A kind of intelligent vehicle simulation test platform, test system and test method

Abstract

The present invention discloses an intelligent simulation test platform, comprising a test track, a side obstacle mechanism arranged at the front end of the test track, wherein the side obstacle mechanism comprises a movable wall surface that does not abut against the test track, a rotating shaft portion arranged at one end of the movable wall surface, and a sliding portion arranged at the other end of the movable wall surface; a road surface on one side of the test track corresponding to the sliding portion is provided with an arc-shaped slideway that matches the sliding portion, and the movable wall surface is driven to rotate by a rotating mechanism on one side of the rotating shaft portion, driving the sliding portion of the movable wall surface to make an arc motion at the other end of the arc-shaped slideway. The side obstacle mechanism with adjustable angle is provided to simulate the emergency braking operation of a car when a side impact is about to occur on the road surface, thereby improving the accuracy of the vehicle automatic emergency braking function test.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle simulation testing, and in particular to an intelligent vehicle simulation testing platform, a testing system and a testing method. Background Art

[0002] Autonomous driving simulation tests generally use digital twin technology to combine scene maps, weather environments, dynamic participants, static objects, evaluation rules, etc. into test scenarios, test the test vehicles controlled by the autonomous driving system, and determine whether the autonomous driving vehicle passes the test in various scenarios in the virtual environment based on the evaluation rules.

[0003] An important part of the existing intelligent vehicle simulation test system is to simulate the braking performance of the vehicle. The road conditions considered in the test are mainly road conditions and climbing, etc. The braking condition test is realized by controlling the test vehicle on the simulated road surface. For example, a simulation test system based on an intelligent networked vehicle and its test method with patent publication number CN111811830B is fixedly connected with a fixed shaft through the output shaft of the first servo motor, one end of the fixed shaft is rotatably connected with a side surface inside the cavity, and the outer surface of the cavity is symmetrically provided with two gears corresponding to the tooth block. When testing the braking performance of the vehicle, the runway can be adjusted to different angles, so that the vehicle can be braked on different slopes to improve the accuracy of the brake test. However, this kind of brake test is actually carried out under simple road conditions and cannot cope with various harsh conditions. For example, when some intelligent vehicles have accidents, they are often damaged by the situation that they hit the roadside guardrails and side shoulders on the road obliquely, resulting in major accidents and endangering the safety of the driver. The existing test system does not take into account the automatic emergency braking and first aid measures of smart cars under side collision conditions. Therefore, how to improve the automatic emergency braking function test of vehicles under side collision conditions has become an urgent problem to be solved. Summary of the invention

[0004] The present invention provides an intelligent vehicle simulation test platform for testing the automatic emergency braking function of a vehicle under a side collision condition.

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

[0006] In a first aspect, the present invention provides an intelligent vehicle simulation test platform, comprising a test track, a side obstacle mechanism arranged at the front end of the test track, the side obstacle mechanism comprising a movable wall that does not abut the test track, a rotating shaft portion arranged at one end of the movable wall, and a sliding portion arranged at the other end of the movable wall; a road surface on one side of the test track corresponding to the sliding portion is provided with an arc-shaped slideway matching the sliding portion, and the movable wall is driven to rotate by a rotating mechanism on one side of the rotating shaft portion, thereby driving the sliding portion of the movable wall to perform an arc motion at the other end of the arc-shaped slideway.

[0007] In a preferred technical solution, the rotating shaft portion includes a base fixed to one side of the test track, a bearing seat fixed to one side of the upper end of the base, a rotating shaft rotatably plugged into the bearing seat, a flange sleeved on the lower end of the rotating shaft, and a driving mechanism connected to the other end of the flange; the upper end of the rotating shaft is connected to an angle sensor.

