High-precision vehicle steering tracking test system and method

Abstract

The invention relates to a high-precision vehicle steering tracking test system and method, the system comprises a test road and a detection vehicle, the test road is composed of a long straight road, a connection S curve, a clip curve, a short straight road and a long curve, a camera is fixed in front of the detection vehicle, and laser reflection ends are fixed at the bottoms of a front elevation angle and a rear elevation angle of the detection vehicle; and a laser transmitter is arranged on the test road and is matched with the laser reflecting end for use. According to the invention, multiple sections of complex road conditions are set, a laser feedback technology is used for accurately positioning the position of the vehicle, a worker can number the laser transmitters, the running track and the route deviation of the vehicle can be more intuitively known through signal changes of the lasers with different numbers, more precise data information can be mastered, and the working efficiency is improved. The problems of large error and strong subjectivity of a traditional vehicle steering tracking test through a high-speed camera shooting and reference line comparison mode are solved.

Description

Technical Field

[0001] The present invention relates to automobile running safety testing technology, and in particular to a high-precision vehicle steering tracking testing system and method. Background Art

[0002] The purpose of vehicle steering and tracking test is to evaluate the steering performance and tracking ability of the vehicle in order to verify the stability, reliability and safety of the vehicle. The most common examples include continuous turning to detect the deviation of the vehicle's running trajectory and high-speed U-turns to determine whether the vehicle is pushing or skidding. In this way, the safety and driving limits of the vehicle can be tested.

[0003] In the prior art, vehicle tracking tests are generally conducted by pre-marking scale lines on the ground and using a high-speed camera to capture the state of the vehicle in contact with the scale lines while moving to determine the vehicle's running trajectory. However, this technical solution has poor accuracy, and the determination of the trajectory depends entirely on the angle, accuracy and timeliness of the camera shooting, as well as subsequent manual processing, so this data has a large deviation. Summary of the invention

[0004] In view of the above problems existing in the prior art, the main purpose of the present invention is to provide a high-precision vehicle steering and tracking test system and method.

[0005] The technical solution of the present invention is as follows: a high-precision vehicle steering tracking test system, comprising a test road and a test vehicle, wherein the test road consists of a long straight road, a connecting S-bend road, a paper clip bend road, a short straight road and a long bend road, a camera is fixed in front of the test vehicle, and the bottom of the front elevation angle and the rear elevation angle of the test vehicle are both fixed with laser reflection ends;

[0006] The test road includes a ground body, the top of the ground body is equidistantly provided with slots, laser emitters are equidistantly provided inside the slots, the top of the slots is enclosed with tempered glass, a connecting slot is provided inside the ground body and below the slot, a wire is provided inside the connecting slot, and the laser emitter is electrically connected to the corresponding wire.

[0007] Furthermore: a receiving station is set on the outside of the test road, and the receiving station integrates a processor, a display, a synthesis module and an image receiving module; the laser transmitter is electrically connected to the processor, the camera is electrically connected to the synthesis module through the image receiving module, the synthesis module is electrically connected to the processor, and the processor is electrically connected to the display.

[0008] Furthermore, the laser transmitter is used in conjunction with the laser reflective end. The laser transmitter transmits a laser signal, and the signal bounces back after passing through the tempered glass and contacting the laser reflective end.

[0009] Furthermore: the synthesis module performs noise reduction processing on the image information transmitted by the image receiving module, determines the direction and position of the vehicle according to the position of the camera, synthesizes the vehicle's route indication through software, and synthesizes the route indication with the image information and converts it into a format suitable for playback.

[0010] Further: the process of the synthesis module processing the image includes:

[0011] 1) Get the current image;

[0012] 2) Convert the image to grayscale;

[0013] 3) Perform Fourier transform on the grayscale image, move the low-frequency components to the center of the image, and locate the high-frequency components at the edge of the image;

[0014] 4) Perform high-pass filtering on the transformed image and set the high-frequency components to zero;

[0015] 5) Perform inverse Fourier transform;

[0016] 6) Limit the image range to between 0-255.

[0017] Furthermore, the detection vehicle's forward tilt angle rotation range is set to 35-45°, and the detection vehicle's rearward tilt angle rotation range is 5-10°.

