Autonomous driving multi-sensory fusion training vehicle

Abstract

The present invention relates to the technical field of training vehicles, and discloses an automatic driving multi-sensory fusion training vehicle, including a vehicle body, a multi-sensory module, a driving motor output end fixedly connected to a front-drive wheel through a rotating shaft, an end of the rotating shaft away from the motor is rotatably connected to an emergency stop mechanism, a fixed block is internally slidably connected to a lifting mechanism, an end of a fixed rod away from a brake motor is fixedly connected to a gear, and a protective mechanism is meshed on the surface of the gear. The invention transmits data to a computer through a multi-sensory module fixedly installed on the surface of the vehicle body, and the computer controls the driving motor and the brake motor after statistical analysis. The driving motor drives the front-drive wheel to turn, and the brake motor drives the gear to rotate, so that the meshed lower rack drives the collision bar to buffer the impact force, and the meshed upper rack drives the push rod to convert the horizontal thrust into a vertical pulling force, pulling the emergency stop rod, and the emergency stop block drives the upper and lower sets of support clamps through a connecting rod to extend outside the edge of the plug-in, clamping the front-drive wheel, and the electric and mechanical transmissions are matched, and the emergency stop protection mechanism has a good effect.

Description

Technical Field

[0001] The present invention relates to the technical field of training vehicles, and in particular to an automatic driving multi-sensory fusion training vehicle. Background Art

[0002] The multi-sensory fusion training vehicle is a training vehicle used in the fields of autonomous driving, intelligent transportation, etc. It integrates a variety of sensor data fusion algorithms, which can improve the vehicle's perception of the surrounding environment, thereby improving the safety and reliability of autonomous driving. The training vehicle is equipped with multiple sensors, such as laser radar, millimeter-wave radar, camera, etc., and then the fusion of multi-sensor data is realized through a computer. The laser radar can measure the distance and shape of the surrounding environment with high precision, the millimeter-wave radar can detect the speed and angle of objects, and the camera can identify information such as road signs and traffic lights. The computer fuses the data transmitted by these sensors, obtains comprehensive and accurate environmental information through statistics, and guides the vehicle's autonomous driving more intelligently. During the autonomous driving process, when the vehicle drives to an intersection, the laser radar can detect the position and speed of the vehicle in front, the millimeter-wave radar can detect vehicles and pedestrians on the left and right sides, and the camera can identify the status of traffic lights. By fusing and analyzing these data, the multi-sensory fusion technology can make quick and correct decisions in the vehicle's autonomous driving mode, such as slowing down and stopping or continuing to move forward. The multi-sensory fusion training vehicle is a technical equipment with broad application prospects. With the continuous development and improvement of autonomous driving technology, multi-sensory fusion technology will be more widely used and developed in the future.

[0003] Existing technologies, such as a connected vehicle sensor measurement and adjustment training vehicle with publication number CN 214540526 U, install an autonomous driving sensor module, a computer and a measurement and adjustment display screen on the autonomous driving vehicle, and connect it to the control system of the autonomous driving vehicle. During the autonomous driving process, the autonomous driving sensor collects external environment information and transmits it to the computer. The computer displays the data on the display screen after fusion analysis, thereby realizing in-depth research on autonomous driving multi-sensory fusion technology. However, in actual use, when an instantaneous collision or rollover occurs during the movement of the autonomous driving vehicle, the vehicle body has no protective structure, and damage affects the test effect, reduces the service life of the training vehicle, and leads to high research costs. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides an autonomous driving multi-sensory fusion training vehicle, which has the advantages of a good emergency stop protection mechanism and effectively improves the autonomous driving perception capability, thereby solving the problem that the training vehicle has no protection mechanism and has a short service life due to damage.

