Small Active Driven Platform for Loading Dummy Targets

Abstract

The present invention provides a small active drive platform for loading dummy targets, including a platform body for providing support and installation parts; a power module, arranged below the platform body, for driving the platform body to move; and an electrical module, installed in the platform body, for controlling corresponding units to make feedback according to different control signals. Compared with the related art, the small active drive platform for loading dummy targets provided by the present invention has ultra-thin size, is flexible and intelligent, has high test accuracy, and can meet the auxiliary test conditions of multi-target collaboration.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned driving test, and in particular to a small active driving platform for loading a dummy target object. Background Art

[0002] ADAS (Advanced Driving Assistance System) uses a variety of sensors installed on the car (millimeter wave radar, lidar, monocular / binocular cameras and satellite navigation) to sense the surrounding environment at any time during driving, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] The dummy target object is mainly used to simulate the prototype model of pedestrians in vehicle driving tests. It tests the response of the vehicle's assisted driving system to the possible collision caused by the relative movement of the vehicle and the target object. The dummy has physical properties such as body size, visual appearance, radar reflectivity, infrared characteristics, etc. that are close to those of a real person. The pedestrian dummy currently used in the test does not have the ability to move on the ground and must be used in conjunction with the matching drive platform during the test.

[0004] There are two main types of mobile platforms for loading dummy targets used in existing vehicle tests. One type is a dummy loading platform without a drive device, which is pulled by a rope by equipment arranged on both sides of the test road. This type of dummy loading platform only has pulleys and a small platform size, but the entire set of equipment is large in size, inconvenient to carry, and the installation and debugging before testing is cumbersome, and the function is limited to driving the dummy target to move in a straight line; the other type of loading platform based on AGV integrates the drive system, control equipment, GPS positioning and networking functions. This type of product is simpler to deploy and easier to use than the previous type, can control the movement of any path, and has a wide range of application test scenarios, but the existing platform is relatively thick (more than 60mm), and is mainly used for loading targets such as bicycles or motorcycles. Dummy targets are an important test link for ADAS. At present, there is no platform dedicated to dummy targets on the market. When loading dummy targets on existing platforms, the overall lifting of the loaded dummy is more than 85mm above the ground. The thick size of the structure causes the radar reflection characteristics to seriously exceed the standard, and it is impossible to truly simulate the same physical properties of pedestrians, which makes it impossible to effectively simulate related tests.

[0005] Therefore, it is necessary to provide a new type of small active drive platform for loading dummy targets to overcome the above-mentioned defects. Summary of the invention

[0006] The purpose of the present invention is to provide a novel small-sized active drive platform for loading dummy targets, which has ultra-thin size, is flexible and intelligent, has high test accuracy, and can meet the auxiliary test conditions of multi-target collaboration.

[0007] In order to achieve the above object, the present invention provides a small active drive platform for loading a dummy target, comprising:

[0008] The platform body is used to provide support and installation parts;

[0009] A power module, disposed below the platform body, for driving the platform body to move;

[0010] An electrical module, installed in the platform body, for controlling corresponding units to make feedback according to different control signals;

[0011] The power module includes a suspension unit and a driving unit mounted on the suspension unit, wherein the suspension unit includes an adjustment seat, a spring connected to the adjustment seat, a sliding push rod connected to the spring, a guide seat sleeved on the sliding push rod, and a follower wheel arranged on a side of the sliding push rod away from the spring;

[0012] The driving unit includes a driving motor arranged parallel to the movement direction of the sliding push rod, an output shaft arranged coaxially with the driving motor, a transmission shaft arranged perpendicular to the output shaft, a coupling connected to the transmission shaft, a synchronous shaft connected to the coupling, a swing arm member arranged coaxially with the synchronous shaft, and a driving wheel arranged on the swing arm member, and the driving motor is arranged parallel to the movement direction of the sliding push rod.

[0013] Furthermore, the transmission shaft and the output shaft are connected via a bevel gear pair.

[0014] Furthermore, the swing arm member is extended along the movement direction of the sliding push rod, and a cam is further provided at one end of the swing arm member connected to the synchronization shaft, and the cam abuts against the follower wheel.

[0015] Furthermore, the swing arm member includes two swing arms arranged in parallel and at intervals, and a synchronous pulley arranged between the two swing arms, one of the synchronous pulleys is arranged coaxially with the synchronous shaft, and the remaining one is arranged coaxially with the driving wheel.

[0016] Furthermore, the electrical module includes a control unit, and a motor drive unit, a wireless network card module, an inertial navigation module, a 2.4G remote control module, a lithium battery pack, a CAN bus communication module and a suspension position sensor connected to the control unit.

