Emergency braking test system of autonomous vehicle

Abstract

The invention provides an emergency braking test system of an automatic driving vehicle, and relates to the field of automatic driving vehicle testing, the emergency braking test system comprises a test road, the test road comprises a straight road area and a curve road area, the straight road area and the curve road area are correspondingly provided with test stations, and the straight road area and the curve road area are provided with road surfaces with different friction coefficients; the testing device is arranged at one testing station, and the testing device comprises a rotating seat, a driving trolley, a guide rod structure, a simulation testing piece and a detection sensor. According to the emergency braking test system of the automatic driving vehicle provided by the invention, the limit braking distance of the test vehicle under different speeds and road conditions can be detected; and the rotation device can adjust the initial driving angle of the simulation test piece driven by the driving trolley and can drive the driving trolley and the simulation test piece to rotate so as to avoid collision with the test trolley.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving vehicle testing, and in particular to an emergency braking test system for an autonomous driving vehicle. Background Art

[0002] Self-driving cars rely on sensors such as lidar, cameras, and radar to achieve environmental perception, use technologies such as satellite positioning for precise positioning, and use complex algorithms to complete path planning and decision-making.

[0003] The safety of self-driving cars is extremely important, so self-driving cars need to undergo a large number of safety tests, including emergency braking tests. The current test items for emergency braking of self-driving cars include testing whether the self-driving car can stop suddenly when encountering pedestrians or two-wheeled vehicles while driving. The different friction coefficients of the road surface have a great impact on the braking distance of the vehicle, such as common cement roads, asphalt roads, and slippery roads formed after rain. At present, the test requires driving to different roads for testing, which is not convenient for quickly switching to roads with different friction coefficients for testing; In addition, during the current test, a driving car is usually set up to drive a simulated dummy or two-wheeled vehicle across the road at a certain speed to detect whether the autonomous driving vehicle can stop safely. During the test, when the driving car crosses the intersection, it generally moves from different angles, such as crossing the road or entering the test vehicle path at a 15° angle. At present, the driving car drives directly towards the road surface, which is not easy to maintain driving along the preset angle, and the measurement and setting of the preset angle are cumbersome. At the same time, during the test, when detecting the minimum braking distance, it is inevitable that the vehicle will collide with the driving car and simulated pedestrians, two-wheeled vehicles, etc., which makes the driving car easy to be damaged. There is still room for improvement in how to improve the driving angle adjustment of the driving car and the avoidance of the test car to avoid collision.

[0004] Therefore, it is necessary to provide an emergency braking test system for an autonomous driving vehicle to solve the above technical problems. Summary of the invention

[0005] The present invention provides an emergency braking test system for an autonomous driving vehicle, which solves the problem of how to improve the driving angle adjustment of a driving vehicle and the function of avoiding collision with a test vehicle during the test, but there is still room for improvement.

[0006] In order to solve the above technical problems, the present invention provides an emergency brake test system for an autonomous driving vehicle, comprising: a test track, the test track comprising a straight area and a curved area, the straight area and the curved area are respectively provided with test stations, and the straight area and the curved area are both provided with road surfaces with different friction coefficients; A testing device, the testing device is arranged at one of the testing stations, the testing device comprises a rotating seat, a driving trolley, a guide rod structure, a simulated test piece and a detection sensor; The rotating seat comprises a moving seat and a rotating device, and the rotating device is installed on the moving seat; The simulation test piece is detachably mounted on the driving trolley, one end of the guide rod structure is detachably connected to the driving trolley, and the other end is slidably connected to the output end of the rotating device, and the detection sensor is mounted on the driving trolley; During the test, the rotating device drives the guide rod structure to drive the driving trolley to rotate to a preset angle, and the driving trolley drives the simulated test piece to enter the test track at a preset angle; When the detection sensor detects the approaching test vehicle, the rotating device drives the guide rod structure to drive the driving vehicle to rotate a preset angle.

[0007] Preferably, the rotating device includes a motor, a drive shaft and a U-shaped sleeve, the motor is installed on the movable seat, the bottom end of the drive shaft is installed on the output shaft of the motor, the U-shaped sleeve is installed on the top end of the drive shaft, and the U-shaped sleeve is arranged at the other end of the guide rod structure.

[0008] Preferably, the rotating seat also includes a support member, which includes a U-shaped frame and a support sleeve. The bottom end of the U-shaped frame is slidably installed in the arc-shaped slide groove on the top of the movable seat and is arranged adjacent to the U-shaped sleeve. The support sleeve is installed in the U-shaped frame, and the other end of the guide rod structure passes through the U-shaped frame and the support sleeve in sequence.

