Obstacle fixing base for unmanned driving test and use method thereof

Abstract

The invention discloses an obstacle fixing base for an unmanned driving test, and the base comprises a directional moving chassis which is provided with directional wheels and can move according to a preset track, and an obstacle is fixedly disposed on the directional moving chassis; and the collision emergency avoiding mechanism is integrated at the bottom of the directional moving chassis and comprises a triggering device and universal wheels, and when the obstacle is collided, the triggering device responds rapidly, so that the universal wheels are switched to the second positions from the first positions. Through the conversion, the directional wheels which are originally in contact with the ground are lifted, the universal wheels are in contact with the ground, and the directional moving chassis is allowed to freely move in all directions in the impact force direction, so that the impact force is effectively dispersed and unloaded, and direct damage to obstacles is reduced. By switching from a directional moving mode to an omnibearing free moving mode, the directional moving chassis can more flexibly cope with sudden collision conditions, the out-of-control or overturning risk caused by collision is reduced, and the test cost is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving testing, and in particular to an obstacle fixing base for unmanned driving testing and a method of using the same. Background Art

[0002] In order to improve the safety of road traffic and reduce accidents caused by human factors, driverless technology is receiving increasing attention, and driverless cars have become the focus of scientific research and social attention. However, in the process of moving towards full autonomous driving, driverless cars face severe safety challenges such as insufficient environmental perception accuracy and misjudgment of obstacles. These problems may directly cause vehicle failures or even loss of control, increasing the risk of traffic accidents. Therefore, accurate and efficient detection and identification of targets is a key link to ensure the safe operation of driverless cars.

[0003] In order to evaluate the target detection capability of driverless cars, the current commonly used method is to set up different types of obstacles for testing, including fixed and movable obstacles. Although the fixed obstacle test method can test the vehicle's ability to recognize static objects, its limitation is that it cannot fully simulate the diversity of obstacle states in the real world. Although the movable obstacle test can be closer to the actual scene, if the driverless system fails to correctly identify and respond effectively, it is easy to cause damage to the obstacle. At the same time, this type of test is often costly, and due to the occurrence of collisions, its repeatability and economy are greatly limited. Therefore, exploring more efficient, economical and actual traffic environment testing methods is of great significance to promoting the maturity and safe application of driverless technology. Summary of the invention

[0004] The present invention provides an obstacle fixing base for unmanned driving test and a use method thereof, so as to at least solve or alleviate one or more technical problems in the prior art, or at least provide a beneficial option.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An obstacle fixing base for unmanned driving test, comprising a directional mobile chassis, which is equipped with directional wheels and can move according to a preset trajectory, and the obstacle is fixed on the directional mobile chassis;

[0007] The collision emergency avoidance mechanism is integrated at the bottom of the directional mobile chassis, and includes a trigger device and a universal wheel. The trigger device can switch the universal wheel from a first position to a second position when an obstacle is hit. When the universal wheel is in the first position, the universal wheel has no contact with the ground and the directional wheel is in contact with the ground. When it is in the second position, the universal wheel is in contact with the ground and the directional wheel has no contact with the ground, so that the directional mobile chassis switches from the directional mobile mode to the all-round free mobile mode, so that the directional mobile chassis can move in the direction of the impact force of the obstacle, realize the unloading of the impact force, and reduce the damage to the obstacle caused by the collision.

[0008] The present application is for an obstacle fixing base for unmanned driving tests. When the obstacle is hit, the trigger device responds quickly to switch the universal wheel from the first position to the second position. This conversion causes the directional wheel that was originally in contact with the ground to lift up, while the universal wheel is in contact with the ground. This change allows the directional mobile chassis to move freely in all directions in the direction of the impact force, thereby effectively dispersing and unloading the impact force and reducing direct damage to the obstacle. By switching from the directional mobile mode to the all-round free mobile mode, the directional mobile chassis can respond to sudden collisions more flexibly and reduce the risk of loss of control or overturning due to collisions. This mechanism not only protects obstacles from direct and severe impacts, but also reduces damage to the vehicle, greatly reducing testing costs.

