Road inrush device for testing self-driving automobile

Abstract

The invention discloses a road inrush device for testing an autonomous vehicle, and the device comprises an adjusting assembly which is provided with a first inrush assembly and a second inrush assembly. The first inrush assembly is mounted at the top of the adjusting assembly to simulate a high-altitude falling roadblock; the second inrush assembly is installed on the side portion of the adjusting assembly to simulate a side-entry roadblock. The adjusting assembly enables the position and size of the inrush assembly to be adjustable, solves the simulation problem of obstacles of different specifications and sizes, and guarantees the test accuracy for the continuous obstacle avoidance detection of the automatic driving vehicle.

Description

Technical Field

[0001] The present invention relates to a road penetration device, in particular to a road penetration device for testing an autonomous driving vehicle, and belongs to the technical field of autonomous driving vehicle testing equipment. Background Art

[0002] Self-driving cars mainly rely on the computer system inside the car to achieve the purpose of unmanned driving. Before going on public roads, self-driving performance tests are required and roadblocks are placed on the roadbed for performance testing.

[0003] A Chinese public patent (announcement number: CN220288997U) discloses a vehicle intrusion device, which includes a mounting base, a guide drive, and an intrusion support frame; a plurality of isolation plates are mounted on the mounting base; the guide drive is mounted in the middle of the mounting base by bolts; the intrusion support frame is mounted on the guide drive; at least one shielding plate is mounted on the intrusion support frame; the intrusion support frame and the shielding plate are placed on the rear side of the isolation plate when waiting to be intruded, simulating the state that the vehicle cannot be detected before the intrusion, and the number of shielding plates installed on the intrusion support frame is adjustable, which can simulate the intrusion of different objects. However, the device cannot flexibly adjust the position of the shielding plate when in use, the intrusion of the shielding plate is poor, the detection ability of the obstacle avoidance ability of the autonomous driving car is weak, and the continuous obstacle avoidance ability of the autonomous driving car cannot be detected. Therefore, a road intrusion device for autonomous driving car testing is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a road intrusion device for testing an autonomous vehicle, so as to solve or alleviate the technical problems in the prior art and at least provide a beneficial option.

[0005] The technical solution of the present invention is implemented as follows: a road intrusion device for testing an autonomous driving vehicle,

[0006] an adjustment assembly, on which a first protrusion assembly and a second protrusion assembly are mounted;

[0007] The first penetration component is installed on the top of the adjustment component to simulate a high-altitude falling roadblock to test the high-altitude obstacle avoidance performance of the autonomous driving vehicle;

[0008] The second intrusion component is installed on the side of the adjustment component to simulate a side-entry roadblock and test the side obstacle avoidance performance of the autonomous driving vehicle;

[0009] Wherein, the adjustment assembly includes a support frame, a first slide slot, a first slider, a first screw rod, a drive motor, a second slide slot, a second slider, a dual-axis motor and a second screw rod;

[0010] The first slide groove is opened at the top of the support frame, the driving motor is driven to connect to the first screw rod, the first screw rod is rotatably connected in the first slide groove, and the first slider is threadedly sleeved on the first screw rod;

[0011] The second slide groove is opened on one side of the first slider, the dual-axis motor is fixed to the inner wall of the second slide groove, the two output ends of the dual-axis motor are respectively connected to a second screw rod, the second screw rod is rotatably connected in the second slide groove, the two second sliders are respectively threaded on one of the second screw rods, and the two second screw rods have reverse threads.

[0012] Furthermore, the first protrusion component includes a plate mounting column, a first telescopic rod, an electromagnet and a first protrusion plate; the two plate mounting columns are respectively fixedly connected to the two second sliding blocks; the first telescopic rod is connected between the two plate mounting columns; an electromagnet is installed on the first telescopic rod, and the bottom of the electromagnet is adsorbed on the top of the first protrusion plate.

[0013] Furthermore, the first protrusion assembly also includes a counterweight block installed on the bottom of the first protrusion plate.

[0014] Furthermore, the first protrusion component also includes a third slide groove, a third slider and a second telescopic rod; a third slide groove is opened on the relative inner sides of the two plate body mounting columns, the third slider is slidably connected in the third slide groove, and the second telescopic rod is connected between the two third sliders; the first telescopic rod is located above the second telescopic rod, and an electromagnet is respectively installed at the fixed end and the telescopic end of the first telescopic rod, and the bottoms of the two electromagnets are adsorbed on the top of the second telescopic rod; the first protrusion plate is installed at the bottom of the second telescopic rod.

