A test system for an autonomous driving system

Abstract

The present invention provides a test system for an automatic driving system, which relates to the field of automobile testing technology. The test system for an automatic driving system includes: a test channel, an adjustable test device and an auxiliary test frame; the test channel is at least two reverse roads, and the adjustable test device is arranged between the two reverse roads; the auxiliary test frame is arranged on a reverse road and is aligned with the adjustment range of the adjustable test device; the adjustable test device includes a mounting frame, a moving device, a first scene arrangement platform, a rotating device, a second scene arrangement platform and a first telescopic member. This solution ultimately facilitates vehicle perception testing of vehicles after the road closure test is completed; meets the test requirements of the automatic system of the automatic driving vehicle; facilitates meeting the requirements of three test scenarios through one test device, and reduces the space required for equipment layout and testing.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, and more particularly to a testing system for autonomous driving systems. Background Technology

[0002] With the continuous development of autonomous driving technology, it is gradually entering our lives. In order to improve the adaptability of autonomous vehicles to the environment and ensure the safety of the autonomous driving system of autonomous vehicles on the road, it is necessary to test various indicators of autonomous driving in specific test scenarios to form a complete test system.

[0003] Before the testing system tests the autonomous driving system, the test props need to be placed manually according to the requirements of the test items. After the test is completed, the test props need to be moved manually so that the test vehicle can enter the next test area for continued testing, so as to complete each test item in sequence. Only vehicles that pass the final test can be put into the market.

[0004] The existing testing system requires a large testing site for the equipment used in the relevant testing projects. Each adjustment of the testing equipment requires staff to place or remove it from the testing site. Different testing projects require different testing areas, staff and testing tools to meet the needs of multiple testing projects, making it inconvenient to adjust and switch the equipment in the testing projects.

[0005] Therefore, it is necessary to provide a testing system for autonomous driving systems to solve the above-mentioned technical problems. Summary of the Invention

[0006] This invention provides a testing system for autonomous driving systems, which solves the problem of inconvenient equipment adjustment and switching in related technologies.

[0007] To address the aforementioned technical problems, the present invention provides a testing system for autonomous driving systems, comprising:

[0008] The test channel comprises at least two reverse paths, with the adjustable test device positioned between the two reverse paths; the auxiliary test device is positioned on one of the reverse paths and aligned with the adjustment range of the adjustable test device.

[0009] The adjustable testing device includes a mounting frame, a moving device, a first scene arrangement platform, a rotating device, a second scene arrangement platform, and a first telescopic component;

[0010] The mounting frame has a sliding hole; the moving device includes a motor, a lead screw shaft, and a moving frame. The motor is fixed to the mounting frame, the lead screw shaft is fixed to the end of the motor shaft, and the moving frame is threaded onto the lead screw shaft. The moving frame passes through the sliding hole and is slidably mounted on the mounting frame; the first scene arrangement platform is fixed to the moving frame; the rotating device includes a rotating frame and a first rotating component. The rotating frame is mounted on the mounting frame via the first rotating component, which is used to drive the rotating frame to rotate and adjust; the second scene arrangement platform is sleeved on the rotating frame and slidably connected; the first telescopic component is mounted on the rotating frame and is fixedly connected to the rotating frame and the second scene arrangement platform.

[0011] When the first scene setup extends into the range of the test channel, it is used to test the obstacle recognition of the autonomous vehicle; when the second scene setup completely blocks the range of the test channel, it is used to test the road closure recognition of the autonomous vehicle; when the second scene setup rotates and extends to be parallel to the auxiliary test frame, it is also used to test the sensor recognition of the autonomous vehicle.

[0012] Preferably, a tilted electric vehicle and at least one traffic cone are placed on the first scene setup platform.

[0013] Preferably, at least five traffic cones are placed on the second scene setup platform, and at least five traffic cones are placed on the auxiliary test frame.

[0014] Preferably, the first rotating component includes a rack, a gear ring, and a rotating tube. The top of the rotating tube passes through the mounting frame and is rotatably connected. The top of the rotating tube is fixedly connected to the bottom of the rotating frame. The gear ring is fixed to the bottom of the rotating tube. The rack is fixed to the movable frame and is aligned within the rotation range of the gear ring.

[0015] Preferably, the first telescopic component includes a second rotating component, a rotating shaft, a first gear, a second gear, a transmission component, a transmission shaft, and a transmission frame. The second rotating component is installed inside the mounting frame. The top of the rotating shaft passes through the rotating tube and through the rotating frame, and the connection is rotatably connected. The first gear is fixedly mounted on the top of the rotating shaft. The second gear is rotatably mounted inside the rotating frame and meshes with the first gear. One end of the transmission component is fixedly connected to the shaft of the second gear. The bottom of the transmission shaft is fixedly mounted on the transmission part of the transmission component. The transmission frame is fixedly mounted on the second scene arrangement platform. The top of the transmission shaft is inserted into the range of the transmission frame and is connected for transmission.

[0016] Preferably, the transmission component is a sprocket assembly, consisting of two sprockets and a chain. The chain drives the two sprockets, and the sprockets are rotatably mounted on the rotating frame. Each sprocket is fixed to the same shaft as the second gear, and the transmission shaft is fixed to the chain.

[0017] Preferably, the transmission component is a pulley assembly consisting of two pulleys and a belt. The belt drives the two pulleys, which are rotatably mounted on the rotating frame. Each pulley is fixed to the same shaft as the second gear, and the transmission shaft is fixed to the pulley.

[0018] Preferably, the adjustable testing device is embedded in the range of the testing channel.

