condition warning information such as pedestrians in the lane, illegal lane changes, and beware of collisions.

[0018] Furthermore, the car driving simulator adopts the modified front end of a real car model and adopts three-dimensional simulation technology. The dynamic platform can read the force feedback data during driving in real time and dynamically reflect the data to the driver. It can restore the state of various road conditions such as centrifugal force, push back, shaking, bumps, etc. of a real car, so that the driver can feel like he is in the cockpit and experience the visual and tactile impact brought by various road conditions when driving.

[0019] Furthermore, the dynamic platform includes a six-degree-of-freedom motion platform, which can simulate the motion posture of various road terrains by simulating the translation and rotation of the object in three directions, namely, front and rear translation, left and right translation, up and down vertical movement, pitch, roll and yaw and compound movement.

[0020] Furthermore, the solar simulator 2000 uses 4 groups of arrayed xenon lamps or metal halide lamps to simulate the sunlight environment, with 0° to 360° surround lighting, adjustable irradiation height from 1000mm to 2200mm above the ground, adjustable irradiation angle from 0° to 45°, and adjustable irradiation power from 50% to 100%.

[0021] Furthermore, it is used for indoor quality inspection of auxiliary driving equipment.

[0022] A method for detecting the quality of assisted driving equipment is also provided, which adopts an assisted driving equipment quality detection system as described in any one of the above, including: setting a simulation robot at the driver's position of a car driving simulator; the simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to move and simulates the movement posture of various road terrains; the solar simulator 2000 simulates the sunlight environment, and performs surround lighting with adjustable height, adjustable angle, and adjustable irradiation power on the car driving simulator; the assisted driving product to be detected captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety, and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the assisted driving product to be detected and feeds back the detection results; the central integrated measurement and control system synchronously controls the above modules in real time to realize the detection statistics and analysis of information such as the accuracy rate, missed alarm rate, false alarm rate and reaction time of the assisted driving product to be detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific contents of the present disclosure are described below with reference to the accompanying drawings, which will help to more easily understand the above and other purposes, features and advantages of the present disclosure. The accompanying drawings are only for illustrating the principles of the present disclosure. The sizes and relative positions of the units in the accompanying drawings are not necessarily drawn to scale. In the accompanying drawings:

[0024] Figure 1 A system framework diagram of a quality detection system for auxiliary driving equipment according to the disclosure of the present invention is shown;

[0025] Figure 2 A schematic diagram showing the event detection performance of the auxiliary driving equipment quality detection system according to the disclosure of the present invention is shown;

[0026] Figure 3 The overall structural schematic diagram of the solar simulator 2000 according to the disclosure of the present invention is shown;

[0027] Figure 4 A schematic diagram of the structure of the illumination light source and the angle bracket part of the solar simulator 2000 device according to the disclosure of the present invention is shown;

[0028] Figure 5A schematic diagram of the structure of the lifting bracket 2600 and the chassis of the solar simulator 2000 according to the disclosure of the present invention is shown;

[0029] Figure 6 A schematic diagram showing the layout of each module in the chassis of the solar simulator 2000 device according to the disclosure of the present invention is shown;

[0030] Figure 7 A schematic diagram of the structure of a track vehicle 2910 and a track portion of a solar simulator 2000 according to the disclosure of the present invention is shown;

[0031] Figure 8 A schematic diagram of the appearance of a simulation robot according to the disclosure of the present invention is shown;

[0032] Fig. 9 A control schematic diagram of a single node of a flexible actuator of a simulation robot according to the disclosure of the present invention is shown;

[0033] Fig.10 A schematic diagram of a face generation process of a simulation robot according to the disclosure of the present invention is shown;

[0034] Fig.11 A diagram showing the upper body structure of a simulation robot according to the disclosure of the present invention is shown;

[0035] Fig.12 A schematic diagram showing the distribution of upper body actuators of a simulation robot according to the disclosure of the present invention is shown;

[0036] Fig.13 A schematic diagram of the hand structure of a simulation robot according to the disclosure of the present invention is shown.

[0037] Fig.14 A schematic diagram of an initialization process according to the disclosure of the present invention is shown.

[0038] Fig.15 A schematic diagram of the main thread flow of a simulation robot according to the disclosure of the present invention is shown.

[0039] Fig.16 A schematic diagram of a read-to-execute flow according to the disclosed content of the present invention is shown.

[0040] Fig.17 A schematic diagram of a process for reading alarm information of a product to be detected according to the disclosure of the present invention is shown.

