Bee swarm-like target loading system and method suitable for autonomous driving testing

Abstract

This invention provides a swarm-like target object mounting system and method suitable for autonomous driving testing, comprising: a low-speed drive platform a dragging a target object mounted thereon along a predetermined trajectory; a target object mounting plate b connecting to the low-speed drive platform a via an adsorption structure; when the test vehicle runs over the target object mounting plate b, the target object mounting plate b detaches from the low-speed drive platform a; a drive mechanism drives the low-speed drive platform a, and the target object mounting plate b drags along the ground with the low-speed drive platform a. This invention provides a method for building low-speed multi-target object scenarios, solving the problem of single low-speed target object scenarios; a single drive platform can mount up to nine low-speed target objects; it creates a swarm-like simulation scenario, which can better test the perception and decision-making capabilities of autonomous driving; and the adsorption structure allows for the rapid construction of multi-target object test scenarios, improving scenario construction efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of intelligent connected vehicle testing, specifically to a bee colony-like target loading system and method suitable for autonomous driving testing, and more particularly to a low-speed bee colony-like multi-target loading method suitable for autonomous driving testing. Background Technology

[0002] Currently, the low-speed target placement methods used for intelligent connected vehicle testing mostly borrow from the single-target placement methods used in autonomous driving testing. Each test scenario can only contain one type of target, such as a dummy, motorcycle, or bicycle. Existing target placement methods all involve a single target, resulting in relatively simple test scenarios that only meet the minimum requirements of autonomous driving testing and cannot accurately reflect the realities of actual driving environments. However, with the development of autonomous driving technology and the increasing difficulty of perception detection, single-target placement methods can no longer meet the demands of autonomous driving technology for more complex test scenarios.

[0003] A method for testing a Level 3 autonomous vehicle in-the-loop test bench is disclosed in patent document CN110031238A, which includes the following steps: S1, after the first vehicle is started, the main controller inputs parameter information to the chassis dynamometer; S2, the moving target object moves in real time according to the motion sent by the main controller, and synchronizes with the video signal of the ring screen in step S3; S3, the main controller sends continuous test scene information to the ring screen; S4, after the vehicle-mounted camera collects the continuous test scene displayed on the ring screen and the driving data of the moving target object collected by the vehicle-mounted radar, the first vehicle performs corresponding operations.

[0004] Therefore, a new technical solution is needed to improve the above-mentioned technical problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a bee swarm-like target loading system and method suitable for autonomous driving testing.

[0006] According to the present invention, a beehive-like target loading system suitable for autonomous driving testing includes a drive platform a, a target loading plate b, and an adsorption object; the target loading plate b is connected to the drive platform a via the adsorption object, and the drive platform a drags the target object mounted on the target loading plate b along a predetermined trajectory; when the test vehicle runs over the target loading plate b, the target loading plate b detaches from the drive platform a; the drive mechanism drives the drive platform a to move, and the target loading plate b drags along the ground with the drive platform a.

[0007] Preferably, the drive platform a is the main power device that drives all target objects; the drive mechanism is a servo motor.

[0008] Preferably, the target object mounting plate b is made of a wear-resistant material.

[0009] Preferably, the target object is equipped with miniature reversing wheels at the bottom of the flat plate b, and is towed on the ground by the drive platform a.

[0010] Preferably, the installation position of the adsorbed object and the driving platform a is adjusted by adjusting the adsorbed object's adjustment screw.

[0011] Preferably, the installation position of the adsorbed object and the driving platform a is tightened and adjusted by an adsorbed object adjustment pad.

[0012] Preferably, the drive platform a secures the target object mounted on it with a target object holder and a backup target object holder.

[0013] Preferably, the adsorption object adjusting screw, the adsorption object, the adsorption object adjusting pad, the target object holder, and the spare target object holder are all installed on the main support of the target object mounting plate column.

[0014] Preferably, the length and width of the target object mounted on the main flat support are adjusted according to the size of the target object and the driving force of the driving platform a, and various different target object mounted on the main flat support are manufactured for combined use.

[0015] The present invention also provides a method for mounting a bee-swarm-like target object suitable for autonomous driving testing. The method applies the bee-swarm-like target object mounting system for autonomous driving testing described above, and the method includes the following steps:

[0016] Step S1: The target object mounted on the plate b is connected to the driving platform a through the adsorption of the object. The driving platform a drags the target object mounted on the target object mounted on the plate b to travel along the prescribed running trajectory.