[0019] Preferably, the second rotating member is a bevel gear structure, and the shaft of the second rotating member is fixedly connected to the bottom of the rotating shaft; the adjustable testing device further includes: a synchronization device, which includes a second telescopic member, a connecting ring, and a bevel gear shaft, the bevel gear shaft being keyed to the lead screw shaft, and the bevel gear shaft being aligned within the meshing range of the second rotating member; the connecting ring being rotatably mounted on the bevel gear shaft, the connecting ring being arranged around the lead screw shaft, the second telescopic member connecting the mounting frame and the connecting ring, and the second telescopic member being used to drive the connecting ring to move and adjust; and a docking device, which includes a spring telescopic member and a docking ring, the spring telescopic member elastically connecting the docking ring and the moving frame, and the docking ring being aligned with the bevel gear shaft.

[0020] Preferably, the second telescopic member is a spring telescopic structure, and the second telescopic member elastically connects the mounting frame and the connecting ring.

[0021] Compared with related technologies, the testing system for autonomous driving systems provided by this invention has the following advantages:

[0022] By setting the first scenario setup platform and the second scenario setup platform on two adjacent test lanes, it is convenient to conduct edge obstacle testing on one side and road closure testing on the other side; reducing the time required for independent testing; after passing the test, the second scenario setup platform is rotated and adjusted to vehicle perception mode, which facilitates vehicle perception testing of the vehicle after the road closure test is completed; meeting the testing requirements of the automatic system of autonomous vehicles; and conveniently meeting the needs of three test scenarios with one test device, reducing the space required for equipment layout and testing. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 This is an application scenario diagram of the testing system for an autonomous driving system provided by the present invention;

[0025] Figure 2 for Figure 1 A three-dimensional diagram of the first embodiment of the adjustable testing device shown;

[0026] Figure 3 for Figure 2 A schematic diagram of the cross-section of the adjustable testing device shown;

[0027] Figure 4 for Figure 3 An enlarged structural schematic diagram of the mobile device shown;

[0028] Figure 5 This is another application scenario diagram of the first embodiment of the test system for an autonomous driving system provided by the present invention;

[0029] Figure 6 A schematic diagram of the structure of a second embodiment of the adjustable testing device provided by the present invention;

[0030] Figure 7 for Figure 6 A top view of the rack and gear ring shown;

[0031] Figure 8 for Figure 6 The diagram shows the structural schematic of the first telescopic component connection part;

[0032] Figure 9 for Figure 8 A top view of the transmission component connection structure shown;

[0033] Figure 10 This is a schematic diagram illustrating the adjustment principle of the movable frame in the adjustable testing device provided by the present invention. Figure 10 Figure (a) is a front view of the mobile frame in its extended state. Figure 10 Figure (b) is a front view of the moving frame during its rightward movement. Figure 10 Figure (c) is a front view of the moving frame continuing to move to the right. Figure 10 Figure (d) is a front view of the moving frame about to separate from the threaded section. Figure 10 Figure (e) is a front view showing the movable frame separated from the threaded section;

[0034] Figure 11 for Figure 10 The diagram shown illustrates the principle of rack movement, where... Figure 11 Figure (a) in the middle is Figure 10 Figure (a) shows the top view of the rack and gear ring in the current state. Figure 11 Figure (b) is Figure 10 Figure (b) shows the top view of the rack and gear ring in the specified state. Figure 11 Figure (c) is Figure 10 The top view of the rack and gear ring in state (c) is shown in the figure. Figure 11 Figure (d) in the middle is Figure 10 Figure (d) shows the top view of the rack and gear ring in the specified state. Figure 11 Figure (e) in the middle is Figure 10 The top view of the rack and gear ring in state (e) in the diagram;

[0035] Figure 12 for Figure 10 The diagram shows the mode switching principle of the adjustable testing device, in which... Figure 12 Figure (a) in the middle is Figure 10 Figure (a) shows the overall top view of the mounting frame in its current state. Figure 12 Figure (b) is Figure 10 Figure (d) shows the overall top view of the mounting bracket in its current state. Figure 12 Figure (c) is Figure 10 Figure (e) shows the overall top view of the mounting bracket in its current state;

[0036] Figure 13 This invention provides a test principle diagram for a test system used in autonomous driving systems, wherein... Figure 13 Figure (a) shows the application scenario for the first vehicle test. Figure 13 Figure (b) shows an application scenario where the first vehicle is tested and the second vehicle is tested simultaneously. Figure 13 Figure (c) shows the application scenario when the first vehicle is undergoing a closed road test. Figure 13 Figure (d) shows an application scenario of simultaneous testing of the second and third vehicles.

[0037] Explanation of icon numbers:

[0038] 10. Test channel; 20. Adjustable test device; 30. Auxiliary test fixture;

[0039] 1. Mounting bracket; 101. Sliding hole;

[0040] 2. Moving device; 21. Motor; 22. Lead screw shaft; 23. Moving frame;

[0041] 3. First scene setup table;

[0042] 4. Rotating device; 41. Rotating frame; 42. First rotating component; 421. Rack; 422. Gear ring; 423. Rotating tube;

[0043] 5. Second scene setup table;

[0044] 6. First telescopic component; 61. Second rotating component; 62. Rotating shaft; 63. First gear; 64. Second gear; 65. Transmission component; 66. Transmission shaft; 67. Transmission frame;

[0045] 7. Synchronization device; 71. Second telescopic component; 72. Connecting ring; 73. Bevel gear shaft;

[0046] 8. Docking device; 81. Spring telescopic component; 82. Docking ring.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0049] This invention provides a testing system for autonomous driving systems.

