A vehicle-mounted testing method and system for road testing of intelligent connected vehicles

Abstract

The present invention provides a vehicle-mounted test method and system for road testing of intelligent networked vehicles, belonging to the field of electrical digital data acquisition and processing technology. The present invention can test the vehicle driving conditions and road conditions respectively under the mutual cooperation of ultrasonic sensors, millimeter wave radars and laser radars. The test bench can be installed at the rear of the intelligent networked vehicle, and the test bench is driven to move by the driving of the intelligent networked vehicle. There is enough space on the test bench for the installation of test equipment, which ensures the efficiency of the test. At the same time, the height of the entire test bench is adjusted by retracting the wire rope by a winch, and it can be adjusted in real time according to the test road conditions to avoid unnecessary bumps and prevent damage to the detection equipment. In addition, based on the setting of servo motors, electric push rods and rotating tables, the test angle of the detection component can be adjusted. Through the sensor and the rotating structure, the core test component can be rotated at an angle, which increases the scope of the test and improves the accuracy of the test data.

Description

Technical Field

[0001] The present invention belongs to the technical field of electrical digital data acquisition and processing, and in particular relates to a vehicle-mounted testing method and system for road testing of intelligent networked vehicles. Background Art

[0002] Intelligent networked vehicles refer to a new generation of vehicles that can eventually replace human operation based on the organic combination of vehicle networking and smart cars. Intelligent networked vehicles are equipped with advanced on-board sensors, controllers, actuators and other devices, integrating modern communication and network technologies to achieve intelligent network information sharing and exchange among people, vehicles, roads, and clouds.

[0003] The whole vehicle road detection is the main content of the intelligent networked car environment perception, and it is also the basis for realizing autonomous driving. Whether on structured or unstructured roads, the environment is complex and changeable, so lane detection faces a very severe test, that is, how to make the intelligent networked car based on machine vision and the lane detection and control vehicle technology of the miniature intelligent networked car based on vision achieve the goal of road detection and autonomous driving.

[0004] Smart connected cars use sensors to collect a large amount of external information, and after analysis by processors, they make planning decisions and assist in driving. Therefore, in actual operation, smart connected cars need to undergo a large amount of road testing. Only by analyzing a large amount of road test data can we find out the deficiencies of the smart control system of smart connected cars and make timely adjustments to achieve the evaluation of smart connected cars.

[0005] However, the existing on-board test systems for road testing of intelligent connected vehicles have the problem of low efficiency. This is because there is a lot of equipment data used for on-board testing, and the equipment settings are relatively scattered, making it difficult to integrate them in a unified manner, which affects the efficiency of the test. At the same time, the system is generally tested outdoors. During continuous operation, the temperature of electrical equipment will rise, and continuous high temperature will cause the risk of burning out electrical appliances. In addition, since the test angle of core components is fixed, the test scope is not comprehensive enough and the final test data is not accurate enough. Summary of the invention

[0006] To solve the above problems, the present invention discloses an on-vehicle testing method and system for road testing of intelligent connected vehicles, which improves testing efficiency, has an overheating protection function, and achieves a more comprehensive testing range.

[0007] To achieve the above object, the technical solution of the present invention is as follows:

[0008] An on-vehicle testing method for road testing of an intelligent connected vehicle comprises the following steps:

[0009] Step 1: fix the support and fixing assembly connected to the test bench to the rear of the intelligent connected vehicle, control the winch fixed on the support and fixing assembly to lift the test bench through the wire rope, collect the distance between the test platform and the road surface through the distance sensor installed at the bottom of the test bench, and stop the winch operation when the distance is equal to the preset initial distance;

[0010] Step 2: When the test starts, the wire rope is deployed by the winch to lower the test bench until the distance between the test bench and the road surface is equal to the preset landing distance, and the winch operation is stopped;

[0011] Step 3: The intelligent connected car drives and drives the test bench to move;

[0012] Step 4: The electric push rod installed on the test bench drives the lifting plate connected to it to move to a preset test height, and the servo motor drives the driving gear connected to its output shaft to run to the initial position;