[0006] (II) Technical solution

[0007] In order to achieve the purpose of achieving the above-mentioned emergency stop protection mechanism with good effect and improving the perception ability of autonomous driving, the present invention provides the following technical solutions: an autonomous driving multi-sensory fusion training vehicle, comprising a vehicle body, a multi-sensory module solidly installed on the surface of the vehicle body, a drive motor and a brake motor arranged inside the vehicle body, the output end of the drive motor is fixedly connected to the front-drive wheel through a rotating shaft, the front-drive wheels are arranged in two groups and pass through the left and right sides of the vehicle body, the end of the rotating shaft away from the motor is rotatably connected to the emergency stop mechanism, a fixed block is fixedly installed on the side of the vehicle body, and a lifting mechanism is slidably connected inside the fixed block, the output end of the brake motor is fixedly connected to a fixed rod and passes through the left and right sides of the vehicle body, the end of the fixed rod away from the brake motor is fixedly connected to a gear, and a protection mechanism is meshed on the surface of the gear.

[0008] Preferably, the multi-sensing module includes a camera, a radar and an antenna; the camera and the radar are fixedly mounted on the surface of the vehicle body; two groups of cameras are provided; four groups of radars are provided; and the antenna is fixedly mounted on the top of the vehicle body.

[0009] Preferably, a display screen is fixedly mounted on the front of the vehicle body, a computer is arranged inside the vehicle body, the computer is electrically connected to the drive motor and the brake motor, and the computer and the multi-sensing module are electrically connected to the display screen.

[0010] Preferably, the emergency stop mechanism includes a plug-in, a fixed shaft, a support clamp, an emergency stop rod and a connecting rod, the end of the rotating shaft away from the motor is rotatably connected to the plug-in, the plug-in is a cylindrical structure, the side of the plug-in is rotatably connected to the support clamp via a fixed shaft, the support clamp is an arc structure, two groups of support clamps are provided, an emergency stop block is rotatably connected at the center of the plug-in, the end of the emergency stop block away from the plug-in is fixedly connected to the emergency stop rod, and the upper and lower ends of the emergency stop rod are rotatably connected to the support clamp via a connecting rod.

[0011] Preferably, the diameter of the plug-in is smaller than the diameter of the front-drive wheel, the diameter of the support clamp is equal to the diameter of the plug-in, and the axis of the emergency stop block and the axis of the emergency stop rod are perpendicular and intersecting.

[0012] Preferably, the lifting mechanism includes a lifting rod, a sliding groove, a pushing rod and a tilted slider. The front end of the emergency stop rod is rotatably connected to the lifting rod and is perpendicular to the bottom surface of the fixed block. A sliding groove is provided on the surface of the lifting rod. The inner wall of the sliding groove is slidably connected to the pushing rod and passes through the front and rear ends of the fixed block. An tilted slider is fixedly installed on the surface of the pushing rod and forms an angle with the lifting rod.

[0013] Preferably, the protection mechanism includes an upper rack, a lower rack, an L-shaped rod, a collision bar, a limit rod and a spring, and two groups of gears are provided, and an upper rack and a lower rack are meshed at the upper and lower ends of each group of gears, the rear end of the upper rack is fixedly connected to the L-shaped rod, the rear end of the L-shaped rod is fixedly connected to the push rod and is parallel to the bottom surface of the fixed block, the front end of the lower rack is fixedly connected to the collision bar and is parallel to the front side of the vehicle body, the rear end of the lower rack is fixedly connected to the limit rod and is perpendicular to the lower rack, and the inner wall of the L-shaped rod is elastically connected to the limit rod through a spring.

[0014] Preferably, the fixing block is a square structure, a supporting groove is provided at the front end of the fixing block, the inner wall of the supporting groove is slidably connected to the protection mechanism, a cross through hole is provided at the rear end of the inner wall of the fixing block, and the inner wall of the cross through hole is slidably connected to the pulling mechanism.

[0015] Preferably, the length of the emergency stop rod is greater than the diameter of the front drive wheel, the length of the collision bar is greater than the length of the front of the vehicle body, and there is a gap between the collision bar and the vehicle body.