[0050] The first embodiment, please refer to the following: Figures 1 to 4 In a first embodiment of the present invention, the testing system for an autonomous driving system includes:

[0051] Test channel 10, adjustable test device 20 and auxiliary test frame 30;

[0052] The test channel 10 has at least two reverse paths, and the adjustable test device 20 is arranged between the two reverse paths; the auxiliary test frame 30 is arranged on one of the reverse paths and aligned with the adjustment range of the adjustable test device 20.

[0053] The adjustable testing device 20 includes a mounting frame 1, a moving device 2, a first scene arrangement platform 3, a rotating device 4, a second scene arrangement platform 5, and a first telescopic component 6.

[0054] The mounting frame 1 has a sliding hole 101; the moving device 2 includes a motor 21, a lead screw 22, and a moving frame 23. The motor 21 is fixed on the mounting frame 1, the lead screw 22 is fixed on the shaft end of the motor 21, and the moving frame 23 is threaded onto the lead screw 22. The moving frame 23 passes through the sliding hole 101 and is slidably mounted on the mounting frame 1; the first scene arrangement platform 3 is fixed on the moving frame 23; the rotating device 4 includes a rotating frame 41 and a first rotating component 42. The rotating frame 41 is mounted on the mounting frame 1 via the first rotating component 42, and the first rotating component 42 is used to drive the rotating frame 41 to rotate and adjust; the second scene arrangement platform 5 is sleeved on the rotating frame 41 and slidably connected; the first telescopic component 6 is mounted on the rotating frame 41 and is fixedly connected to the rotating frame 41 and the second scene arrangement platform 5;

[0055] Specifically, when the first scene setup 3 extends into the range of the test channel 10, it is used to test the obstacle recognition of the autonomous vehicle; when the second scene setup 5 completely blocks the range of the test channel 10, it is used to test the road closure recognition of the autonomous vehicle; when the second scene setup 5 rotates and extends to be parallel to the auxiliary test frame 30, it is also used to test the sensor recognition of the autonomous vehicle.

[0056] In this embodiment, as Figure 1 As shown, the adjustable testing device 20 is installed between two reverse roads; the two reverse roads are, in turn, a forward road and a return road; wherein, the first scene arrangement platform 3 is arranged facing the area of ​​the forward road; the second scene arrangement platform 5 is arranged facing the area of ​​the return road; and the auxiliary testing frame 30 is located in the arrangement area of ​​the return road.

[0057] Furthermore, such as Figure 1 and Figure 2 As shown, a tilted electric vehicle and at least one traffic cone are placed on the first scene setup platform 3.

[0058] The system enhances the recognition of electric vehicle accident scenarios by enabling autonomous driving systems to safely identify electric vehicles that have overturned on the first scenario setup platform 3 during operation; this facilitates safety testing of the autonomous driving system for vehicles with electric vehicle obstruction.

[0059] Traffic cones are used to support accident identification for autonomous vehicles and to test whether autonomous vehicles can maintain their current lane and stop safely after an accident is detected, according to a preset program.

[0060] Furthermore, such as Figure 1 and Figure 2As shown, at least five traffic cones are placed on the second scene setup platform 5, and at least five traffic cones are placed on the auxiliary test frame 30.

[0061] Five traffic cones are evenly distributed on the second scenario setup platform 5 to simulate the actual application scenario of temporary road closure; and to test whether the autonomous vehicle can maintain the current lane and stop safely according to the preset program after recognizing the road closure.

[0062] The auxiliary test frame 30 has the same number of traffic cones as the second scene arrangement platform 5. When the second scene arrangement platform 5 is set parallel to and corresponds to the auxiliary test frame 30, it can be used for 360° perception testing of autonomous vehicles.

[0063] This embodiment includes three test modes:

[0064] Edge obstacle testing, such as Figure 1 As shown, a tilted electric scooter is mounted on the first scene setup platform 3, and a traffic cone is placed on the edge of the scooter. The first scene setup platform 3 moves to the range of the forward road for the electric scooter obstacle recognition test during the autonomous vehicle's forward movement. By judging whether the autonomous vehicle can normally recognize obstacles during its driving, and whether it can safely stop in advance while maintaining the current lane after recognizing obstacles, the autonomous vehicle is judged to be qualified.

[0065] Road closure testing, such as Figure 1 As shown, the second scene setup platform 5 is equipped with at least five traffic cones, and the second scene setup platform 5 is placed horizontally within the range of the return road. It is used for road closure recognition test during the autonomous vehicle's forward movement. By judging whether the autonomous vehicle can normally recognize the road closure during its driving process, and whether it can safely stop in advance while maintaining the current lane after recognizing the road closure, the autonomous vehicle is judged to be qualified.

[0066] Vehicle perception testing, such as Figure 5 As shown, the second scene arrangement platform 5 is aligned with the direction of travel of the return channel, and the second scene arrangement platform 5 is correspondingly set with the auxiliary test frame 30. It is used for edge perception testing after the autonomous vehicle stops between the second scene arrangement platform 5 and the auxiliary test frame 30. By judging whether the number and position of traffic cones perceived by the autonomous vehicle after stopping between the second scene arrangement platform 5 and the auxiliary test frame 30 are consistent with the preset number, the qualification of the autonomous vehicle is determined.

[0067] The motor 21 (forward and reverse motor structure) is used to drive the lead screw shaft 22 to rotate and adjust. When the first scene arrangement platform 3 is in the extended state, when the lead screw shaft 22 rotates clockwise, the moving frame 23 moves to the right. When the moving frame 23 moves to the right, it simultaneously drives the first scene arrangement platform 3 to move to the right, which facilitates driving the first scene arrangement platform 3 to switch from the extended state to the retracted state, and provides obstacle avoidance support for the autonomous vehicle to continue moving forward after passing the edge obstacle test.