[0013] Step 5, adjust each device for testing at the test height set in step 4: control the servo motor to operate according to the preset control process, so that the drive gear runs to the preset test position, the drive gear drives the slider to move, and the three rotating tables meshing with the second rack on the slider rotate accordingly, and the ultrasonic sensors, millimeter-wave radars and laser radars respectively fixed on the three rotating tables rotate corresponding angles and work; the data collected by the ultrasonic sensor, millimeter-wave radar and laser radar are transmitted to the control box, and can be transmitted to the data center through wireless communication;

[0014] Step 6: When any of the ultrasonic sensor, millimeter wave radar, and laser radar detects an obstacle signal within a certain range, the servo motor is stopped, the hoist is controlled to lift the test bench to the initial distance, and when the distance to the obstacle reaches a safe distance, the test bench is moved to the test height in step 4, and step 5 is repeated;

[0015] The method of judging whether the obstacle has reached a safe distance is one of the following two methods:

[0016] When the obstacle signal disappears for a duration that reaches a preset safety time threshold;

[0017] When the product of the duration of the obstacle signal disappearing and the vehicle speed when the obstacle signal disappears reaches the safe distance fixed value;

[0018] Step 7, when the test process includes multiple test heights, repeat steps 4 and 5 until the test is completed at each test height;

[0019] Step 8: When the test is finished, the vehicle stops running, and the winch fixed on the supporting fixed component is controlled to lift the test bench to a preset initial distance through a wire rope.

[0020] Furthermore, when any temperature sensor in the control box exceeds the warning temperature, the circuit breaker connected to the temperature sensor disconnects the power supply to the electrical equipment in the control box and turns on the fan at the end of the main air duct.

[0021] Furthermore, during the test, air is blown into the main air duct through a fan, cold air is blown into each ventilation duct along the main air duct, and hot air is discharged through the heat dissipation net.

[0022] The present invention also provides an on-vehicle test system for road testing of intelligent networked vehicles, comprising a test bench, the test bench being hung with a hook, the hook being connected to a steel wire rope, one end of the steel wire rope being connected to a winch, the outer wall of the winch being fixedly connected to a support plate by bolts, and a support beam being welded to an outer wall of one side of the support plate;

[0023] The test bench is equipped with several control boxes, each of which is equipped with a temperature sensor and a circuit breaker. The temperature sensor is used to collect the temperature in each control box, and the circuit breaker can control the circuit of the equipment installed in the control box. A plurality of ventilation pipes connected to the inside of the control box are installed on the outer wall of one side of each control box, and each ventilation pipe is connected to the main air duct, and a fan is installed at one end of the main air duct; a universal wheel is installed at the bottom of the test bench;

[0024] An electric push rod is installed on the inner wall of the control box, and the piston rod of the electric push rod passes through the control box and the bottom of the test bench and is connected to a lifting plate. The lifting plate is fixedly connected to a number of servo motors, and the output shaft of the servo motor passes through the lifting plate and is connected to a driving gear. A slide bar is arranged at the bottom of the lifting plate, and the slide bar can slide along the bottom of the lifting plate. A first rack meshing with the driving gear is arranged on one side of the slide bar, and a second rack is arranged on the other side; three rotating tables are also connected to the bottom of the lifting plate, and the rotating tables are rotatably connected to the lifting plate. A fan gear is arranged at one end of the rotating table, and ultrasonic sensors, millimeter-wave radars and laser radars are respectively installed on the three rotating tables.

[0025] Furthermore, the test bench is fixedly connected to a support frame, and a top outer wall of the support frame is provided with symmetrically distributed traction wheels, and the traction wheels are slidably connected to the inner wall of the groove of the support beam.

[0026] Furthermore, a fence is welded to the top outer wall of the test bench, the hook is hooked on the top outer wall of the fence, and the support frame is fixedly connected to the outer wall on one side of the fence.

[0027] Furthermore, the top outer wall of the support beam is equipped with symmetrically distributed fixed pulleys, and the steel wire rope is slidably connected to the fixed pulleys.

[0028] Furthermore, symmetrically distributed fixing rods are welded to the outer wall on the other side of the support plate, and one end of the fixing rod is used to connect to the vehicle body.