[0041] Fig.18 A schematic diagram of the process flow of a simulation robot according to the disclosure of the present invention is shown.

[0042] Fig.19A schematic diagram of a streamlined setup process of a solar simulator according to the disclosure of the present invention is shown.

[0043] Fig. 20 A schematic diagram of the reciprocating motion process of a solar simulator according to the disclosure of the present invention is shown.

[0044] Fig.21 A schematic diagram of the overall linkage setting process of a driving behavior monitoring test system according to the disclosure of the present invention is shown.

[0045] Reference numerals:

[0046] Solar Simulator 2000;

[0047] Illumination source 2100;

[0048] Angle bracket 2200, field-shaped structure 2210, "<"-shaped structure 2220;

[0049] Angle electric cylinder 2300;

[0050] Triangular bracket 2400;

[0051] Lighting source base 2500;

[0052] Lifting bracket 2600;

[0053] Lifting cylinder 2700;

[0054] Chassis 2800

[0055] Electronic ballast 2810, servo control unit 2820, control board 2830, relay 2840, control host 2850, and power supply system 2860;

[0056] Track car 2910 , circular track 2920 , electric motor 2930 , and anti-slip rubber wheels 2940 . DETAILED DESCRIPTION

[0057] Exemplary disclosures of the present disclosure will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual present disclosure are described in the specification. However, it should be understood that many decisions specific to the present disclosure may be made in the process of developing any such actual present disclosure in order to achieve the specific goals of the developer, and these decisions may vary from one disclosure to another.

[0058] It should also be noted that, in order to avoid obscuring the disclosure of the present invention due to unnecessary details, only the device structure closely related to the scheme according to the disclosure is shown in the drawings, while other details that are not closely related to the disclosure are omitted.

[0059] It should be understood that the disclosure of the present invention is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. Herein, where feasible, features between different implementation forms may be replaced or borrowed, and one or more features may be omitted in one implementation form.

[0060] It should also be understood that the definitions of "vertical", "horizontal" and "parallel" in the present disclosure include the situation of ±10% based on the standard definition. For example, vertical usually means an angle of 90 degrees relative to the reference line, but in the present disclosure, vertical refers to the range of 80-100 degrees.

[0061] Below, the present disclosure is combined with the attached Figure 1 Let me explain.

[0062] [Overall system framework]

[0063] One aspect of the present disclosure relates to a quality detection system for auxiliary driving equipment. Figure 1 : is a system framework diagram of a quality detection system for auxiliary driving equipment according to the disclosure of the present invention. Figure 1 The quality inspection system for assisted driving equipment includes a simulation robot, a car driving simulator (the example in the figure is a large vehicle simulator), a dynamic platform (not shown), a solar simulator, an assisted driving product to be inspected (the product to be inspected in the figure), a voice recognition module (not shown), and a central integrated measurement and control system; the simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to simulate the movement posture of various road terrains; the solar simulator simulates the sunlight environment, and performs surround lighting with adjustable height, adjustable angle, and adjustable irradiation power on the car driving simulator; the assisted driving product to be inspected captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety, and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the assisted driving product to be inspected; the central integrated measurement and control system integrates the functions of each module of the simulation robot, car driving simulator, dynamic platform, solar simulator, assisted driving product to be inspected, and voice recognition module, and can synchronously control each module in real time to realize the quality inspection of the assisted driving product to be inspected.

[0064] Among them, the central integrated measurement and control system mainly includes a central control host for controlling the above-mentioned modules. The central control host synchronously controls the above-mentioned simulation robot, car driving simulator, dynamic platform, solar simulator 2000, auxiliary driving products to be tested and voice recognition module.

[0065] Among them, the simulation robot adopts a method of generating a silicone simulation head based on a virtual portrait. Its design process includes: selection and establishment of portrait database standards, generation of standard face model, generation of facial 3D database, generation of head 3D data, head 3D printing mold, production of head mold to be generated, production of silicone head model, and hair implantation. The simulation robot can simulate driver behaviors, such as yawning, blinking, looking around, smoking, making phone calls, and taking both hands off the steering wheel, which are actions that endanger driving safety.