[0016] Preferably, the bottom of the vehicle body is rotatably connected to a rear wheel, and the width of the rear wheel is greater than the width of the front-drive wheel.

[0017] Compared with the prior art, the present invention provides an autonomous driving multi-sensory fusion training vehicle, which has the following beneficial effects:

[0018] 1. The present invention transmits data to a computer through a multi-sensory module fixedly installed on the surface of the vehicle body. After statistical analysis, the computer controls the drive motor and the brake motor. The drive motor drives the front-drive wheel to turn, and the brake motor drives the gear to rotate, so that the meshing lower rack drives the collision bar to buffer the impact force, and the meshing upper rack drives the push rod to convert the horizontal thrust into a vertical pulling force, pulling the emergency stop rod. The emergency stop block drives the upper and lower sets of support clamps through the connecting rod to extend outside the edge of the plug-in, clamping the front-drive wheel. The electric and mechanical transmission are coordinated, and the emergency stop protection mechanism has a good effect.

[0019] 2. The present invention uses two groups of cameras and four groups of radars set at the front and rear of the vehicle body to detect the vehicle's driving environment in all directions. A gap is set between the collision barrier and the front of the vehicle body, reserving a collision buffer space, effectively extending the service life of the equipment. The width of the rear wheels is greater than that of the front-drive wheels, avoiding vehicle rollover after a collision, effectively improving the autonomous driving perception capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the emergency stop mechanism of the present invention;

[0022] Figure 3 This is a schematic diagram of the lifting mechanism of the structure of the present invention;

[0023] Figure 4 It is a schematic diagram of the structural protection mechanism of the present invention;

[0024] Figure 5 It is a front view of the overall structure of the present invention;

[0025] Figure 6 It is a top view of the overall structure of the present invention;

[0026] Figure 7 It is a side view of the overall structure of the present invention.

[0027] Among them: 1. Vehicle body; 2. Multi-sensing module; 3. Front-drive wheel; 4. Emergency stop mechanism; 5. Fixed block; 6. Gear; 7. Display screen; 8. Support clamp; 9. Emergency stop rod; 10. Lifting rod; 11. Push rod; 12. Tilt slider; 13. Upper rack; 14. Lower rack; 15. L-shaped rod; 16. Collision barrier; 17. Limit rod; 18. Rear wheel. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0029] See also Figure 1-7, an autonomous driving multi-sensory fusion training vehicle, comprising a vehicle body 1, a multi-sensory module 2 solidly installed on the surface of the vehicle body 1, the multi-sensory module 2 being specifically an unmanned driving Teemo navigation system, supporting 2D / 3D high-precision map drawing, multi-map storage editing and 3D reconstruction, so that users can remotely control the autonomous driving training vehicle, equipped with laser radar, millimeter-wave radar, ultrasonic radar, high-definition camera, high-precision combined inertial navigation and other perception systems, optional Bluetooth, router, IMU and other auxiliary positioning equipment, built-in multi-sensor fusion autonomous positioning and navigation algorithm, suitable for various indoor and outdoor working environments such as factories and parks, adopts 3D laser SLAM navigation, the obstacle recognition accuracy rate is 99%, equipped with panoramic real-time monitoring and active safety decision-making mechanism, autonomous obstacle stopping can be achieved during autonomous driving, the emergency braking distance in low-speed mode is less than 0.1m, and the emergency braking distance in high-speed mode is less than 0.3m, a drive motor and a brake motor are arranged inside the vehicle body 1, and the drive motor and the brake motor are arranged inside the vehicle body 1. The driving motor is a brushed DC intelligent tool motor with a specific model of J5FN. The output end of the driving motor is fixedly connected to the front drive wheel 3 through a rotating shaft. Two groups of front drive wheels 3 are provided and run through the left and right sides of the vehicle body 1, so that the front drive wheels 3 distributed on the left and right sides of the vehicle body 1 drive the vehicle body 1 to move forward or turn quickly. The straight-line driving performance is excellent, the vehicle directionality is better, and the transmission efficiency is effectively improved. The end of the rotating shaft away from the motor is rotatably connected to an emergency stop mechanism 4. The emergency stop mechanism 4 ensures normal braking while not affecting the driving motor to drive the front drive wheel 3 to rotate through the rotating shaft. A fixed block 5 is fixedly installed on the side of the vehicle body 1. The fixed block 5 is slidably connected to a lifting mechanism. The fixed block 5 defines the sliding trajectory of the lifting mechanism. The output end of the brake motor is fixedly connected to a fixed rod and runs through the left and right sides of the vehicle body 1. The end of the fixed rod away from the brake motor is fixedly connected to a gear 6. A protective mechanism is meshed on the surface of the gear 6, which flexibly controls the extension and retraction of the protective mechanism to play a role in buffering and protecting the vehicle body 1 when colliding with obstacles.