[0018] The present invention also provides a testing method using the high-precision vehicle steering tracking testing system, comprising the following steps:

[0019] S1. Build a test road, dig multiple slots on the road surface, install a row of laser emitters in each slot at a predetermined distance, number and sort the multiple laser emitters, and protect the top of the slot with tempered glass; install a camera and a laser reflector on the test vehicle;

[0020] S2. Position the laser transmitter and the laser reflector to ensure that each laser reflector can reflect the signal of each laser transmitter;

[0021] S3, start the vehicle to drive on the detection road, let the laser transmitter continuously send out signals to be reflected by the laser reflection end, and then the laser transmitter receives the reflected signals;

[0022] S4. Using the signals fed back by multiple laser transmitters, the movement trajectory of the vehicle under different road conditions and speeds is drawn using a ranging algorithm.

[0023] Furthermore: During the driving process of the vehicle, the camera in front of the vehicle is allowed to continuously shoot and transmit the images to the vehicle computer system inside the vehicle and a display in the distance, and the staff observes the vehicle operation status through the display.

[0024] Compared with the prior art, the advantages and positive effects of the present invention are as follows: in the present invention, by setting up complex road conditions with multiple sections and arranging multiple laser transmitters on the road conditions, the position of the vehicle can be accurately positioned by utilizing the cooperation between the laser transmitter and the laser reflection end of the detection vehicle. The staff can number the laser transmitters, and through the distance measurement changes of the laser transmitter, they can have a more intuitive understanding of the vehicle's running trajectory and route deviation. In this way, more precise data information can be obtained, which solves the problem of large errors and strong subjectivity in the traditional vehicle steering tracking test by comparing with the reference line through high-speed camera shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the vehicle structure of a high-precision vehicle steering and tracking test system provided by the present invention;

[0026] Figure 2 A schematic diagram of a road structure of a high-precision vehicle steering and tracking test system provided by the present invention;

[0027] Figure 3 A schematic diagram of the ground internal structure of a high-precision vehicle steering and tracking test system provided by the present invention;

[0028] Figure 4 A schematic diagram of the electrical components structure of a high-precision vehicle steering and tracking test system provided by the present invention.

[0029] Explanation of the numbers in the figure: 1. Ground body; 2. Protective cover; 3. Tempered glass; 4. Laser transmitter; 5. Connection slot; 6. Wire; 7. Notch; 8. Camera; 9. Laser reflection end; 10. Processor; 11. Display; 12. Synthesis module; 13. Image receiving module. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the embodiments of the present invention are not intended to limit the scope of the invention claimed for protection, but are merely embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0031] Example

[0032] The present invention provides a high-precision vehicle steering tracking test system, including a test road and a test vehicle, such as Figure 1 , 2 As shown, a camera 8 is fixed in front of the detection vehicle, and laser reflective ends 9 are fixed at the bottom of the front elevation angle and rear elevation angle of the detection vehicle. The test road is composed of a long straight road, a connecting S-bend road, a paper clip bend, a short straight road and a long bend, and multiple road conditions are set, so as to simulate more complex road conditions in reality.

[0033] like Figure 3 As shown, the test road includes a ground body 1, the top of the ground body 1 is provided with slots 7 at equal intervals, laser emitters 4 are provided at equal intervals inside the slots 7, and tempered glass 3 is placed on the top of the slots 7. A connection slot 5 is provided inside the ground body 1 and below the slot 7, a wire 6 is provided inside the connection slot 5, and the laser emitter 4 is electrically connected to the wire 6. The tempered glass 3 can play a protective role without affecting the laser emitter 4, and the wire 6 can power multiple laser emitters 4 and transmit the feedback signal of the laser emitter 4. The laser emitted by the laser emitter 4 can be fed back by the laser reflection end 9.

[0034] As a preferred embodiment, a receiving station is provided outside the test road, and a processor 10, a display 11, a synthesis module 12 and an image receiving module 13 are integrated inside the receiving station. The laser transmitter 4 is used in conjunction with the laser reflection end 9, the laser transmitter 4 is electrically connected to the processor 10, the camera 8 is electrically connected to the synthesis module 12 through the image receiving module 13, the synthesis module 12 is electrically connected to the processor 10, and the processor 10 is electrically connected to the display 11.