[0017] Furthermore, the platform body includes a support frame for providing support for the power module, a cover plate arranged on the support frame, and an inclined panel obliquely extending from the periphery of the middle cover plate.

[0018] Furthermore, an electromagnet assembly is provided in the middle of the cover plate, permanent magnets are provided at the four corners of the cover plate, and a switch display panel is provided at a portion of the cover plate close to the electromagnet assembly.

[0019] Furthermore, a GPS antenna is also provided on the cover plate. The GPS antenna is arranged on both sides of the cover plate in the lateral direction and is located at the connection portion between the cover plate and the inclined panel.

[0020] Furthermore, the inclination angle is 20-25°.

[0021] Compared with the related art, the small active drive platform for loading dummy targets of the present invention has a smaller overall size, especially a thickness size, and simulates a more realistic situation in vehicle testing. It adopts multi-system redundant control to ensure that the platform operates accurately while also being safe and reliable. The use of an electromagnet assembly to install the dummy makes the equipment and test vehicles safer and more convenient than traditional permanent magnets. As a test tool, the small size and weight make transportation more convenient, effectively reducing deployment time and improving test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0023] Figure 1 It is a schematic diagram of the overall structure of a small active drive platform for loading a dummy target object according to the present invention;

[0024] Figure 2 It is a partial structural schematic diagram of a small active drive platform seat for loading a dummy target object of the present invention;

[0025] Figure 3 It is a schematic diagram of the driving structure of a small active driving platform seat for loading a dummy target object of the present invention;

[0026] Figure 4 The electrical system architecture diagram of the small active drive platform for loading a dummy target object of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1 and Figure 2 The present invention provides a small active drive platform for loading a dummy target, comprising: a platform body 1, for providing a support and installation portion; a power module 2, arranged below the platform body 1, for driving the platform body 1 to move; and an electrical module 3, installed in the platform body 1, for controlling corresponding units to make feedback according to different control signals.

[0029] The platform body 1 includes a support frame 11 for providing support for the power module 2, a cover plate 12 arranged on the support frame 11, and an inclined panel 13 extending obliquely from the four sides of the cover plate 12. The inclination angle is 20-25°, and the specific inclination angle is 22.5°. The inclination direction is formed by extending obliquely from the top of the platform body to the ground, so that the thickness of the platform body can reach 33mm, the surface is smoothed, and the platform body is made of aviation aluminum material to reduce radar reflectivity.

[0030] An electromagnet assembly 121 is disposed in the middle of the cover plate 12 , permanent magnets 122 are disposed at the four corners of the cover plate 12 , and a switch display panel 123 is disposed near the electromagnet assembly 121 of the cover plate 12 .

[0031] The cover plate 12 is further provided with a GPS antenna 124 and a wireless antenna 125 , and the GPS antenna 124 and the wireless antenna 125 are arranged on both sides of the electromagnet assembly 121 along the lateral direction.

[0032] As an improvement of the present solution, the electromagnet assembly for loading the dummy target is located in the center of the platform surface, and is used to load the dummy target installed on the transparent riser. The electromagnet assembly fixes the dummy through a cover plate. Permanent magnets are currently commonly used for fixing, which is a simple method. However, the cover plate has a small diameter, and the magnets used have a large suction force. It is more laborious to disassemble and assemble the dummy target, and the dummy is magnetically fixed to the platform. In the test scenario, when the test vehicle collides with the dummy, the impact force is large, and the platform may be overturned at the same time through the riser, causing damage to the test vehicle and the drive platform. The connection method of the electromagnet assembly used in this solution can control the electromagnet assembly to be turned on and off for a short time when disassembling and assembling the dummy, which is convenient for installation. In the collision test scenario, the control unit predicts the collision time through the relative position data, and reduces the suction force of the electromagnet assembly in time to avoid the risk of the vehicle overturning the platform during the test.

[0033] See also Figure 2 and Figure 3 There are four power modules 2, and the four power modules 2 are respectively arranged at the four corners of the platform body 1. The power module 2 includes a suspension unit 21 and a drive unit 22 installed on the suspension unit 21. The suspension unit 21 and the drive unit 22 are arranged perpendicular to each other, which can well protect the suspension and improve the supporting force.

[0034] The suspension unit 21 includes an adjustment seat 211 arranged on the support frame 11, a spring 212 connected to the adjustment seat 211, a sliding push rod 213 connected to the spring 212, a guide seat 214 sleeved on the sliding push rod 213, and a follower wheel 215 arranged on the side of the sliding push rod 213 away from the spring 212.

[0035] The platform surface may be crushed by the test vehicle in the test environment. As a protection for the platform wheels and transmission mechanism, unlike ordinary AGVs whose wheels are only used for general working conditions and do not have a suspension mechanism, the platform is designed to bear a load far less than the general weight of the test vehicle. A suitable suspension is required so that when the platform is crushed by a pressure exceeding the suspension load-bearing capacity, the wheels can be retracted into the platform. The suspension unit uses a cam mechanism to transmit the suspension support force. The increased suspension does not occupy vertical space, making the overall mechanism layout flat.