[0015] Furthermore, the second protrusion component includes a base plate, a stepper motor, a rotating shaft and a second protrusion plate; the base plate is fixedly connected to one side of the support frame, the stepper motor is fixedly connected to the top of the base plate, the output end of the stepper motor is fixedly connected to the rotating shaft, and the second protrusion plate is installed on the rotating shaft.

[0016] Furthermore, the second protrusion component may also include a mounting plate; the base plate is fixedly connected to one side of the support frame, the stepper motor is fixedly connected to the top of the base plate, the output end of the stepper motor is fixedly connected to the rotating shaft, the top of the rotating shaft is connected to a mounting plate, and the second protrusion plate is installed at the bottom of the mounting plate.

[0017] Furthermore, a distance meter and a control panel are installed on the support frame. The driving motor, the dual-axis motor, the electromagnet, the stepping motor and the distance meter are all connected to the control panel via electrical signals.

[0018] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0019] 1. The present invention controls the driving motor to drive the first screw to rotate, the first screw drives the first slider to move in the first slide groove, and the first slider drives the second protruding component to move, thereby adjusting the position of the first protruding component.

[0020] Second, the present invention controls the dual-axis motor to drive the second screw rod to rotate, and the second screw rod drives the second slider to move in the second slide groove, so that the two second sliders are close to or away from each other, and are used in conjunction with the first telescopic rod and the second telescopic rod, so that first protrusion plates of different sizes can be installed, thereby improving the accuracy of the obstacle avoidance test;

[0021] 3. The present invention can detect the continuous obstacle avoidance function of the autonomous driving vehicle by using the first protrusion component and the second protrusion component in combination, thereby ensuring the accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a right axonometric view of the present invention;

[0023] Figure 2 It is a left axonometric view of the present invention;

[0024] Figure 3 It is a structural diagram of the regulating component of the present invention;

[0025] Figure 4 is a structural diagram of a first penetration component of the present invention;

[0026] Figure 5 It is a bottom view of the structure of the first protrusion assembly of the present invention;

[0027] Figure 6 It is a structural diagram of the second penetration component of the present invention.

[0028] Reference numerals:

[0029] 101, adjustment assembly; 10, support frame; 11, first slide groove; 12, first slider; 13, first screw rod; 14, drive motor; 15, second slide groove; 16, second slider; 17, dual-axis motor; 18, second screw rod;

[0030] 201, first insertion assembly; 20, plate mounting column; 21, third slide slot; 22, third slide block; 23, electromagnet; 24, first telescopic rod; 25, second telescopic rod; 26, first insertion plate; 27, counterweight;

[0031] 301, second protrusion assembly; 30, bottom plate; 31, stepping motor; 32, rotating shaft; 33, mounting plate; 34, second protrusion plate; 40, control panel; 41, rangefinder. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following, only certain 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 or scope of the present invention. Therefore, the drawings and description are considered to be exemplary and non-restrictive in nature.

[0033] like Figures 1 to 6 As shown, an embodiment of the present invention provides a road intrusion device for testing an autonomous driving vehicle, comprising:

[0034] An adjustment component 101, which can adjust the position of the simulated high-altitude drop barrier and is suitable for protruding parts of different sizes;

[0035] A first penetration component 201, which is installed on the top of the adjustment component 101 and is used to simulate a roadblock falling from a high altitude;

[0036] A second intrusion assembly 301, which is installed on both sides of the adjustment assembly 101 and is used to simulate a side-entry roadblock;

[0037] The first intrusion component 201 and the second intrusion component 301 are used together to detect the continuous emergency obstacle avoidance function of the autonomous driving vehicle.

[0038] In one embodiment, Figure 2 and 3 As shown, the adjustment assembly 101 includes a support frame 10, a first slide slot 11, a first slider 12, a first screw rod 13, a drive motor 14, a second slide slot 15, two second sliders 16, a dual-axis motor 17 and two second screw rods 18.