[0066] Among them, preferably, the car driving simulator can be modified with the front of a real car model, using advanced three-dimensional simulation technology, and the dynamic platform can use a six-degree-of-freedom motion platform, which is driven by a six-degree-of-freedom electric cylinder to drive the front chassis, thereby directly driving the front movement, and can read the force feedback data during driving in real time, and dynamically reflect the data to the simulation robot, which can realize the centrifugal force, push back, shake, bump, and state restoration of various road conditions of the real car, so that the driver can feel in the cockpit and experience the visual and tactile impact brought by various road conditions when driving. The six-degree-of-freedom motion platform can simulate the motion posture of various road terrains by simulating the translation and rotation of objects in three directions, namely, front and rear translation, left and right translation, up and down vertical movement, pitch, roll and yaw and compound movement.

[0067] Optionally, the car driving simulator is not a must-have device. Instead of using the car driving simulator, any other suitable device can be used as long as it can meet the needs of quality inspection of the product to be inspected. For example, a dynamic platform can simulate the motion posture of various road terrains and directly feed it back to the simulation robot, and then other modules can perform the same inspection and analysis.

[0068] The solar simulator uses a 2*2 array of metal halide lamps to simulate the sunlight environment. It has 360° surround lighting for car driving simulators, adjustable irradiation height from 1000mm to 2200mm above the ground, adjustable irradiation angle from 0 to 45°, and adjustable irradiation power from 50% to 100%.

[0069] The product to be tested can use infrared to capture dangerous actions of the simulated robot that endanger driving safety and give corresponding voice reminders. It also has ADAS functions and can broadcast driving condition warning information such as pedestrians in the lane, illegal lane changes, and beware of collisions.

[0070] The voice recognition module detects the voice broadcast content of the product to be tested in an online / offline manner, and can achieve 98% accuracy and a delay of less than 800ms with or without a network, and can provide real-time feedback on the test results. The voice recognition module collects the voice alarm information of the product to be tested. The system will compare the collected results with the current actions performed by the simulation robot to analyze the accuracy and false alarm rate of the test results, and compare the number of actions performed by the simulation robot with the number of voice alarms to calculate the false alarm rate, and the total number of simulation robot actions and the number of correct detections to calculate the positive detection rate.

[0071] Among them, optionally, a protocol recognition module can be used instead of a voice recognition module to recognize the alarm information of the auxiliary driving equipment to be detected.

[0072] See also Figure 2 As shown, the detection rate of the auxiliary driving equipment quality detection system is set to:

[0073] Detection rate = number of positive detections / number of true events*100%;

[0074] The number of positive detections is the number of times the product to be tested correctly detects dangerous actions of the simulated robot; the number of real events is the number of dangerous actions that actually occur in the simulated robot, that is, the sum of the number of positive detections and the number of times the dangerous actions that actually occur in the simulated robot are missed (the number of missed detections).

[0075] The accuracy of the quality detection system for assisted driving equipment is set as:

[0076] Accuracy = number of positive detections / number of detected events*100%;

[0077] The number of detected events is the number of times the product to be tested detects all dangerous actions of the simulated robot, that is, the sum of the number of correct detections of dangerous actions of the simulated robot (positive detections) and the number of incorrect detections of dangerous actions of the simulated robot (false detections, which means that the simulated robot did not actually perform any dangerous actions).

[0078] in addition:

[0079] False alarm rate = number of false detections / number of detected events*100%;

[0080] False negative rate = number of missed detections / number of actual events*100%.

[0081] Preferably, it may also include a projector and a circular projection wall (see Figure 1 ); The annular projection wall is set in front of the car driving simulator, and the road conditions from the first perspective of the vehicle are projected by the projector. Then the dynamic platform drives the car driving simulator to move according to the road conditions to simulate the movement postures of various road terrains.

[0082] Preferably, see Figure 1It may also include control devices such as wired touch screens, IPAD devices connected via wireless routing, laptop computers, desktop computers or voice control devices to control the central control host.

[0083] Among them, the central integrated measurement and control system synchronously controls the central control host of each of the above modules to realize the detection, statistics and analysis of information such as accuracy, missed alarm rate, false alarm rate and response time of the assisted driving products to be inspected.

[0084] Preferably, the quality detection method of the auxiliary driving equipment may include the following forms:

[0085] 1. Set the car driving simulator to the automatic driving mode. The three-channel projector projects the road information onto the circular projection wall. The dynamic platform provides real-time feedback on the physical experience of the vehicle driver during the vehicle's driving process. 2. Set the solar simulator to be linked with the scene to simulate the sunlight under the current road conditions. 3. Turn on the assisted driving product to be tested. 4. Set the simulation robot to perform standardized dangerous driving actions that endanger driving safety. 5. Use voice (or protocol) to identify the alarm information of the assisted driving product to be tested. 6. The system software collects statistics on the detection rate, accuracy, false alarm rate, missed alarm rate and response time of the assisted driving product to be tested based on the actions performed by the simulation robot and the voice (or protocol) alarm information.