[0030] Furthermore, the multi-sensory module 2 includes a camera, a radar and an antenna. A camera and a radar are fixedly installed on the surface of the vehicle body 1. There are two groups of cameras, which are distributed at the front and rear ends of the vehicle body 1. The camera is a specific model WX-MC133A, an infrared night vision waterproof camera, which helps to quickly identify road signs, traffic lights and other information, and the transmission to the computer for calculation and analysis is more efficient. There are four groups of radars, which are distributed on the four sides of the front, back, left and right of the vehicle body 1. The radar is a specific model 52266-0211, a car radar probe sensor, and an antenna is fixedly installed on the top of the vehicle body 1. The antenna is a specific model HK-LGMHM, a high-performance automotive MiMo antenna, with a frequency range covering 617-960 / 1710-6000MHz, providing precise positioning accuracy, and effectively improving the perception ability of the multi-sensory fusion training vehicle for automatic driving.

[0031] Furthermore, a display screen 7 is fixedly installed on the front of the vehicle body 1. The display screen 7 is an industrial screen of an automobile display module with a specific model G070VW01 V0. A computer is arranged inside the vehicle body 1. The computer is an automobile chip with a specific model AC7811QBFE. The computer is electrically connected to the drive motor and the brake motor. The computer, the multi-sensing module 2 and the display screen 7 are electrically connected, so that after the multi-sensing module 2 transmits data to the computer, it controls the drive motor to change the automatic driving direction of the vehicle body 1 after rapid analysis and processing, and flexibly controls the brake motor to drive the vehicle body 1 to decelerate or perform emergency braking.

[0032] Furthermore, the emergency stop mechanism 4 includes a plug-in, a fixed shaft, a support clamp 8, an emergency stop rod 9 and a connecting rod. The end of the rotating shaft away from the motor is rotatably connected to the plug-in. The plug-in is a cylindrical structure. The cylindrical structure plug-in fits the arc-shaped inner wall of the front-drive wheel 3 better. The side of the plug-in is rotatably connected to the support clamp 8 through the fixed shaft. The support clamp 8 is an arc-shaped structure. Two groups of support clamps 8 are arranged. The two groups of support clamps 8 are distributed up and down on the side of the plug-in with the rotating shaft as the center. An emergency stop block is rotatably connected at the center of the plug-in. The emergency stop block is fixedly connected to the emergency stop rod 9 at one end away from the plug-in. The upper and lower ends of the emergency stop rod 9 are rotatably connected to the support clamp 8 through a connecting rod. When the emergency stop rod 9 tilts and drives the emergency stop block to tilt, the connecting rod drives the two groups of support clamps 8 to shrink to the inner wall of the plug-in without affecting the normal rotation of the front-drive wheel 3. When the emergency stop rod 9 drives the emergency stop block horizontally perpendicular to the rotating shaft, the connecting rod drives the two groups of support clamps 8 to extend outside the edge of the plug-in, clamping the front-drive wheel 3 from the inside to the outside for emergency braking.