[0039] The support frame 10 is a door frame type, with a first protrusion assembly 201 installed on the top crossbeam of the support frame, and a set of second protrusion assemblies 301 installed at the bottom of the columns on both sides of the support frame. The first slide 11 is opened on the crossbeam of the support frame 10, the first slider 12 and the first screw rod 13 are both placed in the first slide 11, and the first slider 12 is threadedly connected to the outside of the first screw rod 13, the drive motor 14 is installed on the end of the crossbeam of the support frame 10, the output end of the drive motor 14 passes through the first slide and is fixedly connected to one end of the first screw rod 13, and the other end of the first screw rod 13 is rotatably connected to the inner wall of the first slide 11. The first screw rod 13 is driven to rotate by the drive motor 14, thereby driving the first slider 12 threadedly connected thereto to slide along the screw rod.

[0040] The second slide slot 15 is opened on one side of the first slider 12, and the first slider 12 has a sufficient length; the double-axis motor 17 is fixed on the inner side wall of the second slide slot 15, and the two output ends of the double-axis motor 17 are respectively connected to a second screw rod 18, and the other ends of the two second screw rods 18 are respectively rotatably connected to the inner side wall of the second slide slot 15; the two second screw rods 18 have reverse threads, and are respectively threadedly connected to a second slider 16; the two second sliders 16 are slidably arranged inside the second slide slot 15. The double-axis motor 17 drives the two second screw rods 18 to rotate, and the two second sliders 16 on the screw rods move toward or away from each other, thereby adjusting the spacing between the two second sliders 16.

[0041] The first insertion component 201 is installed on the second slider 16. The first screw rod 13 is driven to rotate by controlling the driving motor 14. The first screw rod 13 drives the first slider 12 to move in the first slide groove 11. The first slider 12 drives the first insertion component 201 to move, thereby accurately guiding the position of the first insertion component 201. The second screw rod 18 is driven to rotate by controlling the dual-axis motor 17. The second screw rod 18 drives the second slider 16 to move in the second slide groove 15, so that the two second sliders 16 are close to or away from each other, so that the present device can install first insertion components 201 of different sizes.

[0042] In one embodiment, Figure 4 , 5 As shown, the first protrusion assembly 201 includes two plate mounting columns 20 , two third slide slots 21 , two third sliders 22 , two electromagnets 23 , a first telescopic rod 24 , a second telescopic rod 25 , a first protrusion plate 26 and a counterweight 27 .

[0043] The two plate mounting columns 20 are arranged in parallel and are respectively installed on one side of the two second sliders 16; a third slide groove 21 is respectively opened on the opposite inner sides of the two plate mounting columns 20, and the third slider 22 is slidably connected to the inside of the third slide groove 21; the second telescopic rod 25 is connected between the two third sliders 22, and the first telescopic rod 24 is connected between the two plate mounting columns 20, and the second telescopic rod 25 is located below the first telescopic rod 24; the top of an electromagnet 23 is installed on the telescopic end of the first telescopic rod 24, and the top of the other electromagnet 23 is installed on the fixed end of the first telescopic rod 24, and the bottoms of the two electromagnets are both sucked on the top of the second telescopic rod 25; the top of the first protruding plate 26 is installed on the bottom of the second telescopic rod 25; the top of the counterweight block 27 is installed on the bottom of the first protruding plate 26.

[0044] The second telescopic rod 25 is made of iron. When the first protruding plate 26 is needed to simulate the obstacle falling, the electromagnet 23 is controlled to be powered off, so that the second telescopic rod 25 and the electromagnet 23 lose the attraction, and the second telescopic rod 25 and the first protruding plate 26 fall along the third slide 21. The third slide 21 and the third slider 22 are set to accurately guide the first protruding plate 26. The counterweight 27 is installed at the bottom of the first protruding plate 26, so that the speed of the first protruding plate 26 can be accelerated. The first telescopic rod 24 and the second telescopic rod 25 are adjusted to adapt to the installation distance of the two plate mounting columns 20 on the two second sliders 16.

[0045] Of course, a simple approach is to install an electromagnet 23 at the bottom of the first telescopic rod 24, and directly suspend and adsorb the first protruding plate 26 below the electromagnet 23, so that after the electromagnet 23 loses power, the first protruding plate 26 will fall directly, but this approach cannot ensure the stability and guiding effect of the first protruding plate 26.

