An L3-level autonomous driving test system

Abstract

The present application relates to an L3-level autonomous driving test system, which includes: a distance detection component, which is used to be arranged outside the test vehicle and is used to obtain the distance from the obstacle in front; a simulated humanoid driving robot, which includes a torso and a hip connected to each other, a human-machine interaction operation component connected to the torso, a driving operation component and a fixing component connected to the hip; a control module is arranged in the torso; the fixing component is used to be connected to the driver's seat of the test vehicle; a host computer, which is used to receive control information, form a control instruction based on the control information and the detection information of the distance detection component, and send the control instruction to the control module; and, the control module is used to receive the control instruction and control the human-machine interaction operation component and the driving operation component to work based on the control instruction. Thereby, it realizes the test of the human-machine interaction latency and safety of autonomous driving instead of humans, and avoids the problems of fatigue, poor consistency and high danger caused by humans.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to an L3-level autonomous driving test system. Background Art

[0002] Currently, the "SAE Driving Automation Classification" names the L0-L2 level systems as "driver assistance systems". With the assistance of systems at this level, whether the driving assistance function is turned on or not, it is the driver who controls the vehicle and is responsible for vehicle safety. Common functions such as active braking, lane departure warning, lane keeping, and adaptive cruise all belong to the functions at this level. During driving, the driver must constantly monitor these functions and intervene in a timely manner when necessary to ensure safety. The L3-L5 levels are called "autonomous driving systems". When the system at this level is activated, the control of the vehicle is dominated by the vehicle, rather than the driver driving the vehicle. However, for the L3-level autonomous driving system, the driver only needs to take over the vehicle when the system requests, while the L4 and L5 level systems do not require the driver to take over.

[0003] In some related technologies, existing L3-level vehicle systems are mostly systems with relatively high risks and require a large number of test miles. The detection method is to combine manual subjective evaluation with quantitative testing of external vehicle equipment, but there are the following problems:

[0004] Completely manually completing the vehicle system test, these tests will cause many discomforts to the human body, extremely high labor intensity, poor consistency of test data, and even cause harm to test personnel during dangerous tests involving personal safety.

[0005] In some other related technologies, existing driving robots are widely used in vehicle performance testing. The structural design feature of the driving robot lies in its versatility. The driving robot is composed of a throttle mechanical leg, a brake mechanical leg, a clutch mechanical leg, and a gear shifting manipulator. Summary of the Invention

[0006] The embodiments of this application provide an L3-level autonomous driving test system to solve the problems of poor consistency and high labor intensity caused by mainly manually detecting the reciprocating driving of L3-level vehicle systems in related technologies.

[0007] In a first aspect, an L3-level autonomous driving test system is provided, which includes:

[0008] A distance detection component, which is used to be arranged outside the test vehicle and is used to obtain the distance from the front obstacle;

[0009] A simulated humanoid driving robot, which includes a connected torso and hip, a human-machine interaction operation component connected to the torso, a driving operation component and a fixing component connected to the hip; a control module is provided inside the torso; the fixing component is used to connect to the driving seat of the test vehicle;

[0010] A host computer, which is used to receive control information, form a control instruction based on the control information and the detection information of the distance detection component, and send the control instruction to the control module;

[0011] And, the control module is used to receive the control instruction and control the human-machine interaction operation component and the driving operation component to work based on the control instruction.

[0012] In some embodiments, the driving operation component includes two mechanical legs, and the mechanical legs include a thigh component, a calf component and a foot component;

[0013] The thigh component includes a first skeleton and a first cover; the calf component includes a second skeleton and a second cover; the joint where the first skeleton is connected to the second skeleton is connected by a first servo; the joint where the first skeleton is connected to the hip is connected by a second servo; the joint where the second skeleton is connected to the foot component is connected by a third servo.

[0014] In some embodiments, at least one of the second skeletons of the mechanical legs is provided with a connecting block, the connecting block is located at one end where the second skeleton is connected to the foot component, and the connecting block is connected to this end by a fourth servo; the fourth servo is used to drive the connecting block to rotate around the axis of the second skeleton itself, and the connecting block is perpendicularly connected to the third servo.

[0015] In some embodiments, the foot component includes a sole and toes, the sole and toes are integrally formed, and both the sole and toes are made of a hard material; the sole is in an upward arc shape and is used to fit the brake pedal and the accelerator pedal of the test vehicle.