[0033] Furthermore, the diameter of the plug-in is smaller than the diameter of the front-drive wheel 3, and the diameter of the support clamp 8 is equal to the diameter of the plug-in, so that the support clamp 8 can flexibly brake the front-drive wheel 3 to rotate or stop urgently by contracting or expanding. The axis of the emergency stop block and the axis of the emergency stop rod 9 are perpendicular and intersecting, ensuring that the emergency stop rod 9 and the emergency stop block are tilted synchronously.

[0034] Furthermore, the lifting mechanism includes a lifting rod 10, a sliding groove, a pushing rod 11 and an inclined slider 12. The front end of the emergency stop rod 9 is rotatably connected to the lifting rod 10 and is perpendicular to the bottom surface of the fixed block 5. The vertically arranged lifting rod 10 realizes the vertical pulling of one end of the emergency stop rod 9, so that a height difference is formed at both ends after it is tilted. A sliding groove is opened on the surface of the lifting rod 10, and the inner wall of the sliding groove is slidably connected to the pushing rod 11 and passes through the front and rear ends of the fixed block 5. The surface of the pushing rod 11 is fixedly installed with an inclined slider 12 and forms an angle with the lifting rod 10, thereby realizing the conversion of the horizontal thrust of the pushing rod 11 into the vertical pulling force of the lifting rod 10, thereby realizing the linkage between the lifting mechanism and the emergency stop mechanism.

[0035] Furthermore, the protection mechanism includes an upper rack 13, a lower rack 14, an L-shaped rod 15, a collision bar 16, a limit rod 17 and a spring. Two groups of gears 6 are provided, and the two groups of gears 6 are respectively distributed on the left and right sides of the vehicle body 1. The upper rack 13 and the lower rack 14 are meshed at the upper and lower ends of each group of gears 6. The rear end of the upper rack 13 is fixedly connected to the L-shaped rod 15, and the rear end of the L-shaped rod 15 is fixedly connected to the push rod 11 and is parallel to the bottom surface of the fixed block 5. The front end of the lower rack 14 is fixedly connected to the collision bar 16 and is parallel to the front side of the vehicle body 1. The rear end of the lower rack 14 is fixedly connected to the limit rod 17 and is perpendicular to the lower rack 14. The inner wall of the L-shaped rod 15 is elastically connected to the limit rod 17 through a spring, and the spring realizes the telescopic reset of the L-shaped rod 15 and the limit rod 17.

[0036] Furthermore, the fixed block 5 is a square structure, and a support groove is provided at the front end of the fixed block 5. The inner wall of the support groove is slidably connected to the protection mechanism. The support groove supports the upper rack 13, the L-shaped rod 15, the lower rack 14 and the limit rod 17, thereby ensuring the horizontal forward and backward movement of the protection mechanism. A cross through hole is provided at the rear end of the inner wall of the fixed block 5, and the inner wall of the cross through hole is slidably connected to the lifting mechanism. The cross groove limits the lifting rod 10 to intersect the pushing rod 11 vertically, thereby realizing the linkage between the protection mechanism and the lifting mechanism.

[0037] Furthermore, the length of the emergency stop rod 9 is greater than the diameter of the front-drive wheel 3, thereby preventing the emergency stop rod 9 from getting stuck in the front-drive wheel 3; the length of the collision bar 16 is greater than the front length of the vehicle body 1; there is a gap between the collision bar 16 and the vehicle body 1, thereby reserving a buffer space after a collision, thereby preventing the collision from damaging the front camera and radar of the vehicle body 1, thereby effectively extending the service life of the equipment.