[0046] In one embodiment, Figure 6 As shown, the second protruding component 301 includes a base plate 30, a stepper motor 31, a rotating shaft 32, a mounting plate 33 and a second protruding plate 34. One side of the base plate 30 is fixedly connected to the bottom of the column of the support frame 10, and the stepper motor 31 is fixedly installed on the top of the base plate 30. The output end of the stepper motor 31 is fixedly connected to one end of the rotating shaft 32. A simple method is to directly pivot the second protruding plate 34 on the rotating shaft 32. Another method is to connect the mounting plate 33 to the top of the rotating shaft 32, and connect the second protruding plate 34 to the bottom of the mounting plate 33. The rotating shaft 32 can drive the mounting plate 33 to rotate, so the mounting plate 33 can drive the second protruding plate 34 to rotate. The second protruding component 301 is installed in groups on the left and right sides of the bottom of the support frame 10.

[0047] like Figure 2 As shown, a distance meter 41 is installed on one side of the support frame 10, and a control panel 40 is installed on the top of the base plate 30. The drive motor 14, the dual-axis motor 17, the electromagnet 23, the stepper motor 31, and the distance meter 41 are all connected to the control panel 40 via electrical signals.

[0048] The control panel 40 controls the driving motor 14 to rotate the first screw rod 13, so that the first slider 12 slides, and adjusts the position of the first insertion assembly 201 on the support frame 10. The control panel 40 controls the dual-axis motor 17 to rotate the two second screw rods 18, so that the two second sliders 16 move toward or away from each other, and adjust the installation of first insertion assemblies 201 of different sizes. The control panel 40 controls the electromagnet 23 to lose power, so that the first insertion plate 26 on the first insertion assembly 201 simulates a falling object from a high altitude, thereby testing the obstacle avoidance capability of the autonomous driving vehicle in front of or at a high altitude.

[0049] The control panel 40 is used to control the stepper motor 31 to drive the rotating shaft 32 to rotate, so that the rotating shaft 32 drives the mounting plate 33 to rotate, and the mounting plate 33 drives the second protruding plate 34 to rotate, and the second protruding plate 34 is adjusted to different swing angles on both sides of the support frame 10 to simulate roadside obstacles, thereby testing the side obstacle avoidance capability of the autonomous driving vehicle.

[0050] By setting the rangefinder 41, the distance between the autonomous driving car and the device is detected. When the specified distance is reached, the rangefinder 41 detects and sends a signal to the control panel 40, and the control panel 40 controls the device to perform the next operation.

[0051] When the present invention is working:

[0052] 1. When testing an autonomous vehicle to detect a high-altitude falling obstacle:

[0053] The control panel 40 is used to control the dual-axis motor 17 to drive the second screw rod 18 to rotate, and the second screw rod 18 drives the second slider 16 to move in the second slide groove 15, so that the two second sliders 16 are close to or away from each other, and are used in conjunction with the first telescopic rod 24 and the second telescopic rod 25, so that first protrusion plates 26 of different sizes can be installed, and the top of the first protrusion plate 26 is installed to the bottom of the second telescopic rod 25, and the counterweight block 27 is installed to the bottom of the first protrusion plate 26. The first protrusion plate 26 is installed. At this time, the electromagnet 23 is energized and can adsorb the second telescopic rod 25; then the control panel 40 is used to control the drive motor 14 to drive the first screw rod 13 to rotate, and the first ... The rod 13 drives the first slider 12 to move in the first slide groove 11, and the first slider 12 drives the first intrusion component 201 to move, thereby adjusting the position of the first intrusion component 201, ensuring the accuracy of the intrusion position of the first intrusion plate 26. At this time, the self-driving car is controlled to move. When the distance between the car and the device reaches the specified distance, the rangefinder 41 detects and sends an electrical signal to the control panel 40. The control panel 40 controls the electromagnet 23 to cut off the power, and the first intrusion plate 26 falls downward under the influence of gravity. Through the setting of the counterweight block 27, the descending speed of the first intrusion plate 26 is accelerated, thereby improving the intrusion performance and ensuring the accuracy of the emergency obstacle avoidance capability test of the self-driving car.

[0054] 2. When testing an autonomous vehicle to detect a side-on roadblock:

[0055] The autonomous driving car is controlled to move. When the distance between the car and the device reaches the specified distance, the rangefinder 41 detects and sends an electrical signal to the control panel 40. The control panel 40 controls the stepper motor 31 to rotate, so that the rotating shaft 32 drives the mounting plate 33 to rotate, and the mounting plate 33 drives the second penetration plate 34 to rotate, thereby detecting the side penetration obstacle avoidance capability of the autonomous driving car; the rotation angle of the stepper motor 31 can be adjusted by the control panel 40 to simulate the side penetration roadblock, and the ability of the autonomous driving car to avoid under different penetration angles, so as to make the test result more accurate.