[0029] Furthermore, a heat dissipation net is installed on the top outer wall of each control box.

[0030] Furthermore, each control box is installed with a signal transmitter, and the data collected by the ultrasonic sensor, millimeter wave radar and lidar are transmitted to the data center through the signal transmitter.

[0031] The beneficial effects of the present invention are:

[0032] The vehicle-mounted test system provided by the present invention can test vehicle driving and road conditions respectively under the mutual cooperation of ultrasonic sensors, millimeter wave radars and laser radars. The test bench can be installed at the rear of the intelligent networked car, and the test bench can be driven to move by the intelligent networked car. There is enough space on the test bench for the installation of test equipment, which ensures the efficiency of the test. At the same time, the height of the entire test bench can be adjusted by retracting the wire rope using a winch. During the test process, multiple judgments can be made according to the current test road conditions and the height of the test bench can be adjusted in real time accordingly, so as to achieve a good obstacle avoidance effect, avoid unnecessary collisions, and prevent damage to the detection equipment. In addition, based on the servo motor, electric push rod and rotating table setting, the test angle of the detection component can be adjusted, and the core test component can be rotated by the sensor in conjunction with the rotating structure, which increases the scope of the test and improves the accuracy of the test data.

[0033] The present invention adds a highly efficient and intelligent heat dissipation structure. The temperature sensor is used to detect the internal temperature of the control box and display it on the temperature display screen. If the temperature is too high, the circuit is disconnected by the circuit breaker, thereby realizing the overheating protection function. On this basis, air is blown into the main air duct by a fan, and all control boxes can be cooled at the same time under the action of multiple ventilation ducts, thereby avoiding burning of electrical appliances during continuous operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional schematic diagram of an on-vehicle test system for road testing of an intelligent connected vehicle proposed by the present invention;

[0035] Figure 2 A three-dimensional schematic diagram of a vehicle-mounted test system for road testing of intelligent connected vehicles proposed by the present invention from a rear-view angle;

[0036] Figure 3 A schematic diagram of a vehicle-mounted test system for road testing of intelligent connected vehicles from an upward angle, as proposed by the present invention;

[0037] Figure 4A three-dimensional schematic diagram of a control box of an on-vehicle test system for road testing of an intelligent connected vehicle proposed by the present invention;

[0038] Figure 5 A three-dimensional schematic diagram of a lifting plate of an on-vehicle test system for road testing of intelligent connected vehicles proposed by the present invention;

[0039] Figure 6 This is a stereoscopic view from an upward angle of a lifting plate of an on-board test system for road testing of intelligent connected vehicles proposed by the present invention.

[0040] List of Figure Symbols:

[0041] 1. Test bench; 2. Hook; 3. Wire rope; 4. Winch; 5. Support plate; 6. Pillar beam; 7. Control box; 8. Temperature sensor; 9. Temperature display screen; 10. Circuit breaker; 11. Ventilation duct; 12. Main air duct; 13. Fan; 14. Electric push rod; 15. Lifting plate; 16. Servo motor; 17. Driving gear; 18. Slide bar; 18-1. First rack; 18-2. First rack; 19. Turntable; 20. Ultrasonic sensor; 21. Millimeter wave radar; 22. LiDAR; 23. Camera; 24. Fixed pulley; 25. Support frame; 26. Traction wheel; 27. Guardrail; 28. Cross bracket; 29. ​​Universal wheel; 30. Fixed rod; 31. Heat dissipation net; 32. Slide bar fixing block. DETAILED DESCRIPTION