[0009] Preferably, the guide rod structure includes a rod body, an elastic member and an end cap, the end of the rod body away from the driving trolley passes through the U-shaped frame and the support sleeve in sequence, the end cap is installed at the end of the rod body, and the elastic member is sleeved on the rod body and located between the end cap and the support sleeve.

[0010] Preferably, the driving trolley includes a vehicle body, a mounting frame, an assembly sleeve and an installation component, the mounting frame is installed on the vehicle body, the installation component includes a fixing frame, an electric push cylinder, a pressure plate and a first positioning shaft, the electric push cylinder is installed on the top end of the mounting frame through the fixing frame, the pressure plate is installed on the output end of the electric push cylinder, the first positioning shaft is installed on the bottom end of the pressure plate, the guide rod structure also includes an assembly block, the assembly block is installed on the end of the rod body away from the end cap, the assembly block is inserted in the assembly sleeve, and the bottom end of the first positioning shaft passes through the assembly sleeve and the assembly block.

[0011] Preferably, the rotating seat further comprises a bearing platform, the bearing platform comprises two supporting plates and two guide plates, one end of the two supporting plates is installed on the moving seat at intervals, the other end of the supporting plate is set as an inclined surface, the two guide plates are respectively rotatably installed at the other ends of the two supporting plates, and a limiting groove is provided on the top of the supporting plate; The support sleeve is slidably mounted in the U-shaped frame.

[0012] Preferably, the rotating seat also includes a driving member, which includes a driving sleeve, an L-shaped plate and a connecting plate. The driving sleeve is installed on the driving shaft, one end of the L-shaped plate is installed on the top of the driving sleeve, and the top of the connecting plate passes through the L-shaped plate and is connected to the support sleeve.

[0013] Preferably, the rod body includes a plurality of single rods and a plurality of rotating shafts, adjacent single rods are rotationally connected via the rotating shafts, and adjacent single rods can only rotate in the vertical direction.

[0014] Preferably, the driving member further includes a limiting shaft and a positioning hole, the positioning hole is provided on a flange at the top end of the driving sleeve, the limiting shaft is mounted at the bottom end of the connecting plate and is located below the positioning hole, and the driving sleeve is threadedly connected to the driving shaft.

[0015] Preferably, the simulation test piece comprises a simulation piece and a T-shaped frame, the T-shaped frame is mounted on the simulation piece, and a second assembly hole is provided on the mounting portion of the T-shaped frame; A mounting hole is formed at the top of the mounting frame, and the mounting assembly further comprises a second positioning shaft, which is mounted at the bottom of the pressing plate and aligned with the mounting hole, wherein the length of the second positioning shaft is longer than that of the first positioning shaft; When the simulation test piece is assembled with the driving trolley, the mounting portion of the T-shaped frame is arranged between the mounting frame and the pressure plate, the mounting hole is aligned with the second assembly hole, and the electric push cylinder pushes the pressure plate downward to make the second positioning axis pass through the second assembly hole and the mounting hole in sequence.