[0009] In a preferred implementation, the directional mobile disk is provided with a central loading platform, the obstacle is fixedly mounted on the central loading platform, the central loading platform is fixedly connected to a rotating shaft, and the rotating shaft is rotatably mounted on the directional mobile chassis; when a collision occurs, an external force impacts the obstacle, the obstacle is deflected by the force, causing the central loading platform and the rotating shaft to rotate, and the rotating shaft is connected to a trigger device to activate it, thereby enabling the universal wheel to switch from a first position to a second position.

[0010] In a preferred implementation, the trigger device includes a front-end shaft assembly and a rear-end shaft assembly, which are rotatably installed on the front and rear sides of the rotating shaft respectively. Connecting rods are fixedly arranged on the front-end shaft assembly and the rear-end shaft assembly, one end of the connecting rod is fixed to the front-end shaft assembly / rear-end shaft assembly, and the universal wheel is fixed to the other side of the front-end shaft assembly / rear-end shaft assembly relative to the connecting rod. The rotating shaft is connected to a power transmission mechanism, and the power transmission mechanism can transmit the rotating shaft rotational power to the connecting rod to make it move, thereby driving the front-end shaft assembly and the rear-end shaft assembly to rotate, thereby realizing the position switching of the universal wheel.

[0011] In a preferred implementation, the power transmission mechanism includes a first cam and a driving gear arranged on the rotating shaft, and a second cam and a meshing gear arranged on the auxiliary shaft, the auxiliary shaft is located between the rear end shaft assembly and the rotating shaft, and the driving gear and the meshing gear are meshed; when the universal wheel is in the first position, the connecting rod contacts the proximal point of the first cam / second cam, and when the universal wheel is in the second position, the connecting rod contacts the distal point of the first cam / second cam.

[0012] In a preferred implementation, the first cam and the second cam are arranged in mirror symmetry. When the shaft rotates, the first cam and the second cam rotate in opposite directions, and each pushes the contacting connecting rod to move, so that all the universal wheels are in synchronous contact with the ground.

[0013] In a preferred implementation, a roller is provided at the free end of the connecting rod, the roller contacts the first cam / the second cam, one end of the compression spring device is fixedly connected to the central loading platform, and the other end is connected to the connecting rod to ensure close contact between the roller and the cam.

[0014] In a preferred implementation, the first cam / the second cam is provided with a groove. When the roller is inserted into the groove, the rotating shaft stops rotating and the universal wheel contacts the ground, thereby supporting the directional movable chassis.

[0015] In a preferred implementation, the connecting rod is connected to a lifting rod, and the lifting rod lifts out the roller stuck in the groove, so that the components are reset for repeated use.

[0016] In a preferred implementation, the central loading platform is provided with legs, and the test obstacle passes through the legs and is bolted to the central loading platform.

[0017] The method for using the obstacle fixing base for unmanned driving test includes the following steps:

[0018] S1: First, accurately install the obstacle on the central load-bearing platform of the directional mobile chassis to ensure that the obstacle is firmly fixed to avoid displacement or falling off during the test;

[0019] S2: Adjust the directional wheels of the directional mobile chassis to make them fully contact the ground. At this time, the universal wheels should be in the first position without contacting the ground to ensure that the chassis can move stably in the preset direction. At the same time, in order to accurately control the moving path of the chassis, a guide rail can be laid on the ground;

[0020] S3: Ensure that the direction in which the obstacle is struck is set appropriately, so that when a collision occurs, the shaft can be effectively driven to rotate, the trigger device can be operated, and the universal wheel can be switched;

[0021] S4: starting the directional mobile chassis and controlling it to move along a preset direction to conduct a collision test of the unmanned vehicle; simulating a collision event to trigger a collision emergency avoidance mechanism on the chassis;

[0022] S5: After the collision test is completed, the universal wheel is reset from the second position to the first position, that is, the non-contacting ground state, by lifting the lifting rod, and the chassis and the obstacle are readjusted to prepare for the next test.

[0023] The above structure has the following beneficial effects:

[0024] The obstacle fixing base used in the unmanned driving test in this application can carry the obstacle to move in a specific direction. At the beginning of the test, the obstacle can be moved in a specific direction according to the test requirements, and the speed of the directional wheel can be changed to simulate the test under different speed conditions.

[0025] The obstacle fixing base used in the unmanned driving test can directly disperse and remove part of the impact force when the obstacle is impacted by external force, thereby reducing direct damage to the obstacle itself. This mechanical force unloading method is simple and effective.