[0016] In some embodiments, a first telescopic auxiliary member that can be telescoped along its extending direction is provided on the first skeleton;

[0017] A second telescopic auxiliary member that can be telescoped along its extending direction is provided on the second skeleton; the telescopic ends of the second telescopic auxiliary member and the first telescopic auxiliary member are both connected to the joint where the first skeleton is connected to the second skeleton.

[0018] In some embodiments, both the first telescopic auxiliary member and the second telescopic auxiliary member include a connecting seat, a telescopic rod, and a telescopic rod base; the connecting seat is provided with a mounting hole for connecting to the telescopic rod base.

[0019] In some embodiments, the human-machine interaction operation component includes a mechanical head and an arm; the mechanical head face can perform blinking and eyeball rhythm operations; the arm includes an upper arm, a lower arm, a wrist and a palm, and each joint is connected by a fifth servo motor;

[0020] One end of the upper arm is coaxially provided with a sixth servo motor, the sixth servo motor is connected with a first rotating frame, and the first rotating frame is connected with the lower arm through the fifth servo motor; one end of the lower arm is coaxially provided with a seventh servo motor, the seventh servo motor is connected with a second rotating frame, and the second rotating frame is connected with the wrist arm through the fifth servo motor.

[0021] In some embodiments, the mechanical head face is made of silicone material and has skin fine lines on its surface.

[0022] In some embodiments, each finger of the palm includes a movable phalanx, and a high-precision tactile sensor is installed at the fingertip of the finger.

[0023] In some embodiments, the distance detection component uses an obstacle avoidance radar; the front obstacles include pedestrians, vehicles or walls.

[0024] The beneficial effects brought by the technical solution provided by this application include:

[0025] The embodiment of this application provides an L3-level autonomous driving test system. Since the simulated humanoid driving robot is fixed on the driving seat of the vehicle to be tested through the fixing component installed on the hip, the driving operation component of the simulated humanoid driving robot replaces a person to perform operations such as stepping on the brake or accelerator, and the human-machine interaction operation component replaces a person to perform interaction operations with the vehicle machine, such as making gestures, clicking on the screen, etc. The upper computer can control the simulated humanoid driving robot to perform the above operations through the control module, thereby realizing the test of the human-machine interaction delay and safety of autonomous driving instead of a person, and avoiding the problems of fatigue, poor consistency and high danger caused by humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a schematic diagram of the overall structure of the simulated humanoid driving robot provided by the embodiment of this application;

[0028] Figure 2 It is a schematic diagram of the overall structure of the simulated humanoid driving robot in a sitting or lying posture provided by the embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the overall structure of the simulated humanoid driving robot in an upright posture provided by an embodiment of the present application;

[0030] Figure 4 This is a schematic diagram of the overall structure of the mechanical leg provided by an embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the overall structure of the mechanical leg from another perspective provided by an embodiment of the present application;

[0032] Figure 6 This is a connection diagram of the first telescopic auxiliary member and the second telescopic auxiliary member provided by an embodiment of the present application.

[0033] In the figure: 1. Simulated humanoid driving robot; 100. Trunk; 101. Fixed component; 102. Hip; 103. Thigh component; 1031. First skeleton; 1032. First housing; 104. Calf component; 1041. Second skeleton; 1042. Second housing; 105. Foot component; 106. First telescopic auxiliary member; 107. Second telescopic auxiliary member; 108. Connection seat; 109. Telescopic rod; 110. Mechanical head; 111. Arm; 112. Control module; 113. First servo; 114. Second servo; 115. First rotating frame; 116. Second rotating frame. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] An embodiment of the present application provides an L3-level autonomous driving test system to solve the problems of poor consistency and high labor intensity caused by the main manual detection of reciprocating driving in the L3-level vehicle system in the related art.

[0036] Please refer to Figures 1-6 , an L3-level autonomous driving test system includes; a distance detection component, which is used to be arranged outside the test vehicle and is used to obtain the distance from the obstacle in front; the obstacle in front can be a vehicle or a pedestrian or other objects, and other objects can be a wall, a cement pier, etc.

[0037] The simulated humanoid driving robot 1 includes a connected torso 100 and hip 102, a human-machine interaction operation component connected to the torso, a driving operation component and a fixing component 101 connected to the hip 102; a control module 112 is provided inside the torso 100; the fixing component 101 is used to connect to the driving seat of the test vehicle; the upper computer is used to receive control information, form a control instruction based on the control information and the detection information of the distance detection component, and send the control instruction to the control module 112, where the control information is the information sent by an external computer to the upper computer; and, the control module 112 is used to receive the control instruction and control the human-machine interaction operation component and the driving operation component to work based on the control instruction. The control module 112 communicates with the upper computer through 5G, CAN, 485 and Ethernet, and the power supply of the entire simulated humanoid driving robot 1 uses the power supply of the vehicle.