[0068] When the first scene arrangement platform 3 is in the retracted state, the lead screw shaft 22 rotates counterclockwise, and the moving frame 23 moves to the left. At the same time, the moving frame 23 moves to the left, which drives the first scene arrangement platform 3 to move to the left, so as to facilitate the switching of the first scene arrangement platform 3 from the retracted state to the extended state. This provides a reset for the autonomous vehicle after passing the edge obstacle test and supports the test of the next vehicle.

[0069] By setting the first scenario setup platform 3 and the second scenario setup platform 5 on two adjacent test lanes, it is convenient to conduct edge obstacle testing on one side and road closure testing on the other side; reducing the time required for independent testing; after passing the test, the second scenario setup platform 5 is rotated and adjusted to vehicle perception mode, which is convenient for vehicle perception testing of the vehicle after the road closure test is completed; meeting the testing requirements of the automatic system of autonomous vehicles; and conveniently meeting the needs of three test scenarios with one test device, reducing the need for manual setup of equipment and space required for testing.

[0070] In this embodiment, the first rotating component 42 can be an independent motor structure. When the first rotating component 42 is an independent motor structure, the first rotating component 42 is used to directly drive the rotating frame 41 to rotate and adjust. When the rotating frame 41 rotates, it is convenient to rotate and adjust the usage mode of the second scene arrangement platform 5. After rotation and adjustment, the first telescopic component 6 is used for telescopic control.

[0071] In a preferred embodiment, both the first scene arrangement platform 3 and the second scene arrangement platform 5 are equipped with ultrasonic distance sensors. These sensors are used to measure the distance between the vehicle and the first scene arrangement platform 3 after the vehicle has come to a safe stop, and also to measure the distance between the vehicle and the second scene arrangement platform 3 after the vehicle has come to a safe stop, so as to obtain the distance at which the vehicle remains after a safe stop.

[0072] The working principle of the testing system for autonomous driving systems provided in this embodiment is as follows:

[0073] Please combine Figure 1 and Figure 13In Figure (a), when edge obstacle testing is required, the first scene setup platform 3 is first adjusted to the extended state. The vehicle C1 moves towards the first scene setup platform 3 along the forward road of the test channel 10 according to the driving program of the autonomous driving system until the vehicle C1 stops safely on the forward road and leaves a sufficient safe distance (at least 5m) between it and the first scene setup platform 3 for edge obstacle testing of the vehicle C1.

[0074] After the edge obstacle test of vehicle C1 is passed, the first scene arrangement platform 3 is adjusted to the retracted state, and vehicle C1 continues to travel along the forward road and turns around to return to the road.

[0075] like Figure 13 In Figure (b), after vehicle C1 passes through the adjustment range of the first scene arrangement platform 3, the first scene arrangement platform 3 is adjusted to the extended state;

[0076] Vehicle C1 moves along the return road toward the second scene setup platform 5 until vehicle C1 comes to a safe stop on the return road, with a sufficient safe distance between it and the second scene setup platform 5, for road closure testing of vehicle C1;

[0077] While vehicle C1 is undergoing a closed road test, vehicle C2 travels along the road ahead and performs edge obstacle tests until vehicle C2 comes to a safe stop on the road ahead.

[0078] like Figure 13 In Figure (c), after the edge obstacle test of vehicle C1 is passed and the road closure test of vehicle C2 is passed, the first scene arrangement platform 3 is adjusted to the retracted state and the second scene arrangement platform 5 is adjusted to be parallel and aligned with the auxiliary test frame 30.

[0079] Vehicle C1 continues along the return route and enters the area between the second scenario setup platform 5 and the auxiliary test frame 30. Vehicle C1 automatically stops. After stopping, it senses the surrounding traffic cones to analyze whether the autonomous driving system of vehicle C1 is functioning normally.

[0080] During the test of vehicle C1, vehicle C2 continued to drive along the forward road and then turned around to return to the road; vehicle C3 gradually drove into the forward road.

[0081] like Figure 13 In Figure (d), after vehicle C1 has completed the test, vehicle C1 moves forward and leaves the test area, and the first scene arrangement platform 3 and the second scene arrangement platform 5 are reset, so that before vehicle C3 and vehicle C2 are tested, the first scene arrangement platform 3 and the second scene arrangement platform 5 are reset to the test state.

[0082] Vehicle C2 moves along the return road toward the second scene setup platform 5 until vehicle C2 comes to a safe stop on the return road, with a sufficient safe distance between it and the second scene setup platform 5, for road closure testing of vehicle C2;

[0083] Vehicle C3 travels along the road ahead and performs edge obstacle tests until vehicle C2 comes to a safe stop on the road ahead;

[0084] Ultimately, this enables continuous testing of multiple vehicles in the same testing environment, reducing site layout, changes, and adjustments, and meeting the needs of one machine for multiple testing scenarios.

[0085] For the second embodiment, please refer to the following: Figures 6 to 7 Based on the testing system for an autonomous driving system provided in the first embodiment of the present invention, the second embodiment of the present invention proposes another testing system for an autonomous driving system. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the separate implementation of the first embodiment.

[0086] Specifically, the difference in the test system for an autonomous driving system provided in the second embodiment of the present invention is that the first rotating component 42 includes a rack 421, a gear ring 422, and a rotating tube 423. The top of the rotating tube 423 passes through the mounting frame 1 and is rotatably connected. The top of the rotating tube 423 is fixedly connected to the bottom of the rotating frame 41. The gear ring 422 is fixedly disposed at the bottom of the rotating tube 423. The rack 421 is fixedly disposed on the movable frame 23. The rack 421 is aligned within the rotation range of the gear ring 422.