[0026] The obstacle fixing base used in the unmanned driving test of the present application, when the obstacle is tipped over by external force, the first cam and the second cam in the power transmission mechanism are driven to rotate by the rotation of the rotating shaft, and finally the position switching of the universal wheel is realized, which effectively utilizes the energy generated by the collision and realizes the efficient conversion and utilization of energy. Due to the direct connection and interaction of the mechanical structure, the trigger device can quickly respond to the tipping action of the obstacle and realize the rapid switching of the universal wheel. This rapid response capability helps to reduce the damage of the collision to the equipment and the environment.

[0027] The obstacle fixing base of the present application is used for unmanned driving testing. The first cam / the second cam is provided with a groove. When the roller is stuck in the groove, the rotating shaft stops rotating, the universal wheel firmly contacts the ground and supports the directionally movable chassis, thereby ensuring the stability of the chassis during the avoidance process and preventing further damage or safety risks caused by shaking or tilting of the chassis. The design of the groove prevents the rotating shaft from accidentally rotating when not needed, thereby ensuring the safety and reliability of the system. The lifting rod connected by the connecting rod can easily lift out the roller stuck in the groove, so that each component can be quickly reset to the initial state, and the entire system can be quickly re-prepared for the next test, greatly improving the test efficiency.

[0028] The obstacle fixing base used in the unmanned driving test of the present application has high durability and repeatability, and reduces the costs caused by frequent maintenance or replacement of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 A schematic diagram of a three-dimensional structure of an exemplary embodiment of the obstacle fixing seat of the present application is depicted;

[0031] Figure 2A schematic diagram of a three-dimensional structure of a front end shaft assembly of the present application is depicted;

[0032] Figure 3 A schematic diagram of a three-dimensional structure of a schematic implementation scheme of the bottom surface of the obstacle fixing seat of the present application is depicted;

[0033] Figure 4 A schematic diagram of a three-dimensional structure of a schematic implementation scheme of the top surface of the obstacle fixing base of the present application is depicted;

[0034] Figure 5 A schematic diagram of the three-dimensional structure of a schematic implementation of the central loading platform of the present application is depicted;

[0035] Figure 6 A schematic diagram of a three-dimensional structure of a schematic implementation of the universal wheel of the present application is depicted;

[0036] Figure 7 A schematic structural diagram of a schematic implementation of the compression spring device of the present application is depicted;

[0037] Figure 8 A schematic structural diagram of a schematic implementation scheme of the lifting rod of the present application is depicted;

[0038] Description of labels:

[0039] 1-directional mobile chassis; 10-directional wheel; 11-universal wheel; 12-rectangular groove; 2-central loading platform; 20-leg; 3-rotating shaft; 30-first cam; 300-groove mouth; 31-driving gear; 4-front end shaft assembly; 40-connecting rod A; 41-connecting section A; 5-rear end shaft assembly; 50-connecting rod B; 51-connecting section B; 6-auxiliary shaft; 60-second cam; 61-meshing gear; 7-roller; 8-compression spring device; 80-cylindrical pin; 9-lifting rod. DETAILED DESCRIPTION

[0040] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0041] First, the technical concept of the technical solution disclosed in the present invention is explained.

[0042] The safe driving of driverless cars is highly dependent on their accurate environmental perception and target detection capabilities. To verify this capability, developers adopted a test method of setting up obstacles. Although fixed obstacles are simple and direct, they can only simulate static environments and cannot fully evaluate the ability of driverless cars to cope with dynamic changes. In contrast, movable obstacles can simulate more complex traffic scenarios, including the sudden appearance of dynamic elements such as pedestrians and other vehicles, which is crucial to improving the comprehensiveness and authenticity of the test.

[0043] During the test, it was found that if the sensor system of the driverless car (such as cameras, radars, lidar, etc.) fails to accurately identify the position, speed or intention of the movable obstacle, or the system processes this data and makes corresponding decisions too slowly, the car will not be able to take avoidance or braking measures in time, resulting in a collision with the obstacle.

[0044] When an unmanned vehicle collides with a directional moving obstacle, the force applied to the obstacle will directly affect its stability and repeatability. For example, when a pedestrian is simulated to pass sideways in front of the vehicle, once the obstacle is impacted, it is easy to fall over or even disintegrate. The energy generated during the collision cannot be effectively dissipated, but directly acts on the obstacle itself or the moving base, causing them to be crushed, damaged or fail, increasing the uncontrollability and cost of the test.