[0042] The technical solution provided by the present invention will be described in detail below in conjunction with specific embodiments. It should be understood that the following specific implementation methods are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0043] Embodiment 1: Figure 1-4 As shown, the vehicle-mounted test system for road testing of intelligent networked vehicles provided by the present invention includes a test bench 1 as its main part. A fence 27 is welded to the outer wall of the top of the test bench 1, and a hook 2 is hung on the outer wall of the top of the fence 27. A wire rope 3 is connected to the outer wall of the top of the hook 2, and a winch 4 is connected to the outer wall of one end of the wire rope 3. The outer wall of the winch 4 is fixedly connected to a support plate 5 by bolts, and a support beam 6 is welded to the outer wall of one side of the support plate 5, and the support beam 6 is fixed on the test bench 1. Cross brackets 28 are welded to the outer walls on both sides of the fence 27, and universal wheels 29 are installed on the outer wall at the bottom of the cross bracket 28. Through the above design, the test bench can slide easily along the ground when set at a suitable height. Symmetrically distributed fixing rods 30 are welded to the outer wall on the other side of the support plate 5, and the outer wall of one end of the fixing rod 30 is used to connect the vehicle body. A distance sensor (not shown in the figure) is also provided at the bottom of the test bench to test the distance between the test bench and the ground.

[0044] A camera 23 may also be installed on the top of the outer wall of one side of the support beam 6 to collect real-time road conditions. The real-time road conditions can be transmitted to the cockpit. It is convenient for the assistant in the cockpit to observe the road conditions behind the vehicle in real time. At the same time, the road conditions should be recorded as test data in the vehicle test system.

[0045] A support frame 25 is welded to the outer wall of one side of the fence 27, and symmetrically distributed traction wheels 26 are installed on the outer wall of the top of the support frame 25. The traction wheels 26 are slidably connected to the inner wall of the groove of the support beam 6. When the winch 4 retracts the wire rope 3, the height of the entire test bench 1 will be raised. During the rising process of the test bench 1, the traction wheel 26 slides on the support beam 6 to ensure the stability of the rising of the test bench 1, prevent sudden contact with objects during the journey, and avoid damage to the detection equipment;

[0046] Specifically, the outer wall of the top of the support beam 6 is equipped with symmetrically distributed fixed pulleys 24, and the wire rope 3 is slidably connected to the inner wall of the fixed pulley 24. The traction direction of the wire rope is changed by the fixed pulley design, making the structural design of the present invention more compact and space-saving.

[0047] The top outer wall of the test bench 1 is equipped with control boxes 7 distributed at equal distances, and a temperature sensor 8 is installed at one end of the top outer wall of each control box 7, a temperature display screen 9 is arranged on one side of the temperature sensor 8, and a circuit breaker 10 is arranged on one side of the temperature display screen 9. The temperature probe of the temperature sensor 8 is arranged inside the control box 7, and the temperature sensor 8 and the temperature display screen 9 are connected by a signal line. The data collected by the temperature sensor 8 is transmitted to the temperature display screen, and the circuit breaker 10 can control the circuit on and off of the electrical equipment in the control box. The outer wall of one side of the control box 7 distributed at equal distances is installed with symmetrically distributed ventilation pipes 11, and the outer wall of one end of the ventilation pipe 11 is installed with a main air duct 12, and a fan 13 is installed at the end of the main air duct 12. Each ventilation pipe 11 is connected to the main air duct 12. The top outer wall of each control box 7 is installed with a heat dissipation net 31, the heat dissipation net is hollow, and the hot air in the box can be discharged to the outside of the box through the heat dissipation net, and the heat dissipation net can effectively prevent external dust from entering the box. A signal transmitter is installed in the control box 7, and the signal transmitter is connected to the data center by wireless communication.

[0048] The present invention adds an efficient and intelligent heat dissipation structure to each test equipment. The temperature sensor 8 is used to detect the internal temperature of the control box 7 and display it through the temperature display screen 9. When the temperature is too high, the circuit breaker 10 disconnects the power supply circuit of the electrical equipment in the box, thereby realizing the overheating protection function. On this basis, the fan 13 blows air into the main air duct 12, and under the action of multiple ventilation pipes 11, all control boxes 7 can be cooled at the same time, avoiding the system from burning out the electrical equipment in the box during continuous operation.