[0038] Furthermore, the rear wheel 18 is rotatably connected to the bottom of the vehicle body 1, and the width of the rear wheel 18 is greater than the width of the front wheel 3. The force-bearing area of ​​the rear wheel 18 is greater than the force-bearing area of ​​the front wheel 3, which is conducive to stabilizing the vehicle body 1 and is not easy to roll over after emergency braking.

[0039] When in use, start the computer inside the vehicle body 1, check the two sets of cameras, four sets of radars and display screen 7 on the surface of the vehicle body 1, turn on the automatic driving mode of the multi-sensory fusion training vehicle, start the driving motor inside the vehicle body 1, and the rotating shaft drives the two sets of front-drive wheels 3 fixedly connected to move forward or turn, and cooperates with the rear wheels 18 connected to the bottom of the vehicle body 1 to drive the vehicle body 1 to move at a constant speed. When the vehicle body 1 encounters an obstacle during its forward movement, the radar and camera first transmit the data to the computer for analysis and then present it on the display screen 7. After the computer calculates the braking distance and braking time, start the braking motor, and the fixed rod drives the gear 6 to rotate from back to front, driving the upper rack 13 meshed at the upper end to move forward, and the lower rack 14 meshed at the lower end to move backward, so that the gap between the collision barrier 16 and the vehicle body 1 is shortened, and the upper rack 13 drives the push rod 11 to move forward through the L-shaped rod 15. The inclined slider 12 fixedly connected to the surface of the push rod 11 drives the lifting rod 10 to pull the emergency stop mechanism 4 to perform the braking process in advance. When a collision occurs with an obstacle during the rapid automatic driving process, the collision bar 16 at the front end of the vehicle body 1 first contacts the surface of the obstacle, and the compression of the collision bar 16 quickly drives the lower rack 14 to shrink from the front to the back, and drives the upper rack 13 to extend from the back to the front through the meshing gear 6. The upper rack 13 quickly drives the L-shaped rod 15 to squeeze the spring. At this time, the L-shaped rod 15 drives the push rod 11 to translate from the back to the front, and cooperates with the inclined slider 12 on the surface of the push rod 11 to slide and connect to the sliding groove, converting the horizontal thrust into a vertical pulling force, so that the lifting rod 10 rises upward, driving the front end of the emergency stop rod 9 to lift up quickly, and the emergency stop seat fixedly connected with the emergency stop rod 9 quickly rotates with the center point of the plug-in as the center of the circle. The emergency stop seat drives the upper and lower groups of support clamps 8 to expand from the inside to the outside through the connecting rod, clamping the inner wall of the front drive wheel 3, completing the emergency braking process of the front drive wheel 3. After the vehicle body 1 is emergency-stopped, inertia drives the vehicle body 1 to tilt forward or left and right, and the width of the rear wheel 18 is greater than the width of the front drive wheel 3, effectively avoiding the vehicle from rolling over.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An autonomous driving multi-sensory fusion training vehicle, comprising a vehicle body (1), and a multi-sensory module (2) fixedly mounted on the surface of the vehicle body (1), characterized in that: A driving motor and a brake motor are arranged inside the vehicle body (1); the output end of the driving motor is fixedly connected to a front-drive wheel (3) via a rotating shaft; two groups of front-drive wheels (3) are arranged and pass through the left and right sides of the vehicle body (1); the end of the rotating shaft away from the motor is rotatably connected to an emergency stop mechanism (4); the emergency stop mechanism (4) comprises a plug-in, a fixed shaft, a support clamp (8), an emergency stop rod (9) and a connecting rod; the end of the rotating shaft away from the motor is rotatably connected to a plug-in; the plug-in is a cylindrical structure; the side of the plug-in is rotatably connected to a support clamp (8) via a fixed shaft; the support clamp (8) is an arc-shaped structure; The support clamp (8) is provided with two groups, wherein an emergency stop block is rotatably connected at the center of the plug-in, and an emergency stop rod (9) is fixedly connected to the end of the emergency stop block away from the plug-in, and the upper and lower ends of the emergency stop rod (9) are rotatably connected to the support clamp (8) through connecting rods, and a fixed block (5) is fixedly installed on the side of the vehicle body (1), and a lifting mechanism is slidably connected inside the fixed block (5), and the lifting mechanism includes a lifting rod (10), a sliding groove, a pushing rod (11) and an inclined slider (12), and the front end of the emergency stop rod (9) is rotatably connected to the lifting rod (10) and is perpendicular to the bottom surface of the fixed block (5), and the surface of the lifting rod (10) is A sliding groove is provided, and a push rod (11) is slidably connected to the inner wall of the sliding groove and passes through the front and rear ends of the fixed block (5). An inclined slider (12) is fixedly installed on the surface of the push rod (11) and forms an angle with the lifting rod (10). The output end of the brake motor is fixedly connected to a fixed rod and passes through the left and right sides of the vehicle body (1). The end of the fixed rod away from the brake motor is fixedly connected to a gear (6). A protective mechanism is meshed on the surface of the gear (6). The protective mechanism includes an upper rack (13), a lower rack (14), an L-shaped rod (15), a collision bar (16), a limit rod (17) and a spring. The gears (6) are provided in two groups, and the upper and lower ends of each group of gears (6) are meshed with an upper rack (13) and a lower rack (14); the rear end of the upper rack (13) is fixedly connected to an L-shaped rod (15); the rear end of the L-shaped rod (15) is fixedly connected to a push rod (11) and is parallel to the bottom surface of the fixed block (5); the front end of the lower rack (14) is fixedly connected to a collision bar (16) and is parallel to the front of the vehicle body (1); the rear end of the lower rack (14) is fixedly connected to a limiting rod (17) and is perpendicular to the lower rack (14); and the inner wall of the L-shaped rod (15) is elastically connected to the limiting rod (17) through a spring.