[0045] In view of the above-mentioned existing problems, the present invention provides an obstacle fixing base for unmanned driving test.

[0046] The present invention will be described below in conjunction with the accompanying drawings.

[0047] The specific plans adopted are:

[0048] like Figure 1-8 As shown, an obstacle fixing base for unmanned driving test includes a directional mobile chassis 1, which is equipped with directional wheels 10 and can move according to a preset trajectory. The obstacle is fixed on the directional mobile chassis;

[0049] The collision emergency avoidance mechanism is integrated at the bottom of the directional mobile chassis, and comprises a trigger device and a universal wheel 11. The trigger device can switch the universal wheel from a first position to a second position when an obstacle is hit. When the universal wheel is in the first position, the universal wheel has no contact with the ground and the directional wheel contacts the ground. When it is in the second position, the universal wheel contacts the ground and the directional wheel has no contact with the ground, so that the directional mobile chassis switches from the directional mobile mode to the omnidirectional free mobile mode, so that the directional mobile chassis can move in the direction of the impact force on the obstacle, realize the unloading of the impact force, and reduce the damage to the obstacle caused by the collision.

[0050] In the above structure, the directional mobile chassis 1 is equipped with directional wheels and can move accurately according to the preset trajectory. This is very important for simulating real road conditions and controlling the position of obstacles in the test environment. The obstacles are fixed on the directional mobile chassis. When the obstacles are hit, the trigger device can respond quickly and switch from the directional mobile mode to the omnidirectional free movement mode, allowing the directional mobile chassis to move in the direction of the impact force when hit, rather than rigidly resisting the impact. This can not only reduce the direct damage to the obstacles caused by the collision, but also effectively unload the impact force and protect the obstacle structure from being crushed and damaged. When a collision occurs, the universal wheel switches from the first position (non-contacting the ground) to the second position (contacting the ground) and replaces the directional wheel as a support point. The omnidirectional movement characteristics of the universal wheel enable the chassis to flexibly respond to impact forces in all directions, thereby effectively reducing the impact of the collision.

[0051] Through the design of the collision emergency avoidance mechanism, the device can significantly reduce the damage caused by the collision between the unmanned vehicle and the obstacle during the test process. This is of great significance for protecting expensive test equipment, improving test efficiency and ensuring the validity of test data.

[0052] As a first preferred embodiment of the present application, Figure 2 As shown, the directional mobile chassis is provided with a central loading platform 2, the obstacle is fixed on the central loading platform, the central loading platform is fixedly connected to the rotating shaft 3, and the rotating shaft is rotatably installed on the directional mobile chassis; smooth rotation is allowed while maintaining a certain damping to effectively prevent unnecessary rotation caused by slight touch or vibration.

[0053] Specifically, when an obstacle or an external force impacts, the impact force first acts on the obstacle. Since the obstacle is designed to be deflectable, it can absorb and disperse part of the impact force to achieve initial force unloading. The process of obstacle deflection is actually a process of energy release and dispersion, which effectively reduces the direct impact of the collision on the directional mobile chassis 1. The rotation design of the central loading platform 2 and the rotating shaft further disperses the impact force and avoids structural damage or overturning caused by excessive force on a single point. When the rotating shaft rotates to a certain angle, the trigger device is activated to control the universal wheel to switch from the first position to the second position, so that the directional mobile disk can quickly adjust its posture after encountering a collision, avoiding secondary collision or danger that may be caused by continuing to move in the original direction. The position switching of the universal wheel enables the directional mobile disk to move in the direction of the impact force, thereby enhancing its flexibility and adaptability, and improving its survivability and safety in complex environments.

[0054] The deflection of the obstacle directly drives the shaft 3 to rotate synchronously, and the structure is relatively simple. No additional driving parts are required, which reduces the use of driving parts, sensors and other electronic components, thereby reducing the manufacturing cost. Due to the relatively simple structure, the risk of damage in a collision is reduced to a certain extent.

