Intelligent driving test system based on V2X

Abstract

The invention discloses a V2X-based intelligent driving test system, and relates to the technical field of intelligent driving, the V2X-based intelligent driving test system comprises a V2X information simulation unit, an intelligent driving vehicle test platform, a data acquisition and analysis unit and a test scene construction unit, the V2X information simulation unit comprises a vehicle driving state information module and an infrastructure information module, the unit can simulate various V2X communication information, can generate diversified V2X information packets according to preset rules and scene requirements, and sends the V2X information packets to the intelligent driving vehicle test platform through the wireless communication module. The system has a comprehensive V2X scene simulation effect, various V2X communication scenes can be simulated, and a more real and comprehensive test environment is provided for an intelligent driving system; compared with a traditional punching installation mode, the intelligent driving vehicle test platform is fixedly installed in a vacuum suction cup adsorption fixing mode, the test vehicle is not prone to being damaged, and installation is more convenient and faster.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a V2X-based intelligent driving test system. Background Art

[0002] With the continuous development of intelligent driving technology, it is essential to conduct comprehensive and accurate testing on it. Traditional intelligent driving tests mainly focus on the performance testing of the vehicle's own sensors and algorithms. V2X technology brings broader information interaction possibilities to intelligent driving, such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), etc.

[0003] However, there is currently a lack of effective testing systems specifically for V2X-based intelligent driving. Existing test systems find it difficult to simulate complex V2X scenarios and cannot accurately evaluate the performance and safety of intelligent driving systems in real V2X environments. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a V2X-based intelligent driving test system, which effectively solves the problem that the existing test system is difficult to simulate complex V2X scenarios and cannot accurately evaluate the performance and safety of the intelligent driving system in a real V2X environment.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A V2X-based intelligent driving test system, comprising a V2X information simulation unit, an intelligent driving vehicle test platform, a data acquisition and analysis unit, and a test scenario construction unit;

[0007] The V2X information simulation unit includes a vehicle driving status information module and an infrastructure information module. The unit can simulate various V2X communication information. The unit can generate a variety of V2X information packets according to preset rules and scenario requirements, and send them to the intelligent driving vehicle test platform through the wireless communication module;

[0008] The intelligent driving vehicle test platform is installed on the vehicle of the intelligent driving system being tested. It receives information sent by the V2X information simulation unit and makes decisions based on its own intelligent driving algorithm, such as acceleration, deceleration, steering and other operations. It is also equipped with a variety of advanced sensors to detect actual environmental information for comparison and verification with the received V2X information.

[0009] The data acquisition and analysis unit includes a data acquisition module, which is responsible for collecting various data of the intelligent driving vehicle test platform during the test process, including actual driving data of the vehicle, such as actual speed, actual driving trajectory, etc., decision data of the intelligent driving system, such as decision time, decision type, etc., and received V2X information data, and also includes an analysis module, which can analyze the data collected by the data acquisition module and evaluate the performance of the intelligent driving system in the V2X environment, such as accuracy, safety and stability;

[0010] The test scenario construction unit is used to construct various test scenarios, such as urban road scenarios, highway scenarios, intersection scenarios, etc. The unit can set different scenario parameters according to different test requirements, such as road layout, traffic flow, weather conditions, etc., and the test scenario construction unit can work in conjunction with the V2X information simulation unit to ensure that the simulated V2X information matches the constructed test scenario;

[0011] The intelligent driving vehicle test platform includes a support seat, a main body, four shock absorbers arranged between the support seat and the main body and distributed in a rectangular array, a rotary environment detection mechanism, a heat dissipation mechanism and a fixing mechanism.

[0012] As a preferred technical solution of the present invention, the vehicle driving status information module mainly includes different types of vehicle driving status information, such as speed, acceleration, steering angle, etc., and the infrastructure information module mainly includes traffic light status, road construction information, and pedestrian behavior information, etc.