[0008] In a preferred technical solution, a receiving cavity is provided on the bottom surface of the front end of the test runway, and the receiving cavity is an arc-shaped annular slideway structure, and the arc-shaped annular slideway includes a positioning cavity at an upper part and a clamping cavity at a lower part, and a channel is provided between the positioning cavity and the clamping cavity; the arc-shaped surface of the positioning cavity facing the movable wall surface is provided with a positioning tooth, and the clamping cavity is provided with an arc-shaped clamping block protruding into the cavity on the side deviating from the movable wall surface; the arc-shaped slideway is arranged corresponding to the test runway surface of the arc-shaped annular slideway, and is an arc-shaped narrow channel for accommodating the connecting rod to pass through; the sliding part includes a connecting rod assembly connected to the bottom of the other end of the movable wall surface and passing through the arc-shaped narrow channel, and the connecting rod assembly includes an upper connecting rod, a lower connecting rod, and a rotating rod rotatably connected between the upper connecting rod and the lower connecting rod;

[0009] The rotating rod is arranged in the positioning cavity and its rod body is sleeved with meshing teeth matching the positioning teeth. The lower connecting rod is connected with a connecting seat facing the arc-shaped clamping block. The end of the connecting seat is connected with a hydraulic clamping cylinder. The two ends of the hydraulic clamping cylinder are provided with clamping parts extending forward. The two clamping parts are respectively arranged corresponding to the upper and lower sides of the arc-shaped clamping block.

[0010] In a preferred technical solution, the facing surfaces of the two clamping members are provided with teeth, and the upper and lower surfaces of the arc-shaped clamping block are provided with tooth patterns that cooperate with the teeth of the clamping members; a walking arc path is provided at the bottom of the accommodating cavity, and a universal wheel mechanism is provided at the bottom of the lower connecting rod, and the universal wheel mechanism is exactly placed in the walking arc path.

[0011] In a preferred technical solution, the width of the arc-shaped narrow channel is smaller than the width of the arc-shaped annular slideway.

[0012] In a preferred technical solution, a buffer pad is installed on the side of the movable wall facing the road surface, and radar sensors and pressure sensors are evenly arranged and installed on the surface of the buffer pad.

[0013] In a second aspect, the present invention provides an intelligent vehicle simulation test system applied to the above test platform, the system comprising a host computer and a test terminal, the test terminal comprising

[0014] The side obstacle working condition setting module is configured to drive the movable wall to rotate to a set angle through a rotating mechanism on one side of the rotating shaft according to the data of the scene built by the host computer;

[0015] The vehicle parameter acquisition module is configured to acquire data from a radar sensor, a speed sensor and a high-speed camera provided on the test vehicle during emergency braking of the test vehicle against a side obstacle, and detect data changes in the braking distance and braking time of the test vehicle;

[0016] The host computer includes

[0017] The simulation scenario building module is configured to build the conditions for the vehicle side obstacle working condition, including the angle setting between the moving wall and the test vehicle, and the starting speed and distance setting of the test vehicle.

[0018] In a preferred technical solution, the host computer further includes:

[0019] The data processing module is configured to timely feedback the data detected by different sensors, brake from different target vehicle speeds, determine the braking time and braking distance of the test vehicle from the target vehicle speed to stop, and obtain the braking test results of the simulation measurement; it is also configured to determine whether the test vehicle needs safe emergency braking based on the braking test results confirmed by the data obtained by the vehicle parameter acquisition module of the test terminal; if necessary, the judgment result is combined with the data of the rotation angle of the side obstacle working condition setting module to generate an emergency steering plan;

[0020] The emergency braking judgment module is configured to drive the test vehicle to perform a steering test according to the emergency steering solution generated by the data processing module.

[0021] In a preferred technical solution, the method of determining whether a test vehicle requires safe emergency braking based on data is specifically as follows: confirming the braking acceleration based on the braking test results of the test vehicle; then comparing the braking acceleration with a set braking acceleration safety threshold, and if the safety threshold is exceeded, generating an emergency steering plan for the test vehicle.

[0022] The third aspect of the present invention also discloses an intelligent simulation test method, which is to perform an emergency braking test on a test vehicle on a side obstacle section: adjust the rotating mechanism on one side of the rotating shaft to drive the movable wall to rotate to a set measuring angle, and the test vehicle performs an emergency braking test on a test track; the emergency braking test includes a direct braking test and a direct braking and emergency steering combined braking test.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The intelligent vehicle simulation test platform of the present invention is provided with a side obstacle mechanism with adjustable angle, which simulates the emergency braking operation of the vehicle when a side impact is about to occur on the road surface, and improves the accuracy of the vehicle automatic emergency braking function test. The movable and adjustable side obstacle mechanism ensures that the system platform can automatically and accurately adjust the obstacle angle according to the established test conditions, providing convenient and fast design adjustment in the vehicle's emergency braking risk avoidance research and development test.

