A lane change safety testing device and method based on an autonomous driving truck

Abstract

The present invention provides a lane-changing safety test device and method based on an autonomous driving truck, which relates to the field of vehicle testing technology. The lane-changing safety test device based on an autonomous driving truck comprises: a lifting mechanism and a limit track, the lifting mechanism comprises a support frame, a lifting member and a telescopic frame, the support frame is slidably mounted on the limit track, the support frame is provided with an adjustment hole, and the telescopic frame is in an L-shaped structure; a lane-changing safety test method for an autonomous driving truck, which uses the lane-changing safety test device based on an autonomous driving truck to perform a lane-changing test in an autonomous driving system on an autonomous driving vehicle. This solution ultimately enables the track moving mechanism to drive the first test plate to move, so that the first test plate and the second test plate in a vertical state are separated from each other, providing support for the lane-changing test of the autonomous driving truck; and enables one test device to meet the test requirements of multiple application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a lane change safety testing device and method based on an autonomous driving truck. Background Art

[0002] The lane-changing function of an autonomous driving system involves the coordinated work of complex sensors, algorithms, and actuators. Lane-changing safety testing can verify whether these components can operate accurately and stably in various practical scenarios. For example, sensors need to accurately detect the position, speed, and direction of travel of surrounding vehicles. The algorithm must quickly and correctly determine whether the conditions for lane change are met based on this information and plan a reasonable lane-changing path. Actuators (such as steering systems and power systems) must strictly follow instructions to smoothly complete lane changes.

[0003] In the relevant prior art, publication number: CN118130125A, discloses an autonomous driving truck lane changing safety test device, including a truck head, the bottom of the truck head is rotatably connected to the truck base, the top of the truck base is fixedly connected to the truck compartment, and the top of the truck compartment is provided with an inertial component that will generate inertia when the autonomous driving truck encounters an obstacle when changing lanes and brakes. The setting of the inertial component plays a role in testing the automatic braking safety performance of the autonomous driving truck when encountering an obstacle or pedestrian when changing lanes.

[0004] The above lane change safety test structure is mostly used to test the vehicle with a fixed structure. How the test equipment can meet the requirements of fixed testing while also meeting the requirements of vehicle following testing, and how to adjust the distance between the two test plates during the mobile test to meet the overtaking requirements, requires further research.

[0005] Therefore, it is necessary to provide a lane change safety testing device based on an autonomous driving truck to solve the above technical problems. Summary of the invention

[0006] The present invention provides a lane change safety testing device based on an autonomous driving truck, which solves the problem in the related art that the testing equipment is inconvenient for following the vehicle for testing.

[0007] In order to solve the above technical problems, the lane change safety testing device based on an autonomous driving truck provided by the present invention comprises:

[0008] A lifting mechanism and a limiting track, wherein the lifting mechanism comprises a support frame, a lifting member and a telescopic frame, wherein the support frame is slidably mounted on the limiting track, an adjustment hole is provided on the support frame, and the telescopic frame is in an L-shaped structure, wherein the top of the telescopic frame is inserted into the adjustment hole and is slidably connected to the support frame, and the lifting member is fixedly connected to the support frame and the telescopic frame;

[0009] A track moving mechanism, wherein the track moving mechanism is installed on the support frame;

[0010] A first test board, the first test board is mounted on the moving part of the track moving mechanism, and the track moving mechanism is used to drive the first test board to move and adjust;

[0011] A mounting mechanism, the mounting mechanism being mounted on the top of the telescopic frame;

[0012] A rotation test device, the rotation test device comprises a third driving member and a second test plate, the third driving member is mounted on the mounting mechanism, and the third driving member is used to drive the second test plate to rotate and adjust.

[0013] Preferably, the lifting mechanism also includes a locking device, which includes a first telescopic member and a locking frame, and the locking frame is slidably installed on the support frame through the adjustment hole; in the locked state, the locking frame abuts against the limiting track; in the unlocked state, the locking frame is separated from the limiting track.

[0014] Preferably, the first telescopic member is a spring telescopic tube, and two ends of the first telescopic member are hinged to the telescopic frame and the locking frame respectively.

[0015] Preferably, a simulated light strip is provided on the first test board, and the second test board has the same structure as the first test board.

[0016] Preferably, the rotation test device further comprises a damping member, and the second test plate is movably mounted on the rotating part of the third driving member via the damping member.

[0017] Preferably, a buffer mechanism is further included, the buffer mechanism includes a buffer component and a docking plate, the buffer component elastically connects the mounting mechanism and the docking plate, and the docking plate is a rubber plate and has a C-shaped structure.

[0018] Preferably, the track moving mechanism comprises an adjusting track, a first driving member, a first driving gear, a second driving gear, a screw and a threaded slider, the adjusting track is fixed on the supporting frame, the first driving member is mounted on the adjusting track, the first driving gear is fixed on the shaft of the first driving member, the first driving gear is meshedly connected with the second driving gear, the screw passes through the second driving gear and is rotatably mounted on the adjusting track, the screw is fixedly connected with the second driving gear, the threaded slider is threadedly connected with the screw, and the threaded slider is slidably connected with the adjusting track;

[0019] The first test plate is fixed on the threaded slider.