[0086] The various specific devices used in the above methods are exemplary and are not to be construed as limiting the scope of protection of the present disclosure.

[0087] The auxiliary driving equipment quality detection system disclosed in the present invention is mainly used for indoor detection, and of course can also be used for outdoor detection.

[0088] [Solar Simulator 2000]

[0089] See also Figure 3-7 , respectively showing the overall structural diagram of the solar simulator 2000 device according to the contents disclosed in the present invention, the partial structural diagram of the lighting source 2100 and its angle bracket 2200, the partial structural diagram of the lifting bracket 2600 and the chassis 2800, the schematic layout of each module in the chassis 2800, the rail car 2910 and the partial structural diagram of the track.

[0090] Reference Figure 3-7 The solar simulator 2000 device includes an illumination light source 2100, an electronic ballast 2810, a lifting cylinder 2700, a lifting bracket 2600, an angle cylinder 2300, an angle bracket 2200, a servo control unit 2820, a control host 2850, and a power supply system 2860.

[0091] For details, see Figure 3The solar simulator 2000 device is composed of, from bottom to top: a circular track 2920, which may optionally be an arc track; a rail car 2910 located on the circular track 2920; a chassis located on the rail car 2910, in which modules such as an electronic ballast 2810, a servo control unit 2820, a control host 2850 and a power supply system 2860 are integrated; a lifting bracket 2600 and a lifting electric cylinder 2700 located on the chassis; a lighting source base 2500 located on the lifting bracket 2600; a triangular bracket 2400 and an angle electric cylinder 2300 located on the lighting source base 2500; an angle bracket 2200 rotatably connected to the top of the triangular bracket 2400; and a lighting source 2100 mounted on the angle bracket 2200.

[0092] See also Figure 4, the illumination light source 2100 is composed of 4 groups of xenon lamps or metal halide lamps. The parameters such as its light intensity are controlled by an electronic ballast 2810, which can more realistically simulate the outdoor sunlight illumination spectrum and light intensity. The high-power xenon lamp (or metal halide lamp) lamp array is used as the irradiation light source, with a spectral distribution and illumination intensity closer to sunlight. Among them, the angle bracket 2200 includes a main structure in the shape of a cross and two "<" shaped structures 2220; the 4 groups of xenon lamps or metal halide lamps are respectively fixed in the cross-shaped structure 2210, and can be fixed to the inner side of the cross-shaped structure 2210 by conventional fixing methods such as welding, riveting, and screws; the main structure of the angle bracket 2200 can be spliced with materials having a certain hardness or integrally formed; on the left and right sides of the middle of the cross-shaped structure 2210, two "<" shaped structures 2220 are respectively formed backward (in the direction opposite to the light emitting direction of the light source). One end of each "<" shaped structure 2220 is hinged and fixed to one of the two angle electric cylinders 2300; the lower end of each "<" shaped structure 2220 is fixedly connected to the joint part of the "cross-shaped" structure and the "square-shaped" structure on the left and right sides of the middle of the cross-shaped structure 2210, and the upper end of each "<" shaped structure 2220 is fixed at a position on the left and right sides of the cross-shaped structure 2210, about one-third of the side length of the cross-shaped structure 2210 from the top of the cross-shaped structure 2210; an illumination light source base 2500 is arranged below the angle bracket 2200. The other end of each of the two angle electric cylinders 2300 is hinged and fixed to the illumination light source base 2500. Optionally, the other end of the angle electric cylinder 2300 can be fixed by a triangular protrusion formed on the illumination light source base 2500. On both sides of the illumination light source base 2500, a triangular bracket 2400 is respectively formed. The left and right sides of the middle of the angle bracket 2200 are respectively rotatably connected to the tops of the two triangular brackets 2400. Therefore, by pushing the "<" shaped structure 2220 by the angle electric cylinder 2300, the angle bracket 2200 can be rotated to obtain horizontal illumination and / or illumination at a certain angle with the horizontal plane. Optionally, the illumination at a certain angle with the horizontal plane is a 45-degree downward illumination.