[0025] Compared with the existing straight-line brake test technology on the test road surface, the intelligent vehicle simulation test platform of the present invention reduces the space for setting up the test scene. The angle sensor arranged on the driving mechanism of the rotating shaft can automatically set the angle of the side obstacle according to the test scene, thereby improving the test accuracy.

[0026] The sliding part of the intelligent vehicle simulation test platform of the present invention ensures that the moving wall has a certain stability after the angle is adjusted through positioning teeth and clamping parts; during the test, if the moving wall is impacted by the test vehicle, the clamping parts are opened so that the sliding part can move along the arc-shaped annular slideway to unload the force, thereby avoiding serious damage to the moving wall and the test vehicle and extending the service life of the test platform.

[0027] The intelligent vehicle simulation test system of the present invention can perform direct braking test on its platform, and can also complete the test of direct braking and emergency steering combined braking, and improve the accuracy of combined braking test in combination with the angle data of the moving wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments 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 these drawings without paying creative work.

[0029] Figure 1 It is a top view of the structure of an example of a smart car simulation test system platform according to an embodiment of the present invention;

[0030] Figure 2It is a partial structural diagram of an example of a smart car simulation test system platform according to an embodiment of the present invention;

[0031] Figure 3 is a side view of a rotating shaft portion of an embodiment of the present invention;

[0032] Figure 4 is a side schematic diagram of a sliding portion of an embodiment of the present invention;

[0033] Figure 5 It is a structural diagram of an example of a smart car simulation test system according to an embodiment of the present invention;

[0034] Figure 6 It is a schematic diagram of safe emergency braking according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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.

[0036] The intelligent vehicle simulation test platform of the present invention is used for simulating the automatic emergency braking test of the test vehicle when it impacts the side obstacles (such as highway guardrails and dividing strips) at different speeds and different impact angles. On the one hand, the impact angle is accurately adjusted by setting the platform structure, and it is automatically and accurately adjusted according to the constructed test conditions; on the other hand, the test platform can be positioned stably or unloaded in a mobile manner as required, and is flexible to use, which greatly improves the scope of the simulation test.

[0037] The present invention provides a smart car simulation test platform. Figure 1-2 As shown, it includes a test track 1, a side obstacle mechanism arranged at the front end of the test track 1, and the side obstacle mechanism includes a moving wall 10 that does not abut against the test track 1, a rotating shaft portion 20 arranged at one end of the moving wall 10, and a sliding portion 30 arranged at the other end of the moving wall 10; the moving wall 10 does not abut against the test track, which means that the bottom edge of the moving wall 10 does not abut against the test track, and there is a gap between the bottom surface of the moving wall 10 and the ground of the test track, so that the moving wall 10 moves without resistance. The road surface of the test track 1 corresponding to one side of the sliding portion 30 is provided with an arc-shaped slide 4 for the sliding portion 30 to move. The moving wall 10 is driven to rotate by a rotating mechanism on one side of the rotating shaft portion 20, driving the sliding portion 30 of the moving wall 10 to make an arc motion at the other end of the arc-shaped slide 4.

[0038] In the specific plan, Figure 3As shown, the rotating shaft part 20 includes a base 21 fixed to one side of the test track, a bearing seat 22 fixed to one side of the upper end of the base 21, a rotating shaft 23 rotatably plugged into the bearing seat 22, a flange 24 sleeved on the lower end of the rotating shaft 23, and a driving mechanism 25 connected to the other end of the flange 24. The upper end of the rotating shaft 23 is connected to an angle sensor 26. The angle sensor uses a photoelectric encoder to measure the angle. The encoder is fixed on the motor shaft of the driving motor. The encoder rotates with the motor. By detecting the changes between the photoelectric sensor stripes and the sensor inside, the rotation angle of the motor is accurately measured, and then the rotation angle of the rotating shaft is calculated; it ensures that the angle of the side obstacle is automatically built according to the test scene, and the test accuracy is improved.