[0020] Preferably, the mounting mechanism comprises a mounting frame, a second driving member, a first connecting mechanism, a second docking gear and an adjusting mechanism, the bottom of the mounting frame is fixedly connected to the telescopic frame, a driving shaft passes through the mounting frame and is fixedly connected to the shaft of the second driving member, the second driving member is mounted on the mounting frame, the first connecting mechanism comprises a first connecting gear and a second connecting gear, the first connecting gear is fixedly arranged on the driving shaft, the second connecting gear is meshedly connected with the first connecting gear, the second docking gear sliding key is mounted on the driving shaft, the adjusting mechanism is mounted on the mounting frame, and the adjusting mechanism is used to drive the second docking gear to move and adjust;

[0021] The first driving member includes a rotating rod and a rotating sleeve rod, the top of the rotating rod passes through the mounting frame and is fixedly connected to the second connecting gear, the bottom of the rotating rod is inserted into the rotating sleeve rod and is connected with a sliding key, and the bottom of the rotating sleeve rod passes through the adjustment track and is fixedly connected to the first driving gear;

[0022] The third driving member is a rotating shaft structure. After passing through the mounting frame, the third driving member is fixedly connected with a first docking gear. When the mounting mechanism is in a fixed detection mode, the first docking gear is meshedly connected with the second docking gear.

[0023] Preferably, a movable hole is opened on the mounting frame, and the adjustment mechanism includes a transmission member and a rotating ring, the rotating ring is sleeved on the second docking gear and rotatably connected, the transmission member passes through the movable hole and hinges the support frame and the rotating ring, and the transmission member is a spring telescopic structure.

[0024] The present invention also provides a lane change safety test method for an autonomous driving truck, which uses the lane change safety test device based on an autonomous driving truck to perform a lane change test in an autonomous driving system on an autonomous driving vehicle; the lane change safety test method for an autonomous driving truck comprises the following test steps:

[0025] S1, selection of a test mode, selecting a test mode of the installation mechanism according to a test item of the autonomous driving truck;

[0026] S2, adjusting the first test board and the second test board to corresponding test points;

[0027] S3, driving the self-driving truck along the driving route of the test channel;

[0028] S4, records lane change safety data of the autonomous vehicle;

[0029] S5, analyzes whether the autonomous driving vehicle meets the safe lane change standards.

[0030] Compared with the related art, the lane change safety testing device based on the autonomous driving truck provided by the present invention has the following beneficial effects:

[0031] When the use mode of the device needs to be switched from the single test mode to the shielding test mode, the third driving member is started, and the third driving member drives the second test plate to rotate, so that the second test plate is switched from a horizontal state to a vertical state;

[0032] When it is necessary to switch the usage mode of the equipment from the occlusion test mode to the lane change test mode, the track moving mechanism is started, and the track moving mechanism drives the first test board to move, so that the first test board and the second test board in a vertical state are separated from each other, providing support for the lane change test of the autonomous driving truck; so that one test equipment can meet the testing requirements of multiple application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0034] Figure 1 A three-dimensional diagram of a first embodiment of a lane change safety testing device based on an autonomous driving truck provided by the present invention;

[0035] Figure 2 for Figure 1 The right side view of section AA is shown;

[0036] Figure 3 for Figure 1 A top view of the buffer mechanism shown;

[0037] Figure 4 A schematic diagram of the structure of the locking frame provided by the present invention in an unlocked state;

[0038] Figure 5 The schematic diagram of the lane change safety test device based on the autonomous driving truck provided by the present invention, wherein: Figure 5 (a) is a top view of the device in single test mode. Figure 5 (b) is a top view of the device in occlusion test mode. Figure 5 (c) is a top view of the device in lane change test mode;

[0039] Figure 6 A three-dimensional diagram of a second embodiment of the lane change safety testing device based on an autonomous driving truck provided by the present invention;

[0040] Figure 7 for Figure 6 A top view of the cross-sectional structure of the lifting frame shown in FIG. Figure 7 (a) in the equation is Figure 6 Top view of the BB section. Figure 7 (b) in the equation is Figure 7 (a) A partial enlarged schematic diagram;

[0041] Figure 8 for Figure 6 A schematic cross-sectional structure diagram of the track moving mechanism shown;

[0042] Fig. 9 for Figure 7 (a) is a front view of the CC section shown in FIG.

[0043] Fig.10 for Fig. 9 A front view showing a state in which the first docking gear and the second docking gear are separated;

[0044] Fig.11 for Fig.10 A top view of the first docking gear in the state.