[0035] The laser emitter 4 is used in combination with the laser reflective end 9. The laser emitter 4 is used to emit a laser signal. The signal passes through the tempered glass 3 and contacts the laser reflective end 9 and then bounces back, so that the laser emitter 4 can accurately locate the front and rear elevation angles of the detected vehicle. In this way, the vehicle position can be accurately located.

[0036] The camera 8 is used to capture the road information in front of the vehicle. The camera captures the situation in front of the vehicle. In this way, the image information can be transmitted so that outside staff can understand the actual operation of the vehicle.

[0037] The image receiving module 13 is used to receive the image information captured by the camera and transmit the image information to the synthesis module 12. The synthesis module 12 is used to reduce the noise of the image information transmitted by the image receiving module 13. After the noise reduction process, the direction and position of the vehicle are determined according to the position of the camera 8, and the vehicle's route indication is virtualized through three-dimensional software, and the information route indication is synthesized with the image information and converted into a suitable format for playback. The processor 10 is used to receive information, and the synthesized image information is transmitted again through the processor. The staff can control the image information through the processor to pause, replay, etc. The display 11 is used to receive the signal of the processor and play the image information transmitted by the synthesis module.

[0038] Furthermore, the synthesis module 12 is internally integrated with a high-speed noise reduction program, and its calculation steps are:

[0039] 1) Get the current image;

[0040] 2) Convert the image to grayscale;

[0041] 3) Perform Fourier transform on the grayscale image;

[0042] 4) Perform high-pass filtering on the transformed image;

[0043] 5) Perform inverse Fourier transform;

[0044] 6) Limit the image range to between 0-255.

[0045] First, the color image is converted to a grayscale image, and then a fast Fourier transform is applied. In the frequency domain, the low-frequency components are moved to the center of the image and the high-frequency components are located at the edge of the image. Next, a high-pass filter is set to zero the high-frequency components, and then an inverse Fourier transform is performed to obtain the denoised image. Finally, the image is converted to a grayscale value of 0-255 by taking the absolute value and limiting the range of the image, and the denoising result is returned.

[0046] As a preferred implementation manner, the detection vehicle front elevation angle rotation range is set to 35-45°, and the detection vehicle rear elevation angle rotation range is set to 5-10°.

[0047] On the basis of the above, the present invention also provides a high-precision vehicle steering tracking test method, comprising the following steps:

[0048] S1. Build a test road, dig a plurality of slots 7 on the road surface, install a row of laser emitters 4 in each slot 7 at a predetermined distance, and use tempered glass 3 to protect the laser emitters 4 in the slots 7; and preferably, the surface of the tempered glass 3 and the surface of the ground body 1 are set in a high-low structure, so as to increase the friction with the tire;

[0049] A camera 8 is installed on the detection vehicle, and a laser reflector 9 is installed at the bottom of the front elevation angle and the rear elevation angle of the vehicle;

[0050] S2. Before vehicle detection, the laser emitter 4 and the laser reflection end 9 are aligned to ensure that each laser reflection end 9 can reflect the signal of each laser emitter 4.

[0051] Specifically, the laser emitters 4 in the slots are numbered sequentially, for example, the first slot is edited as S1-1, S1-2, S1-3, etc., and the subsequent slots are similarly numbered; the spacing between each laser emitter 4 is the same; the detection vehicle is started, and the laser emitter 4 continuously emits signals, and detects whether the signal emitted by the laser emitter 4 will be reflected when it contacts the laser reflector 9 when the vehicle is moving, and whether the laser emitter 4 will give feedback after receiving the reflection information. During the calibration process, it should be ensured that the four laser reflectors 9 located at the front and rear elevation angles of the vehicle and the multiple laser emitters 4 located in the slot 7 can receive the laser signal and reflect it back.

[0052] S3. During the actual test, the vehicle is driven on the detection road, and the vehicle's movement route and deviation trajectory are recorded by intelligent mapping through the signals fed back by multiple laser transmitters 4 through ranging software and related algorithms;

[0053] S4. Let the vehicle run on the track for multiple times at different speeds, and detect the changes in the vehicle's running trajectory at different speeds for subsequent analysis.