[0039] The bottom surface of the front end of the test track is provided with a receiving cavity, and the receiving cavity is a curved annular slideway 41 structure. Figure 4 As shown, the arcuate annular slideway 41 includes an upper positioning cavity 42 and a lower clamping cavity 43, and a channel 44 is provided between the positioning cavity 42 and the clamping cavity 43; the arcuate surface of the positioning cavity 42 facing the moving wall 10 is provided with a positioning tooth 45, and the side of the clamping cavity 43 deviating from the moving wall 10 is provided with an arcuate clamping block 46 protruding toward the cavity; the arcuate slideway 4 is arranged corresponding to the test track surface of the arcuate annular slideway 41, and is an arcuate narrow passage for the connecting rod 31 to pass through. The sliding part 30 includes a connecting rod assembly connected to the bottom of the other end of the moving wall 10 and passing through the arcuate narrow passage, and the connecting rod assembly includes an upper connecting rod 310, a lower connecting rod 311, and a rotating rod 312 rotatably connected between the upper connecting rod 310 and the lower connecting rod 311. In the scheme, the upper connecting rod 310 and the lower connecting rod 311 are rod bodies with a diameter larger than that of the rotating rod 312, and the facing ends of the upper connecting rod 310 and the lower connecting rod 311 are provided with a plug-in portion that can rotatably plug the rotating rod 312. The rotating rod 312 is correspondingly arranged in the positioning cavity 42 and its rod body is sleeved with a meshing tooth 32 that matches the positioning tooth 45. The lower connecting rod 311 is connected to a connecting seat 33 facing the arc-shaped clamping block 46, and the end of the connecting seat 33 is connected to a hydraulic clamping cylinder 35. The two ends of the hydraulic clamping cylinder 35 are provided with clamping members 36 extending forward, and the two clamping members 36 are respectively arranged corresponding to the upper and lower sides of the arc-shaped clamping block 46.

[0040] In a preferred embodiment, the facing surfaces of the two clamping members 36 are provided with teeth, and the upper and lower surfaces of the arc-shaped clamping block 46 are provided with teeth that cooperate with the teeth of the clamping member 36. When necessary, the teeth bite to prevent the connecting rod assembly at this end from moving. The bottom of the accommodating cavity is provided with a walking arc road 47, and the bottom of the lower connecting rod 311 is provided with a universal wheel mechanism 37, and the universal wheel mechanism 37 is just placed in the walking arc road 47. The present invention is intended to test the test vehicle under side obstacle working conditions, and does not need to detect the degree of impact damage. Therefore, when impacted by the test vehicle, the moving wall unloads the force by moving to avoid excessive damage to the equipment, thereby extending the service life of the equipment.

[0041] In a specific embodiment, the width of the arc narrow channel is smaller than the width of the arc annular slideway 41, especially the width of the positioning cavity 42 and the clamping cavity 43; the size of the arc narrow channel on the road surface is 3-9 cm, and the smaller holes can reduce the impact of test measurements on the road surface.

[0042] Figure 2 As shown, a buffer pad 100 is installed on the side of the movable wall 10 facing the road surface, and radar sensors and pressure sensors are evenly arranged on the surface of the buffer pad 100. The radar sensor can further detect the movement state of the test vehicle during emergency braking, and the pressure sensor is used to detect the impact force when the test vehicle hits the wall, thereby providing more detection data for simulation measurement.

[0043] The second aspect of the present invention discloses an intelligent vehicle simulation test system applied to the above test platform, comprising a host computer and a test terminal. Figure 5 As shown, the test terminal includes a side obstacle condition setting module and a vehicle parameter acquisition module.

[0044] The side obstacle condition setting module is configured to drive the movable wall to rotate to a set angle through the rotating mechanism on one side of the rotating shaft according to the data of the scene built by the host computer, so that the test vehicle can perform an emergency braking test on the test track. The automatic movable wall of the platform of the present invention can quickly build braking tests of various angles according to the test requirements, thereby improving the test efficiency and accuracy of the simulation measurement.

[0045] The vehicle parameter acquisition module is configured to acquire data from a radar sensor, a speed sensor and a high-speed camera installed on the test vehicle during emergency braking of the test vehicle against a side obstacle, and detect data changes in the braking distance and braking time of the test vehicle.