[0045] Description of Figure Numbers:

[0046] 10. Test channel;

[0047] 1. lifting mechanism; 11. supporting frame; 110. adjusting hole; 12. lifting member; 13. telescopic frame; 14. locking device; 141. first telescopic member; 142. locking frame;

[0048] 2. Track moving mechanism; 21. Adjusting track; 22. First driving member; 221. Rotating rod; 222. Rotating sleeve rod; 23. First driving gear; 24. Second driving gear; 25. Screw rod; 26. Threaded slider;

[0049] 3. First test board; 31. Simulated light strip;

[0050] 4. Mounting mechanism; 41. Mounting frame; 411. Movable hole; 42. Second driving member; 421. Driving shaft; 43. First connecting mechanism; 431. First connecting gear; 432. Second connecting gear; 44. Second docking gear; 45. Adjusting mechanism; 451. Transmission member; 452. Rotating ring;

[0051] 5. Rotation test device; 51. Third driving member; 511. First docking gear; 52. Damping member; 53. Second test plate;

[0052] 6. Buffer mechanism; 61. Buffer member; 62. Butt joint plate;

[0053] 7. Limit track.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The present invention provides a lane-changing safety testing device based on an autonomous driving truck.

[0057] For the first embodiment, please refer to Figure 1 to Figure 2 In a first embodiment of the present invention, a lane change safety testing device based on an autonomous driving truck includes:

[0058] A lifting mechanism 1 and a limiting track 7, wherein the lifting mechanism 1 comprises a support frame 11, a lifting member 12 and a telescopic frame 13, wherein the support frame 11 is slidably mounted on the limiting track 7, an adjustment hole 110 is provided on the support frame 11, and the telescopic frame 13 is in an L-shaped structure, wherein the top of the telescopic frame 13 is inserted into the adjustment hole 110 and is slidably connected to the support frame 11, and the lifting member 12 is fixedly connected to the support frame 11 and the telescopic frame 13;

[0059] A track moving mechanism 2, wherein the track moving mechanism 2 is installed on the support frame 11;

[0060] A first test board 3, wherein the first test board 3 is mounted on the moving part of the track moving mechanism 2, and the track moving mechanism 2 is used to drive the first test board 3 to move and adjust;

[0061] A mounting mechanism 4, wherein the mounting mechanism 4 is mounted on the top of the telescopic frame 13;

[0062] The rotation test device 5 comprises a third driving member 51 and a second test plate 53 . The third driving member 51 is mounted on the mounting mechanism 4 . The third driving member 51 is used to drive the second test plate 53 to rotate and adjust.

[0063] In this embodiment, the limiting track 7 is laid in the passage direction of the test channel 10, and two passage roads are provided on the test channel 10 to provide support for the advancement and lane change of the autonomous driving truck.

[0064] In this embodiment, the track moving mechanism 2 is used to drive the first test board 3 to move and adjust, so as to facilitate the use and adjustment of the first test board 3 in different working modes.

[0065] In this embodiment, the device includes three usage modes:

[0066] like Figure 5 As shown in (a), in the single test mode, the first test board 3 is in working state, and the second test board 53 is in the retracted state, so as to facilitate the single-channel occlusion lane change test of the autonomous driving truck;

[0067] like Figure 5 As shown in (b), in the occlusion test mode, the first test board 3 and the second test board 53 are both in working state, and the first test board 3 and the second test board 53 are arranged adjacent to each other, so as to facilitate the dual-channel occlusion test of the autonomous driving truck;

[0068] like Figure 5 As shown in (c), in the lane change test mode, the first test board 3 and the second test board 53 are both in working state, and the first test board 3 and the second test board 53 are separately arranged to facilitate the dual-channel occluded lane change test of the autonomous driving truck.

[0069] In this embodiment, the mounting mechanism 4 includes two usage modes:

[0070] In the fixed test mode, the mounting mechanism 4 moves upward and away from the moving height of the autonomous driving truck, so that when the autonomous driving truck moves, the mounting mechanism 4 is fixed at a preset detection point, so as to simulate the lane change driving scenario of a stopped vehicle;

[0071] In the mobile test mode, the mounting mechanism 4 is moved downward and aligned within the moving range of the autonomous driving truck, so that the mounting mechanism 4 can be synchronously driven to move and adjust when the autonomous driving truck moves, thereby simulating the lane change driving scenario during the moving process.

[0072] When it is necessary to perform a fixed test on the autonomous driving truck, the lifting member 12 is started, the lifting member 12 drives the telescopic frame 13 to move upward, and the telescopic frame 13 drives the mounting mechanism 4 to move upward, so that the mounting mechanism 4 is adjusted to the fixed test mode, and when the autonomous driving truck passes within the range of the test channel 10, the autonomous driving truck can naturally pass through the test range of the mounting mechanism 4;

[0073] When it is necessary to conduct a mobile test on the self-driving truck, the lifting member 12 is started, and the lifting member 12 drives the telescopic frame 13 to move downward, and the telescopic frame 13 drives the mounting mechanism 4 to move downward, so that the mounting mechanism 4 is adjusted to the mobile test mode, and the mounting mechanism 4 is blocked within the driving range of the self-driving truck. When the self-driving truck moves within the range of the test channel 10, the self-driving truck can synchronously push the mounting mechanism 4 as a whole to slide synchronously along the range of the limiting track 7, so as to complete a real simulation test scenario in which the self-driving truck is blocked by a moving vehicle during its driving process.

