A vehicle lane line and obstacle recognition and positioning test device

Abstract

The present invention discloses a vehicle lane line and obstacle identification and positioning test device, comprising: a bearing seat body, the number of which is set to be multiple, and explosion-proof glass is arranged inside the multiple bearing seats, and a circuit board is arranged at the bottom of the explosion-proof glass; a first positioning plate is arranged on the outside of the bearing seat body; side rods are evenly arranged on the outside of the bearing seat body, and vertical rods are inserted at the top of the side rods, and adjustment rods are connected to the inside of the vertical rods. An obstacle adjustment component is arranged at the bottom of the adjustment rod, and the obstacle adjustment component includes a hydraulic lifting rod and a lifting seat. The present invention can perform emergency adjustment and lifting according to test requirements, and adjust and replace different types of obstacles, obstacle models and the time of appearance to react and change during vehicle driving, and complete various vehicle lane line and obstacle identification and positioning test work during vehicle driving. Various test processes and parameters can be adjusted and changed as needed to meet different test requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and in particular to a vehicle lane line and obstacle recognition and positioning testing device. Background Art

[0002] In recent years, the development of deep learning-based visual perception technology has greatly promoted the prosperity of autonomous driving in the field of Internet of Vehicles. However, the frequent safety issues of autonomous driving systems have caused people to worry about the future of autonomous driving. Due to the lack of explainability of the behavior of deep learning systems, testing the safety of deep learning-based autonomous driving systems is extremely challenging.

[0003] At present, safety testing work for autonomous driving scenarios has been proposed. Vehicle lane line and obstacle recognition during vehicle driving is very critical. Whether the autonomous driving vehicle can accurately identify lane lines indicates whether the vehicle can drive smoothly and autonomously. Whether it can identify obstacle surfaces means that the vehicle can respond to emergencies. Existing autonomous driving scenarios vehicle lane line and obstacle recognition are mostly system simulations without targeted real-time testing, and it is difficult to test on normal roads. In addition, different obstacles and environmental factors will appear during normal driving, making it difficult to meet the test requirements. Summary of the invention

[0004] The present invention provides a vehicle lane line and obstacle identification and positioning test device, which can perform emergency adjustment and lifting and adjust and replace different types of obstacles, obstacle models and the time of appearance to react and change during vehicle driving according to test requirements, and complete various vehicle lane line and obstacle identification and positioning test tasks during vehicle driving. Various test processes and parameters can be adjusted and changed as needed to meet different test requirements.

[0005] In order to solve the above technical problems, the present invention provides a vehicle lane line and obstacle recognition and positioning test device, comprising:

[0006] The bearing seat body is set to a plurality of bearing seat bodies, each of which is provided with explosion-proof glass, a circuit board is provided at the bottom of the explosion-proof glass, and lamp beads are evenly provided between the circuit board and the explosion-proof glass;

[0007] A first positioning plate, disposed outside the bearing seat body;

[0008] Side rods are evenly arranged on the outside of the bearing seat body, the top of the side rods are plugged with vertical rods, the inside of the vertical rods are connected with adjustment rods, the bottom of the adjustment rods are provided with obstacle adjustment components, the obstacle adjustment components include hydraulic lifting rods and lifting seats, the hydraulic lifting rods are used to drive the lifting seats to move, and the bottom of the lifting seats is provided with obstacle blocks;

[0009] The connecting seat is arranged at both ends of the bearing seat body, and the connecting seat includes a connecting plug plate, a positioning cavity and a limiting cavity. The connecting plug plate is plugged into the positioning cavity, and the other end of the connecting plug plate is plugged into the positioning cavity of the other bearing seat body.

[0010] As a preferred embodiment of the above technical solution, the bearing seat body includes a bearing base, a bearing support seat is provided on the top of the bearing base, the circuit board is arranged on the top of the bearing support seat, a support plate is also provided inside the bearing seat body, the support plate is arranged on both sides of the explosion-proof glass, and a water storage chamber is provided on the outside of the bearing seat body.

[0011] As a preferred embodiment of the above technical solution, a slot is provided on one side of the first positioning plate close to the inner wall of the bearing seat body, and the slot matches the connecting plug plate, and the other end of the first positioning plate is connected to an inclined plate that is inclined.

[0012] As a preferred embodiment of the above technical solution, a connecting head is provided at one end of the bottom of the side rod, a positioning block and an insertion rod are provided at the end of the connecting head, the insertion rod is provided at the top and bottom of the positioning block, the bearing support seat is penetrated by a positioning groove and a limit rod groove and respectively matches the positioning block and the insertion rod, the surface of the adjusting rod is evenly provided with detection blocks, and the surface of the detection block is provided with a position sensor and a speed sensor.