[0046] The host computer is used to control and monitor the computer of the simulation system, and usually runs on an operating system. The simulation software in the host computer can be Carmaker vehicle simulation software, which is used to simulate the dynamic behavior and environment of the vehicle. The test software in the host computer can be Simulink simulation platform, which is used for algorithm development, model design and simulation. Designed with functional modules, the host computer includes a simulation scene building module, a data processing module and an emergency braking judgment module.

[0047] The simulation scene building module is configured to build the conditions for the vehicle side obstacle working condition, including the angle setting between the moving wall and the test vehicle, and the starting speed and distance setting of the test vehicle.

[0048] On the one hand, the data processing module uses the data detected by different sensors to provide timely feedback, brakes at different target speeds, determines the braking time and distance of the test vehicle from the target speed to stop, and obtains the braking test results of the simulation measurement. On the other hand, it is configured to determine whether the test vehicle needs safe emergency braking based on the braking test results confirmed by the data obtained by the vehicle parameter acquisition module of the test terminal; if necessary, it further combines the data of the rotation angle of the side obstacle working condition setting module to generate an emergency steering plan based on the judgment result. The method of judging whether the test vehicle can safely perform emergency braking based on the data is specifically as follows: confirming the braking acceleration based on the braking test results of the test vehicle; comparing the braking acceleration with the set braking acceleration safety threshold, if it exceeds the safety threshold, generating an emergency steering plan for the test vehicle; Figure 6 As shown, in the emergency steering scheme, the braking distance L2 required under the safe braking acceleration is obtained from the stored data, and the angle (α2) required for the test vehicle to turn to reach the safe braking distance L2 of the moving wall is calculated in combination with the inclination angle α1 of the current moving wall and the current braking distance L1. Subsequently, the emergency braking judgment module of the host computer drives the test vehicle to perform a steering test according to the emergency steering scheme generated by the data processing module.

[0049] The third aspect of the present invention also discloses an intelligent simulation test method, which is to perform an emergency braking test on a test vehicle on a side obstacle section: adjust the rotating mechanism on one side of the rotating shaft to drive the moving wall to rotate to a set measurement angle, and the test vehicle performs an emergency braking test on the test track; the emergency braking test includes a direct braking test and a direct braking and emergency steering combined braking test. The direct braking test directly performs a braking test under the scene parameters set up by the simulation test; the direct braking and emergency steering combined braking test can be performed as described in the test system.

[0050] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0051] In the case of dividing each functional module according to each function, the device may also include a processing module, a storage module, etc. The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules, and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0052] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle simulation test method provided in the above-mentioned embodiment.

[0053] Among them, the present application provides computer-readable storage media, computer program products or chips for executing the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0054] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0055] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0056] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A smart car simulation test platform, characterized in that: The invention comprises a test track and a side obstacle mechanism arranged at the front end of the test track, wherein the side obstacle mechanism comprises a movable wall surface which does not abut against the test track, a rotating shaft portion arranged at one end of the movable wall surface and a sliding portion arranged at the other end of the movable wall surface; a curved slideway matching the sliding portion is arranged on the road surface of the test track on one side of the sliding portion, and the movable wall surface is driven to rotate by a rotating mechanism on one side of the rotating shaft portion, thereby driving the sliding portion of the movable wall surface to make an arc motion at the other end of the curved slideway; The bottom surface of the front end of the test runway is provided with a accommodating cavity, and the accommodating cavity is an arc-shaped annular slideway structure, and the arc-shaped annular slideway includes a positioning cavity at an upper part and a clamping cavity at a lower part, and a channel is provided between the positioning cavity and the clamping cavity; the arc surface of the positioning cavity facing the movable wall surface is provided with a positioning tooth, and the clamping cavity is provided with an arc-shaped clamping block protruding into the cavity on the side deviating from the movable wall surface; the arc-shaped slideway is arranged corresponding to the test runway surface of the arc-shaped annular slideway, and the arc-shaped slideway is an arc-shaped narrow channel; the sliding part includes a connecting rod assembly connected to the bottom of the other end of the movable wall surface and passing through the arc-shaped narrow channel, and the connecting rod assembly includes an upper connecting rod, a lower connecting rod, and a rotating rod rotatably connected between the upper connecting rod and the lower connecting rod; The rotating rod is correspondingly arranged in the positioning cavity and the rod body thereof is sleeved with meshing teeth matching the positioning teeth. The lower connecting rod is connected with a connecting seat facing the arc-shaped clamping block. The end of the connecting seat is connected with a hydraulic clamping cylinder. Both ends of the hydraulic clamping cylinder are provided with clamping pieces extending forward. The two clamping pieces are respectively arranged corresponding to the upper and lower sides of the arc-shaped clamping block. During the test, if the moving wall is impacted by the test vehicle, the clamping member opens so that the sliding part can move along the arc-shaped annular slideway to unload the force.