[0038] Through the above steps, the simulated humanoid driving robot 1 is fixed on the driving seat of the test vehicle through the fixing component 101 installed on the hip 102. The driving operation component of the simulated humanoid driving robot 1 replaces a person to operate the brake or accelerator pedal, and the human-machine interaction operation component replaces a person to interact with the vehicle machine, such as making gestures, clicking on the screen, etc. The upper computer can control the simulated humanoid driving robot 1 to perform the above operations through the control module 112, thereby realizing the test of the human-machine interaction latency and safety of autonomous driving instead of a person, and avoiding problems such as fatigue, poor consistency and high danger caused by humans.

[0039] And the distance to the obstacle in front is obtained through the distance detection component. The upper computer calculates and outputs a control instruction to the driving operation component in real time according to the collected distance, vehicle speed and other data to operate the brake pedal, so that there is no vehicle in a certain safe distance in front of the vehicle, ensuring the safe driving of the vehicle, and the way the robot controls the pedal is consistent with that of a real person, increasing the practicality of the robot. The function of the distance detection component is similar to that of an obstacle avoidance radar. The distance detection component is square. The distance detection component is used for information collection and transmission. The distance detection component transmits the collected information to the upper computer. The upper computer calculates and outputs an execution command to the leg in real time according to the collected information and vehicle speed and other data to operate the accelerator pedal and the brake pedal.

[0040] In some preferred embodiments, during the test of the L3-level autonomous driving system, if there is a malfunction, the distance to the vehicle in front is misjudged, and there is a danger, in order to avoid the occurrence of a dangerous collision, the robot needs to be able to step on the brake pedal in time;

[0041] Furthermore, in the event of an emergency brake during driving, there is a situation where the driver accidentally steps on the accelerator pedal. Whether the L3-level autonomous driving system can accurately judge this situation needs to be tested. Therefore, the driving operation component needs to operate and test the brake pedal and accelerator pedal of the vehicle. The driving operation component specifically includes the following structures:

[0042] Reference Figure 1 、 Figure 2 、 Figure 4 and Figure 5 , the driving operation component includes two mechanical legs, and each mechanical leg includes a thigh component 103, a calf component 104, and a foot component 105;

[0043] The thigh component 103 includes a first skeleton 1031 and a first cover 1032; the calf component 104 includes a second skeleton 1041 and a second cover 1042; the joint where the first skeleton 1031 is connected to the second skeleton 1041 is connected by a first servo 113; the joint where the first skeleton 1031 is connected to the hip 102 is connected by a second servo 114; the joint where the second skeleton 1041 is connected to the foot component 105 is connected by a third servo. Both the first cover 1032 and the second cover 1042 are made of flexible materials.

[0044] The control module 112 controls the operation of the first servo 113, the second servo 114, and the third servo to change the angle between the thigh component 103 and the calf component 104; the angle between the thigh component 103 and the hip 102; the angle between the calf component 104 and the foot component 105. When in use, the foot components 105 of the two mechanical legs respectively contact the brake pedal and the accelerator pedal. At this time, the first servo 113 and the third servo are controlled simultaneously; or either the first servo 113 or the third servo is controlled alone to achieve stepping on the brake pedal and the accelerator pedal. Among them, controlling the first servo 113 and the third servo simultaneously is more in line with human movement.

[0045] Furthermore, of course, if the test vehicle is a manual transmission model, or one mechanical leg can be used to step on the brake pedal and the accelerator pedal, the following settings are made:

[0046] At least one of the second skeletons 1041 of the mechanical legs is provided with a connecting block. The connecting block is located at one end where the second skeleton 1041 is connected to the foot component 105. The connecting block is connected to this end by a fourth servo; the fourth servo is used to drive the connecting block to rotate around the axis of the second skeleton 1041 itself, and the connecting block is perpendicularly connected to the third servo.

[0047] With the above settings, when a robotic leg is required to control the brake pedal and the accelerator pedal, the fourth servo drives the connecting block to rotate, so as to drive the foot component 105 to rotate around the axis of the second skeleton 1041 itself, and then the third servo is used to change the angle between the foot component 105 and the calf component 104. When the test vehicle is a manual transmission, both robotic legs can be configured with the structure of the fourth servo and the connecting block.