[0016] Compared with the related art, the emergency braking test system for the autonomous driving vehicle provided by the present invention has the following beneficial effects: The present invention provides an emergency brake test system for an autonomous driving vehicle, wherein a test track is set to a straight area and a curve area, and both areas correspond to road surfaces with different friction coefficients, so that the test vehicle can quickly switch to road surfaces with different friction coefficients for sequential testing, and water can also be sprayed on the two road surfaces to form a slippery road surface for testing; During the test, the test device moves to the corresponding test station for testing, such as first testing in the straight area, such as Figure 1, the test device is set at the test station in the straight area, and the rotating device drives the guide rod structure to drive the driving trolley to move to the preset angle, so that the angle adjustment is convenient; After adjusting the driving angle of the driving trolley, the test trolley drives from the straight area of ​​the test track toward the direction of the simulated test piece at a preset speed. When it moves to a preset distance from the simulated test piece, the driving trolley drives the simulated test piece to drive toward the test track at a preset speed to detect whether the test trolley can stop in time after detecting the simulated test piece. The driving trolley drives the guide rod structure to follow the movement. Since the guide rod structure is slidably connected to the output end of the rotating device, the guide rod structure acts as a slide rail to guide and limit the driving direction of the driving trolley. During the test, when the detection sensor detects the test vehicle, it is determined that the test vehicle has not stopped safely and a collision will occur. At this time, the rotating device drives the guide rod structure to drive the driving trolley to rotate rapidly to be parallel to the straight area of ​​the test track (when testing in the curve area, it rotates to be tangent to the arc of the curve area), thereby avoiding the driving trolley and the simulated test piece from colliding with the test vehicle and causing damage to the driving trolley and the simulated test piece. At the same time, the maximum braking distance of the test vehicle under different speeds and road conditions can be detected. The rotating device can be used to adjust the starting driving angle of the driving trolley to drive the simulated test piece, and can drive the driving trolley and the simulated test piece to rotate to avoid collision with the test vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of the emergency braking test system for the autonomous driving vehicle provided by the present invention; Figure 2 A schematic diagram of the structure of the testing device provided by the present invention; Figure 3 A schematic diagram of the structure of the rotating seat provided by the present invention; Figure 4 A schematic diagram of the structure of the driving vehicle provided by the present invention; Figure 5 A schematic diagram of the rotating device provided by the present invention driving the guide rod structure to drive the driving trolley to adjust the angle; Figure 6 A schematic diagram of the structure of the rotating seat provided by the present invention after removing part of the U-shaped frame; Figure 7 A partial cross-sectional view of the driving trolley provided by the present invention; Figure 8 A schematic diagram of the structure of a simulation test piece provided by the present invention; Fig. 9 A schematic diagram of the structure of the driving trolley provided by the present invention being assembled on a bearing platform; Fig.10 This is a schematic diagram of the structure of the guide rod structure provided by the present invention being rotated and retracted.

[0018] Numbers in the figure: 1. Test track; 11. Straight track area; 12. Curved track area; 2. Test car; 3. Rotating seat; 31. Moving seat; 32. Rotating device; 33. Support member; 34. Loading platform; 35. Driving member; 321, motor; 322, drive shaft; 323, U-shaped sleeve; 331, U-shaped frame; 332, support sleeve; 341, support plate; 342, guide plate; 343, limit groove; 351, driving sleeve; 352, L-shaped plate; 353, connecting plate; 354, limiting shaft; 355, positioning hole; 4. Driving trolley; 41. Car body; 42. Mounting frame; 43. Assembly kit; 44. Mounting assembly; 441, fixing frame; 442, electric push cylinder; 443, pressing plate; 444, first positioning axis; 445, second positioning axis; 421, mounting hole; 5. Guide rod structure; 51. Rod body; 52. Elastic member; 53. End cap; 54. Assembly block; 541. First assembly hole; 511. Monomer rod; 512. Rotating shaft; 6. Simulated test piece; 61. Simulated piece; 62. T-shaped frame; 621. Mounting portion; 622. Second assembly hole; 7. Detection sensor; 8. Shielding plate; 9. Test station. DETAILED DESCRIPTION

[0019] 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.

[0020] The present invention provides an emergency braking test system for an automatic driving vehicle.

[0021] Please refer to Figures 1 to 4 In one embodiment of the present invention, the emergency brake test system of the autonomous driving vehicle comprises: a test track 1, the test track 1 comprises a straight area 11 and a curved area 12, the straight area 11 and the curved area 12 are respectively provided with a test station 9, and the straight area 11 and the curved area 12 are both provided with road surfaces with different friction coefficients; A testing device, the testing device is arranged at one of the testing stations 9, the testing device comprises a rotating seat 3, a driving trolley 4, a guide rod structure 5, a simulated test piece 6 and a detection sensor 7; The rotating seat 3 includes a moving seat 31 and a rotating device 32, and the rotating device 32 is installed on the moving seat 31; The simulation test piece 6 is detachably mounted on the driving trolley 4, one end of the guide rod structure 5 is detachably connected to the driving trolley 4, and the other end is slidably connected to the output end of the rotating device 32, and the detection sensor 7 is mounted on the driving trolley 4; During the test, the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to rotate to a preset angle, and the driving trolley 4 drives the simulated test piece 6 to enter the test track 1 at a preset angle; When the detection sensor 7 detects the approaching test vehicle 2 , the rotating device 32 drives the guide rod structure 5 to drive the driving vehicle 4 to rotate by a preset angle.