[0087] When the first scene arrangement platform 3 is in the extended state, the rack 421 and the gear ring 422 are in the separated state;

[0088] During the process of adjusting the first scene arrangement platform 3 from the extended state to the retracted state, the rack 421 moves toward and engages with the gear ring 422 within its engagement range. After engagement, the movement of the rack 421 can drive the gear ring 422 to rotate and adjust (in this embodiment, the maximum rotation angle of the gear ring 422 is 90°).

[0089] When the first scene arrangement platform 3 is in the retracted state, the rack 421 and the gear ring 422 are in a separated state (not engaged).

[0090] In this embodiment, a damping connection structure is provided between the rotating tube 423 and the mounting bracket 1 to increase the stability of the rotating tube 423 when it is not rotating for adjustment.

[0091] During the process of the moving frame 23 driving the first scene arrangement platform 3 to switch from the extended state to the retracted state, the moving frame 23 also simultaneously drives the rack 421 to move toward the gear ring 422. When the rack 421 and the gear ring 422 are engaged, the rack 421 can push the gear ring 422 to rotate clockwise. The gear ring 422 rotates clockwise and drives the rotating tube 423 to rotate. The rotating tube 423 drives the rotating frame 41 to rotate clockwise. The rotating frame 41 simultaneously drives the second scene arrangement platform 5 to rotate, so as to adjust the second scene arrangement platform 5 to a state parallel to the auxiliary test frame 30. Then, the first telescopic member 6 controls the second scene arrangement platform 5 to extend on the rotating frame 41, and the second scene arrangement platform 5 is adjusted to the edge perception test mode.

[0092] Similarly, when the second scene arrangement platform 5 needs to be reset, the first telescopic member 6 controls the second scene arrangement platform 5 to retract. After retraction, the moving frame 23 drives the first scene arrangement platform 3 to switch from the retracted state to the extended state. The rack 421 can drive the gear ring 422 to rotate counterclockwise. The gear ring 422 drives the rotating tube 423 to rotate. The rotating tube 423 drives the rotating frame 41 to rotate counterclockwise. The rotating frame 41 synchronously drives the second scene arrangement platform 5 to rotate, so as to adjust the second scene arrangement platform 5 to a state perpendicular to the auxiliary test frame 30.

[0093] Ultimately, under the driving action of the synchronous motor 21, the rotation adjustment of the second scene arrangement platform 5 is realized simultaneously during the state switching of the first scene arrangement platform 3, so as to meet the synchronous avoidance requirements of the first scene arrangement platform 3 and the second scene arrangement platform 5.

[0094] In one optional implementation of this embodiment, such as Figure 5 As shown, the first telescopic member 6 can be an independent electric telescopic rod, which is fixedly connected to the rotating frame 41 and the second scene arrangement platform 5, so as to provide separate power for the telescopic adjustment of the second scene arrangement platform 5.

[0095] In another optional implementation of this embodiment, please refer to the following: Figure 8 and Figure 9The first telescopic component 6 includes a second rotating component 61, a rotating shaft 62, a first gear 63, a second gear 64, a transmission component 65, a transmission shaft 66, and a transmission frame 67. The second rotating component 61 is installed inside the mounting frame 1. The top of the rotating shaft 62 passes through the rotating tube 423 and through the rotating frame 41, and the connection is rotatably connected. The first gear 63 is fixedly mounted on the top of the rotating shaft 62. The second gear 64 is rotatably mounted inside the rotating frame 41 and meshes with the first gear 63. One end of the transmission component 65 is fixedly connected to the shaft of the second gear 64. The bottom of the transmission shaft 66 is fixedly mounted on the transmission part of the transmission component 65. The transmission frame 67 is fixedly mounted on the second scene arrangement platform 5. The top of the transmission shaft 66 is inserted into the range of the transmission frame 67 and is connected for transmission.

[0096] In this embodiment, the rotation of the rotating shaft 62 will not affect the rotating frame 41, and will not cause the rotating frame 41 to swing. The two are adjusted relatively independently.

[0097] The second rotating component 61 drives the rotating shaft 62 to rotate. The rotating shaft 62 rotates independently relative to the rotating frame 41 and drives the first gear 63 to rotate synchronously. The first gear 63 drives the second gear 64 to rotate. The second gear 64 drives the transmission component 65 to rotate and adjust. When the transmission component 65 rotates, it drives the transmission shaft 66 to move in a cyclic trajectory. When the transmission shaft 66 moves, it synchronously drives the transmission frame 67 to move and adjust. When the transmission frame 67 moves, it synchronously drives the second scene arrangement platform 5 to move and adjust, thereby providing support for the movement and adjustment of the second scene arrangement platform 5.

[0098] The rotation adjustment method of the second scene arrangement platform 5 provides technical support for subsequent synchronous adjustment.

[0099] In an optional embodiment of this example, the transmission component 65 is a sprocket assembly consisting of two sprockets and a chain. The chain drives the two sprockets, which are rotatably mounted on the rotating frame 41. Each sprocket is fixed to the same shaft as the second gear 64, and the transmission shaft 66 is fixed to the chain. This facilitates the rotation of the second gear 64, which drives one sprocket, the chain, and the other sprocket. Simultaneously, the chain drives the transmission shaft 66, and the movement of the transmission shaft 66 synchronously drives the transmission frame 67, thereby providing power for the movement of the second scene arrangement platform 5.