[0013] As a preferred technical solution of the present invention, the rotating environment detection mechanism includes a rotating drive assembly, a rotating shaft rotatably installed on the top of the main body, a rotating disk coaxially welded to the outer wall of the top end of the rotating shaft, a high-definition camera and radar fixedly installed on the circumferential outer wall of the rotating disk, and a signal receiver fixedly installed on the outer wall of the top of the rotating disk.

[0014] As an optimal technical solution of the present invention, the rotating drive assembly includes a driving motor fixedly mounted on the front outer wall of the main body, a driving pulley fixedly mounted on the output shaft of the driving motor, and a driven pulley fixedly mounted on the rotating shaft, and the driving pulley and the driven pulley are connected by the same transmission belt.

[0015] As a preferred technical solution of the present invention, the heat dissipation mechanism includes a gear transmission assembly, two ventilation holes sequentially opened on both sides of the main body, two support frames sequentially fixed in the two ventilation holes, two transmission shafts sequentially rotatably installed on the two support frames, two fan blades sequentially fixedly mounted on the two transmission shafts, and two dust filters sequentially fixedly connected to the outer walls on both sides of the main body.

[0016] As a preferred technical solution of the present invention, the two fan blades are respectively located in the two ventilation holes, the two fan blades are respectively an air supply blade and an exhaust blade, and the two dust filters are respectively located at the two ventilation holes.

[0017] As a preferred technical solution of the present invention, the gear transmission assembly includes a driving bevel gear fixedly mounted on the bottom end of the rotating shaft and two driven bevel gears fixedly mounted on opposite ends of the two transmission shafts in sequence, and both driven bevel gears are meshed with the driving bevel gear.

[0018] As a preferred technical solution of the present invention, the fixing mechanism includes a vacuum pump fixedly mounted on the top outer wall of the support seat, a controller fixedly mounted on the vacuum pump and three suction cup fixing assemblies distributed at equal distances, and the shock absorber includes a damper installed between the support seat and the main body and a shock-absorbing spring sleeved on the damper.

[0019] As a preferred technical solution of the present invention, the three suction cup fixing assemblies each include a suction cup bracket fixedly connected to the outer wall of the bottom of the support seat, two vacuum suction cups fixedly installed at the bottom of the suction cup bracket, and a short connecting tube fixedly connected between the two vacuum suction cups.

[0020] As a preferred technical solution of the present invention, the three connecting short tubes are connected to the same connecting long tube, the exhaust ends of all vacuum suction cups are provided with exhaust solenoid valves, and the exhaust end of the vacuum pump is connected to the connecting long tube through an exhaust pipe.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention has a comprehensive V2X scenario simulation effect and can simulate a variety of V2X communication scenarios, covering different types of interactions such as V2V, V2I and V2P, providing a more realistic and comprehensive test environment for intelligent driving systems;

[0023] 2. The present invention has precise data collection and analysis effects, can accurately collect various data of intelligent driving vehicles in the V2X environment, and through in-depth analysis and evaluation of its performance, it helps to discover potential problems of the intelligent driving system;

[0024] 3. The present invention has a flexible test scenario construction effect, and can construct a variety of test scenarios according to different test requirements, including different road types, traffic flows and weather conditions, etc., thereby improving the applicability of the test system;

[0025] 4. When the intelligent driving vehicle test platform of the present invention is installed on the vehicle of the intelligent driving system being tested, the high-definition camera and radar on it are rotated to achieve the effect of all-round environmental detection, making the detected environmental information more comprehensive, and the rotating disk will also drive the signal receiver to rotate, so as to achieve an all-round signal reception effect, which is convenient for fully receiving the information sent by the V2X information simulation unit;

[0026] 5. When the intelligent driving vehicle test platform of the present invention is installed on a vehicle of the tested intelligent driving system, the heat accumulated in the main body is quickly dissipated to the outside by supplying air on one side and exhausting air on the other side, which effectively improves the heat dissipation performance, thereby effectively improving the stability of the entire intelligent driving vehicle test platform during operation;