[0022] See also Figure 1 In this embodiment, the test track 1 is set to be annular, and the two ends of the test track 1 are curved areas 12. The two curved areas 12 are connected by two straight areas 11 to form an annular shape, wherein one straight area 11 and one curved area 12 are combined into a road surface with one friction coefficient, and the other straight area 11 and the other curved area 12 are combined into a road surface with another friction coefficient, such as one is a cement road surface and the other is an asphalt road surface, so that the test vehicle 2 can quickly switch to road surfaces with different friction coefficients for sequential testing, and water can also be sprayed on the two road surfaces to form a slippery road surface for testing.

[0023] Among them, test stations 9 are set on both the straight area 11 and the curved area 12, and multiple test areas are set on the curved area 12. In this embodiment, three test stations 9 are set, which are respectively located on both sides and the middle of the curved area 12, and a removable shielding plate 8 is set on the side of the test station 9, and the inner and outer sides of the curved area 12 are installed accordingly. The shielding plate 8 is installed according to the test needs to simulate the objects that block the vehicle's line of sight encountered in actual driving.

[0024] The simulated test piece 6 is a plastic sign or a three-dimensional model of a human figure, a two-wheeled vehicle, etc. The moving speed of the driving vehicle 4 is set accordingly according to the simulated pedestrian or two-wheeled vehicle. For example, the speed of simulating a pedestrian suddenly jogging across the road is set at 10-20 km / h, and the speed of simulating a battery vehicle crossing the road is set at 20-50 km / h.

[0025] During the test, the test device moves to the corresponding test station 9 for testing, such as first testing in the straight area 11, such as Figure 1The test device is set at the test station 9 at the straight area 11, and the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to move to a preset angle, so that the angle adjustment is convenient, such as Figure 5 , such as driving perpendicularly into the straight area 11 of the test track 1, that is, simulating the test piece 6 crossing the road; or driving obliquely into the test track 1 at 15°, etc.; After adjusting the driving angle of the driving trolley 4, the test vehicle 2 drives from the straight area 11 of the test track 1 toward the direction of the simulated test piece 6 at a preset speed. When it moves to a preset distance from the simulated test piece 6, the driving trolley 4 drives the simulated test piece 6 to drive toward the test track 1 at a preset speed to detect whether the test vehicle 2 can stop in time after detecting the simulated test piece 6, wherein the driving trolley 4 drives the guide rod structure 5 to follow the movement. Since the guide rod structure 5 is slidably connected to the output end of the rotating device 32, the guide rod structure 5 acts as a slide rail to guide and limit the driving direction of the driving trolley 4. Subsequently, the starting speed of the test vehicle 2 can be adjusted for testing, and the distance between the test vehicle 2 and the simulated test piece 6 can be adjusted so that the driving vehicle 4 moves toward the test track 1 for testing; During the test, when the detection sensor 7 detects the test vehicle 2, it is determined that the test vehicle 2 has not stopped safely and a collision will occur. At this time, the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to rotate quickly to be parallel to the straight area 11 of the test track 1 (when testing the curve area 12, rotate to be tangent to the arc of the curve area 12), thereby avoiding the driving trolley 4 and the simulated test piece 6 from colliding with the test vehicle 2 and causing damage to the driving trolley 4 and the simulated test piece 6. At the same time, the maximum braking distance of the test vehicle 2 under different speeds and road conditions can be detected. The rotating device 32 can be used to adjust the starting driving angle of the driving trolley 4 to drive the simulated test piece 6, and can drive the driving trolley 4 and the simulated test piece 6 to rotate to avoid collision with the test vehicle 2.

[0026] After the test at one test station 9 is completed, the test device can be moved to other test stations 9 for similar testing.

[0027] Among them, the 15° to 20° entry angle is a typical representative of the high-risk oblique penetration scenario. According to accident data statistics, in the collision between two-wheeled vehicles and cars, the two-wheeled vehicles enter the vehicle's driving path at an angle of 15° to 20° in more than 40%; among them, within this angle range, the impact on the camera is that the 15° oblique penetration causes the pixel displacement direction of the target in the image to be non-orthogonal to the movement direction of the main vehicle, and the traditional optical flow algorithm is prone to lose the target; the impact on the millimeter-wave radar is that the radar scattering cross section (RCS) of the oblique target is reduced by about 30%, and the signal-to-noise ratio (SNR) drops to the edge of the detection threshold; the impact on the lidar is that the point cloud is stretched and deformed under oblique motion, and the clustering algorithm requires additional processing; by simulating the test piece 6 to cross the test track 1 at an angle of 15° to 20°, the capabilities of the autonomous driving system in longitudinal and lateral coupling control, low signal-to-noise ratio target detection and real-time trajectory prediction can be effectively verified.