[0100] In another optional embodiment of this example, the transmission component 65 is a pulley assembly consisting of two pulleys and a belt. The belt drives the two pulleys, which are rotatably mounted on the rotating frame 41. Each pulley is fixed to the same shaft as the second gear 64, and the transmission shaft 66 is fixed to the pulley. This facilitates the rotation of the second gear 64, which drives one pulley, the belt, and the other pulley. Simultaneously, the belt drives the transmission shaft 66, which in turn moves the transmission frame 67, thus providing power for the movement of the second scene arrangement platform 5.

[0101] In an optional embodiment of this example, the adjustable testing device 20 is embedded in the range of the testing channel 10.

[0102] The adjustable testing device 20 adopts an embedded installation method, which reduces the footprint and makes it easier to keep the height of the first scene arrangement platform 3 and the second scene arrangement platform 5 as close to the ground as possible, simulating the real test scenario and reducing the problem of test data not matching reality caused by the test equipment being too high.

[0103] In an optional embodiment of this example, the second rotating member 61 can be driven by a separate motor structure. The second rotating member 61 is fixedly installed in the mounting bracket 1, and the shaft end of the second rotating member 61 is fixedly connected to the rotating shaft 62 to directly provide power for the rotation adjustment of the rotating shaft 62.

[0104] In another optional implementation of this embodiment, please refer to the following: Figure 5 and Figure 8 The second rotating component 61 is a bevel gear structure, and the shaft of the second rotating component 61 is fixedly connected to the bottom of the rotating shaft 62;

[0105] The adjustable testing device 20 also includes:

[0106] Synchronization device 7 includes a second telescopic member 71, a connecting ring 72, and a bevel gear shaft 73. The bevel gear shaft 73 is keyed to the lead screw shaft 22 and is aligned within the meshing range of the second rotating member 61. The connecting ring 72 is rotatably mounted on the bevel gear shaft 73 and surrounds the lead screw shaft 22. The second telescopic member 71 connects the mounting bracket 1 and the connecting ring 72 and is used to drive the connecting ring 72 to move and adjust.

[0107] The docking device 8 includes a spring telescopic member 81 and a docking ring 82. The spring telescopic member 81 elastically connects the docking ring 82 and the moving frame 23. The docking ring 82 is aligned with the bevel gear shaft 73.

[0108] The term "sliding key connection" refers to the fact that the bevel gear shaft 73 can slide relative to the lead screw shaft 22 for adjustment, and the rotation of the lead screw shaft 22 can synchronously drive the bevel gear shaft 73 to rotate for adjustment, so that the bevel gear shaft 73 can move and adjust on the lead screw shaft 22.

[0109] The lead screw shaft 22 is composed of a threaded section and a sliding shaft section. The moving frame 23 is threadedly connected to the lead screw shaft 22 through the threaded section, and the bevel gear shaft 73 is keyedly connected to the lead screw shaft 22 through the sliding shaft section.

[0110] In this embodiment, the motor 21 includes two usage modes:

[0111] In the workstation switching mode, the second rotating part 61 is separated from the bevel gear shaft 73, the moving frame 23 is located in the threaded section, and the motor 21 is used to drive the moving frame 23 to move, providing power for the state switching of the first scene arrangement table 3;

[0112] In the rotation adjustment mode, the second rotating component 61 meshes with the bevel gear shaft 73, the moving frame 23 is located at the critical point between the threaded section and the sliding shaft section, and the motor 21 can drive the second rotating component 61 to rotate through the bevel gear shaft 73, thereby providing power for the telescopic adjustment of the second scene arrangement platform 5 relative to the rotating frame 41 (the lead screw shaft 22 only needs to rotate clockwise to realize the telescopic adjustment of the second scene arrangement platform 5).

[0113] In this embodiment, the spring telescopic member 81 provides a buffer between the docking ring 82 and the movable frame 23. When the movable frame 23 moves to the rightmost side of the threaded section (where the bevel gear shaft 73 engages with the second rotating member 61), the docking ring 82 can engage with the surface of the bevel gear shaft 73 (the connection is movable and does not affect the rotational adjustment of the bevel gear shaft 73). The docking device 8 provides buffering and reset support for the movable frame 23 after it moves to the right to the threaded section and the sliding shaft section. After the threaded section separates from the movable frame 23, the docking device 8 can maintain the subsequent engagement of the movable frame 23 and the threaded section under the action of elastic support, providing power for the subsequent extension of the movable frame 23 driven by the lead screw shaft 22.

[0114] When only power is needed to move the movable frame 23, the connecting ring 72 and the bevel gear shaft 73 are moved by the second telescopic member 71, so that the bevel gear shaft 73 is separated from the second rotating member 61. The movable frame 23 is threadedly connected to the lead screw shaft 22 through a threaded section. The motor 21 is adjusted to forward and reverse, and the movable frame 23 is moved by the lead screw shaft 22, thereby providing power for the telescopic adjustment of the first scene arrangement platform 3.

[0115] When power is needed to extend and retract the second scene arrangement platform 5, the connecting ring 72 and the bevel gear shaft 73 are moved by the second telescopic member 71, so that the bevel gear shaft 73 engages with the second rotating member 61; the motor 21 drives the lead screw shaft 22 to rotate clockwise, and when the lead screw shaft 22 rotates clockwise, it drives the moving frame 23 to move, so that the moving frame 23 switches from the extended state to the retracted state;

[0116] During the state switching process of the mobile frame 23, the mobile frame 23 drives the gear ring 422 to rotate through the rack 421, the gear ring 422 drives the rotating tube 423 to rotate, and the rotating tube 423 drives the second scene arrangement platform 5 to rotate as a whole, so that the second scene arrangement platform 5 switches from the use state to the avoidance state.

