Two-wheeled vehicle support method and two-wheeled vehicle device for testing wheel adaptive ground

Abstract

The invention provides a two-wheeled vehicle support method and a two-wheeled vehicle device for testing wheel self-adaptation to the ground, which solve the problem of the two-wheeled vehicle self-adapting to the ground during the test of a car with an assisted driving function. The method comprises the following steps: using a group of support devices that can be telescopically extended in the vertical direction and hinged with the bottom of the two-wheeled vehicle body, connecting and supporting the two-wheeled vehicle body and a base through a support device that can be telescopically extended in the Z-axis direction, a movable hinge mode is adopted between the support device and the two-wheeled vehicle body, an elastic element is arranged between the two-wheeled vehicle body and the base, and the device structure comprises a two-wheeled vehicle, a base and a telescopic support device, the support device comprises a fixed part and a telescopic part, the telescopic part can slide longitudinally relative to the fixed part, the upper end of the telescopic part is hinged with the two-wheeled vehicle, and the fixed part is fixedly connected with the base.

Description

Technical Field

[0001] The present invention relates to the technical field of testing equipment for automobiles with auxiliary driving functions, and in particular to a two-wheel vehicle supporting method and a two-wheel vehicle device for testing wheel adaptive ground. Background Art

[0002] At present, automobile assisted driving technology is becoming more and more mature and has gradually entered people's daily lives.

[0003] In order to ensure the safety of testing cars with assisted driving functions, a large number of tests are required during the research and development process. Usually, the test is carried out in a closed test site, using various test equipment and related traffic simulators, such as children, adults, bicycles, scooters, etc., to simulate real traffic scenes and test the performance of cars with assisted driving functions in these scenes. For two-wheeled vehicle simulators, the key point is that the wheels of the two-wheeled vehicle need to keep in contact with the ground at all times while being driven by the base, ensuring that the wheels always rotate with normal friction with the ground to simulate the real movement of the two-wheeled vehicle. Although the road surface used for testing is usually relatively flat, it is not absolutely flat, and there must be slopes and potholes. How to ensure that the two-wheeled vehicle simulator can automatically adapt to changes in the road surface during the rapid movement of the two-wheeled vehicle, always keep the wheels in contact with the ground, and keep the posture of the two-wheeled vehicle stable, has become a key technical difficulty for two-wheeled vehicle simulators. Summary of the invention

[0004] The present invention provides a test two-wheel vehicle supporting method and a two-wheel vehicle device which can automatically adapt to ground changes, so as to solve the above technical difficulties.

[0005] The supporting method of the present invention adopts the following technical scheme: a set of supporting devices that can be extended and retracted in the vertical direction are hinged to the bottom of the two-wheeled vehicle body, and a coordinate system is established with the connection point between the two-wheeled vehicle body and the supporting device as the coordinate origin, the moving direction of the two-wheeled vehicle as the X-axis, the direction parallel to the two-wheeled wheel axle as the Y-axis, and the direction perpendicular to the ground as the Z-axis.

[0006] The two-wheeled vehicle body and the base are connected and supported by a support device that can be extended and retracted along the Z axis, and the two-wheeled vehicle body and the base can move up and down relative to each other along the Z axis through the retractable support device;

[0007] The supporting device and the two-wheeled vehicle body are connected in a movable hinge manner, and the two-wheeled vehicle body and the supporting device can rotate around the Y axis, so that the two-wheeled vehicle and the mobile base can rotate relative to each other;

[0008] An elastic element is arranged between the body of the two-wheeled vehicle and the base, and two ends of the elastic element are respectively connected to the body of the two-wheeled vehicle and the base, or respectively connected to two parts in the supporting device that can generate relative sliding; the elastic element always provides a pulling force, applies a pulling force to the body of the two-wheeled vehicle toward one side of the base, and ensures that the wheels of the two-wheeled vehicle are always in contact with the ground.

[0009] As a preferred embodiment of the above scheme, a spring is used in the supporting device to connect the fixed part and the telescopic part constituting the telescopic mechanism. The spring is always in a stretched state. When the road surface on which the wheel is located is uneven and the relative position of the two-wheeled vehicle body and the base changes, the spring provides continuous pulling force to the two-wheeled vehicle body to ensure that the two-wheeled vehicle wheel is always in contact with the ground.

[0010] As another preferred embodiment of the above solution, an elastic drawstring is used to connect the two-wheeled vehicle body and the base, and the elastic drawstring provides continuous pulling force to the two-wheeled vehicle body to ensure that the wheels of the two-wheeled vehicle are always in contact with the ground.