[0056] 3. When it is necessary to test the continuous obstacle avoidance capability of an autonomous vehicle:

[0057] To summarize, the autonomous driving car is controlled to move. When the distance between the car and the device reaches the specified distance, the rangefinder 41 detects and sends an electrical signal to the control panel 40. The control panel 40 controls the electromagnet 23 to cut off the power, and the first protrusion plate 26 falls downward under the influence of gravity. The autonomous driving car performs the first emergency obstacle avoidance. At this time, the control panel 40 controls the stepper motor 31 to rotate, so that the rotating shaft 32 drives the mounting plate 33 to rotate, and the mounting plate 33 drives the second protrusion plate 34 to rotate, and the autonomous driving car performs the second emergency obstacle avoidance, thereby detecting the continuous emergency obstacle avoidance capability of the autonomous driving car.

Claims

1. A road intrusion device for testing an autonomous vehicle, characterized in that: include an adjustment assembly, on which a first protrusion assembly and a second protrusion assembly are mounted; The first penetration component is installed on the top of the adjustment component to simulate a high-altitude falling roadblock to test the high-altitude obstacle avoidance performance of the autonomous driving vehicle; The second intrusion component is installed on the side of the adjustment component to simulate a side-entry roadblock and test the side obstacle avoidance performance of the autonomous driving vehicle; Wherein, the adjustment assembly includes a support frame, a first slide slot, a first slider, a first screw rod, a drive motor, a second slide slot, a second slider, a dual-axis motor and a second screw rod; The first slide groove is opened at the top of the support frame, the driving motor is driven to connect to the first screw rod, the first screw rod is rotatably connected in the first slide groove, and the first slider is threadedly sleeved on the first screw rod; The second slide groove is opened on one side of the first slider, the dual-axis motor is fixed to the inner wall of the second slide groove, the two output ends of the dual-axis motor are respectively connected to a second screw rod, the second screw rod is rotatably connected in the second slide groove, the two second sliders are respectively threaded on one of the second screw rods, and the two second screw rods have reverse threads.

2. The road intrusion device for testing an autonomous driving vehicle according to claim 1, characterized in that: The first penetration assembly includes a plate mounting post, a first telescopic rod, an electromagnet and a first penetration plate; The two plate mounting posts are respectively fixedly connected to the two second sliding blocks; A first telescopic rod is connected between the two plate mounting columns; An electromagnet is installed on the first telescopic rod, and the bottom of the electromagnet is adsorbed on the top of the first protruding plate.

3. The road intrusion device for testing an autonomous driving vehicle according to claim 2, characterized in that: The first protrusion assembly also includes a counterweight block installed on the bottom of the first protrusion plate.

4. The road intrusion device for testing an autonomous driving vehicle according to claim 2 or 3, characterized in that: The first protrusion assembly further includes a third slide slot, a third slide block and a second telescopic rod; A third sliding groove is provided on the opposite inner sides of the two plate mounting columns, a third sliding block is slidably connected in the third sliding groove, and a second telescopic rod is connected between the two third sliding blocks; The first telescopic rod is located above the second telescopic rod, an electromagnet is installed at the fixed end and the telescopic end of the first telescopic rod respectively, and the bottoms of the two electromagnets are adsorbed on the top of the second telescopic rod; The first protruding plate is installed at the bottom of the second telescopic rod.

5. The road intrusion device for testing an autonomous driving vehicle according to claim 1, characterized in that: The second protrusion assembly includes a base plate, a stepper motor, a rotating shaft and a second protrusion plate; The bottom plate is fixedly connected to one side of the support frame, the stepper motor is fixedly connected to the top of the bottom plate, the output end of the stepper motor is fixedly connected to the rotating shaft, and the second protruding plate is pivotally connected to the rotating shaft.

6. The road intrusion device for testing an autonomous driving vehicle according to claim 1, characterized in that: The second protrusion assembly includes a base plate, a stepper motor, a rotating shaft, a mounting plate and a second protrusion plate; The base plate is fixedly connected to one side of the support frame, the stepper motor is fixedly connected to the top of the base plate, the output end of the stepper motor is fixedly connected to the rotating shaft, the top of the rotating shaft is connected to a mounting plate, and the second protruding plate is installed at the bottom of the mounting plate.

7. The road intrusion device for testing an autonomous driving vehicle according to claim 1, characterized in that: A distance meter and a control panel are installed on the support frame.

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