[0048] Furthermore, the foot component 105 includes a sole and toes, the sole and toes are integrally formed, and both the sole and toes are made of hard materials; the sole and toes are integrally formed, and both the sole and toes are made of hard materials, ensuring that when the sole steps on the pedal, there will be no gap between the actual speed and the speed of the computer output data due to flexible materials, and the sole is arcuate upwards because the foot pedals of conventional cars slightly protrude in the middle to form an arc-shaped pedal, and the arcuate sole enables the sole of the robot to better fit the brake pedal and the accelerator pedal.

[0049] In some preferred embodiments, a first telescopic auxiliary member 106 that can be telescoped along its extending direction is provided on the first skeleton 1031; a second telescopic auxiliary member 107 that can be telescoped along its extending direction is provided on the second skeleton 1041; the telescopic ends of the second telescopic auxiliary member 107 and the first telescopic auxiliary member 106 are both connected to the joint where the first skeleton 1031 and the second skeleton 1041 are connected. Both the first telescopic auxiliary member 106 and the second telescopic auxiliary member 107 include a connecting seat 108, a telescopic rod 109, and a telescopic rod base; the connecting seat is provided with mounting holes connected to the telescopic rod base. The telescopic rod 109 can be a cylinder, and the gas source can be a vehicle-used gas source.

[0050] With the above structural settings, when the servo between the joints is operating, the telescopic rod 109 plays an auxiliary role to ensure structural stability. When the servo is not operating or rapid response is required, the telescopic rod 109 is used to change the angle between the first skeleton 1031 and the second skeleton 1041, thereby changing the depth of the robot stepping on the accelerator, and further achieving the situation of changing the vehicle speed. The same applies to braking. Among them, both the first skeleton 1031 and the second skeleton 1041 can be composed of telescopic structures, increasing the range within which the robot's foot can step on the pedal, enabling the robot to be used for testing different vehicle models. The setting of the telescopic rod 109 is for emergency situations where the right foot needs to release the accelerator and step on the brake tightly in a very short time. However, the operating speed of the servo is not as fast as the response speed of the cylinder. Therefore, the setting of the cylinder is for an emergency operation setting, which can play a role in rapid and emergency braking in case of emergencies.

[0051] In some preferred embodiments, refer to Figures 1-2, during the testing process of the L3-level autonomous driving system, it is important to test aspects such as the interactivity with the vehicle and the latency of the reaction of the in-vehicle computer; specifically, gestures, screen clicks, gear shifting, and facial expression changes are tested, and the L3-level autonomous driving system's reactions and operations to the above changes are tested; therefore, the following settings are made for the human-machine interaction operation component:

[0052] The human-machine interaction operation component includes a mechanical head 110 and an arm 111; the face of the mechanical head 110 can perform blinking and eyeball rhythm operations. Multiple motors are installed inside the mechanical head 110 to control facial expressions, such as blinking, shaking the head, opening the mouth, smiling, etc. The face can be used for the monitoring of the driver attention system to detect whether the monitoring is in place and accurate. The face is made of silicone material with skin fine lines and can be used as a living body biometric identification, having the following living body characteristics: the rhythm blinking of the eyelids and eyeballs, the stretching and contraction of the lips and the surrounding cheeks are equal.

[0053] The arm 111 includes an upper arm, a lower arm, a wrist, and a palm, and each joint is connected by a fifth servo; one end of the upper arm is coaxially provided with a sixth servo, and the other end of the upper arm is connected to the torso 100 through an eighth servo; the sixth servo is connected to a first rotating frame 115, and the first rotating frame 115 is connected to the lower arm through a fifth servo; one end of the lower arm is coaxially provided with a seventh servo, and the seventh servo is connected to a second rotating frame 116, and the second rotating frame 116 is connected to the wrist arm through a fifth servo.

[0054] Through the above settings, the operation of the fifth servo can change the angles between the upper arm and the lower arm, and between the lower arm and the wrist; the sixth servo and the seventh servo can make the lower arm and the wrist rotate around their own axes. Thus, movements with multiple degrees of freedom can be realized, imitating some actions of a real human arm, and automatically operating according to a fixed program. The arm and fingers can realize the movement of controlling the steering wheel and the action of making gestures.