[0117] While the second scene arrangement platform 5 switches to the avoidance state, the lead screw shaft 22 continues to drive the bevel gear shaft 73 to rotate. The bevel gear shaft 73 drives the second rotating component 61 to rotate. The second rotating component 61 drives the first gear 63 to rotate through the rotating shaft 62. The first gear 63 drives the second gear 64 to rotate. The second gear 64 drives the transmission component 65 to rotate. The transmission component 65 drives the transmission frame 67 to move through the transmission shaft 66. The transmission frame 67 drives the second scene arrangement platform 5 to move, thereby realizing the extension of the second scene arrangement platform 5.

[0118] Ultimately, under the driving action of the same motor 21, it can be used for the movement and adjustment of the mobile frame 23, and also provide power for the extension and retraction adjustment of the second scene arrangement platform 5.

[0119] In another optional embodiment of this example, the second telescopic member 71 is a spring telescopic structure, and the second telescopic member 71 elastically connects the mounting frame 1 and the connecting ring 72.

[0120] When the motor 21 drives the lead screw 22 to rotate clockwise, the lead screw 22 first drives the movable frame 23 to move to the right, and the rightward movement of the movable frame 23 drives the first scene arrangement platform 3 to switch from the extended state to the retracted state;

[0121] During the switching process, the second scene deployment platform 5 is switched from the use state to the avoidance state;

[0122] On the other hand, the mobile frame 23 pushes the bevel gear shaft 73 to the right through the spring telescopic member 81 and the docking ring 82. The bevel gear shaft 73 moves to the right and meshes with the second rotating member 61. The motor 21 continues to drive the second rotating member 61 to rotate through the bevel gear shaft 73. The second scene arrangement platform 5 extends adaptively, so that the equipment is adjusted to the vehicle perception test mode.

[0123] Ultimately, under the driving action of the motor 21, the state of the first scene arrangement platform 3 is switched. During the switching process, the rotation of the second scene arrangement platform 5, the docking of the bevel gear shaft 73 with the second rotating part 61, and the extension and retraction control of the second scene arrangement platform 5 are realized simultaneously.

[0124] Similarly, after the vehicle perception test is completed and the vehicle leaves, the motor 21 drives the lead screw shaft 22 to continue rotating clockwise, controlling the second scene arrangement platform 5 to continue adjusting until the second scene arrangement platform 5 completes to retract.

[0125] When the motor 21 drives the lead screw 22 to rotate counterclockwise, the lead screw 22 drives the moving frame 23 to move to the left, and the moving frame 23 drives the first scene arrangement platform 3 to switch from the retracted state to the extended state.

[0126] During the switching process, on the one hand, the docking ring 82 is driven to separate from the bevel gear shaft 73, and on the other hand, the bevel gear shaft 73 is adaptively moved to the left under the elastic force of the second telescopic member 71 and then separated from the second rotating member 61, thereby realizing the switching of the working mode of the motor 21;

[0127] On the other hand, the rotating frame 41 is driven to rotate adaptively to the use state so as to facilitate the reset of the second scene arrangement platform 5.

[0128] The working principle of the test system for autonomous driving systems provided in this embodiment:

[0129] like Figure 10 Figure (a) and Figure 12 As shown in Figure (a), it can be defined that in the initial state, the first scene arrangement platform 3 is in the extended state, the rotating frame 41 is in the usage state, and the second scene arrangement platform 5 is in the retracted state, which facilitates edge obstacle testing and road closure testing of automobiles.

[0130] Please combine Figure 10 Figure (a) in the middle Figure 10 Figure (b) in the middle Figure 10 Figure (c) in the middle Figure 10 Figure (d) in the middle Figure 10 Figure (e) in the middle and Figure 12 Figure (a) in the middle Figure 12 Figure (b) in the middle Figure 12 In Figure (c), when the first scene arrangement platform 3 needs to be retracted, the motor 21 is started. The motor 21 drives the lead screw shaft 22 to rotate clockwise. The lead screw shaft 22 drives the moving frame 23 to move to the right. While the moving frame 23 moves to the right, it drives the first scene arrangement platform 3 to retract, so as to provide avoidance for the vehicle to continue moving forward after the test.

[0131] Combination Figure 11 Figure (a) in the middle Figure 11 Figure (b) in the middle Figure 11 Figure (c) in the middle Figure 11 Figure (d) in the middle Figure 11 In Figure (e), as the moving frame 23 moves, it also drives the rack 421 to move to the right. As the rack 421 moves to the right, it engages with the gear ring 422. After engagement, the rack 421 drives the gear ring 422 to rotate, providing power for the rotation adjustment of the rotating frame 41. This allows the rotating frame 41 to drive the second scene arrangement platform 5 to rotate and avoid obstacles, providing obstacle avoidance for vehicles after the road closure test.

[0132] During the rightward movement of the movable frame 23, the movable frame 23 drives the docking ring 82 to move to the right via the spring telescopic member 81. As the docking ring 82 moves to the right, it gradually docks with and pushes the bevel gear shaft 73. Simultaneously, the bevel gear shaft 73 moves and engages with the second rotating member 61. After the second rotating member 61 engages with the second rotating member 61, the movable frame 23 can continue to move to the right and compress the spring telescopic member 81, so that the movable frame 23 moves to the connection between the threaded section and the sliding shaft section. During the continuous clockwise rotation of the lead screw shaft 22, the movable frame 23 vibrates left and right but does not continue to move to the right.

[0133] When the moving frame 23 stops moving to the right, the lead screw shaft 22 continues to drive the bevel gear shaft 73 to rotate, providing rotational power to the second rotating component 61, thereby controlling the second scene arrangement platform 5 to extend relative to the rotating frame 41, so that the second scene arrangement platform 5 is aligned with and arranged parallel to the auxiliary test frame 30 for vehicle perception testing.