[0049] An electric push rod 14 is installed on the inner wall of the control box 7, and the piston rod of the electric push rod 14 passes through the control box 7 and the bottom of the test bench 1 and is connected to a lifting plate 15. The top outer wall of the lifting plate 15 is fixedly connected to a servo motor 16 (three servo motors are evenly distributed) by bolts, and the output shaft of the servo motor 16 is connected to a driving gear 17. The outer wall of the driving gear 17 is meshed with a slide bar 18 (which is meshed with the first rack 18-1 in the slide bar 18), and the slide bar 18 can slide along the bottom of the lifting plate 15. Specifically, two slide bar fixing blocks 32 are arranged at the bottom of the lifting plate, and the slide bar fixing blocks 32 are provided with through holes with smooth inner walls. The slide bar 18 passes through the two slide bar fixing blocks 32 and can slide in the through holes. The outer wall on the other side of the slide bar 18 is meshed with three rotating tables 19 arranged in a row through the second rack 18-2, and the three rotating tables 19 are meshed with the second rack 18-2 through the fan gear arranged at the end. The outer walls of the bottom of the three rotating platforms 19 are respectively installed with ultrasonic sensors 20, millimeter wave radars 21 and laser radars 22. The three rotating platforms 19 are preferably equidistantly distributed on the outer wall of the bottom of the lifting plate 15. The end of the rotating platform 19 away from the sector gear is rotatably connected to the lifting plate 15 (which can be achieved by a conventional connecting member that realizes the rotation function, such as a rotating shaft and a bearing), so that it can rotate a certain angle under the drive of the rack.

[0050] In this embodiment, with the cooperation of the ultrasonic sensor 20, the millimeter wave radar 21 and the laser radar 22, the vehicle driving condition and road condition can be tested respectively, and the servo motor 16 drives the driving wheel 17 to rotate, which can drive the slide bar 18 to control the rotation of the rotating table 19, thereby adjusting the test angle of the detection component. Through the sensor and the rotating structure, the core test component can be rotated at an angle, which increases the test range and improves the accuracy of the test data.

[0051] In this embodiment, the test bench 1 can be installed at the rear of the intelligent connected vehicle, and the test bench 1 can be moved by the driving of the intelligent connected vehicle. There is enough space on the test bench 1 for the installation of test equipment, which ensures the efficiency of the test. At the same time, the winch 4 is used to retract the wire rope 3 to adjust the height of the entire test bench 1. It can be adjusted in real time according to the real-time test road conditions to avoid unnecessary bumps and prevent damage to the detection equipment.

[0052] Based on the above-mentioned vehicle-mounted test system for road testing of intelligent connected vehicles, the present invention also provides a vehicle-mounted test method for road testing of intelligent connected vehicles, comprising the following steps:

[0053] Step 1, fix the two fixing rods 30 in the support and fixing assembly (the fixing rods 30, the supporting plate 5, the supporting beam 6, etc. connected to the test bench for supporting and fixing are collectively referred to as the support and fixing assembly) connected to the test bench to the tail of the intelligent networked vehicle by bolts, control the hoist 4 fixed on the support and fixing assembly to lift the test bench 1 through the wire rope 3, and collect the distance between the test platform and the road surface through the distance sensor installed at the bottom of the test bench 1. When the distance is equal to the preset initial distance, the hoist 4 stops working, indicating that the vehicle-mounted test system is installed in place and is at the initial position. At this time, the electric push rod 14 is shortened to the shortest.

[0054] Step 2, then the test bench is lowered by continuously unfolding the wire rope 3 on the winch 4, and the universal wheel 29 at the bottom of the cross bracket 28 will touch the ground. The lowering position of the test bench can be realized by manual observation. The present invention preferably uses a distance sensor set at the bottom of the test bench 1 to collect the distance between the test bench 1 and the ground. The test should be done in advance to obtain the landing distance collected by the distance sensor when the universal wheel lands, and store it in the vehicle-mounted test system. When the wire rope 3 is lowered to the point where the data collected by the distance sensor is equal to the landing distance, the winch operation is stopped.

[0055] Step 3: the intelligent network-connected vehicle starts to move, and the test bench 1 installed at the rear of the intelligent network-connected vehicle also moves accordingly.

[0056] Step 4: the electric push rod 14 installed on the test bench drives the lifting plate 15 connected thereto to move to a preset test height, and the servo motor 16 drives the driving gear 17 connected to its output shaft to run to the initial position.