[0093] See Figure 5 , on the left and right sides of the lower part of the illumination light source base 2500, a square protrusion and a strip-shaped protrusion are respectively arranged, and a slot is arranged in the middle position of the strip-shaped protrusion. The lifting bracket 2600 is a scissor-type lifting bracket 2600 (the scissor-type lifting bracket 2600 can adopt a conventional general structure, and its detailed structure will not be elaborated here), which can achieve a lifting height of about 2m. Among them, the scissor hinges on the left and right sides of the scissor-type lifting bracket 2600 are respectively correspondingly connected to the left and right sides of the lower part of the illumination light source base 2500, and the upper ends of the scissor hinges are respectively hinged to the square protrusion and slidably connected to the slot in the middle position of the strip-shaped protrusion to achieve the stable lifting of the scissor-type lifting bracket 2600.

[0094] The bottom of the scissor-type lifting bracket 2600 also has a chassis, and the lower ends of the fork hinges are respectively hinged and fixed on the chassis; one end of the lifting electric cylinder 2700 is hinged on the middle hinge of the fork hinge of the scissor-type lifting bracket 2600, and the other end is also hinged and fixed on the chassis. Optionally, the other end of the angle electric cylinder 2300 can be hinged and fixed through a triangular protrusion formed on the chassis. Therefore, the vertical lifting of the scissor-type lifting bracket 2600 is achieved by pushing the middle hinge of the scissor-type lifting bracket 2600 through the lifting electric cylinder 2700, thereby controlling the height adjustment of the lifting bracket 2600.

[0095] From the above, it can be seen that the lifting electric cylinder 2700 is used to drive the scissor-type lifting bracket 2600 to lift the lighting source 2100, and the angle electric cylinder 2300 is used to drive the angle bracket 2200 to adjust the irradiation angle of the lighting source 2100, thereby realizing light irradiation at different heights and angles for the car driving simulator.

[0096] Optionally, a lighting scene such as dappled light may be realized by setting apertures, shading pattern sheets, etc. on the exit surfaces of each lamp of the lighting light source 2100, such as a high-power xenon lamp (or metal halide lamp) lamp array.

[0097] The electronic ballast 2810, servo control unit 2820, control host 2850 and power supply system 2860 are integrated in the chassis, and the chassis is divided into two front and rear accommodation spaces, one of which accommodates the electronic ballast 2810. Optionally, the electronic ballast 2810 is 4 groups; the other accommodation space, see Figure 6 , accommodating a servo control unit 2820, a control host 2850 and a power supply system 2860, etc. Optionally, the servo control unit 2820 contains 4 groups, 2 of which control lifting and the remaining 2 groups control angles; optionally, there are 2 control hosts 2850, which can be controlled by PLC; optionally, it can also include a relay 2840 for realizing high-power conversion and a control board 2830 for realizing signal conversion.

[0098] The electronic ballast 2810, servo control unit 2820, control host 2850 and power supply system 2860 are integrated into the chassis, making the movement of the whole machine simpler and more convenient. Different from the traditional control cabinet that is placed outside the bracket structure as a separate control cabinet, this integrated design only requires a 220V power supply cable for the external cable, which can make the overall lighting source 2100360° rotation around the car driving simulator a reality.

[0099] See also Figure 7The lifting bracket 2600 is arranged on the track car 2910, and the track car 2910 is arranged on a circular track 2920 or a curved track. The track car 2910 is driven by an electric motor 2930 to move. The bottom of the track car is provided with non-slip rubber wheels 2940, which can travel along the laid circular track 2920 or the curved track. The movement speed of the track car 2910 can be remotely controlled or software controlled, thereby realizing the arbitrary adjustment of the 360° position of the light source around the car driving simulator.

[0100] Optionally, a device capable of collecting outdoor ambient light intensity in real time may be included, and the solar simulator 2000 device may adjust the lighting source 2100 according to the collected outdoor light intensity information so as to keep it consistent with the outdoor light intensity.

[0101] [Simulation Robot]

[0102] See also Figure 8-13 , respectively showing a schematic diagram of the appearance of a simulated robot according to the contents disclosed in the present invention, a schematic diagram of the control of a single node of a flexible actuator, a schematic diagram of the face generation process of a simulated robot, a diagram of the upper body limb structure, a schematic diagram of the distribution of upper body actuators, and a schematic diagram of the hand structure of a simulated robot.