[0013] As a preferred embodiment of the above technical solution, positioning holes are evenly arranged on the outer surface of the connecting seat, a second positioning plate is arranged on the outer side of the supporting seat body, positioning pieces are arranged at both ends of the second positioning plate, and a locking screw is penetrated inside the positioning piece and matched with the positioning hole.

[0014] As a preferred embodiment of the above technical solution, water storage tanks are evenly provided on the outside of the bearing seat body, and spray heads are provided on the inside of the water storage tanks, and the spray heads are used to spray water mist onto the surface of the bearing seat body.

[0015] As a preferred embodiment of the above technical solution, the obstacle adjustment assembly also includes a box body, the hydraulic lifting rod is arranged inside the box body, the box body is arranged on the bottom surface of the adjustment rod, and the end of the obstacle block is provided with a threaded head and is threadedly connected to the bottom of the inner wall of the lifting seat.

[0016] As a preferred embodiment of the above technical solution, sliders are provided at the top and bottom of the inner wall of the positioning cavity, a limit plate is provided inside the slider, and compression springs are evenly provided between the limit plate and the inner wall of the connecting seat.

[0017] As a preferred embodiment of the above technical solution, a rotating seat body is provided at one end of the top of the vertical rod, the adjusting rod is arranged outside the rotating seat body, a driving motor is provided at the bottom of the rotating seat body and the driving motor is arranged inside the vertical rod.

[0018] As a preferred embodiment of the above technical solution, a control console is arranged outside the bearing seat body, and the control console is provided with a host control monitoring panel.

[0019] The present invention provides a vehicle lane line and obstacle identification and positioning test device, which comprises a bearing seat body, a first positioning plate, a side rod, an obstacle adjustment component, a connecting seat and explosion-proof glass. Different numbers of bearing seats are adjusted according to the test length and position for splicing and installation. After the two adjacent bearing seats are installed and positioned by the connecting seat, the first positioning plate is installed on the outside of the two outermost bearing seats. Then, according to the detection requirements, the side rods and the water tank are respectively installed on the top and outside of the bearing seat body. The obstacle adjustment component and different obstacle blocks can also be adjusted and installed according to the setting of the obstacle. The circuit board works by the light beads emitting light to form a vehicle lane line inside the multiple bearing seats, and the position and curvature of the lane line can be adjusted according to the needs to form a road vehicle lane line. Then the vehicle to be tested is After entering from the outside of the first positioning plate, the vehicle passes through a bearing seat body and then exits from the first positioning plate on the other side. During the driving process, water mist can be sprayed from the water tank to adjust the environment to simulate the rainy driving test according to the test requirements. During the driving process, the hydraulic lifting rod of the obstacle adjustment component can push the lifting seat and the obstacle block to move downward to form an obstacle on the top of the vehicle lane line, so as to test the obstacles that appear during the vehicle driving process. In addition, according to the test requirements, emergency adjustment and replacement of different types of obstacles, obstacle models and the time of appearance can be carried out to react and change during the vehicle driving process, so as to complete various vehicle lane line and obstacle recognition and positioning tests during the vehicle driving process. Various test processes and parameters can be adjusted and changed as needed to meet different test requirements.

[0020] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 2 It is a schematic diagram of the structure of the side rod and obstacle adjustment assembly of the present invention;

[0023] Figure 3 A cross-sectional view of the connection seat of the present invention;

[0024] Figure 4 It is a cross-sectional view of the bearing seat body of the present invention.

[0025] In the figure: 1 bearing seat body, 11 support plate, 12 water storage cavity, 2 first positioning plate, 21 tilting plate, 3 side rod, 31 connecting head, 32 positioning block, 33 plug rod, 34 vertical rod, 35 adjusting rod, 36 detection block, 4 second positioning plate, 41 positioning piece, 5 water storage tank, 6 obstacle adjustment component, 61 box body, 62 hydraulic lifting rod, 63 lifting seat, 64 obstacle block, 7 connecting seat, 71 connecting plug plate, 72 positioning cavity, 73 limiting cavity, 74 sliding block, 75 limiting plate, 76 positioning hole, 8 explosion-proof glass, 81 circuit board, 82 lamp beads, 9 bearing base, 91 bearing support seat. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Embodiment 1:

[0028] See also Figure 1-4 The embodiment of the present invention provides a vehicle lane line and obstacle recognition and positioning test device, comprising:

[0029] The bearing seat body 1 is provided in multiple numbers, and explosion-proof glass 8 is provided inside each of the multiple bearing seat bodies 1. A circuit board 81 is provided at the bottom of the explosion-proof glass 8, and lamp beads 82 are evenly provided between the circuit board 81 and the explosion-proof glass 8;

[0030] A first positioning plate 2 is arranged outside the bearing seat body 1;

[0031] The side rods 3 are evenly arranged on the outside of the bearing seat body 1. The top of the side rods 3 is plugged with a vertical rod 34. The inside of the vertical rod 34 is connected with an adjusting rod 35. The bottom of the adjusting rod 35 is provided with an obstacle adjustment component 6. The obstacle adjustment component 6 includes a hydraulic lifting rod 62 and a lifting seat 63. The hydraulic lifting rod 62 is used to drive the lifting seat 63 to move. The bottom of the lifting seat 63 is provided with an obstacle block 64;

[0032] The connecting seat 7 is arranged at both ends of the bearing seat body 1. The connecting seat 7 includes a connecting plug plate 71, a positioning cavity 72 and a limiting cavity 73. The connecting plug plate 71 is inserted into the positioning cavity 72, and the other end of the connecting plug plate 71 is inserted into the positioning cavity 72 of another bearing seat body 1.

[0033] The present embodiment provides a vehicle lane line and obstacle identification and positioning test device, which comprises a bearing seat body 1, a first positioning plate 2, a side rod 3, an obstacle adjustment component 6, a connecting seat 7 and an explosion-proof glass 8. Different numbers of bearing seats 1 are adjusted according to the test length and position for splicing and installation. After the two adjacent bearing seats 1 are installed and positioned by the connecting seat 7, the first positioning plate 2 is installed on the outside of the two outermost bearing seats 1. Then, according to the detection requirements, the side rod 3 and the water tank 5 are respectively installed on the top and outside of the bearing seat body 1. The obstacle adjustment component 6 and different obstacle blocks 64 can also be adjusted and installed according to the setting of the obstacle. The circuit board 81 works by emitting light from the lamp beads 82 to form a vehicle lane line inside the multiple bearing seats 1, and the position and curvature of the lane line can be adjusted as needed to form a road vehicle lane line. Then The vehicle to be tested enters from the outside of the first positioning plate 2, passes through the bearing seat body 2, and then exits from the first positioning plate 2 on the other side. During the driving process, the water tank 5 can spray water mist to adjust the environment to simulate the rainy driving test according to the test requirements. During the driving process, the hydraulic lifting rod 62 of the obstacle adjustment component 6 can push the lifting seat 63 and the obstacle block 64 to move downward, forming an obstacle on the top of the vehicle lane line, and testing the obstacles that appear during the vehicle driving process. In addition, according to the test requirements, emergency adjustment and replacement of different types of obstacles, obstacle models and the time of appearance can be performed to react and change during the vehicle driving process, and various vehicle lane line and obstacle recognition and positioning tests during the vehicle driving process are completed. Various test processes and parameters can be adjusted and changed as needed to meet different test requirements.

[0034] In a further feasible embodiment of the present embodiment, the bearing seat body 1 includes a bearing base 9, a bearing support seat 91 is provided on the top of the bearing base 9, a circuit board 81 is arranged on the top of the bearing support seat 91, a support plate 11 is also provided inside the bearing seat body 1, the support plate 11 is arranged on both sides of the explosion-proof glass 8, and a water storage chamber 12 is provided on the outside of the bearing seat body 1.

[0035] The road plate 81 in this embodiment works by emitting light from the lamp beads 82 to form a vehicle lane line inside multiple bearing seat bodies 1, and the position and curvature of the lane line can be adjusted as needed to form a road vehicle lane line. The water storage chamber 12 can collect the sprayed water and recycle it for reuse. The bearing support seat 9 in the bearing seat body 1 can be made of elastic material, which can be used for curvature conditions and pressure relief. After the multiple bearing seat bodies 1 are bent, they can be connected and adjusted to a complete overall road for testing.

[0036] In a further implementable embodiment of the present invention, a slot is provided on one side of the inner wall of the first positioning plate 2 close to the bearing seat body 1 , and the slot matches the connecting plug plate 71 , and the other end of the positioning plate 2 is connected to an inclined plate 21 which is inclined.