[0011] The technical solution of the two-wheeled vehicle device for testing wheel adaptive terrain described in the present invention is: it includes a two-wheeled vehicle body, a base and a retractable supporting device, the supporting device includes a fixed part and a retractable part, the retractable part can slide longitudinally relative to the fixed part, the upper end of the retractable part is hinged to the two-wheeled vehicle, and the fixed part is fixedly connected to the base.

[0012] As a preferred embodiment of the above scheme, the fixing part of the supporting device is an outer sleeve, the telescopic part is an inner support rod, the outer sleeve is sleeved outside the inner support rod, the lower end of the outer sleeve is fixed to the base, and the upper end of the inner support rod is hinged to the two-wheeled vehicle.

[0013] As a preferred embodiment of the above solution, the hinged portion between the upper end of the inner support rod and the bottom of the two-wheeled vehicle body is a planar hinge structure, and the central axis of the planar hinge is axially parallel to the axial direction of the wheel of the two-wheeled vehicle.

[0014] As a preferred embodiment of the above scheme, a limiting structure is provided between the inner support rod and the outer sleeve, which can limit the inner support rod from rotating around the central axis in the outer sleeve.

[0015] As a preferred embodiment of the above solution, the limiting structure between the outer sleeve and the inner support rod is a flat key or a spline.

[0016] As a preferred embodiment of the above scheme, the outer sleeve is provided with a spring, the lower end of the spring is fixed in the outer sleeve, and the upper end is fixed to the lower end of the inner support rod.

[0017] As a preferred embodiment of the above scheme, a plurality of elastic pull ropes are symmetrically distributed on the periphery of the two-wheeled vehicle body, the upper ends of the elastic pull ropes are fixedly connected to the two-wheeled vehicle body, and the lower ends are fixedly connected to the base. The elastic pull ropes are in a stretched state to provide downward pulling force to the two-wheeled vehicle body.

[0018] The beneficial effects of the present invention are:

[0019] 1. The above technical solution can effectively solve the problem that during the test of a car with assisted driving function, the wheels of a simulated two-wheeled vehicle are separated from the road surface and cannot roll normally when the vehicle passes through a bumpy road environment, especially when the vehicle passes through a road with protrusions. The technical solution can make the wheels of the two-wheeled vehicle highly adaptive and ensure that the wheels of the two-wheeled vehicle roll normally due to friction with the ground during the driving process, so as to simulate the real scene.

[0020] 2. When the two-wheeled vehicle of the above structure is driven by the base, the two-wheeled vehicle has good stability as a whole due to the pulling effect of multiple symmetrically distributed elastic pull ropes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention.

[0022] Figure 2 for Figure 1 Schematic diagram of the internal structure of the retractable support device.

[0023] Figure 3 It is a schematic diagram of the overall structure of the second embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the first embodiment of the present invention when the spring compression amount is maximum.

[0025] Figure 5 This is a schematic diagram of the second embodiment of the present invention when the lower end of the inner support rod is flush with the lower end of the inner portion of the outer sleeve. DETAILED DESCRIPTION

[0026] The following first describes in detail an embodiment of a two-wheeled vehicle device for testing a wheel adaptive terrain according to the present invention in conjunction with the accompanying drawings, and then describes an embodiment of a two-wheeled vehicle supporting method for testing a wheel adaptive terrain according to the present invention in conjunction with this embodiment.

[0027] Embodiment 1

[0028] like Figure 1 and Figure 2 As shown, this embodiment introduces a two-wheeled vehicle device for testing wheel adaptive terrain, and its technical solution includes a two-wheeled vehicle body 1, a base 3 and a retractable support device 2, wherein the support device includes a fixed part and a retractable part, the retractable part can slide longitudinally relative to the fixed part, the upper end of the retractable part is hinged to the two-wheeled vehicle body, and the fixed part is fixedly connected to the base 3. During the test, the base here can be driven by other external power sources to move along a specific trajectory.

[0029] In this embodiment, the fixing part of the supporting device is an outer sleeve 21, and the telescopic part is an inner support rod 22. The outer sleeve 21 is sleeved outside the inner support rod 22, the lower end of the outer sleeve 21 is fixed to the base 3, and the upper end of the inner support rod 22 is hinged to the two-wheeled vehicle 1, or the upper end of the outer sleeve 21 is hinged to the two-wheeled vehicle 1, and the lower end of the inner support rod 22 is fixedly connected to the base 3. The former scheme is adopted in this embodiment.

[0030] In this embodiment, the hinged portion between the upper end of the inner support rod 22 and the bottom of the two-wheeled vehicle body is a planar hinge structure, and the central axis of the planar hinge is axially parallel to the axial direction of the wheel of the two-wheeled vehicle.