2. The intelligent vehicle simulation test platform according to claim 1, characterized in that: The rotating shaft portion includes a base fixed to one side of the test track, a bearing seat fixed to one side of the upper end of the base, a rotating shaft rotatably inserted into the bearing seat, a flange sleeved on the lower end of the rotating shaft, and a driving mechanism connected to the other end of the flange. The upper end of the rotating shaft is connected to an angle sensor.

3. The intelligent vehicle simulation test platform according to claim 1, characterized in that: The facing surfaces of the two clamping members are provided with teeth, and the upper surface and the lower surface of the arc-shaped clamping block are provided with tooth patterns that cooperate with the teeth of the clamping members; the bottom of the accommodating cavity is provided with a walking arc path, and the bottom of the lower connecting rod is provided with a universal wheel mechanism, and the universal wheel mechanism is just placed in the walking arc path.

4. The intelligent vehicle simulation test platform according to claim 1, characterized in that: The width of the arc-shaped narrow channel is smaller than the width of the arc-shaped annular slide channel.

5. The intelligent vehicle simulation test platform according to claim 1, characterized in that: A buffer pad is installed on the side of the movable wall facing the road surface, and radar sensors and pressure sensors are evenly arranged and installed on the surface of the buffer pad.

6. An intelligent vehicle simulation test system using the test platform of claim 1, characterized in that: The system includes a host computer and a test terminal, wherein the test terminal includes a side obstacle working condition setting module, which is configured to drive the movable wall to rotate to a set angle through a rotating mechanism on one side of the rotating shaft according to the data of the scene built by the host computer; The vehicle parameter acquisition module is configured to acquire data from a radar sensor, a speed sensor and a high-speed camera provided on the test vehicle during emergency braking of the test vehicle against a side obstacle, and detect data changes in the braking distance and braking time of the test vehicle; The host computer includes a simulation scene building module, which is configured to build the conditions of the vehicle side obstacle working condition, specifically including the angle setting between the moving wall and the test vehicle, the starting speed and distance setting of the test vehicle.

7. The intelligent vehicle simulation test system according to claim 6, characterized in that: The host computer also includes: The data processing module is configured to timely feedback the data detected by different sensors, brake from different target vehicle speeds, determine the braking time and braking distance of the test vehicle from the target vehicle speed to stop, and obtain the braking test results of the simulation measurement; it is also configured to determine whether the test vehicle needs safe emergency braking based on the braking test results confirmed by the data obtained by the vehicle parameter acquisition module of the test terminal; if necessary, the judgment result is combined with the data of the rotation angle of the side obstacle working condition setting module to generate an emergency steering plan; The emergency braking judgment module is configured to drive the test vehicle to perform a steering test according to the emergency steering solution generated by the data processing module.

8. The intelligent vehicle simulation test system according to claim 7, characterized in that: The braking test result confirmed by the data obtained by the vehicle parameter acquisition module of the test terminal is used to determine whether the test vehicle needs safe emergency braking. Specifically, the braking acceleration is confirmed according to the braking test result of the test vehicle; and the braking acceleration is compared with the set braking acceleration safety threshold. If the safety threshold is exceeded, an emergency steering plan for the test vehicle is generated.

9. A test method for the intelligent vehicle simulation test system according to claim 6, wherein the method is to perform an emergency braking test on a side obstacle section of a test vehicle: adjust the rotating mechanism on one side of the rotating shaft to drive the movable wall to rotate to a set measuring angle, and the test vehicle performs an emergency braking test on a test track; the emergency braking test includes a direct braking test and a direct braking and emergency steering combined braking test.

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