[0054] The test can be carried out under different road conditions and speeds.

[0055] Furthermore, during the driving process of the vehicle, the camera 8 in front of the vehicle is allowed to continuously shoot and transmit the images to the vehicle computer system inside the vehicle and a display in the distance. The staff can visually observe the operation of the vehicle through the display. Image acquisition can help the operator observe and replay the driving process, and assist in the judgment of the driving trajectory obtained by the laser test.

Claims

1. A high-precision vehicle steering and tracking test system, comprising a test road and a test vehicle, characterized in that: The test road consists of a long straight road, a connecting S-bend road, a paper clip bend road, a short straight road and a long bend road. A camera (8) is fixed in front of the detection vehicle. The bottom of the front elevation angle and the rear elevation angle of the detection vehicle are both fixed with laser reflection ends (9). The test road comprises a ground body (1), the top of the ground body (1) is provided with slots (7) at equal intervals, laser emitters (4) are arranged at equal intervals inside the slots (7), the top of the slots (7) is sealed with tempered glass (3), a connection slot (5) is provided inside the ground body (1) and below the slots (7), a wire (6) is arranged inside the connection slot (5), and the laser emitters (4) are electrically connected to the corresponding wires (6).

2. The high-precision vehicle steering tracking test system according to claim 1, characterized in that: A receiving station is arranged outside the test road, and the receiving station integrates a processor (10), a display (11), a synthesis module (12) and an image receiving module (13); The laser emitter (4) is electrically connected to the processor (10), the camera (8) is electrically connected to the synthesis module (12) via the image receiving module (13), the synthesis module (12) is electrically connected to the processor (10), and the processor (10) is electrically connected to the display (11).

3. The high-precision vehicle steering tracking test system according to claim 1, characterized in that: The laser emitter (4) is used in conjunction with the laser reflective end (9). The laser emitter (4) emits a laser signal, which passes through the tempered glass (3) and contacts the laser reflective end (9) before being rebounded.

4. The high-precision vehicle steering tracking test system according to claim 2, characterized in that: The synthesis module (12) performs noise reduction processing on the image information transmitted by the image receiving module (13), determines the direction and position of the vehicle according to the position of the camera, synthesizes the vehicle's route indication through software, and synthesizes the route indication with the image information and converts them into a format suitable for playback.

5. The high-precision vehicle steering tracking test system according to claim 4, characterized in that: The process of processing the image by the synthesis module (12) includes: 1) Get the current image; 2) Convert the image to grayscale; 3) Perform Fourier transform on the grayscale image, move the low-frequency components to the center of the image, and locate the high-frequency components at the edge of the image; 4) Perform high-pass filtering on the transformed image and set the high-frequency components to zero; 5) Perform inverse Fourier transform; 6) Limit the image range to between 0-255.

6. The high-precision vehicle steering tracking test system according to claim 1, characterized in that: The detection vehicle's forward tilt angle rotation range is set to 35-45°, and the detection vehicle's rearward tilt angle rotation range is 5-10°.

7. A test method using the high-precision vehicle steering and tracking test system according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Build a test road, dig multiple slots on the road surface, install a row of laser emitters in each slot at a predetermined distance, number and sort the multiple laser emitters, and protect the top of the slot with tempered glass; install a camera and a laser reflector on the test vehicle; S2. Position the laser transmitter and the laser reflector to ensure that each laser reflector can reflect the signal of each laser transmitter; S3, start the vehicle to drive on the detection road, let the laser transmitter continuously send out signals to be reflected by the laser reflection end, and then the laser transmitter receives the reflected signals; S4. Using the signals fed back by multiple laser transmitters, the movement trajectory of the vehicle under different road conditions and speeds is drawn using a ranging algorithm.

8. The testing method according to claim 7, characterized in that: When the vehicle is driving, the camera in front of the vehicle continuously takes pictures and transmits the pictures to the vehicle's internal computer system and a distant display. The staff can observe the vehicle's operation through the display.

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