[0103] Reference Figure 8-13 The simulation robot includes a head, arms, a torso, hands, flexible actuators and motion controllers thereof, a simulation robot control host and a simulation robot power supply system, so as to realize the function of simulating human actions and expressions in a specified environment; wherein the action and expression simulation is realized based on the control of the flexible actuators, and each joint part adopts a flexible actuator to drive the skeleton structure; the motion controller receives the motion control signal of the upper computer to control the action of the flexible actuators at each joint part; the head can realize the opening and closing of eyelids, the rotation of eyeballs, the opening and closing of the mouth, the raising and lowering of the head and / or the turning of the head left and right; the arms can realize the arm waving; the torso can realize the body rotation; the hands have multiple degrees of freedom, and can realize the functions of grabbing objects and / or holding the steering wheel.

[0104] For details, see Figure 8 , which is a schematic diagram of the final appearance of the simulation robot after the steps of making silicone skin, hair implantation, and wearing a coat are completed. It mainly realizes the simulation of human movements and expressions in a specified environment. Fig. 9 As shown, the motion expression simulation is realized based on the flexible actuator control, and each joint part uses the flexible actuator to drive the skeleton structure. Optionally, this system can use PLC as a motion control unit to receive the motion control signal of the host computer to control the motion of the flexible actuator of each joint part.

[0105] Fig.10A schematic diagram of the face generation process of a simulation robot according to the disclosed content of the present invention is shown, firstly real face data is collected, then a head mold is designed according to the 3D data information, and finally silicone skin is made according to the mold and hair is implanted and silicone is colored.

[0106] The head of the simulation robot can be purchased directly from existing products on the market or made by yourself. Its internal structure includes eyelid opening and closing servos, eyeball rotation servos, mouth opening and closing servos, head pitch servos, neck rotation servos, bionic human spine and bionic human mandible built into the skull. It can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head raising and lowering, left and right turning and other actions.

[0107] Figure 11-13 The figure shows the upper body structure diagram of the simulated robot, the distribution diagram of the upper body actuators, and the hand structure diagram of the simulated robot. The simulated robot's limbs are the upper body, including the trunk and two arms, which can realize arm swinging, body rotation and other actions. Specifically, since each joint part uses a flexible actuator to drive the skeleton structure, the upper body limbs of the simulated robot include two left and right shoulder joints ( Fig.12 The middle joints 1, 9) can respectively drive the left and right arms to realize the rotational movement of lifting up or lowering down, that is, rotating around the shoulder axis. The parameters of the reduction ratio 36 and the range of motion -180°~+180° can be selected; the left and right upper arm joints ( Fig.12 The middle joints 3, 11) can respectively realize the rotation of the left and right upper arms around the upper arm axis toward the inside and outside of the trunk on a plane perpendicular to the plane where the trunk is located, and the parameters of the reduction ratio 36 and the range of motion -90° to +90° can be selected; the left and right shoulder joints and the left and right upper arm joints are respectively connected to the left and right shoulder joints and the left and right upper arm joints. Fig.12 The middle joints 2, 10) can respectively drive the left and right arms to realize the rotational movement of opening to the outside of the trunk and closing to the inside of the trunk on the plane where the trunk is located. The parameters of the reduction ratio 36 and the range of motion -93° to +99.17° can be selected; the left and right forearm joints ( Fig.12 The left and right forearm joints (5, 13) can respectively realize the rotation of the left and right forearms around the forearm axis on the plane perpendicular to the plane where the trunk is located toward the inside and outside of the trunk, and the parameters of the reduction ratio 36 and the range of motion -90° to +90° can be selected; the left and right elbow joints ( Fig.12The left and right forearms can be respectively driven to realize the rotational movement of lifting up or lowering down, that is, rotating on a plane perpendicular to the plane where the trunk is located, and the parameters of the reduction ratio 36 and the range of motion -92.54°~+38.79° can be selected; left and right wrist joints are arranged between the left and right hands of the simulation robot and the left and right forearm joints, and each wrist joint includes an upper wrist joint ( Fig.12 middle joints 6, 14) and a lower wrist joint ( Fig.12 The upper wrist joint can realize the same rotation direction as the elbow joint, so that the wrist can realize the action of tilting up, and the parameters of the reduction ratio 39.015 and the range of motion -42.5°~+42.5° can be selected, while the lower wrist joint can realize the same rotation direction as the shoulder connection joint, so that the wrist can realize the action of clapping, and the parameters of the reduction ratio 39.015 and the range of motion -42.5°~+42.5° can be selected; a trunk rotation joint ( Fig.12 The middle joint 8) can realize the rotation of the upper body of the simulated robot limb around the axial direction of the torso, and the parameters of the reduction ratio 80 and the range of motion -97.11° to +97.11° can be selected.