[0017] Step S2: When the test vehicle runs over the target object mounted on the flatbed b, the target object mounted on the flatbed b is detached from the drive platform a;

[0018] Step S3: The drive mechanism drives the drive platform a to move, and the target object carrying the flatbed b and the drive platform a drag on the ground.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention provides a method for building a low-speed multi-target scene, which solves the problem of a single low-speed target scene. A single driving platform can build up to 9 low-speed target objects.

[0021] 2. This invention constructs a simulation scenario similar to the bee swarm effect, which can better detect the perception and decision-making capabilities of autonomous driving;

[0022] 3. This invention can quickly build test scenarios for multiple targets through the adsorption structure, thus improving the efficiency of scenario building;

[0023] 4. This invention provides solutions for mounting tablets on various target objects. The tablets can be long or short, narrow or wide, thus enabling various scenario combinations. Attached Figure Description

[0024] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a scene diagram of the dummy from the present invention traversing the landscape;

[0026] Figure 2 This is a scene illustration of the electric motorcycle following the driver in this invention.

[0027] Figure 3 This is a diagram illustrating a real-world scenario where two people are traversing the area.

[0028] Figure 4 This is a front view of the present invention;

[0029] Figure 5 This is a rear view of the present invention;

[0030] Figure 6 This is a rendering of the invention without the target object;

[0031] Figure 7 The object of this invention is shown in the front and top views mounted on a flat plate.

[0032] Figure 8 This is a flowchart illustrating the principle of the present invention.

[0033] in:

[0034] Adsorption object adjustment screw 1; Target object holder 4

[0035] Adsorbed object 2 Target object mounted on flat plate main support 5

[0036] Adsorption object adjustment pad 3; Spare target object holder 6 Detailed Implementation

[0037] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0038] Example 1:

[0039] According to the present invention, a beehive-like target loading system suitable for autonomous driving testing includes a drive platform a, a target loading plate b, and an adsorption object 2. The target loading plate b is connected to the drive platform a through the adsorption object 2. The drive platform a drags the target object mounted on the target loading plate b along a predetermined trajectory. When the test vehicle runs over the target loading plate b, the target loading plate b detaches from the drive platform a. The drive mechanism drives the drive platform a to move, and the target loading plate b drags along the ground with the drive platform a.

[0040] The drive platform a is the main power equipment for driving all targets; the drive mechanism is a servo motor; the target mounting plate b is made of wear-resistant material; the bottom of the target mounting plate b is equipped with miniature reversing wheels, which are dragged by the drive platform a on the ground; the adsorbed object 2 and the drive platform a are adjusted in installation position by the adsorbed object adjusting screw 1; the installation position of the adsorbed object 2 and the drive platform a is tightened and adjusted by the adsorbed object adjusting pad 3; the drive platform a fixes the target object mounted on it with the target object fixer 4 and the spare target object fixer 6.

[0041] The adsorption object adjusting screw 1, adsorption object 2, adsorption object adjusting pad 3, target object holder 4, and spare target object holder 6 are all installed on the target object mounting plate column main support 5. The length and width of the target object mounting plate main support 5 are adjusted according to the size of the target object and the driving force of the driving platform a, and various different target object mounting plate main supports 5 are made for combined use.

[0042] The present invention also provides a method for mounting a bee-swarm-like target object suitable for autonomous driving testing. The method applies the bee-swarm-like target object mounting system for autonomous driving testing described above, and includes the following steps:

[0043] Step S1: The target object mounted on the plate b is connected to the driving platform a through the adsorption object 2. The driving platform a drags the target object mounted on the target object mounted on the plate b to travel along the prescribed running trajectory.

[0044] Step S2: When the test vehicle runs over the target object mounted on the flatbed b, the target object mounted on the flatbed b is detached from the drive platform a;

[0045] Step S3: The drive mechanism drives the drive platform a to move, and the target object carrying the flatbed b and the drive platform a drag on the ground.

[0046] Example 2:

[0047] This invention provides a method for building low-speed multi-object scenarios, solving the problem of single low-speed object scenarios. Up to nine low-speed objects can be built on one platform. It builds a simulation scenario similar to the swarm effect, which can better test the perception and decision-making capabilities of autonomous driving. It can quickly build test scenarios with multiple objects, improving the construction efficiency. It provides two interchangeable object support plates, which can support one object or two objects.