[0055] As a preferred embodiment of the present application, Figure 3 The trigger device includes a front-end shaft assembly 4 and a rear-end shaft assembly 5, which are rotatably installed on the front and rear sides of the rotating shaft 3 respectively. Connecting rods are fixedly arranged on the front-end shaft assembly and the rear-end shaft assembly. One end of the connecting rod is fixed to the front-end shaft assembly / rear-end shaft assembly. The universal wheel is fixed to the other side of the front-end shaft assembly / rear-end shaft assembly relative to the connecting rod. The rotating shaft is connected to a power transmission mechanism. The power transmission mechanism can transmit the rotating shaft rotation power to the connecting rod to make it move, thereby driving the front-end shaft assembly and the rear-end shaft assembly to rotate, thereby realizing the position switching of the universal wheel.

[0056] Furthermore, the power transmission mechanism includes a first cam 30 and a driving gear 31 arranged on the rotating shaft 3, and a second cam 60 and a meshing gear 61 arranged on the auxiliary shaft 6, the auxiliary shaft is located between the rear end shaft assembly and the rotating shaft, and the driving gear and the meshing gear are meshed; when the universal wheel 11 is in the first position, the connecting rod contacts the proximal point of the first cam / second cam, and when the universal wheel is in the second position, the connecting rod contacts the distal point of the first cam / second cam.

[0057] See also Figure 5 and Figure 6 , the rotating shaft 3 is welded to the central loading platform 2. When the driverless car collides with an obstacle on the fixed base, the obstacle tilts backward, driving the central loading platform and the rotating shaft to rotate counterclockwise.

[0058] A first cam 30 is fixed on the rotating shaft. The first cam rotates counterclockwise with the rotating shaft 3. The cam rotates and pushes the connecting rod A40 upward through the roller 7 in contact with the cam.

[0059] The connecting rod A40 and the connecting section A41 are both fixed on the front end shaft assembly 4. The upward movement of the connecting rod A drives the front end shaft to rotate clockwise, so that the connecting section A fixed on the front end shaft assembly moves downward.

[0060] The universal wheel 11 is connected to the connecting section by bolts and nuts. Through holes are respectively opened on the connecting section and the top plate of the universal wheel. The universal wheel is connected to the connecting section by bolts and nuts. The connecting section moves downward, driving the universal wheel to rotate downward and contact the ground.

[0061] When the central loading platform 2 and the rotating shaft 3 rotate counterclockwise, the driving gear 31 fixed on the rotating shaft also rotates counterclockwise under the drive of the rotating shaft; the meshing gear 61 meshing therewith rotates clockwise.

[0062] A meshing gear 61 and a second cam 60 are fixed on the auxiliary shaft 6. The meshing gear rotates clockwise to drive the auxiliary shaft and the second cam to rotate clockwise. The cam pushes the connecting rod B50 upward through the roller in contact with it.

[0063] The connecting rod B50 and the connecting section B51 are both fixed on the rear end shaft assembly 5. The upward movement of the connecting rod B50 drives the rear end shaft to rotate counterclockwise, so that the connecting section B fixed on the rear end shaft moves downward. The downward movement of the connecting section B drives the universal wheel connected to it to rotate downward to contact the ground. The universal wheel is in a state perpendicular to the ground. The state change principle of all components on the other side of the obstacle fixing base is the same as above. At this time, the four directional wheels are in a suspended state, and the four directional wheels support the entire obstacle fixing base, becoming wheels that replace the directional wheels.

[0064] In addition, the first cam 30 and the second cam 60 are arranged in mirror symmetry. When the shaft rotates, the first cam and the second cam rotate in opposite directions, and each pushes the contacting connecting rod to achieve synchronous contact between all universal wheels and the ground. The first cam is directly mounted on the shaft, and it rotates with the rotation of the shaft. The second cam is connected to the driving gear through the meshing gear. Due to the meshing relationship of the gears, when the driving gear rotates, the second cam will rotate in the opposite direction. The first cam and the second cam are mirror symmetric and rotate in opposite directions. They will push their respective connecting rods at the same time but in opposite directions. This design ensures that all universal wheels can switch positions synchronously, thereby maintaining stable contact with the ground.

[0065] As a preferred embodiment of the present application, a roller 7 is provided at the free end of the connecting rod, and the roller 7 contacts the first cam / the second cam to reduce friction and wear when contacting the cam, allowing it to rotate around its own axis so that it can smoothly follow the contour of the cam and ensure effective transmission of force. One end of the compression spring device 8 is fixedly connected to the central loading platform, and the other end is connected to the connecting rod to ensure that the roller and the cam maintain close contact.