[0108] See also Fig.13 The simulated robot hands can be purchased directly from existing products on the market or can be homemade. Its left and right hands have 6 degrees of freedom respectively, which can easily grasp cigarette butts, mobile phones, mineral water bottles and hold the steering wheel.

[0109] The simulation robot host computer can be controlled by a mobile terminal or PC, and the corresponding operation process and action editing can be written according to needs.

[0110] [System process design method]

[0111] See also Figure 14-21 , the design of the quality inspection system for auxiliary driving equipment is as follows:

[0112] a) Overall operation process:

[0113] 1) The vehicle simulator is set to the autonomous driving mode. The three-channel projector projects the road information onto the circular projection wall, and the dynamic platform provides real-time feedback on the driving limb immersion of the vehicle during the vehicle's movement.

[0114] 2) Set up the solar simulator to link with the scene, and simulate the sunlight under the current road conditions in real time;

[0115] 3) Turn on the auxiliary driving equipment to be tested;

[0116] 4) Setting up a simulation robot to perform standardized illegal driving actions;

[0117] 5) Voice (or protocol) recognition of the warning information of the auxiliary driving equipment to be detected;

[0118] 6) The system software collects statistics on the accuracy, missed alarm rate, false alarm rate, response time and other information of the assisted driving behavior detection equipment based on the actions performed by the robot and the voice (or protocol) alarm information.

[0119] b) Software initialization

[0120] See also Fig.14 , the following needs to be completed when the software is initialized:

[0121] 1) Load the panel and welcome interface, obtain the system time and display it;

[0122] 2) Load / create a new product to be tested;

[0123] 3) Connect to the robot serial port: Check whether the connection is successful. If yes, open the serial port and perform normal driving actions; otherwise, a pop-up window will pop up to prompt that the serial port is not connected;

[0124] 4) Connect to the serial port of the solar simulator: Check whether the connection is successful. If so, open the serial port, start the servo, check whether the solar simulator is reset, and send a reset command or input the current position of the solar simulator based on the reset feedback.

[0125] c) Simulation robot action process

[0126] The simulation robot uses the action function interface to perform actions such as smoking, making phone calls, closing eyes, yawning, fatigue driving, looking left and right, looking left and right, leaving the steering wheel, moving eyeballs, looking up and lowering the head.

[0127] See also Figure 15-17 , the process is described as follows:

[0128] 1) The host computer issues corresponding action instructions;

[0129] 2) After receiving the action command, the lower computer sends the return value;

[0130] 3) The host computer reads the return value and starts the read execution completion notification thread;

[0131] 4) The lower computer sends an execution completion notification during the execution of the action;

[0132] Among them, the return value of 0 indicates that the lower computer can execute the current action; when the alarm flag is 1, it means that an action being executed by the lower computer has reached the detection range, and the alarm information received at this time is valid alarm information.

[0133] The thread description of the host computer reading the execution completion notification and reading the alarm information of the product to be detected is as follows:

[0134] 1) Main thread: issues action instructions and reads the return value, and starts the read execution notification thread based on whether the return value is correct or not;

[0135] 2) Read the execution completion notification thread: read the execution completion notification sent by the lower computer, change the icon displayed on the interface, etc.;

[0136] 3) Read the alarm information of the product to be tested, change the icon, etc.

[0137] The first execution completion notification indicates that the robot action has been completed, and the second execution completion notification indicates that the robot action has been completed.

[0138] For robot flow process settings, see Fig.18 , the thread description is as follows:

[0139] 1) Robot process thread: send robot actions, read execution notifications sent by the lower computer, change icons, etc.

[0140] 2) Read the alarm information thread of the product to be detected: read the information sent by the product to be detected, change the icon, etc. (the same as a single action).

[0141] d) Solar simulator process settings

[0142] See also Figure 19-20 , including the process setting process of the solar simulator and the reciprocating motion flow chart. First, the actions including height adjustment and holding time of the solar simulator are set. Then the system sends the starting position and ending position of the solar simulator action according to the action and starting and ending positions of the current row of solar simulator; then it detects whether the current row is the last row. If so, the motion ends, otherwise, the motion of the next row continues.

[0143] e) Overall linkage setting of driving behavior monitoring test system

[0144] Thread Description

[0145] 1) Overall process thread: after starting, read the solar simulator information and the current step simulation robot action, read and send the starting position of the solar simulator, read the current position of the solar simulator, the movement of the solar simulator, send the robot action, read the execution in place notification, etc.;

[0146] 2) Solar simulator reciprocating motion thread: Send the starting position and ending position of the solar simulator to perform reciprocating motion;

[0147] 3) Process of reading alarm information of the product to be tested: read the information sent by the product to be tested, change the icon, etc.