[0031] In this embodiment, a limiting structure is provided between the inner support rod 22 and the outer sleeve 212, which can limit the inner support rod from rotating around the central axis in the outer sleeve.

[0032] In this embodiment, the limiting structure between the outer sleeve 21 and the inner support rod 22 is a flat key or a spline (the flat key and spline structures are conventional structures and are not reflected in the drawings).

[0033] In this embodiment, the outer sleeve 21 is provided with a spring 23, the lower end of the spring 23 is fixed inside the outer sleeve (when the lower end of the outer sleeve is closed, the lower end of the spring is fixed to the bottom of the outer sleeve, and when the lower end of the outer sleeve is not closed, the lower end of the pull rope spring is fixedly connected to the base), and the upper end is fixed to the lower end of the inner support rod 21, and the spring 23 is always in a stretched state.

[0034] Embodiment 2

[0035] On the basis of the first embodiment, the spring 23 is removed and replaced with a plurality of elastic pull ropes 24, such as Figure 3 As shown, a plurality of elastic pull ropes 24 are symmetrically distributed around the periphery of the two-wheeled vehicle body, the upper ends of the elastic pull ropes 24 are fixedly connected to the two-wheeled vehicle body, and the lower ends are fixedly connected to the base 3. The elastic pull ropes 24 are in a stretched state, providing a downward pulling force to the two-wheeled vehicle body.

[0036] The following is an expanded explanation of the two-wheeled vehicle support method for testing wheel adaptive terrain of the present invention by describing the working principle of the above structure.

[0037] A set of support devices that can be telescoped in the vertical direction are hinged to the bottom of the two-wheeled vehicle body, and a coordinate system is established with the connection point 4 between the two-wheeled vehicle body and the support device as the coordinate origin, the moving direction of the two-wheeled vehicle body as the X-axis, the direction parallel to the two-wheeled wheel axle as the Y-axis, and the direction perpendicular to the ground as the Z-axis. The bottom of the two-wheeled vehicle body is supported by a telescopic support device (telescopic in the Z-axis direction), and the plane hinge enables the vehicle body to rotate only around the Y-axis, restricting the rotation of the two-wheeled vehicle body around the X-axis, thereby ensuring that the two-wheeled vehicle body will not tilt sideways during travel, and at the same time ensuring that the two-wheeled vehicle has good pitch adaptability during travel (the so-called pitch adaptability means that during the travel of the two-wheeled vehicle, the vehicle body can freely pitch and rotate around the hinge due to the undulations of the road surface to adapt to the road surface).

[0038] The retractable support device adopts a retractable structure composed of an outer sleeve and an inner support rod, which ensures that when the vehicle body encounters an uneven road surface during movement, it can effectively adapt to the ups and downs of the road surface and prevent the problem of wheels leaving the ground.

[0039] In the above structure, in order to more effectively improve the adaptability of the device to the ground, there are the following two different preferred solutions.

[0040] The first is to set a spring inside the retractable support device. The spring is always in a stretched state. The upper end of the spring is connected to the inner support rod, and the lower end is connected to the base (or when the lower end of the outer sleeve is closed, the lower end of the spring is fixed to the bottom of the outer sleeve). When the road surface is undulating, the spring can provide a downward pulling force to the two-wheeled vehicle body to ensure good contact between the wheel and the ground.

[0041] It should be noted here that when the spring compression is at the maximum value, the lowest point of the lower surface of the base should be higher than the lowest point of the two-wheeled vehicle wheel, so as to ensure that the pull rope spring always pulls down the two-wheeled vehicle body during the movement of the base, and at the same time reserve a certain travel margin for the inner support rod to ensure that when the base moves to a raised part, the two-wheeled vehicle wheel can still be in good contact with the ground. Figure 4 shown.

[0042] The second method is to remove the spring inside the retractable supporting device and symmetrically distribute multiple elastic pull ropes around the periphery of the two-wheeled vehicle body. The upper ends of the elastic pull ropes are fixedly connected to the two-wheeled vehicle body, and the lower ends are fixedly connected to the base. The elastic pull ropes are in a stretched state to provide downward pulling force to the two-wheeled vehicle body.

[0043] In this embodiment, the elastic pull rope is arranged on the body of the two-wheeled vehicle on the crossbar of the triangular main frame of the two-wheeled vehicle. Two elastic pull ropes are arranged on each side of the main frame. The lower end of the elastic pull rope is fixedly connected to the base. The elastic pull ropes on both sides of the main frame are symmetrical with respect to the central plane (XZ plane) of the main frame. Figure 3In addition, the connection position between the pull rope and the vehicle body can also be on the diagonal rod of the triangular main frame of the two-wheeled vehicle, and the elastic pull ropes on both sides of the vehicle body must be symmetrical relative to the XZ plane.