[0028] In this embodiment, the detection sensor 7 can be a photoelectric switch or a laser sensor, etc., and the detection distance is 10-50 cm.

[0029] The detection sensor 7 is connected to the motor 321 through a communication module, and the communication module can be Bluetooth communication, local area network communication, etc.

[0030] The distance from the test vehicle 2 to the simulated test piece 6 can be measured in advance and marked by a sign. When the test vehicle 2 reaches the sign corresponding to the distance, the staff controls the driving vehicle 4 to move toward the test track 1.

[0031] A sensing device may also be provided at a position of a corresponding distance, and when the sensor detects the test vehicle 2 , the vehicle 4 is controlled to move toward the test track 1 .

[0032] In this embodiment, two driving wheels and two steering wheels are provided at the bottom of the mobile seat 31, the two driving wheels are located at the rear of the mobile seat 31, and are used to drive the mobile seat 31 to travel, and the two steering wheels are installed at the front of the mobile seat 31, and are used to support the front of the mobile seat 31 and can adjust the moving direction of the mobile seat 31, wherein the rotation of the driving wheels and the angle adjustment of the steering wheels are both driven by driving motors as power. By providing driving wheels and steering wheels, it is convenient to move to different test stations 9.

[0033] See also Figure 3 As an optional method of this embodiment, the rotating device 32 includes a motor 321, a driving shaft 322 and a U-shaped sleeve 323, the motor 321 is installed on the moving seat 31, the bottom end of the driving shaft 322 is installed on the output shaft of the motor 321, the U-shaped sleeve 323 is installed on the top end of the driving shaft 322, and the U-shaped sleeve 323 is sleeved on the other end of the guide rod structure 5.

[0034] During operation, when the driving angle of the driving trolley 4 needs to be adjusted or the driving trolley 4 is driven to rotate during testing, the motor 321 drives the driving shaft 322 to drive the U-shaped sleeve 323 to rotate, and the U-shaped sleeve 323 drives the driving trolley 4 to rotate to the corresponding position through the guide rod structure 5. When adjusting the starting driving angle of the driving trolley 4, the driving trolley 4 and the guide rod structure 5 can also be installed after adjusting the angle of the guide rod structure 5. During testing, when the driving trolley 4 drives the simulated test piece 6 to move toward the test track 1 , the guide rod structure 5 slides along the U-shaped sleeve 323 .

[0035] As another optional method of this embodiment, the U-shaped sleeve 323 can also be replaced by a sliding seat, a sliding groove is provided on the top of the sliding seat, and a sliding rail is provided at the bottom of the corresponding guide rod structure 5, and the sliding rail and the sliding groove are slidably assembled.

[0036] See also Figure 3 and Figure 6 As a preferred embodiment of this embodiment, the rotating seat 3 also includes a support member 33, which includes a U-shaped frame 331 and a support sleeve 332. The bottom end of the U-shaped frame 331 is slidably installed in the arc-shaped slide groove at the top of the moving seat 31, and is arranged adjacent to the U-shaped sleeve 323. The support sleeve 332 is installed in the U-shaped frame 331, and the other end of the guide rod structure 5 passes through the U-shaped frame 331 and the support sleeve 332 in sequence.

[0037] The support member 33 is provided to assist in supporting the guide rod structure 5 , thereby improving the stability of the guide rod structure 5 during use.

[0038] The center of the arc-shaped slide groove of the top valve of the movable seat 31 coincides with the center line of the output shaft of the motor 321, so that when the rotating device 32 drives the guide rod structure 5 to rotate, the U-shaped frame 331 can slide along the arc-shaped slide groove.

[0039] A slider is provided at the bottom of the U-shaped frame 331, and the slider slides into the slide groove to form a sliding assembly; and preferably, the cross-section of the slider is set to an inverted T shape, and the cross-section shape of the arc-shaped slide groove is set accordingly, thereby forming a limit in the vertical direction.

[0040] See also Figure 6 As a preferred embodiment of this embodiment, the guide rod structure 5 includes a rod body 51, an elastic member 52 and an end cap 53. The end of the rod body 51 away from the driving trolley 4 passes through the U-shaped frame 331 and the support sleeve 332 in sequence. The end cap 53 is installed at the end of the rod body 51. The elastic member 52 is sleeved on the rod body 51 and is located between the end cap 53 and the support sleeve 332.