[0148] The following table shows the data of a product's assisted driving equipment quality inspection:

[0149] Product Name: Hikvision

[0150]

[0151]

[0152]

[0153]

[0154]

[0155] It should be understood that the term “comprising” when used herein refers to the presence of a feature, an integer, or a component, but does not exclude the presence or addition of one or more other features, integers, or components.

[0156] It should be understood that the features described and / or illustrated may be combined with other features in the same or similar manner, or replace other features, without departing from the spirit of the present disclosure.

[0157] The present disclosure is described above in conjunction with the accompanying drawings, but it should be clear to those skilled in the art that these descriptions are exemplary and are not intended to limit the scope of protection of the present disclosure. Those skilled in the art can make various variations and modifications to the present disclosure based on the spirit and principles of the present disclosure, and these variations and modifications are also within the scope of the present disclosure.

Claims

1. A quality detection system for auxiliary driving equipment, characterized in that: Including simulation robots, car driving simulators, dynamic platforms, solar simulators, auxiliary driving products to be tested, voice recognition modules and central integrated measurement and control systems; The simulation robot simulates various behaviors of the driver; the dynamic platform drives the car driving simulator to simulate the movement postures of various road terrains; the solar simulator simulates the sunlight environment and provides surround lighting with adjustable height, adjustable angle and adjustable irradiation power for the car driving simulator; the assisted driving product to be tested captures the dangerous actions of the simulation robot in the car driving simulator that endanger driving safety and gives corresponding voice reminders; the voice recognition module detects the voice broadcast content of the assisted driving product to be tested; the central integrated measurement and control system integrates the functions of the simulation robot, car driving simulator, dynamic platform, solar simulator, assisted driving product to be tested, and voice recognition module, and controls each module synchronously in real time to achieve quality inspection of the assisted driving product to be tested; The speech recognition module detects the speech broadcast content of the auxiliary driving detector in an online and offline manner, and feeds back the detection result in real time; The simulation robot is manufactured by generating a silicone simulation head based on a virtual portrait; The simulation robot can simulate the driver's behaviors, including: yawning, blinking, looking around, smoking, making phone calls, and taking both hands off the steering wheel, which endangers driving safety; The assisted driving product to be tested can capture dangerous actions of the simulated robot that endanger driving safety and give corresponding voice reminders. It also has ADAS functions to broadcast warning information about pedestrians in the lane, illegal lane changes, and collision warning driving conditions; The car driving simulator adopts the modification of the front of a real car model and adopts three-dimensional simulation technology. The dynamic platform can read the force feedback data during driving in real time and dynamically reflect the data to the driver. It can restore the centrifugal force, push back, shaking, bumps and other road conditions of a real car, so that the driver can feel like he is in the cockpit and experience the visual and tactile impact brought by various road conditions when driving. The dynamic platform includes a six-degree-of-freedom motion platform, which simulates the motion posture of various road terrains by simulating the translation and rotation of the object in three directions, namely, front-to-back translation, left-to-right translation, up-and-down vertical movement, pitch, roll and yaw and compound movement; The solar simulator uses 4 groups of array xenon lamps or metal halide lamps to simulate the sunlight environment, and has 0° to 360° surround lighting, an irradiation height adjustable from 1000mm to 2200mm above the ground, an irradiation angle adjustable from 0° to 45°, and an irradiation power adjustable from 50% to 100%.

2. The quality detection system for auxiliary driving equipment according to claim 1, characterized in that: The method for detecting the quality of the auxiliary driving equipment comprises: S1. Set the car driving simulator to the automatic driving mode. The three-channel projector projects the road information onto the circular projection wall. The dynamic platform provides real-time feedback on the driving limb immersion of the vehicle during the vehicle's travel process. S2. Set the sunlight simulator to link with the scene and simulate the sunlight under the current road conditions according to the road conditions; S3. Open the assisted driving product to be tested; S4, setting up a simulation robot to perform a process-based dangerous driving action that endangers driving safety; S5. Voice or protocol recognition of the alarm information of the driver assistance product to be tested; S6. The system software collects statistics on the detection rate, accuracy rate, false alarm rate, missed alarm rate and response time information of the auxiliary driving product to be detected based on the actions performed by the simulation robot and the voice or protocol alarm information.

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