[0134] like Figure 10 Figure (e) in the middle and Figure 12As shown in Figure (c), the first scene arrangement platform 3 is in a retracted state, the rotating frame 41 is in a avoidance state, and the second scene arrangement platform 5 is in an extended state, which facilitates vehicle perception testing of automobiles.

[0135] Ultimately, under the starting action of the motor 21, the state switching of the first scene arrangement platform 3 can be controlled, and the adaptive swing of the rotating frame 41 can also be realized. After the rotating frame 41 swings, the motor 21 can also be used to drive the second scene arrangement platform 5 to perform telescopic adjustment.

[0136] 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 transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A test system for an automatic driving system, characterized in that: include: A test channel, an adjustable test device and an auxiliary test stand; the test channel is at least two reverse roads, the adjustable test device is arranged between the two reverse roads; the auxiliary test stand is arranged on a reverse road and is aligned with the adjustment range of the adjustable test device; The adjustable test device comprises a mounting frame, a moving device, a first scene arrangement platform, a rotating device, a second scene arrangement platform and a first telescopic member; The mounting frame is provided with a sliding hole; the moving device comprises a motor, a screw shaft and a moving frame, the motor is fixedly mounted on the mounting frame, the screw shaft is fixedly mounted on the shaft end of the motor, the moving frame is threadedly connected to the screw shaft, the moving frame passes through the sliding hole and is slidably mounted on the mounting frame; the first scene arrangement platform is fixedly mounted on the moving frame; the rotating device comprises a rotating frame and a first rotating member, the rotating frame is mounted on the mounting frame through the first rotating member, and the first rotating member is used to drive the rotating frame to rotate and adjust; the second scene arrangement platform is sleeved on the rotating frame and is slidably connected; the first telescopic member is mounted on the rotating frame, and the first telescopic member is fixedly connected to the rotating frame and the second scene arrangement platform; When the first scene layout platform is extended to the range of the test channel, it is used to test the roadblock recognition of the autonomous driving vehicle; when the second scene layout platform is completely blocked within the range of the test channel, it is used to test the road closure recognition of the autonomous driving vehicle; when the second scene layout platform is rotated and extended to be parallel to the auxiliary test frame, it is also used to test the sensor recognition of the autonomous driving vehicle.

2. The test system for an automatic driving system according to claim 1, characterized in that: A toppled battery vehicle and at least one traffic cone are placed on the first scene arrangement platform.

3. The test system for an automatic driving system according to claim 2, characterized in that: At least five traffic cones are placed on the second scene arrangement platform, and at least five traffic cones are placed on the auxiliary test stand.

4. The test system for an automatic driving system according to claim 3, characterized in that: The first rotating member includes a rack, a gear ring and a rotating tube. The top of the rotating tube passes through the mounting frame and is rotatably connected. The top of the rotating tube is fixedly connected to the bottom of the rotating frame. The gear ring is fixed to the bottom of the rotating tube. The rack is fixed to the moving frame. The rack is aligned within the rotation range of the gear ring.

5. The test system for an automatic driving system according to claim 4, characterized in that: The first telescopic member includes a second rotating member, a rotating shaft, a first gear, a second gear, a transmission member, a transmission shaft and a transmission frame, the second rotating member is installed in the mounting frame; the top of the rotating shaft passes through the rotating tube and penetrates the rotating frame, and the connection is rotatably connected; the first gear is fixed on the top of the rotating shaft, the second gear is rotatably installed in the rotating frame and meshes with the first gear, one end of the transmission member is fixedly connected to the shaft of the second gear, the bottom of the transmission shaft is fixedly installed on the transmission part of the transmission member, the transmission frame is fixed on the second scene arrangement platform, and the top of the transmission shaft is inserted into the range of the transmission frame and is transmission-connected.

6. The test system for an automatic driving system according to claim 5, characterized in that: The transmission member is a sprocket set, which consists of two sprockets and a chain. The chain transmission connects the two sprockets. The sprockets are rotatably mounted on the rotating frame. Any of the sprockets and the second gear are fixed on the same shaft, and the transmission shaft is fixed on the chain.

7. The test system for an automatic driving system according to claim 5, characterized in that: The transmission member is a pulley group, which consists of two pulleys and a belt. The belt transmission connects the two pulleys, and the pulleys are rotatably installed on the rotating frame. Any of the pulleys and the second gear are fixed on the same shaft, and the transmission shaft is fixed on the pulley.

8. The test system for an automatic driving system according to claim 5, characterized in that: The adjustable test device is embedded in the range of the test channel.

9. The test system for an automatic driving system according to claim 8, characterized in that: The second rotating member is a bevel gear structure, and the shaft of the second rotating member is fixedly connected to the bottom of the rotating shaft; the adjustable testing device also includes: a synchronization device, the synchronization device includes a second telescopic member, a connecting ring and a bevel gear shaft, the bevel gear shaft is keyed to the screw shaft, and the bevel gear shaft is aligned with the meshing range of the second rotating member; the connecting ring is rotatably installed on the bevel gear shaft, the connecting ring is arranged around the outside of the screw shaft, the second telescopic member is connected to the mounting frame and the connecting ring, and the second telescopic member is used to drive the connecting ring to move and adjust; a docking device, the docking device includes a spring telescopic member and a docking ring, the spring telescopic member elastically connects the docking ring and the moving frame, and the docking ring is aligned with the bevel gear shaft.

10. The test system for an automatic driving system according to claim 9, characterized in that: The second telescopic member is a spring telescopic structure, and the second telescopic member is elastically connected to the mounting frame and the connecting ring.

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