2. The autonomous driving multi-sensory fusion training vehicle according to claim 1, characterized in that: The multi-sensing module (2) comprises a camera, a radar and an antenna. The camera and the radar are fixedly mounted on the surface of the vehicle body (1). Two groups of cameras are provided, and four groups of radars are provided. The antenna is fixedly mounted on the top of the vehicle body (1).

3. The autonomous driving multi-sensory fusion training vehicle according to claim 2 is characterized in that: A display screen (7) is fixedly mounted on the front of the vehicle body (1), a computer is arranged inside the vehicle body (1), the computer is electrically connected to the drive motor and the brake motor, and the computer, the multi-sensing module (2) and the display screen (7) are electrically connected.

4. The autonomous driving multi-sensory fusion training vehicle according to claim 3 is characterized by: The plug-in has a diameter smaller than that of the front-drive wheel (3), the support clamp (8) has a diameter equal to the plug-in diameter, and the axis of the emergency stop block and the axis of the emergency stop rod (9) are perpendicular and intersecting.

5. The autonomous driving multi-sensory fusion training vehicle according to claim 4 is characterized in that: The fixing block (5) is of a square structure. A support groove is provided at the front end of the fixing block (5). The inner wall of the support groove is slidably connected to the protection mechanism. A cross through hole is provided at the rear end of the inner wall of the fixing block (5). The inner wall of the cross through hole is slidably connected to the lifting mechanism.

6. The autonomous driving multi-sensory fusion training vehicle according to claim 5, characterized in that: The length of the emergency stop rod (9) is greater than the diameter of the front drive wheel (3), the length of the collision bar (16) is greater than the front length of the vehicle body (1), and there is a gap between the collision bar (16) and the vehicle body (1).

7. The autonomous driving multi-sensory fusion training vehicle according to claim 6, characterized in that: The bottom of the vehicle body (1) is rotatably connected to a rear wheel (18), and the width of the rear wheel (18) is greater than the width of the front drive wheel (3).

Images