[0074] When the use mode of the device needs to be switched from the single test mode to the shielding test mode, the third driving member 51 is started, and the third driving member 51 drives the second test plate 53 to rotate, so that the second test plate 53 is switched from a horizontal state to a vertical state;

[0075] When it is necessary to switch the usage mode of the equipment from the occlusion test mode to the lane change test mode, the track moving mechanism 2 is started, and the track moving mechanism 2 drives the first test plate 3 to move, so that the first test plate 3 and the second test plate 53 in a vertical state are separated from each other, providing support for the lane change test of the autonomous driving truck; so that one test device can meet the testing requirements of multiple application scenarios.

[0076] Please refer to Figure 2 and Figure 3 The lifting mechanism 1 also includes a locking device 14, which includes a first telescopic member 141 and a locking frame 142, and the locking frame 142 is slidably installed on the support frame 11 through the adjustment hole 110; in the locked state, the locking frame 142 abuts against the limiting track 7; in the unlocked state, the locking frame 142 is separated from the limiting track 7.

[0077] It is convenient to lock or unlock the support frame 11 and the limiting track 7 according to the use requirements, and provide stable support for the installation mechanism 4 to be used in different modes.

[0078] The locking frame 142 passes through the support frame 11 and is aligned with the range of the limiting track 7. When the locking frame 142 abuts against the limiting track 7, it is convenient to lock the support frame 11 and the limiting track 7 to maintain the stability of the installation mechanism 4 in the fixed test mode;

[0079] When the locking frame 142 is separated from the limiting track 7, it is convenient to unlock the support frame 11 and the limiting track 7, so as to facilitate the movement and adjustment of the installation mechanism 4 in the mobile test mode.

[0080] In an optional implementation of the present embodiment, the first telescopic member 141 is an electric telescopic rod, the fixed end of the first telescopic member 141 is directly fixedly mounted on the support frame 11, and the telescopic portion of the first telescopic member 141 is directly connected to the locking frame 142; it is used to directly drive the locking frame 142 to telescope and adjust, so as to facilitate independent control of the locking frame 142.

[0081] In another optional implementation of this embodiment, please refer to Figure 2 The first telescopic member 141 is a spring telescopic tube, and two ends of the first telescopic member 141 are hinged to the telescopic frame 13 and the locking frame 142 respectively.

[0082] The telescopic frame 13 and the locking frame 142 are elastically connected via the first telescopic member 141;

[0083] When the telescopic frame 13 moves upward, the telescopic frame 13 conveniently and synchronously pulls the locking frame 142 to extend through the first telescopic member 141. When the locking frame 142 extends, it can move and abut against the limiting track 7 to achieve adaptive locking between the support frame 11 and the limiting track 7.

[0084] When the telescopic frame 13 moves downward, the telescopic frame 13 conveniently and synchronously pushes the locking frame 142 to retract through the first telescopic member 141. When the locking frame 142 retracts, it can move and separate from the limiting track 7 to achieve adaptive unlocking between the support frame 11 and the limiting track 7.

[0085] Finally, when the lifting member 12 controls the installation mechanism 4 to switch from the fixed test mode to the mobile test mode, the telescopic frame 13 conveniently and synchronously pushes the locking frame 142 to retract through the first telescopic member 141, so that the locking frame 142 adaptively retracts and separates from the limiting track 7, thereby realizing the unlocking between the support frame 11 and the limiting track 7.

[0086] Furthermore, a simulated light strip 31 is provided on the first test board 3 , and the second test board 53 has the same structure as the first test board 3 .

[0087] The simulated light strip 31 conveniently provides brake light support for the first test board 3 when in use, so as to provide brake signal support for the driving of the autonomous driving truck, thereby facilitating the driving and lane changing support of the autonomous driving truck.

[0088] In this embodiment, the second test board 53 is also provided with the simulated light strip 31 , and the second test board 53 can also simulate a real test environment in which the brake lights are turned on when in use.

[0089] Furthermore, the rotation testing device 5 further includes a damping member 52 , and the second testing plate 53 is movably mounted on the rotating part of the third driving member 51 through the damping member 52 .

[0090] “Active installation” means that when the second test plate 53 is not subjected to collision or pushing force, the third driving member 51 can synchronously drive the second test plate 53 to rotate and adjust through the damping member 52 to facilitate the adjustment of the use status of the second test plate 53.

[0091] When the second test plate 53 is in a vertical state, when the second test plate 53 is hit by an autonomous driving truck, the second test plate 53 can adaptively rotate on the rotating part of the third driving member 51 through the damping member 52 to avoid collision damage to the second test plate 53 after the autonomous driving truck fails to change lanes in time.

[0092] Please refer to Figure 1 and Figure 3 The lane change safety testing device based on the autonomous driving truck also includes a buffer mechanism 6, which includes a buffer member 61 and a docking plate 62. The buffer member 61 elastically connects the mounting mechanism 4 and the docking plate 62. The docking plate 62 is a rubber plate and has a C-shaped structure.

[0093] By adding the docking plate 62 between the mounting mechanism 4 and the autonomous driving vehicle, a connection buffer structure is provided for the autonomous driving vehicle to drive the mounting mechanism 4 to move and adjust as a whole, thereby protecting the autonomous driving vehicle and the mounting mechanism 4 as a whole, reducing contact damage, and extending the service life of the equipment.