[0037] The inclined plate 21 on the outside of the first positioning plate 2 in this embodiment facilitates the entry and exit of the vehicle. The first positioning plate 2 is also positioned and installed with the connecting seat 7 through the plug plate 71. The whole can be quickly spliced ​​and can be disassembled for transportation and storage. It is easy to use and does not take up space.

[0038] In a further feasible embodiment of the present embodiment, a connector 31 is provided at one end of the bottom of the side rod 3, a positioning block 32 and an insertion rod 33 are provided at the end of the connector 31, the insertion rod 33 is provided at the top and bottom of the positioning block 32, a positioning groove and a limit rod groove are penetrated by the bearing support seat 91 and are matched with the positioning block 32 and the insertion rod 33 respectively, and detection blocks 36 are evenly provided on the surface of the adjusting rod 35, and a position sensor and a speed sensor are provided on the surface of the detection block 36.

[0039] The side rod 3 in this embodiment is installed on the outside of the bearing seat body 1 through the positioning block 32 and the insertion rod 33. The sensor on the surface of the detection block 36 can detect the position, speed and acceleration values ​​of the vehicle during driving, and determine the vehicle driving command after detecting an obstacle.

[0040] In a further feasible embodiment of the present invention, positioning holes 76 are evenly provided on the outer surface of the connecting seat 7, a second positioning plate 4 is provided on the outer side of the supporting seat body 1, positioning pieces 41 are provided at both ends of the second positioning plate 4, and a locking screw is provided inside the positioning piece 41 and matches the positioning hole 76.

[0041] The outer second positioning plate 4 in this embodiment further positions and locks the entire bearing seat body 1 through a locking screw to ensure the stability of the overall structure.

[0042] In a further feasible embodiment of the present invention, a water storage tank 5 is evenly arranged on the outer side of the supporting seat body 1 , and a spray head is arranged on the inner side of the water storage tank 5 , and the spray head is used to spray water mist onto the surface of the supporting seat body 1 .

[0043] The water storage tank 5 in this embodiment can spray water mist through a spray head to adjust the environment to simulate the test of driving in rainy days.

[0044] In a further feasible embodiment of the present embodiment, the obstacle adjustment assembly 6 also includes a box body 61, a hydraulic lifting rod 62 is arranged inside the box body 61, the box body 61 is arranged on the bottom surface of the adjustment rod 35, and a threaded head is provided at the end of the obstacle block 64 and is threadedly connected to the bottom of the inner wall of the lifting seat 63.

[0045] The hydraulic lifting rod 62 of the obstacle adjustment component 6 in this embodiment pushes the lifting seat 63 and the obstacle block 64 to move downward, forming an obstacle on the top of the vehicle lane line, and testing the obstacles that appear during the vehicle driving process. In addition, emergency adjustment of the lifting and replacement of different types of obstacles, obstacle models and the time of appearance can be performed according to test requirements to react to the vehicle driving process.

[0046] In a further embodiment of the present invention, sliders 74 are provided at the top and bottom of the inner wall of the positioning cavity 72 , a limit plate 75 is provided inside the slider 74 , and compression springs are evenly provided between the limit plate 75 and the inner wall of the connecting seat 7 .

[0047] After the plug plate 71 in this embodiment is inserted into the positioning cavity 72, the clamping spring pushes the limit plate 75 to clamp and limit the position of the plug plate 71 at the top and bottom respectively. At the same time, a positioning screw can be installed on the outside of the connecting seat 7. After the positioning screw passes through the positioning cavity 72, it is threadedly connected with the plug plate 71 for locking.

[0048] Embodiment 2:

[0049] On the basis of the first embodiment, a rotating seat body is provided at one end of the top of the vertical rod 34 , the adjusting rod 35 is provided outside the rotating seat body, a driving motor is provided at the bottom of the rotating seat body and the driving motor is provided inside the vertical rod 34 .

[0050] A control console is arranged outside the bearing seat body 1, and the control console is provided with a host control monitoring panel.