[0027] 6. When the intelligent driving vehicle test platform of the present invention is installed on a vehicle of the intelligent driving system being tested, it is fixed and installed by vacuum suction cup adsorption, which is less likely to cause damage to the test vehicle than the traditional punching installation method, and the installation is more convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0029] Figure 1 This is a structural schematic diagram of a V2X-based intelligent driving test system proposed by the present invention;

[0030] Figure 2 It is a three-dimensional structural schematic diagram of the intelligent driving vehicle test platform in the present invention;

[0031] Figure 3 It is a schematic diagram of a partial three-dimensional structure of the intelligent driving vehicle test platform in the present invention;

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the main body from one side perspective in the present invention;

[0033] Figure 5 It is a schematic diagram of the three-dimensional structure of the heat dissipation mechanism in the internal area of ​​the main body of the present invention;

[0034] Figure 6 It is a bottom view stereoscopic structural diagram of the fixing mechanism in the present invention;

[0035] Figure 7 It is a three-dimensional enlarged structural schematic diagram of a suction cup fixing component in the present invention.

[0036] In the figure: 1. V2X information simulation unit; 2. Intelligent driving vehicle test platform; 3. Data acquisition and analysis unit; 4. Test scenario construction unit; 5. Vehicle driving status information module; 6. Infrastructure information module; 7. Data acquisition module; 8. Analysis module; 9. Support seat; 10. Main body; 11. Shock absorber; 12. Rotating shaft; 13. Rotating disk; 14. High-definition camera; 15. Radar; 16. Signal receiver; 17. Driving motor; 18. Active pulley; 19. Driven pulley; 20. Transmission belt; 21. Support frame; 22. Transmission shaft; 23. Fan blade; 24. Dust filter; 25. Active bevel gear; 26. Driven bevel gear; 27. Vacuum pump; 28. Controller; 29. ​​Suction cup bracket; 30. Vacuum suction cup; 31. Connecting short pipe; 32. Connecting long pipe; 33. Exhaust pipe; 34. Damper; 35. Shock-absorbing spring. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all the embodiments.

[0038] Example 1, reference Figure 1 , a V2X-based intelligent driving test system, comprising a V2X information simulation unit 1, an intelligent driving vehicle test platform 2, a data acquisition and analysis unit 3 and a test scenario construction unit 4;

[0039] The V2X information simulation unit 1 includes a vehicle driving state information module 5 and an infrastructure information module 6. The vehicle driving state information module 5 mainly includes different types of vehicle driving state information, such as speed, acceleration, steering angle, etc. The infrastructure information module 6 mainly includes traffic light status, road construction information, and pedestrian behavior information. The unit can simulate various V2X communication information. The unit can generate a variety of V2X information packets according to preset rules and scenario requirements, and send them to the intelligent driving vehicle test platform 2 through the wireless communication module;

[0040] The intelligent driving vehicle test platform 2 is installed on the vehicle of the intelligent driving system being tested. It receives the information sent by the V2X information simulation unit 1 and makes decisions based on its own intelligent driving algorithm, such as acceleration, deceleration, steering and other operations. It is also equipped with a variety of advanced sensors to detect actual environmental information for comparison and verification with the received V2X information.

[0041] The data acquisition and analysis unit 3 includes a data acquisition module 7, which is responsible for collecting various data of the intelligent driving vehicle test platform 2 during the test process, including the actual driving data of the vehicle, such as the actual speed, the actual driving trajectory, etc., the decision data of the intelligent driving system, such as the decision time, the decision type, etc., and the received V2X information data, and also includes an analysis module 8, which can analyze the data collected by the data acquisition module 7 and evaluate the performance of the intelligent driving system in the V2X environment, such as accuracy, safety and stability;

[0042] The test scenario construction unit 4 is used to construct various test scenarios, such as urban road scenarios, highway scenarios, intersection scenarios, etc. The unit can set different scenario parameters according to different test requirements, such as road layout, traffic flow, weather conditions, etc., and the test scenario construction unit 4 can work in conjunction with the V2X information simulation unit 1 to ensure that the simulated V2X information matches the constructed test scenario;

[0043] The test process of the V2X-based intelligent driving test system proposed in this embodiment is as follows:

[0044] S1: The test scenario construction unit 4 constructs a specific test scenario according to the test requirements, such as constructing a city intersection scenario, and setting parameters such as traffic flow and signal light cycle;

[0045] S2: The V2X information simulation unit 1 simulates corresponding V2X information according to the constructed scenario, such as simulating the driving status of surrounding vehicles and the status of traffic lights, and sends this information to the intelligent driving vehicle test platform 2;

[0046] S3: After receiving the V2X information, the intelligent driving vehicle test platform 2 makes decisions and operates according to its own intelligent driving algorithm. At the same time, its own sensors also detect the actual environment.

[0047] S4: The data collection and analysis unit 3 collects all data of the intelligent driving vehicle test platform 2 in real time during this process, including the actual operation data of the vehicle and the received V2X information data, etc.;

[0048] S5: The data acquisition and analysis unit 2 analyzes the collected data and evaluates the performance of the intelligent driving system based on the V2X information in the test scenario, such as determining whether the intelligent driving system can correctly make safe and reasonable decisions based on the V2X information.

[0049] Example 2, reference Figure 2-7This embodiment is optimized on the basis of the embodiment 1, specifically: the intelligent driving vehicle test platform 2 includes a support seat 9, a main body 10, four shock absorbers 11 arranged between the support seat 9 and the main body 10 and distributed in a rectangular array, a rotary environment detection mechanism, a heat dissipation mechanism and a fixing mechanism;

[0050] In this embodiment, the rotary environment detection mechanism includes a rotary drive assembly, a rotating shaft 12 rotatably mounted on the top of the main body 10, a rotating disk 13 coaxially welded to the outer wall of the top end of the rotating shaft 12, a high-definition camera 14 and a radar 15 fixedly mounted on the circumferential outer wall of the rotating disk 13, and a signal receiver 16 fixedly mounted on the outer wall of the top of the rotating disk 13;

[0051] Furthermore, the rotary drive assembly includes a driving motor 17 fixedly mounted on the front outer wall of the main body 10, a driving pulley 18 fixedly mounted on the output shaft of the driving motor 17, and a driven pulley 19 fixedly mounted on the rotating shaft 12, and the driving pulley 18 and the driven pulley 19 are connected by the same transmission belt 20;

[0052] When the rotary environment detection mechanism is in use: the driving motor 17 controls the active pulley 18 to rotate, and then under the transmission effect of the transmission belt 20, the driven pulley 19 drives the rotating disk 13 fixed at the top of the rotating shaft 12 to rotate, so that the high-definition camera 14 and the radar 15 can rotate, so as to achieve the effect of all-round environment detection, making the detected environment information more comprehensive, and the rotating disk 13 also drives the signal receiver 16 to rotate, so as to achieve an all-round signal reception effect, so as to fully receive the information sent by the V2X information simulation unit 1;

[0053] In this embodiment, the heat dissipation mechanism includes a gear transmission assembly, two ventilation holes sequentially opened on both sides of the main body 10, two support frames 21 sequentially fixed in the two ventilation holes, two transmission shafts 22 sequentially rotatably mounted on the two support frames 21, two fan blades 23 sequentially fixedly sleeved on the two transmission shafts 22, and two dust filters 24 sequentially fixedly connected to the outer walls of both sides of the main body 10;

[0054] Furthermore, two fan blades 23 are respectively located in two ventilation holes, and the two fan blades 23 are air supply blades and exhaust blades respectively. Two dust filters 24 are respectively located at the two ventilation holes. The gear transmission assembly includes a driving bevel gear 25 fixedly mounted on the bottom end of the rotating shaft 12 and two driven bevel gears 26 fixedly mounted on opposite ends of the two transmission shafts 22 in sequence. The two driven bevel gears 26 are both meshed with the driving bevel gear 25. Through the meshing transmission effect of the gear transmission assembly, the heat dissipation mechanism does not need to be driven by an additional driving source when working, thereby effectively reducing the use cost.