[0094] The working principle of the lane change safety test device based on the autonomous driving truck provided in this embodiment is as follows:

[0095] like Figure 2 As shown, it may be defined that in the initial state, the mounting mechanism 4 is in a fixed test mode, and the locking frame 142 abuts against the limit track 7, so that the mounting mechanism 4 is fixed at a preset point to facilitate the test of the autonomous driving vehicle;

[0096] like Figure 5 As shown in (a), the device is in a single test mode, the autonomous driving truck first moves along the channel of the first test board 3, and the autonomous driving vehicle performs an autonomous driving test according to the distribution of the test channel 10 to analyze whether the autonomous driving truck can automatically avoid the first test board 3 in the single channel;

[0097] like Figure 5 (a) to Figure 5(b) in which, when adaptive braking detection of the self-driving truck is required, the third driving member 51 is started, and the third driving member 51 drives the second test plate 53 to rotate through the damping member 52, and the second test plate 53 rotates from a horizontal state to a vertical state, so that the second test plate 53 is adjacent to the first test plate 3;

[0098] When the autonomous driving truck drives automatically toward the first test board 3 and the second test board 53 and reaches the warning range of the first test board 3 and the second test board 53, the simulated light strips 31 on the first test board 3 and the second test board 53 light up, so as to facilitate the adaptive lighting of the simulated light strips 31 during the autonomous driving process of the autonomous driving truck, so as to simulate the test environment of emergency braking on the test channel 10; and facilitate the safety test of the autonomous driving truck when the road ahead is blocked;

[0099] like Figure 5 (b) to Figure 5 In (c), when a dual-channel lane change test of the autonomous driving truck is required, the track moving mechanism 2 is started, and the track moving mechanism 2 drives the first test plate 3 to move right (such as Figure 5 The first test plate 3 is gradually separated from the second test plate 53 until a sufficient lane change spacing is reserved between the first test plate 3 and the second test plate 53, so that the device switches from the blocking test mode to the lane change test mode, which facilitates the self-driving truck to perform lane change tests in an environment with a safe spacing between adjacent channels;

[0100] Preferably, the track moving mechanism 2 can also continue to control the movement of the second test plate 53 to provide a floating spacing for the lane change of the autonomous driving truck, so as to analyze the autonomous driving situation of the autonomous driving vehicle when facing the floating spacing, and meet the testing requirements of a one-machine multi-application environment;

[0101] Please refer to Figures 2 to 4 When the device needs to be switched from the fixed test mode to the mobile test mode, the lifting member 12 is started, and the lifting member 12 drives the mounting mechanism 4 to move downward as a whole through the telescopic frame 13, and the mounting mechanism 4 drives the buffer mechanism 6 to move downward and align with the front range of the autonomous driving truck;

[0102] While the telescopic frame 13 moves downward, the telescopic frame 13 synchronously pushes the locking frame 142 to retract through the first telescopic member 141, so that the locking frame 142 retracts and separates from the limiting rail 7, thereby realizing the unlocking between the support frame 11 and the limiting rail 7; the front of the autonomous driving truck synchronously pushes the mounting mechanism 4 to move and adjust through the buffer mechanism 6, thereby providing support for lane change tests in a mobile environment.

[0103] Finally, under the control of the lifting member 12, the overall use mode of the installation mechanism 4 can be switched, and the unlocking / locking between the support frame 11 and the limiting track 7 can also be achieved during the switching process.

[0104] For the second embodiment, please refer to Figures 6 to 8 Based on the lane change safety test device based on an autonomous driving truck provided in the first embodiment of the present invention, the second embodiment of the present invention proposes another lane change safety test device based on an autonomous driving truck. The second embodiment is only a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0105] Specifically, the lane change safety test device based on the automatic driving truck provided by the second embodiment of the present invention is different in that the track moving mechanism 2 includes an adjusting track 21, a first driving member 22, a first driving gear 23, a second driving gear 24, a screw 25 and a threaded slider 26, the adjusting track 21 is fixed on the support frame 11, the first driving member 22 is installed on the adjusting track 21, the first driving gear 23 is fixed on the shaft of the first driving member 22, the first driving gear 23 is meshed and connected with the second driving gear 24, the screw 25 passes through the second driving gear 24 and is rotatably installed on the adjusting track 21, the screw 25 is fixedly connected with the second driving gear 24, the threaded slider 26 is threadedly connected with the screw 25, and the threaded slider 26 is slidably connected with the adjusting track 21;

[0106] The first test plate 3 is fixed on the threaded slider 26 .

[0107] The adjustment track 21 is fixed on the support frame 11 and is arranged in parallel above the test channel 10 . The passage direction of the adjustment track 21 is consistent with that of the test channel 10 .

[0108] In this embodiment, the screw rod 25 is rotatably installed on the adjustment rail 21, the screw rod 25 passes through the threaded slider 26 and is threadedly connected, and the threaded slider 26 is slidably connected to the adjustment rail 21, providing stable support for the movement and adjustment of the threaded slider 26 and the first test plate 3.