[0055] Each finger of the palm includes 3 movable phalanges, and a high-precision tactile sensor is installed at the fingertip of the finger; the finger has an anthropomorphic appearance and size, each finger has 3 movable phalanges, and 5 fingers can move independently; a high-precision tactile sensor is installed at the fingertip of each finger, and anthropomorphic operations can be realized. For how to control between the movable phalanges, reference can be made to the description of CN111376287B. Here is just an example, including but not limited to this method, and no more explanations will be made here.

[0056] Among them, for how to change facial expressions to achieve actions such as blinking, shaking the head, opening the mouth, smiling, etc., and the rhythm blinking of the eyelids and eyeballs, the stretching and contraction of the lips and the surrounding cheeks, etc., the structure can refer to CN110125947A, CN108568807A, etc. in the related technologies, and no detailed explanations will be made here.

[0057] When the above-mentioned simulated humanoid driving robot 1 is used in the test:

[0058] S1. Install the distance detection component at the front of the vehicle, fix the simulated humanoid driving robot 1 in the driver's cab, connect the power supply, connect the servos of each joint to the control module 112, connect the control module 112 to the host computer, and connect the distance detection component to the control module 112 through Ethernet;

[0059] S2. Determine the end point through the computer and transmit the determination result of the computer into the host computer. The host computer transmits specific instructions into the control module 112. The control system then differentiates the instructions to form control instructions for each component and transmits them to each part, that is, the human-computer interaction operation component and the driving operation component work according to the control instructions;

[0060] S3. Step on the corresponding pedal, gesture, change facial expressions, click the screen, etc. according to the control instructions.

[0061] The advantages of the embodiment are as follows:

[0062] This embodiment mainly uses the distance detection component to ensure a certain safe distance in front of the vehicle and ensure the safe driving of the vehicle. When it is necessary to ensure the vehicle speed or brake, the servos between the joints of the simulated humanoid driving robot 1 can be controlled to realize the movement of each joint, so that the robot imitates a person and controls the longitudinal driving of the car, and ensures the test consistency and increases the practical functions of the robot. By controlling the driving of the vehicle by the autonomous driving robot and combining the autonomous driving robot and the external machine equipment of the vehicle to quantitatively collect data, an objective and fair evaluation of the system is completed.

[0063] The principle of this application:

[0064] (1) The simulated humanoid driving robot 1 is fixed on the driver's seat of the vehicle to be tested through the fixing component 101 installed on the hip 102. The driving operation component of the simulated humanoid driving robot 1 replaces a person to step on the brake or accelerator, and the human-computer interaction operation component replaces a person to interact with the vehicle computer, such as gesturing, clicking the screen, etc. The host computer can control the simulated humanoid driving robot 1 to perform the above operations through the control module 112, thus realizing the test of the human-computer interaction delay and safety of autonomous driving instead of a person, avoiding the problems of fatigue, poor consistency and high danger caused by manual operation. And the distance from the front obstacle is obtained through the distance detection component. The host computer calculates and outputs control instructions to the driving operation component in real time according to the collected distance and vehicle speed data to operate the brake pedal, so that there is no vehicle in a certain safe distance in front of the vehicle, ensuring the safe driving of the vehicle, and the way the robot controls the pedal is the same as that of a real person, increasing the practicality of the robot.

[0065] (2) When the servo between the joints is operating, the telescopic rod 109 plays an auxiliary role to ensure structural stability. When the servo is not operating or a rapid response is required, the telescopic rod 109 is used to change the angle between the first skeleton 1031 and the second skeleton 1041, thereby changing the depth of the robot stepping on the accelerator, and further achieving the situation of changing the vehicle speed. The same applies to braking. Among them, the first skeleton 1031 and the second skeleton 1041 can both be composed of telescopic structures, so that the range where the robot's foot can step on the pedal is increased, and the robot can be used for testing different vehicle models. The telescopic rod 109 is set so that in an emergency, the right foot needs to release the accelerator and step on the brake tightly in a very short time. However, the operating speed of the servo is not as fast as the reaction speed of the cylinder. Therefore, the cylinder is set as an emergency operation setting, which can play a role in rapid and emergency braking in case of sudden situations.

[0066] (3) The human-machine interaction operation component includes a mechanical head 110 and an arm 111; the face of the mechanical head 110 can perform blinking and eye movement operations. A plurality of motors are installed inside the mechanical head 110 to control facial expressions, such as blinking, shaking the head, opening the mouth, smiling and other actions. The face can be used for the monitoring of the driver attention system to detect whether the monitoring is in place and accurate. The face is made of silicone material with skin fine lines and can be used as a living body biometric identification, having the following living body characteristics: the movement of the eyelids, the blinking of the eyeballs, the stretching of the lips and the surrounding cheeks, etc.