[0044] It should be noted here that when the lower end of the inner support rod of the retractable support device is flush with the lower end of the inner part of the outer sleeve, the lowest point of the lower surface of the base should be higher than the lowest point of the wheel of the two-wheeled vehicle, so as to reserve a certain travel margin for the inner support rod to ensure that when the base moves to a raised portion, the wheel of the two-wheeled vehicle can still be in good contact with the ground, such as Figure 5 shown.

[0045] For the second structure, the elastic drawstring provides downward pulling force for the two-wheeled vehicle body and also provides stability for the vehicle body. The elastic drawstrings symmetrically distributed around the vehicle body can provide good protection for the vehicle body during movement, thereby effectively improving the stability of the vehicle body during movement.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A two-wheeled vehicle device for testing wheel adaptive terrain, characterized in that: The vehicle comprises a two-wheeled vehicle body, a base and a retractable support device, wherein the support device comprises a fixed part and a retractable part, the retractable part can slide longitudinally relative to the fixed part, the upper end of the retractable part is hinged to the two-wheeled vehicle body, and the fixed part is fixedly connected to the base; The fixing part of the supporting device is an outer sleeve, and the telescopic part is an inner support rod. The outer sleeve is sleeved outside the inner support rod, the lower end of the outer sleeve is fixed to the base, and the upper end of the inner support rod is hinged to the two-wheeled vehicle, or the upper end of the outer sleeve is hinged to the two-wheeled vehicle, and the lower end of the inner support rod is fixedly connected to the base; The upper end of the inner support rod and the hinged portion at the bottom of the two-wheeled vehicle body are in a planar hinge structure, and the central axis of the planar hinge is axially parallel to the axial direction of the wheel of the two-wheeled vehicle; A limiting structure is provided between the inner support rod and the outer sleeve, which can limit the inner support rod from rotating around the central axis in the outer sleeve; The limiting structure between the outer sleeve and the inner support rod is a flat key or a spline; The outer sleeve is provided with a spring, the lower end of which is fixed inside the outer sleeve or on the base, and the upper end of which is fixed to the lower end of the inner support rod; A plurality of elastic pull ropes are symmetrically distributed on the periphery of the two-wheeled vehicle body, the upper ends of the elastic pull ropes are fixedly connected to the two-wheeled vehicle body, and the lower ends are fixedly connected to the base. The elastic pull ropes are in a stretched state, providing a downward pulling force to the two-wheeled vehicle body; A set of vertically retractable support devices are hinged to the bottom of the two-wheeled vehicle body, and a coordinate system is established with the connection point between the two-wheeled vehicle body and the support device as the coordinate origin, the direction of travel of the two-wheeled vehicle as the X-axis, the direction parallel to the wheel axle of the two-wheeled vehicle as the Y-axis, and the direction perpendicular to the ground as the Z-axis. The two-wheeled vehicle body and the base are connected and supported by a support device that can be extended and retracted along the Z-axis direction, and the two-wheeled vehicle body and the base can move up and down relative to each other along the Z-axis through the retractable support device; The supporting device and the two-wheeled vehicle body are connected in a movable hinge manner, and the two-wheeled vehicle body and the supporting device can rotate around the Y axis, so that the two-wheeled vehicle body and the base can rotate relative to each other; An elastic pull rope is arranged between the two-wheeled vehicle body and the base, and two ends of the elastic pull rope are respectively connected to the two-wheeled vehicle body and the base, or respectively connected to two parts in the supporting device that can generate relative sliding; the elastic pull rope always provides pulling force, applies pulling force to the two-wheeled vehicle body toward one side of the base, and ensures that the wheels of the two-wheeled vehicle are always in contact with the ground.

2. The test two-wheel vehicle device according to claim 1, characterized in that: A spring is used in the supporting device to connect the fixed part and the telescopic part constituting the telescopic mechanism. When the road surface on which the wheel is located is uneven and the relative position of the two-wheeled vehicle body and the base changes, the spring provides a continuous downward pulling force to the two-wheeled vehicle body to ensure that the two-wheeled vehicle wheel is always in contact with the ground.

3. The test two-wheel vehicle device according to claim 2, characterized in that: An elastic drawstring is used to connect the two-wheeled vehicle body and the base, and the elastic drawstring provides continuous pulling force to the two-wheeled vehicle body to ensure that the wheels of the two-wheeled vehicle are always in contact with the ground.

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