[0109] The movement principle of the first test plate 3 is:

[0110] When it is necessary to control the first test plate 3 to move and adjust, start the first driving member 22, the first driving member 22 drives the first driving gear 23 to rotate, the first driving gear 23 rotates through the second driving gear 24, the second driving gear 24 rotates and drives the screw rod 25 to rotate, the screw rod 25 rotates and drives the threaded slider 26 to move and adjust, the threaded slider 26 moves and drives the first test plate 3 to move synchronously, so as to facilitate the adjustment of the use position of the first test plate 3.

[0111] In an optional implementation of this embodiment, the first driving member 22 is an independent motor structure, and the first driving member 22 is directly mounted on the adjustment track 21. The first driving member 22 is used to drive the rotation of the first driving gear 23, and provides a power source for the rotation adjustment of the screw rod 25;

[0112] The third driving member 51 is an independent motor structure, which provides power for the independent rotation adjustment of the second test plate 53 .

[0113] In another optional implementation of this embodiment, please refer to Figure 6 , Figure 7 and Fig. 9 The mounting mechanism 4 includes a mounting frame 41, a second driving member 42, a first connecting mechanism 43, a second docking gear 44 and an adjusting mechanism 45. The bottom of the mounting frame 41 is fixedly connected to the telescopic frame 13. A driving shaft 421 passes through the mounting frame 41 and is fixedly connected to the shaft of the second driving member 42. The second driving member 42 is mounted on the mounting frame 41. The first connecting mechanism 43 includes a first connecting gear 431 and a second connecting gear 432. The first connecting gear 431 is fixed on the driving shaft 421. The second connecting gear 432 is meshed with the first connecting gear 431. The second docking gear 44 is keyed on the driving shaft 421. The adjusting mechanism 45 is mounted on the mounting frame 41. The adjusting mechanism 45 is used to drive the second docking gear 44 to move and adjust.

[0114] The first driving member 22 includes a rotating rod 221 and a rotating sleeve rod 222. The top of the rotating rod 221 passes through the mounting frame 41 and is fixedly connected to the second connecting gear 432. The bottom of the rotating rod 221 is inserted into the rotating sleeve rod 222 and is connected with a sliding key. The bottom of the rotating sleeve rod 222 passes through the adjusting track 21 and is fixedly connected to the first driving gear 23.

[0115] The third driving member 51 is a rotating shaft structure, and the third driving member 51 passes through the mounting frame 41 and is fixedly connected to a first docking gear 511;

[0116] When the mounting mechanism 4 is in the fixed detection mode, the first docking gear 511 is meshed and connected with the second docking gear 44 .

[0117] The rotating rod 221 and the rotating sleeve rod 222 can be relatively raised and lowered and adjusted. When the rotating rod 221 rotates, it can synchronously drive the rotating sleeve rod 222 to rotate and adjust synchronously. This facilitates the installation mechanism 4 to provide a stable power source for the movement and adjustment of the threaded slider 26 in different usage modes.

[0118] The second docking gear 44 and the driving shaft 421 can be relatively slidably adjusted, and when the driving shaft 421 rotates, the second docking gear 44 can be synchronously driven to rotate and adjust synchronously.

[0119] In this embodiment, the second driving member 42 is a motor driving structure, which provides power for the rotation adjustment of the driving shaft 421 .

[0120] The first connecting gear 431 and the second connecting gear 432 are both bevel gear structures, which facilitate synchronous rotation adjustment when they are meshed and connected.

[0121] The first docking gear 511 and the second docking gear 44 are both bevel gear structures, which facilitate synchronous rotation adjustment when meshing and connected.

[0122] The second driving member 42 includes two driving modes:

[0123] In the synchronous driving mode, the second docking gear 44 is docked and meshed with the first docking gear 511, and the second driving member 42 is used to drive the screw rod 25 to rotate and adjust, and is also used to drive the third driving member 51 to rotate and adjust;

[0124] In the single drive mode, the second docking gear 44 is separated from the first docking gear 511 , and the second driving member 42 is only used to drive the screw rod 25 to rotate and adjust, and will not drive the third driving member 51 to rotate and adjust.

[0125] The movement principle of the first test plate 3 is:

[0126] When it is necessary to control the movement of the first test plate 3, the second driving member 42 is started, the second driving member 42 drives the driving shaft 421 to rotate, the driving shaft 421 drives the first connecting gear 431 to rotate, the first connecting gear 431 drives the second connecting gear 432 to rotate, the second connecting gear 432 drives the rotating rod 221 and the rotating sleeve rod 222 to rotate synchronously, the rotating sleeve rod 222 drives the first driving gear 23 to rotate, the first driving gear 23 drives the screw rod 25 to rotate through the second driving gear 24, the screw rod 25 drives the threaded slider 26 to move when rotating, and the threaded slider 26 synchronously drives the first test plate 3 to move and adjust, so as to provide power for the movement of the first test plate 3 through the second driving member 42;