[0048] The mounting method employed in this invention involves direct adhesion via a powerful magnet. The low-speed drive platform a serves as the primary power source for all target objects, dragging them along a predetermined trajectory. The target object mounting plate b is connected to the low-speed drive platform via an adsorption object 2. This connection is not rigid; if the test vehicle runs over the mounting plate, it can quickly detach from the drive platform, maximizing the protection of both the test vehicle and the drive platform. The low-speed drive platform a is driven by a servo motor. The target object mounting plate b is typically made of wear-resistant material and moves along the ground alongside the low-speed drive platform a. Alternatively, it can be equipped with miniature reversing wheels and towed by the low-speed drive platform a.

[0049] The adsorbent object 2 can be well adsorbed with the low-speed drive platform a, ensuring that the target objects mounted on the platform do not fall off during low-speed driving. In order to quickly install the platform, the installation position of the adsorbent object 2 is adjusted by the adsorbent object adjusting screw 1 to ensure better adsorption of the adsorbent object 2. The adsorbent object adjusting pad 3 is used for tightening and adjustment. The target objects mounted on it are fixed by the target object fixing device 4 and the spare target object fixing device 6. The adsorbent object adjusting screw 1, adsorbent object 2, adsorbent object adjusting pad 3, target object fixing device 4, spare target object fixing device 6, etc. are all installed on the target object mounting plate column main support 5 of the spare target object fixing device 6.

[0050] Of course, the adsorption structure consisting of the adsorption object adjusting screw 1, the adsorption object 2, and the adsorption object adjusting pad 3 is only an example, and any other suitable structure can be used for the arrangement.

[0051] Of course, the length and width of the target object mounted on the main plate support can be adjusted according to the size of the target object and the driving force of the low-speed drive platform a. Various different target object mounted on the main plate support can also be made and used in combination.

[0052] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0053] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0054] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A swarm-like target mounting system for automated driving test, characterized in that, The system comprises a driving platform a, a target-carrying platform b, and an adsorbing object (2); the target-carrying platform b is connected to the driving platform a through the adsorbing object (2), the driving platform a drags the target carried on the target-carrying platform b to move along a specified track; when the test vehicle is in a dangerous situation of crushing the target-carrying platform b, the target-carrying platform b is separated from the driving platform a; a driving mechanism drives the driving platform a to move, and the target-carrying platform b drags the ground together with the driving platform a.

2. The swarm-like target mounting system for automatic driving test according to claim 1, wherein The driving platform a is a main power device for driving all targets; the driving mechanism is a servo motor. 3.The swarm target system for autonomous driving test according to claim 1, wherein The target-carrying platform b is made of wear-resistant material.

4. The swarm-like target mounting system for automatic driving test according to claim 1, wherein The bottom of the target-carrying platform b is provided with a miniature reversing wheel, which drags the ground to move together with the driving platform a. 5.The swarmalator system for autonomous driving test according to claim 1, wherein, The adsorbing object (2) and the driving platform a are adjusted in position through an adsorbing object adjusting screw (1). 6.The swarmalator system for autonomous driving test according to claim 5, wherein The installation position of the adsorbing object (2) and the driving platform a is tightened and adjusted through an adsorbing object adjusting pad (3). 7.The swarmalator system for autonomous driving test according to claim 6, wherein The driving platform a fixes the target carried thereon through a target fixer (4) and a backup target fixer (6). 8.The swarmalator system for autonomous driving test according to claim 7, wherein, The adsorbing object adjusting screw (1), the adsorbing object (2), the adsorbing object adjusting pad (3), the target fixer (4), and the backup target fixer (6) are all installed on a target-carrying platform column main support (5). 9.The swarmalator system for autonomous driving test according to claim 8, wherein, The length and width dimensions of the target-carrying platform main support (5) are adjusted according to the size of the target and the driving force of the driving platform a, and a plurality of different target-carrying platform main supports (5) are made for combined use. 10.A method for mounting a swarm-like target object for automatic driving test, characterized in that, The method applies the swarm target-carrying system for automatic driving test according to any one of claims 1-9, and the method comprises the following steps: Step S1: the target-carrying platform b is connected to the driving platform a through the adsorbing object (2), and the driving platform a drags the target carried on the target-carrying platform b to move along a specified track; Step S2: when the test vehicle is in a dangerous situation of crushing the target-carrying platform b, the target-carrying platform b is separated from the driving platform a; Step S3: the driving mechanism drives the driving platform a to move, and the target-carrying platform b drags the ground together with the driving platform a.

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