[0036] The driving unit 22 includes a driving motor 221, an output shaft 222 coaxially arranged with the driving motor 221, a transmission shaft 223 perpendicularly arranged with the output shaft 222, a coupling 224 connected with the transmission shaft 223, a synchronous shaft 225 connected with the coupling 224, a swing arm 226 coaxially arranged with the synchronous shaft 225, and a driving wheel 227 arranged on the swing arm 226.

[0037] The driving motor 221 is fixed on the support frame 11 and is arranged parallel to the moving direction of the sliding push rod 213 , that is, the output direction of the driving motor 221 is opposite to the moving direction of the sliding push rod 213 .

[0038] The transmission shaft 223 and the output shaft 222 are connected via a bevel gear pair 228. The bevel gear pair 228 is formed by two bevel gears meshing at 90 degrees with each other to ensure better force transmission.

[0039] The swing arm 226 is extended along the movement direction of the sliding push rod 213, and a cam 229 is further provided at one end of the swing arm 226 connected to the synchronization shaft 225, and the cam 229 abuts against the follower wheel 215. The cam 229 extends from the swing arm 226 to the follower wheel 215, that is, the sliding push rod 213 is perpendicular to the synchronization shaft 225.

[0040] When the platform surface is crushed by a vehicle, the driving wheel is retracted into the platform body to protect the suspension. The swing arm is fixedly connected to the cam to transfer the vertical supporting force to the follower wheel. The follower wheel is supported by a sliding push rod installed on the guide seat. The spring and the adjustment seat provide the sliding push rod with adjustable suspension supporting force.

[0041] The swing arm 226 includes two swing arms 2261 arranged in parallel and spaced apart, and a synchronous pulley 2262 arranged between the two swing arms 2261, one of the synchronous pulleys 2262 is coaxially arranged with the synchronous shaft 225, and the remaining one is coaxially arranged with the driving wheel 227. The swing arm 226 is used to drive the driving wheel 227 to retract into the platform body when subjected to pressure.

[0042] See also Figure 2 and Figure 4 The electrical module 3 includes a control unit 31, and a motor drive unit 32, a wireless network card module 33, an inertial navigation module 34, a 2.4G remote control module 35, a lithium battery pack 36, a CAN bus communication module 37 and a suspension position sensor 38 connected to the control unit 31.

[0043] The control unit 31 includes a single-chip microcomputer 311 and a vehicle-mounted PC terminal 312. The single-chip microcomputer is used for collecting and processing internal signals of the electrical module 3, and the vehicle-mounted PC terminal is used for connecting to a remote terminal to receive remote control and remote feedback.

[0044] The motor drive unit 32 is arranged on the side of the drive motor 221 at the four corners of the platform body 1, the suspension position sensor 38 is arranged on the rotation axis of the suspension swing arm 2261, and two lithium battery packs 36 are arranged on the two wings of the platform body 1 respectively. The control unit 31, the wireless network card module 33, the inertial navigation module 34, and the 2.4G remote control module 35 are arranged in the center of the platform body 1. The wireless network card module 33 is connected to the wireless antenna 125 to facilitate the synchronization of control signals with peripheral communication, the CAN bus communication module 37 synchronizes internal control signals, the inertial navigation module 34 and the GPS antenna 124 are leveled to provide navigation and positioning support, and can also receive GPS signals and on-site base station positioning calibration signals to obtain high-precision positioning. The suspension position sensor 38 is used to detect whether the suspension is compressed back into the platform by rolling, and to control the power-on protection drive unit of the motor power supply in real time. The control unit 31 processes the input signal, coordinates the control of the remote terminal and the motor driver, and realizes the movement of the platform body according to the set path and speed. This solution adds a 2.4G remote control module 35, which can simply control the platform movement and increase the convenience of use. In addition, the platform can send the moving speed of the platform to the dummy target through the 2.4G communication module 35, and the dummy target performs corresponding hand and foot swing simulation according to the moving speed provided by the platform.