[0127] When it is necessary to control the movement of the second test plate 53, the second docking gear 44 is controlled to move in advance through the adjustment mechanism 45, and the second docking gear 44 moves and docks and meshes with the first docking gear 511. After the engagement, when the second driving member 42 drives the driving shaft 421 to rotate, the driving shaft 421 can also synchronously drive the second docking gear 44 to rotate, and when the second docking gear 44 rotates, it synchronously drives the first docking gear 511 to rotate, and when the first docking gear 511 rotates, it drives the third driving member 51 to rotate, and the third driving member 51 drives the second test plate 53 to rotate through the damping member 52, so as to facilitate the deployment or folding of the second test plate 53;

[0128] When the mounting mechanism 4 is in the fixed detection mode, the second driving member 42 can provide power for the movement adjustment of the first test board 3 and also provide power for the adjustment of the use mode of the second test board 53 .

[0129] Please refer to Figure 7 and Fig. 9 A movable hole 411 is opened on the mounting frame 41, and the adjusting mechanism 45 includes a transmission member 451 and a rotating ring 452. The rotating ring 452 is sleeved on the second docking gear 44 and is rotatably connected. The transmission member 451 passes through the movable hole 411 and is hinged to the support frame 11 and the rotating ring 452. The transmission member 451 is a spring telescopic structure.

[0130] The transmission member 451 is used to connect the support frame 11 and the rotating ring 452;

[0131] When the mounting bracket 41 is in the fixed test mode, the transmission member 451 maintains the meshing connection between the second docking gear 44 and the first docking gear 511;

[0132] When the mounting bracket 41 is switched from the fixed test mode to the mobile test mode, the transmission member 451 maintains the separation between the second docking gear 44 and the first docking gear 511 .

[0133] In this embodiment, before the mounting frame 41 is completely moved to the mobile test mode, the second docking gear 44 can be separated from the first docking gear 511, and the docking range of the docking plate 62 will not come into contact with the self-driving truck; so that after the second driving member 42 controls the rotation adjustment of the third driving member 51 and the second test plate 53, the second docking gear 44 is maintained separated from the first docking gear 511, thereby providing support for the second driving member 42 to independently control the movement adjustment of the first test plate 3 before switching to the mobile test mode.

[0134] It is convenient that during the process in which the same lifting member 12 controls the mounting frame 41 to switch from the fixed test mode to the mobile test mode, the second docking gear 44 is synchronously driven to separate from the first docking gear 511, so that the second driving member 42 switches from the synchronous driving mode to the separate driving mode.

[0135] The working principle of the lane change safety test device based on the autonomous driving truck provided in this embodiment is as follows:

[0136] When in fixed test mode:

[0137] When the second test plate 53 needs to be deployed for use, the second driving member 42 is started, and the second driving member 42 drives the driving shaft 421 to rotate. The driving shaft 421 drives the second docking gear 44 to rotate on the one hand, and the second docking gear 44 drives the third driving member 51 to rotate synchronously through the meshing connection with the first docking gear 511. When the third driving member 51 rotates, it drives the second test plate 53 to switch from a horizontal state to a vertical state synchronously through the damping member 52;

[0138] After the second test plate 53 is adjusted to a vertical state, the second driving member 42 is closed, and the lifting member 12 is started. The lifting member 12 synchronously drives the mounting frame 41 to move downward as a whole through the telescopic frame 13. When the mounting frame 41 moves downward as a whole, the transmission member 451 adaptively drives the rotating ring 452 to move, and synchronously drives the second docking gear 44 to separate from the first docking gear 511 while the rotating ring 452 moves (during the downward movement of the telescopic frame 13, the first telescopic member 141 can be adaptively contracted, so that the locking frame 142 maintains the abutment and locking with the limiting track 7 to ensure stability in the fixed test mode);

[0139] After the second docking gear 44 is completely separated from the first docking gear 511, and before the mounting bracket 41 is not completely adjusted to the mobile test mode, the driving shaft 421 drives the first connecting gear 431 to rotate, and the first connecting gear 431 drives the second connecting gear 432 to rotate synchronously. When the second connecting gear 432 rotates, it simultaneously drives the rotating rod 221 and the rotating sleeve rod 222 to rotate. When the rotating sleeve rod 222 rotates, it drives the screw rod 25 to rotate synchronously through the first driving gear 23 and the second driving gear 24. When the screw rod 25 rotates, it drives the threaded slider 26 to move and adjust along the adjustment track 21. When the threaded slider 26 moves, it drives the first test plate 3 to move and adjust, so as to adjust the use position of the first test plate 3.

[0140] Similarly, when you need to completely adjust from fixed test mode to mobile test mode:

[0141] Start the lifting member 12 again, and the lifting member 12 drives the mounting frame 41 to move downward as a whole through the telescopic frame 13, so that the mounting frame 41 is fully adjusted to the mobile test mode. While maintaining the second driving member 42 in the single driving mode, it can also achieve automatic unlocking between the support frame 11 and the limiting track 7.

[0142] A lane-changing safety testing method for an autonomous truck.