[0057] Step 5, adjust each device for testing at the test height in step 4. Normally, the entire test process has been designed in advance. Therefore, the servo motor is controlled to operate according to the pre-set control process, so that the drive gear runs to the pre-set test position. Under the cooperation of the slider 18 and the fan gear meshing with the slider 18, the three rotating tables 19 rotate to the corresponding angles, thereby controlling the ultrasonic sensor 20, the millimeter wave radar 21 and the laser radar 22 to work at the corresponding angles of the first test height. The ultrasonic sensor 20, the millimeter wave radar 21 and the laser radar 22 can respectively test the vehicle driving conditions and road conditions. The test angle of each test component can be adjusted by the rotating table 19 to increase the scope of the test. The test data is summarized by the chip inside the control box and transmitted to the data center via wireless communication. When there are multiple test angles at the same test height, the servo motor 16 is controlled to rotate and this step is repeated.

[0058] In order to cool down quickly, the system can blow air into the main air duct 12 through the fan 13 during continuous operation. The cold air will be blown into the multiple ventilation pipes 11 along the main air duct 12, and finally all the control boxes 7 will be cooled. The hot air will be discharged from the heat dissipation network 31. Each temperature sensor 8 can monitor the internal temperature of each control box 7 in real time, and the specific temperature value will be displayed on the temperature display screen 9. Once the temperature exceeds the warning temperature, the circuit breaker 10 will disconnect the circuit to prevent high temperature from burning the electrical appliances.

[0059] During the test, the camera, millimeter-wave radar, ultrasonic sensor, and lidar, as the acquisition devices of this system, each collected data and transmitted it to the control box. The edge computing unit (MEC, NVIDIA Orin-NX in this case) is set in the control box to realize on-site calculation, reduce data transmission delay, and improve calculation efficiency. More conventional detection targets can be directly realized through edge computing, and more complex detection targets may be further transmitted to the data center through the network for more detailed calculations.

[0060] The detection targets of this vehicle-mounted test system include but are not limited to the following items: road friction coefficient, road transverse and longitudinal slope, lane line width, lane width, road surface water level, road spillage, road cracks and cracks, and road potholes. At the same time, it can detect the specific conditions of different types of roads, such as line cracks, web cracks, cracks, bumps, rutting, subsidence, slurry, peeling, potholes, and gnawing road defects in asphalt pavement, and cracks, plate corner fractures, joint damage, peeling, potholes, misalignment, bulging, subsidence, poor road frame, and other road defects in cement pavement.

[0061] When achieving different target detection, the vehicle speed and acquisition equipment can be adjusted. For example, the following adjustments can be made to the acquisition equipment: adjust the camera angle, adjust the millimeter-wave radar direction angle, and adjust the laser radar point cloud distribution accuracy and direction. Among them, the camera angle is mechanically adjusted, while the millimeter-wave radar direction angle and the laser radar point cloud distribution accuracy and direction are adjusted through parameters. For example, when detecting the waterlogged area on the road, it is necessary to adjust the camera shooting direction, adjust the relevant parameters of the millimeter-wave radar and the laser radar to expand the detection surface, so that the total amount of waterlogged area can be accurately calculated, and the vehicle speed can be reduced to the preset.

[0062] Based on the data feedback obtained after calculation based on the detection data, the present invention can further adjust the detection accuracy and target, and may adjust the vehicle speed. For example, when a large range of uneven road friction coefficient is detected, it is necessary to reduce the vehicle speed, adjust the radar sensor scanning accuracy, distance, and point cloud magnitude to improve the detection accuracy. When water accumulation is detected on the road surface, the vehicle speed can be reduced to a preset value to obtain a clearer image and prevent the splash of nearby water accumulation from causing a decrease in acquisition accuracy.

[0063] During the inspection process, the vehicle speed can also be adjusted according to the actual road surface conditions reported. We can classify the preset speed during the inspection to correspond to different road conditions, for example: 5km / h is the first speed, 20km / h is the second speed, 50km / h is the third speed... and classify the road conditions, for example, major defects (such as large potholes) are classified as first, defects with a larger area (such as more than 2 square meters) are classified as second, and defects with a general area (less than 2 square meters) are classified as third... When different road surface grades are obtained based on data feedback, the vehicle speed is adjusted to the corresponding level to obtain the best inspection effect.