[0055] When the heat dissipation mechanism is in use: when the rotating shaft 12 is rotating, the active bevel gear 25 will also rotate, and then the two driven bevel gears 26 meshing with the active bevel gear 25 will drive the two fan blades 23 on the two transmission shafts 22 to rotate together, and the two fan blades 23 are respectively an air supply blade and an exhaust blade, so that the heat accumulated in the main body 10 can be quickly dissipated to the outside by supplying air on one side and exhausting air on the other side, which effectively improves the heat dissipation performance, thereby effectively improving the stability of the entire intelligent driving vehicle test platform 2 during operation, and in the heat dissipation process, the dust filtering effect of the dust filter nets 24 on both sides can avoid the situation where dust from the outside is easily brought into the main body 10 during the ventilation and heat dissipation process;

[0056] In this embodiment, the fixing mechanism includes a vacuum pump 27 fixedly mounted on the top outer wall of the support seat 9, a controller 28 fixedly mounted on the vacuum pump 27, and three suction cup fixing components distributed at equal distances;

[0057] Further, the three suction cup fixing components each include a suction cup bracket 29 fixedly connected to the outer wall of the bottom of the support seat 9, two vacuum suction cups 30 fixedly installed at the bottom of the suction cup bracket 29, and a connecting short pipe 31 fixedly connected between the two vacuum suction cups 30, and the three connecting short pipes 31 are connected with the same connecting long pipe 32, and the exhaust ends of all the vacuum suction cups 30 are provided with exhaust solenoid valves, and the exhaust end of the vacuum pump 27 is connected to the connecting long pipe 32 through the exhaust pipe 33;

[0058] When the fixing mechanism is in use, all the vacuum suction cups 30 at the bottom are adsorbed on the top of the test vehicle, and then, under the connection of a long connecting tube 32 and three short connecting tubes 31, all the vacuum suction cups 30 are pumped to a vacuum state by a vacuum pump 27, so that they can be firmly fixed to the top of the test vehicle. Compared with the traditional punching installation method, the fixed installation using the vacuum suction cups 30 is less likely to cause damage to the test vehicle, and the installation is more convenient and quicker;

[0059] In this embodiment, the shock absorber 11 includes a damper 34 installed between the support seat 9 and the main body 10 and a shock-absorbing spring 35 mounted on the damper 34. The vehicle will vibrate during the driving test. At this time, four shock absorbers 11 are installed between the support seat 9 and the main body 10 to improve the shock absorption effect, thereby effectively reducing the vibration and ensuring the stability of the intelligent driving vehicle test platform 2 on the test vehicle.

[0060] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A V2X-based intelligent driving test system, characterized in that: It includes a V2X information simulation unit (1), an intelligent driving vehicle test platform (2), a data acquisition and analysis unit (3) and a test scenario construction unit (4); The V2X information simulation unit (1) includes a vehicle driving state information module (5) and an infrastructure information module (6), and the unit is capable of simulating various V2X communication information. The unit can generate a variety of V2X information packets according to preset rules and scenario requirements, and send them to the intelligent driving vehicle test platform (2) through the wireless communication module; The intelligent driving vehicle test platform (2) is installed on the vehicle of the intelligent driving system being tested, receives information sent by the V2X information simulation unit (1), and makes decisions based on its own intelligent driving algorithm, such as acceleration, deceleration, steering and other operations, and is also equipped with a variety of advanced sensors for detecting actual environmental information so as to compare and verify it with the received V2X information; The data collection and analysis unit (3) includes a data collection module (7) responsible for collecting various data of the intelligent driving vehicle test platform (2) during the test process, including actual driving data of the vehicle, such as actual speed, actual driving trajectory, etc., decision data of the intelligent driving system, such as decision time, decision type, etc., and received V2X information data, and also includes an analysis module (8) capable of analyzing the data collected by the data collection module (7) to evaluate the performance of the intelligent driving system in the V2X environment, such as accuracy, safety and stability, etc.; The test scenario construction unit (4) is used to construct various test scenarios, such as urban road scenarios, highway scenarios, intersection scenarios, etc. The unit can set different scenario parameters according to different test requirements, such as road layout, traffic flow, weather conditions, etc., and the test scenario construction unit (4) can work in conjunction with the V2X information simulation unit (1) to ensure that the simulated V2X information matches the constructed test scenario; The intelligent driving vehicle test platform (2) comprises a support seat (9), a main body (10), four shock absorbers (11) arranged between the support seat (9) and the main body (10) and distributed in a rectangular array, a rotary environment detection mechanism, a heat dissipation mechanism and a fixing mechanism.