[0143] The lane change safety test method for the autonomous driving truck uses the lane change safety test device based on the autonomous driving truck to perform a lane change test in the autonomous driving system on the autonomous driving vehicle; the lane change safety test method for the autonomous driving truck includes the following test steps:

[0144] S1, selection of a test mode, selecting a test mode of the mounting mechanism 4 according to the test items of the autonomous driving truck;

[0145] S2, adjusting the first test board 3 and the second test board 53 to corresponding test points;

[0146] S3, driving the autonomous driving truck along the driving route of the test channel 10;

[0147] S4, records lane change safety data of the autonomous vehicle;

[0148] S5, analyzes whether the autonomous driving vehicle meets the safe lane change standards.

[0149] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A lane change safety test device based on an autonomous driving truck, characterized in that: include: A lifting mechanism and a limiting track, wherein the lifting mechanism comprises a support frame, a lifting member and a telescopic frame, wherein the support frame is slidably mounted on the limiting track, an adjustment hole is provided on the support frame, the top of the telescopic frame is inserted into the adjustment hole and is slidably connected to the support frame, and the lifting member is fixedly connected to the support frame and the telescopic frame; The mounting mechanism comprises a mounting frame, a second driving member, a first connecting mechanism, a second docking gear and an adjusting mechanism, wherein the mounting frame is fixedly mounted on the top of the telescopic frame, a driving shaft passes through the mounting frame and is fixed to the shaft of the second driving member, and the second driving member is mounted on the mounting frame; the first connecting mechanism comprises a first connecting gear and a second connecting gear, the first connecting gear is fixedly mounted on the driving shaft, the second connecting gear is meshedly connected with the first connecting gear, and the second docking gear sliding key is mounted on the driving shaft, the adjusting mechanism comprises a transmission member and a rotating ring, the rotating ring is sleeved on the second docking gear and is rotatably connected, and the transmission member passes through a movable hole on the mounting frame and is hinged to the support frame and the rotating ring; A track moving mechanism, wherein the track moving mechanism is mounted on the support frame, and the second connecting gear provides moving power for the moving part of the track moving mechanism through the first driving member; a first test plate, the first test plate being mounted on a moving part of the track moving mechanism; A rotation test device, the rotation test device comprising a third driving member and a second test plate, the third driving member being a rotating shaft structure, the third driving member being fixedly connected to the second test plate, the third driving member passing through the mounting frame and being fixedly connected to a first docking gear, when the mounting mechanism is in a fixed detection mode, the first docking gear is meshedly connected to the second docking gear; The locking device comprises a locking frame, which is slidably mounted on the support frame through the adjustment hole; in a locked state, the locking frame abuts against the limiting track; in an unlocked state, the locking frame is separated from the limiting track.

2. The lane change safety testing device based on an autonomous driving truck according to claim 1, characterized in that: The track moving mechanism includes an adjusting track, a first driving member, a first driving gear, a second driving gear, a screw and a threaded slider, the adjusting track is fixedly mounted on the supporting frame, the screw passes through the threaded slider and is threadedly connected, the threaded slider is slidably connected to the adjusting track, and both ends of the screw are rotatably connected to the adjusting track; the first driving member includes a rotating rod and a rotating sleeve rod, the top of the rotating rod passes through the mounting frame and is fixedly connected to the second connecting gear, the bottom of the rotating rod is connected to the rotating sleeve rod sliding key, the bottom of the rotating sleeve rod passes through the adjusting track and is fixedly connected to the first driving gear, the second driving gear is fixedly mounted on the screw and meshingly connected to the first driving gear; the first test plate is mounted on the threaded slider.

3. The lane change safety testing device based on an autonomous driving truck according to claim 2, characterized in that: The locking device further comprises a first telescopic member, two ends of which are respectively hinged to the telescopic frame and the locking frame, and the first telescopic member is a spring telescopic tube.

4. The lane change safety testing device based on an autonomous driving truck according to claim 3, characterized in that: The first test board is provided with a simulated light strip, and the second test board has the same structure as the first test board.

5. The lane change safety testing device based on an autonomous driving truck according to claim 4, characterized in that: The rotation testing device further includes a damping member, and the second test plate is movably mounted on the rotating part of the third driving member through the damping member.

6. The lane change safety testing device based on an autonomous driving truck according to claim 5, characterized in that: It also includes a buffer mechanism, which includes a buffer component and a docking plate. The buffer component is elastically connected to the mounting mechanism and the docking plate. The docking plate is a rubber plate and has a C-shaped structure.

7. A lane change safety test method for an autonomous driving truck, comprising: using the lane change safety test device based on an autonomous driving truck as described in any one of claims 1 to 6 to perform a lane change test in an autonomous driving system on an autonomous driving vehicle; characterized in that: The lane change safety testing method for the autonomous driving truck includes the following testing steps: S1, selection of a test mode, selecting a test mode of the installation mechanism according to a test item of the autonomous driving truck; S2, adjusting the first test board and the second test board to corresponding test points; S3, driving the self-driving truck along the driving route of the test channel; S4, records lane change safety data of the autonomous vehicle; S5, analyzes whether the autonomous driving vehicle meets the safe lane change standards.

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