[0064] Step 6, when any of the ultrasonic sensor 20, the millimeter wave radar 21, and the laser radar 22 detects the presence of an obstacle signal within a certain range, the servo motor 16 is stopped, and the hoist 4 is controlled to lift the test bench to a preset initial distance. When the obstacle signal disappears, the timing starts. When the timing time t reaches the preset safety time threshold, it means that the distance from the obstacle has reached a safe distance. At this time, the test bench is moved to the test height in step 4 to continue the test. Presetting the safety time threshold is one way, but considering that the speed of the test vehicle is often adjusted during the test, when the speed is slow, it is possible that the safety distance is not reached even if the safety time threshold is reached. In order to make the test plan more reliable, a safety distance constant can also be set. When the obstacle signal disappears, the current vehicle speed is collected. Since it is in the non-testing stage where there is an obstacle at this time, the vehicle speed remains unchanged. The current vehicle speed is multiplied by the timing time t. When the product is equal to the safety distance constant, it means that the distance from the obstacle has reached a safe distance. At this time, the test bench is moved to the test height in step 4 to continue the test.

[0065] Step 7: When the test process includes multiple test heights, repeat steps 4 and 5 until the test is completed at each test height and angle.

[0066] Step 8, when the test is finished, the vehicle stops running, and the winch 4 fixed on the supporting fixed component is controlled to lift the test bench to a preset initial distance through the wire rope 3.

[0067] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. A vehicle-mounted testing method for road testing of intelligent connected vehicles, characterized in that: The steps include: Step 1, fix the support fixing component connected to the test bench (1) to the rear of the intelligent network-connected vehicle, control the hoist (4) fixed to the support fixing component to lift the test bench (1) through the wire rope (3), collect the distance between the test bench and the road surface through the distance sensor installed at the bottom of the test bench (1), and stop the hoist (4) when the distance is equal to the preset initial distance; Step 2, when starting the test, the wire rope (3) is deployed by the winch (4) to lower the test bench (1), and the winch (4) is stopped when the distance between the test bench (1) and the road surface is equal to a preset landing distance; Step 3, the intelligent network-connected vehicle drives and drives the test bench (1) to move; Step 4, the electric push rod (14) installed on the test bench (1) drives the lifting plate (15) connected thereto to move to a preset test height, and the servo motor (16) drives the driving gear (17) connected to its output shaft to run to an initial position; Step 5, adjusting each device to perform a test at the test height set in step 4: controlling the servo motor (16) to operate according to a preset control process, so that the drive gear (17) moves to a preset test position, the drive gear (17) drives the slide bar (18) to move, and the three rotating tables (19) meshing with the second rack (18-2) on the slide bar (18) rotate accordingly, and the ultrasonic sensor (20), millimeter wave radar (21) and laser radar (22) respectively fixed on the three rotating tables (19) rotate to corresponding angles and work; the data collected by the ultrasonic sensor (20), the millimeter wave radar (21) and the laser radar (22) are transmitted to the control box, and can be transmitted to the data center through wireless communication; Step 6, when any one of the ultrasonic sensor (20), the millimeter wave radar (21) and the laser radar (22) detects an obstacle signal within a certain range, the servo motor (16) is stopped, the hoist (4) is controlled to lift the test bench (1) to the initial distance, and when the distance from the obstacle reaches a safe distance, the test bench (1) is moved to the test height in step 4, and step 5 is repeated to continue the test; The method of judging whether the obstacle has reached a safe distance is one of the following two methods: When the obstacle signal disappears for a duration that reaches a preset safety time threshold; When the product of the duration of the obstacle signal disappearing and the vehicle speed when the obstacle signal disappears reaches the safe distance fixed value; Step 7, when the test process includes multiple test heights, repeat steps 4 and 5 until the test is completed at each test height; Step 8, when the test is finished, the vehicle stops running, and the winch (4) fixed on the supporting fixed component is controlled to lift the test bench (1) to a preset initial distance through the wire rope (3).