2. The V2X-based intelligent driving test system according to claim 1, characterized in that: The vehicle driving status information module (5) mainly includes different types of vehicle driving status information, such as speed, acceleration, steering angle, etc., and the infrastructure information module (6) mainly includes traffic light status, road construction information, pedestrian behavior information, etc.

3. The V2X-based intelligent driving test system according to claim 1, characterized in that: The rotary environment detection mechanism comprises a rotary drive assembly, a rotating shaft (12) rotatably mounted on the top of a main body (10), a rotating disk (13) coaxially welded to the outer wall of the top end of the rotating shaft (12), a high-definition camera (14) and a radar (15) fixedly mounted on the circumferential outer wall of the rotating disk (13), and a signal receiver (16) fixedly mounted on the outer wall of the top of the rotating disk (13).

4. The V2X-based intelligent driving test system according to claim 3, characterized in that: The rotary drive assembly comprises a driving motor (17) fixedly mounted on the front outer wall of the main body (10), a driving pulley (18) fixedly mounted on the output shaft of the driving motor (17), and a driven pulley (19) fixedly mounted on the rotating shaft (12), and the driving pulley (18) and the driven pulley (19) are connected in transmission via the same transmission belt (20).

5. The V2X-based intelligent driving test system according to claim 1, characterized in that: The heat dissipation mechanism comprises a gear transmission assembly, two ventilation holes sequentially opened on both sides of the main body (10), two support frames (21) sequentially fixed in the two ventilation holes, two transmission shafts (22) sequentially rotatably mounted on the two support frames (21), two fan blades (23) sequentially fixedly sleeved on the two transmission shafts (22), and two dust filters (24) sequentially fixedly connected to the outer walls on both sides of the main body (10).

6. The V2X-based intelligent driving test system according to claim 5, characterized in that: The two fan blades (23) are respectively located in the two ventilation holes, the two fan blades (23) are respectively an air supply blade and an exhaust blade, and the two dust filter nets (24) are respectively located at the two ventilation holes.

7. The V2X-based intelligent driving test system according to claim 5, characterized in that: The gear transmission assembly comprises a driving bevel gear (25) fixedly mounted on the bottom end of the rotating shaft (12) and two driven bevel gears (26) fixedly mounted on opposite ends of the two transmission shafts (22) in sequence, and the two driven bevel gears (26) are both meshed with the driving bevel gear (25).

8. The V2X-based intelligent driving test system according to claim 1, characterized in that: The fixing mechanism comprises a vacuum pump (27) fixedly mounted on the top outer wall of the support seat (9), a controller (28) fixedly mounted on the vacuum pump (27) and three suction cup fixing components distributed at equal distances, and the shock absorber (11) comprises a damper (34) mounted between the support seat (9) and the main body (10) and a shock absorbing spring (35) sleeved on the damper (34).

9. The V2X-based intelligent driving test system according to claim 8, characterized in that: The three suction cup fixing assemblies each comprise a suction cup bracket (29) fixedly connected to the outer wall of the bottom of the support seat (9), two vacuum suction cups (30) fixedly installed at the bottom of the suction cup bracket (29), and a short connecting pipe (31) fixedly connected between the two vacuum suction cups (30).

10. The V2X-based intelligent driving test system according to claim 9, characterized in that: The three connecting short tubes (31) are connected to a common connecting long tube (32), the exhaust ends of all the vacuum suction cups (30) are provided with exhaust solenoid valves, and the exhaust end of the vacuum pump (27) is connected to the connecting long tube (32) via an exhaust pipe (33).

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