[0045] The control part of this scheme makes the whole system simple and reliable to operate. Before the experiment: the user only needs to set the position, speed and acceleration of the three points of the platform, the collision point and the end point, and the collision point and detection direction of the car to conduct the test. When the setting is completed, turning on the "automatic cycle check" can make the platform out of human control and ensure repeated experiments in a safe situation. During the experiment: by linking with the experimental vehicle, it can accurately estimate that the platform will start at a specific time and move forward at the preset acceleration and speed to ensure that the car and the dummy can collide head-on at the preset collision point. During the movement of the car, due to factors such as mechanical processing, assembly, and wear and tear, the platform will deviate from the preset route to a certain extent. At this time, it is necessary to locate it according to the high-precision and high-frequency output GPS module, and then correct it through a specific algorithm. The correction process involves the cooperation of multiple control factors, such as: the PID algorithm of the distance from the route, the PID algorithm of the heading angle, the relationship between the platform's different speeds and the left and right wheel differences when turning, etc. In order to achieve a quick entry into the preset trajectory, these algorithms cannot be used alone, and need to be combined in a specific way to work together to ensure fast response and precise control. During the entire movement, when the distance between the test vehicle and the dummy is too close, the system will weaken the dummy's magnetic force to ensure that the platform will not be overturned and rolled under the car due to the car hitting the dummy. This is a necessary protection mechanism for the platform itself and the car's safety. If the vehicle runs over the platform during the movement, the motor can be quickly disabled through the timely feedback of the mechanical limit switch, which can protect the motor and extend its service life. If the test vehicle moves away after the test, the platform will be started back to the starting point to restart the test. After the experiment: the system will analyze the results to determine whether the test vehicle and the platform have collided. If a collision occurs, the deviation of the dummy relative to the preset collision point can be calculated. If no collision occurs, the closest distance between the car and the dummy during the entire process can be calculated.

[0046] Since the design involves motion control, in addition to the protection mechanism mentioned above, the control system itself also adopts a redundant design. If any problem occurs in the microcontroller, PC or remote control device, the platform will be stopped urgently, thus ensuring the safety and reliability of the platform.

[0047] Compared with the related art, the small active drive platform for loading dummy targets of the present invention has a smaller overall size, especially a thickness size, and simulates a more realistic situation in vehicle testing. It adopts multi-system redundant control to ensure that the platform operates accurately while also being safe and reliable. The use of an electromagnet assembly to install the dummy makes the equipment and test vehicles safer and more convenient than traditional permanent magnets. As a test tool, the small size and weight make transportation more convenient, effectively reducing deployment time and improving test efficiency.

[0048] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A small active drive platform for loading dummy targets, It is characterized in that include: The platform body is used to provide support and installation parts; A power module, arranged below the platform body, for driving the platform body to move; An electrical system, installed in the platform body, for controlling corresponding units to make feedback according to different control signals; The electrical system includes a control module for signal collection and processing, and a motor drive module connected to the control module for controlling the rotation of the motor, a wireless network card module for remote communication, an inertial navigation module for navigation, a 2.4G remote control module for remote control communication connection, a lithium battery pack for providing current, a CAN bus communication module for serial communication, and a suspension position sensor for position monitoring; The power module includes a suspension unit and a drive unit mounted on the suspension unit, wherein the suspension unit and the drive unit are arranged perpendicular to each other; The suspension unit includes an adjustment seat arranged on the platform body, a spring connected to the adjustment seat, a sliding push rod connected to the spring, a guide seat sleeved on the sliding push rod, and a follower wheel arranged on a side of the sliding push rod away from the spring; The driving unit includes a driving motor arranged parallel to the movement direction of the sliding push rod, an output shaft arranged coaxially with the driving motor, a transmission shaft arranged perpendicular to the output shaft, a coupling connected to the transmission shaft, a synchronous shaft connected to the coupling, a swing arm member arranged coaxially with the synchronous shaft, and a driving wheel arranged on the swing arm member; the swing arm member is extended along the movement direction of the sliding push rod, and a cam is further provided at one end of the swing arm member connected to the synchronous shaft, and the cam abuts against the follower wheel.

2. The small active drive platform for carrying a dummy target according to claim 1, Features: The transmission shaft and the output shaft are connected via a bevel gear pair.

3. The small active drive platform for carrying a dummy target according to claim 1, Features: The swing arm member includes two swing arms arranged in parallel and at intervals and a synchronous belt pulley arranged between the two swing arms. One of the synchronous belt pulleys is coaxially arranged with the synchronous shaft, and the remaining one is coaxially arranged with the driving wheel.

4. The small active drive platform for carrying a dummy target according to claim 1, Features: The platform body comprises a support frame for providing support for the power module, a cover plate arranged on the support frame, and an inclined panel obliquely extending from the periphery of the cover plate.

5. The small active drive platform for carrying a dummy target according to claim 4, Features: An electromagnet assembly is provided in the middle portion of the cover plate, permanent magnets are provided at the four corners of the cover plate, a switch display panel is provided at a portion of the cover plate close to the electromagnet assembly, a GPS antenna and a wireless antenna are also provided on the cover plate, and the GPS antenna and the wireless antenna are respectively arranged on both sides of the electromagnet assembly in the lateral direction.

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