2. The vehicle-mounted testing method for road testing of intelligent connected vehicles according to claim 1, characterized in that: When the temperature value detected by any temperature sensor (8) in the control box (7) installed on the test bench (1) exceeds the warning temperature, the circuit breaker (10) connected to the temperature sensor (8) disconnects the power supply to the electrical equipment in the control box (7) and turns on the fan (13) at the end of the main air duct (12).

3. The vehicle-mounted testing method for road testing of intelligent connected vehicles according to claim 1, characterized in that: During the test, air is blown into the main air duct (12) through the fan (13), cold air is blown into each ventilation duct (11) along the main air duct (12), and hot air is discharged through the heat dissipation net (31).

4. An on-vehicle test system for road testing of an intelligent connected vehicle, comprising a test bench (1), characterized in that: The vehicle-mounted test method for road testing of an intelligent connected vehicle according to any one of claims 1 to 3 is used to implement the test bench (1) being hung with a hook (2), the hook (2) being connected to a steel wire rope (3), one end of the steel wire rope (3) being connected to a winch (4), the outer wall of the winch (4) being fixedly connected to a support plate (5), and the outer wall of one side of the support plate (5) being fixed to a support beam (6); The test bench (1) is installed with a plurality of control boxes (7), each of which is installed with a temperature sensor (8) and a circuit breaker (10), the temperature sensor (8) being used to collect the temperature inside each control box (7), the circuit breaker (10) being capable of controlling the on and off of the circuit of the equipment installed in the control box, a plurality of ventilation pipes (11) connected to the inside of the control box (7) being installed on the outer wall of one side of each control box (7), each ventilation pipe (11) being connected to a main air pipe (12), a fan (13) being installed at one end of the main air pipe (12); a universal wheel (29) being installed at the bottom of the test bench (1); An electric push rod (14) is installed on the inner wall of the control box (7). The piston rod of the electric push rod (14) passes through the control box and the bottom of the test bench and is connected to a lifting plate (15). The lifting plate (15) is fixedly connected to a plurality of servo motors (16). The output shaft of the servo motor (16) passes through the lifting plate and is connected to a driving gear (17). A slide bar (18) is arranged at the bottom of the lifting plate (15). The slide bar (18) can slide along the bottom of the lifting plate (15). A first rack (18-1) meshing with the driving gear (17) is arranged on one side of the slide bar (18), and a second rack (18-2) is arranged on the other side. Three rotating tables (19) are also connected to the bottom of the lifting plate (15). The rotating tables (19) are rotatably connected to the lifting plate (15). A fan-shaped gear is arranged at one end of the rotating table (19). An ultrasonic sensor (20), a millimeter wave radar (21) and a laser radar (22) are respectively installed on the three rotating tables.

5. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 4, characterized in that: The test bench (1) is fixedly connected to a support frame (25), and symmetrically distributed traction wheels (26) are installed on the top outer wall of the support frame (25), and the traction wheels (26) are slidably connected to the inner wall of the groove of the support beam (6).

6. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 5, characterized in that: A surrounding rod (27) is welded to the top outer wall of the test bench (1), the hook (2) is hooked on the top outer wall of the surrounding rod (27), and the support frame (25) is fixedly connected to the outer wall of one side of the surrounding rod (27).

7. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 4, characterized in that: The top outer wall of the support beam (6) is provided with symmetrically distributed fixed pulleys (24), and the steel wire rope (3) is slidably connected to the fixed pulleys (24).

8. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 4, characterized in that: The outer wall of the other side of the support plate (5) is welded with symmetrically distributed fixing rods (30), and one end of the fixing rod (30) is used for connecting to the vehicle body.

9. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 4, characterized in that: A heat dissipation net (31) is installed on the top outer wall of each control box (7).

10. The vehicle-mounted test system for road testing of intelligent connected vehicles according to claim 4, characterized in that: A signal transmitter is installed in each control box (7), and data collected by the ultrasonic sensor (20), the millimeter wave radar (21) and the laser radar (22) are transmitted to the data center via the signal transmitter.

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