[0051] The vertical rod 34 in this embodiment can be configured to be able to remotely control the rotating seat body at one end of the rotating top. When the driving motor drives the rotating seat body to rotate, the position angle of the adjustment rod 35 and the position angle of the obstacle adjustment component 6 are adjusted. They can also be adjusted when not in use to avoid interfering with the test. Corresponding cameras and recording equipment are installed on the outside of the entire test device to uniformly organize and transmit the parameter data inside the vehicle, the detection data in the device and the video data during the vehicle driving process to the console for viewing, and the console can issue control commands to adjust different parameters and operations; in addition, a driving scene curtain can be built on the outside of the driving device to simulate the real driving environment and driving picture. In the process of identifying the road lane lines and obstacles, the sudden driving conditions at a farther distance can be tested at the same time, and the brightness during driving can also be changed to simulate the driving test state in a darker or after-dark environment.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle lane and obstacle recognition and positioning test device, characterized in that: include: The bearing seat (1) is provided in a plurality of numbers, each of the plurality of bearing seats (1) is provided with explosion-proof glass (8), a circuit board (81) is provided at the bottom of the explosion-proof glass (8), and lamp beads (82) are evenly provided between the circuit board (81) and the explosion-proof glass (8); a first positioning plate (2) is provided on the outside of the bearing seat (1); a side rod (3) is evenly provided on the outside of the bearing seat (1), a vertical rod (34) is inserted at the top of the side rod (3), an adjustment rod (35) is connected to the inside of the vertical rod (34), and an obstacle adjustment component (6) is provided at the bottom of the adjustment rod (35). ), the obstacle adjustment component (6) comprises a hydraulic lifting rod (62) and a lifting seat (63), the hydraulic lifting rod (62) is used to drive the lifting seat (63) to move, and an obstacle block (64) is arranged at the bottom of the lifting seat (63); a connecting seat (7) is arranged at both ends of the bearing seat body (1), the connecting seat (7) comprises a connecting plug plate (71), a positioning cavity (72) and a limiting cavity (73), one end of the connecting plug plate (71) is inserted into the positioning cavity (72), and the other end of the connecting plug plate (71) is inserted into the positioning cavity (72) of another bearing seat body (1); The bearing seat body (1) comprises a bearing base (9), a bearing support seat (91) is provided on the top of the bearing base (9), a circuit board (81) is arranged on the top of the bearing support seat (91), a support plate (11) is further provided inside the bearing seat body (1), the support plate (11) is arranged on both sides of the explosion-proof glass (8), and a water storage chamber (12) is provided on the outside of the bearing seat body (1); a connecting head (31) is provided at one end of the bottom of the side rod (3), a positioning block (32) and an insertion rod (33) are provided at the end of the connecting head (31), the insertion rod (33) is arranged at the top and bottom of the positioning block (32), and a positioning groove and a limit rod groove are provided throughout the bearing support seat (91) and are divided into The regulating rod (35) is matched with the positioning block (32) and the insertion rod (33), and the detection block (36) is evenly arranged on the surface of the regulating rod (35), and the surface of the detection block (36) is provided with a position sensor and a speed sensor; the outer side of the bearing seat (1) is evenly provided with a water storage tank (5), and the inner side of the water storage tank (5) is provided with a spray head, and the spray head is used to spray water mist to the surface of the bearing seat (1); the obstacle adjustment component (6) also includes a box body (61), the hydraulic lifting rod (62) is arranged inside the box body (61), and the box body (61) is arranged on the bottom surface of the regulating rod (35), and the end of the obstacle block (64) is provided with a threaded head and is threadedly connected to the bottom of the inner wall of the lifting seat (63).

2. A vehicle lane and obstacle recognition and positioning test device according to claim 1, characterized in that: A slot is provided at one end of the first positioning plate (2) close to the inner wall of the bearing seat body (1), and the slot matches the connecting plug plate (71). The other end of the first positioning plate (2) is connected to an inclined plate (21) which is arranged obliquely.

3. A vehicle lane and obstacle recognition and positioning test device according to claim 2, characterized in that: Positioning holes (76) are evenly arranged on the outer surface of the connecting seat (7), a second positioning plate (4) is arranged on the outer side of the bearing seat body (1), positioning pieces (41) are arranged at both ends of the second positioning plate (4), and locking screws are arranged inside the positioning pieces (41) and match the positioning holes (76).

4. A vehicle lane and obstacle recognition and positioning test device according to claim 3, characterized in that: Slide blocks (74) are provided at the top and bottom of the inner wall of the positioning cavity (72), a limiting plate (75) is provided inside the slider (74), and a compression spring is evenly provided between the limiting plate (75) and the inner wall of the connecting seat (7).

5. A vehicle lane and obstacle recognition and positioning test device according to claim 4, characterized in that: A rotating seat body is arranged at one end of the top of the vertical rod (34), the adjusting rod (35) is arranged outside the rotating seat body, and a driving motor is arranged at the bottom of the rotating seat body and the driving motor is arranged inside the vertical rod (34).

6. A vehicle lane and obstacle recognition and positioning test device according to claim 5, characterized in that: A control console is arranged outside the bearing seat body (1), and the control console is provided with a host control monitoring panel.

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