[0067] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0069] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes Figure 1 or steps and / or blocks Figure 1 specified in one or more of the blocks.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 or steps and / or blocks Figure 1 specified in one or more of the blocks. In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory. The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0071] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data.

[0072] Those skilled in the art will appreciate that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The foregoing are only embodiments of the present application and are not intended to limit the present application.

[0073] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0074] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0075] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. An L3-level autonomous driving test system, characterized in that, It includes: A distance detection component, which is used to be arranged outside the test vehicle and obtain the distance from the obstacle in front; A simulated humanoid driving robot (1), which includes a connected torso (100) and hip (102), a human-machine interaction operation component connected to the torso, a driving operation component and a fixing component (101) connected to the hip (102); a control module (112) is arranged in the torso (100); the fixing component (101) is used to connect to the driving seat of the test vehicle; An upper computer, which is used to receive control information, form a control instruction based on the control information and the detection information of the distance detection component, and send the control instruction to the control module (112); And, the control module (112) is used to receive the control instruction and control the human-machine interaction operation component and the driving operation component to work; the human-machine interaction operation component includes a mechanical head (110) and an arm (111); the face of the mechanical head (110) can perform blinking and eyeball rhythm operations; the arm (111) includes an upper arm, a lower arm, a wrist and a palm, and each joint is connected by a fifth servo motor; one end of the upper arm is coaxially provided with a sixth servo motor, the sixth servo motor is connected with a first rotating frame (115), and the first rotating frame (115) is connected with the lower arm through the fifth servo motor; one end of the lower arm is coaxially provided with a seventh servo motor, the seventh servo motor is connected with a second rotating frame (116), and the second rotating frame (116) is connected with the wrist arm through the fifth servo motor.

2. The L3-level autonomous driving test system according to claim 1, wherein: The driving operation component includes two mechanical legs, and each mechanical leg includes a thigh component (103), a calf component (104) and a foot component (105); The thigh component (103) includes a first skeleton (1031) and a first cover body (1032); the calf component (104) includes a second skeleton (1041) and a second cover body (1042); the joint where the first skeleton (1031) is connected to the second skeleton (1041) is connected by a first servo motor (113); the joint where the first skeleton (1031) is connected to the hip (102) is connected by a second servo motor (114); the joint where the second skeleton (1041) is connected to the foot component (105) is connected by a third servo motor.

3. The L3-level autonomous driving test system according to claim 2, wherein: At least one of the second skeletons (1041) of the mechanical legs is provided with a connecting block, the connecting block is located at one end where the second skeleton (1041) is connected to the foot component (105), and the connecting block is connected to this end through a fourth servo motor; the fourth servo motor is used to drive the connecting block to rotate around the axis of the second skeleton (1041) itself, and the connecting block is perpendicularly connected to the third servo motor.

4. The L3-level autonomous driving test system according to claim 3, wherein: The foot component (105) includes a sole and toes, which are integrally formed, and both the sole and toes are made of a rigid material; the sole is in an upward arch shape and is used to fit the brake pedal and accelerator pedal of the test vehicle.

5. The L3-level autonomous driving test system according to claim 2, characterized in that: A first telescopic auxiliary member (106) that can be telescoped along its extending direction is provided on the first skeleton (1031); A second telescopic auxiliary member (107) that can be telescoped along its extending direction is provided on the second skeleton (1041); the telescopic ends of the second telescopic auxiliary member (107) and the first telescopic auxiliary member (106) are both connected to the joint where the first skeleton (1031) and the second skeleton (1041) are connected.

6. The L3-level autonomous driving test system according to claim 5, characterized in that: Both the first telescopic auxiliary member (106) and the second telescopic auxiliary member (107) include a connecting seat (108), a telescopic rod (109), and a telescopic rod base; the connecting seat is provided with mounting holes connected to the telescopic rod base.

7. The L3-level autonomous driving test system according to claim 1, characterized in that: The face of the mechanical head (110) is made of a silicone material and is provided with skin fine lines on the surface.

8. The L3-level autonomous driving test system according to claim 7, characterized in that: Each finger of the palm includes 3 movable finger joints, and a high-precision tactile sensor is installed at the fingertip of the finger.

9. The L3-level autonomous driving test system according to claim 1, characterized in that: The distance detection component uses an obstacle avoidance radar; the front obstacles include pedestrians, vehicles or walls.

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