[0066] For details, see Figure 7 The upper cylindrical pin 80 is fixed to the lower surface of the directional movable chassis, and the lower cylindrical pin is fixed to the connecting rod A40. The upper and lower cylindrical pins are respectively provided with annular grooves, and the hook of the hanging spring is stuck in the annular groove to form a compression spring device. The hanging spring is always in a compressed state, exerting a downward force on the connecting rod and the roller, so that the roller and the cam are always in a close contact state, and the roller and the cam will not separate.

[0067] Furthermore, the first cam / the second cam is provided with a groove opening 300. When the roller is engaged with the groove opening 300, the rotating shaft 3 stops rotating and the universal wheel contacts the ground, thereby supporting a directionally movable chassis. When the roller rolls along the cam surface and is engaged with the groove opening, due to the shape and position of the groove opening, the roller will be subjected to a force that prevents it from continuing to roll. When the roller is engaged with the groove opening, causing the rotating shaft to stop rotating, the universal wheel will just contact the ground, thereby realizing precise control of the chassis state.

[0068] Furthermore, the connecting rod is connected to a lifting rod 9, and a rectangular groove 12 is provided on the directional movable chassis. One end of the lifting rod is connected to one end of the connecting rod and passes through the rectangular groove. The lifting rod can be hingedly connected to the connecting rod and does not rotate with the connecting rod. After the test is completed, the lifting rod is lifted to make the roller leave the notch, and then the components are reset for reuse.

[0069] In addition, a leg 20 is welded on the central loading platform 2, and the test obstacle can pass through the leg 20 to play a preliminary fixing role. The surface of the central loading platform is provided with a threaded hole, and the bottom of the obstacle can be connected to it by bolts, thereby being further fixed. Considering the situation that the obstacle will fall down after being hit, the center of gravity of the obstacle after tilting backward is designed to be close to the center of the directional mobile chassis. Even if the obstacle falls down, the torque it generates will be relatively small. Since the center of gravity is low and close to the support point (i.e., the universal wheel), the impact energy can be more effectively absorbed and dispersed by the chassis, thereby reducing damage to the chassis structure.

[0070] The method for using the obstacle fixing base for unmanned driving test includes the following steps:

[0071] S1: First, accurately install the obstacle on the central load-bearing platform of the directional mobile chassis to ensure that the obstacle is firmly fixed to avoid displacement or falling off during the test;

[0072] S2: Adjust the directional wheels of the directional mobile chassis to make them fully contact the ground. At this time, the universal wheels should be in the first position without contacting the ground to ensure that the chassis can move stably in the preset direction. At the same time, in order to accurately control the moving path of the chassis, a guide rail can be laid on the ground;

[0073] S3: Ensure that the direction in which the obstacle is struck is set appropriately, so that when a collision occurs, the shaft can be effectively driven to rotate, the trigger device can be operated, and the universal wheel can be switched;

[0074] S4: starting the directional mobile chassis and controlling it to move along a preset direction to conduct a collision test of the unmanned vehicle; simulating a collision event to trigger a collision emergency avoidance mechanism on the chassis;

[0075] S5: After the collision test is completed, the universal wheel is reset from the second position to the first position, that is, the non-contacting ground state, by lifting the lifting rod, and the chassis and the obstacle are readjusted to prepare for the next test.

[0076] Anything not described in the present invention can be achieved by adopting or drawing on existing technologies.

[0077] The above are only specific embodiments 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 various 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. An obstacle fixing base for unmanned driving test, characterized in that: include A directional mobile chassis is equipped with directional wheels and can move according to a preset trajectory. The obstacle is fixed on the directional mobile chassis; The collision emergency avoidance mechanism is integrated at the bottom of the directional mobile chassis, and includes a trigger device and a universal wheel. The trigger device can switch the universal wheel from a first position to a second position when an obstacle is hit. When the universal wheel is in the first position, the universal wheel has no contact with the ground and the directional wheel is in contact with the ground. When it is in the second position, the universal wheel is in contact with the ground and the directional wheel has no contact with the ground, so that the directional mobile chassis switches from the directional mobile mode to the all-round free mobile mode, so that the directional mobile chassis can move in the direction of the impact force of the obstacle, realize the unloading of the impact force, and reduce the damage to the obstacle caused by the collision.

2. The obstacle fixing base for unmanned driving test according to claim 1, characterized in that: The directional mobile chassis is provided with a central loading platform, the obstacle is fixed on the central loading platform, the central loading platform is fixedly connected to the rotating shaft, and the rotating shaft is rotatably installed on the directional mobile chassis; when a collision occurs, an external force impacts the obstacle, the obstacle is deflected by the force, causing the central loading platform and the rotating shaft to rotate, and the rotating shaft is connected to a trigger device to activate it, so that the universal wheel can switch from the first position to the second position.

3. The obstacle fixing base for unmanned driving test according to claim 2, characterized in that: The trigger device includes a front-end shaft assembly and a rear-end shaft assembly, which are rotatably installed on the front and rear sides of the rotating shaft respectively. Connecting rods are fixedly arranged on the front-end shaft assembly and the rear-end shaft assembly. One end of the connecting rod is fixed to the front-end shaft assembly / rear-end shaft assembly. The universal wheel is fixed to the other side of the front-end shaft assembly / rear-end shaft assembly relative to the connecting rod. The rotating shaft is connected to a power transmission mechanism. The power transmission mechanism can transmit the rotating shaft rotation power to the connecting rod to make it move, thereby driving the front-end shaft assembly and the rear-end shaft assembly to rotate, thereby realizing the position switching of the universal wheel.

4. The obstacle fixing base for unmanned driving test according to claim 3, characterized in that: The power transmission mechanism includes a first cam and a driving gear arranged on the rotating shaft, and a second cam and a meshing gear arranged on the auxiliary shaft. The auxiliary shaft is located between the rear end shaft assembly and the rotating shaft, and the driving gear and the meshing gear are meshed. When the universal wheel is in the first position, the connecting rod contacts the proximal point of the first cam / second cam, and when the universal wheel is in the second position, the connecting rod contacts the distal point of the first cam / second cam.

5. The obstacle fixing base for unmanned driving test according to claim 4, characterized in that: The first cam and the second cam are arranged in mirror symmetry. When the rotating shaft rotates, the first cam and the second cam rotate in opposite directions, and each pushes the contacting connecting rod to move, so that all the universal wheels are in synchronous contact with the ground.

6. The obstacle fixing base for unmanned driving test according to claim 4, characterized in that: A roller is arranged at the free end of the connecting rod, and the roller contacts the first cam / the second cam. One end of the compression spring device is fixedly connected to the central loading platform, and the other end is connected to the connecting rod to ensure that the roller and the cam maintain close contact.

7. The obstacle fixing base for unmanned driving test according to claim 6, characterized in that: The first cam / the second cam is provided with a groove opening. When the roller is inserted into the groove opening, the rotating shaft stops rotating and the universal wheel contacts the ground, thereby supporting the directional movable chassis.

8. The obstacle fixing base for unmanned driving test according to claim 7, characterized in that: The connecting rod is connected to a lifting rod, and the lifting rod lifts out the roller stuck in the groove to reset the components for repeated use.

9. The obstacle fixing base for unmanned driving test according to claim 7, characterized in that: The central loading platform is provided with outriggers, and the test obstacle passes through the outriggers and is bolted to the central loading platform.

10. A method for using the obstacle fixing base for unmanned driving test according to any one of claims 1 to 9, characterized in that: The steps include: S1: First, accurately install the obstacle on the central load-bearing platform of the directional mobile chassis to ensure that the obstacle is firmly fixed to avoid displacement or falling off during the test; S2: Adjust the directional wheels of the directional mobile chassis to make them fully contact the ground. At this time, the universal wheels should be in the first position without contacting the ground to ensure that the chassis can move stably in the preset direction. At the same time, in order to accurately control the moving path of the chassis, a guide rail can be laid on the ground; S3: Ensure that the direction in which the obstacle is struck is set appropriately, so that when a collision occurs, the shaft can be effectively driven to rotate, the trigger device can be operated, and the universal wheel can be switched; S4: starting the directional mobile chassis and controlling it to move along a preset direction to conduct a collision test of the unmanned vehicle; simulating a collision event to trigger a collision emergency avoidance mechanism on the chassis; S5: After the collision test is completed, the universal wheel is reset from the second position to the first position, that is, the non-contacting ground state, by lifting the lifting rod, and the chassis and the obstacle are readjusted to prepare for the next test.

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