[0041] During the test, when the detection sensor 7 detects the test vehicle 2, it is determined that the test vehicle 2 has not stopped safely and a collision will occur. In the process of the rotating device 32 driving the guide rod structure 5 to drive the driving trolley 4 to rotate quickly to a preset angle, the driving trolley 4 will generate centrifugal force during the rotation, thereby pulling the guide rod structure 5 in the direction of the centrifugal force, so that the end cap 53 at the end of the guide rod structure 5 compresses the elastic member 52. The elastic member 52 buffers the generated centrifugal force to prevent the guide rod structure 5 from being separated from the rotating seat 3 due to the centrifugal force.

[0042] The elastic member 52 is a spring, or a leaf spring, etc., and one end of the elastic member 52 is preferably fixedly connected to the end cap 53 .

[0043] See also Figure 4 and Figure 7 As an optional method of this embodiment, the driving trolley 4 includes a car body 41, a mounting frame 42, an assembly sleeve 43 and an installation component 44. The mounting frame 42 is installed on the car body 41. The installation component 44 includes a fixing frame 441, an electric push cylinder 442, a pressure plate 443 and a first positioning shaft 444. The electric push cylinder 442 is installed on the top of the mounting frame 42 through the fixing frame 441, the pressure plate 443 is installed at the output end of the electric push cylinder 442, and the first positioning shaft 444 is installed at the bottom end of the pressure plate 443. The guide rod structure 5 also includes an assembly block 54, which is installed at the end of the rod body 51 away from the end cap 53, and the assembly block 54 is inserted into the assembly sleeve 43. The bottom end of the first positioning shaft 444 passes through the assembly sleeve 43 and the assembly block 54.

[0044] The corresponding assembly block 54 is provided with a first assembly hole 541 , and the assembly sleeve 43 is provided with a fixing hole therethrough.

[0045] When the guide rod structure 5 is assembled with the driving trolley 4, the assembly block 54 at one end of the rod body 51 is inserted into the assembly sleeve 43. At this time, the first assembly hole 541 is aligned with the fixing hole, and the electric push cylinder 442 pushes the plate 443 downward to make the first positioning shaft 444 pass through the fixing hole and the first assembly hole 541 to realize the installation of the guide rod structure 5 and the driving trolley 4.

[0046] During the test, when the test vehicle 2 is safely braked, the driving trolley 4 passes through the test track 1 where the test vehicle 2 is currently traveling, and then stops. After the driving trolley 4 passes the front side of the front of the test vehicle 2, it starts to decelerate to a stop. During the process of decelerating to a stop, the electric push cylinder 442 lifts the pressure plate 443 to move the first positioning shaft 444 out of the first assembly hole 541. At this time, when the driving trolley 4 moves, the assembly set 43 is separated from the assembly block 54, that is, the guide rod structure 5 is separated from the driving trolley 4, thereby shortening the length of the guide rod structure 5, and there is no need to set a sufficiently long rod body 51 so that it can always follow the driving trolley 4 to move to a stop. After the driving trolley 4 stops, the driving trolley 4 is moved and installed with the guide rod structure 5.

[0047] Among them, the activation of the electric push cylinder 442 separates the first positioning shaft 444 from the first assembly hole 541. The opening of the electric push cylinder 442 can be controlled by setting a timing device, according to the current speed of the driving trolley 4 and the width of the current test track 1 on which the test vehicle 2 is traveling, and calculating the driving time through the current test track 1. Alternatively, a sensor can be installed on the mounting frame 42, and the sensor detects the distance between the sensor and the moving seat 31. When it is detected that the distance between the sensor and the moving seat 31 is greater than the preset distance, the electric push cylinder 442 is started.

[0048] In this embodiment, the test track 1 is a dual-lane setting, the test vehicle 2 preferably travels in a lane close to the test device, and the length of the guide rod structure 5 is between the width of one lane and the width of two lanes.

[0049] The number of the first assembly holes 541 is preferably multiple, and in this embodiment, four are provided, and the number and positions of the fixing holes are provided accordingly.

[0050] The detection sensor 7 is preferably rotatably mounted on the mounting frame 42. When the driving vehicle 4 is obliquely inserted into the test track 1 at a preset angle, the angle of the detection sensor 7 can be adjusted to face the test vehicle 2 to facilitate detection of the test vehicle 2.

[0051] As another optional method of this embodiment, an assembly block 54 can also be installed on the mounting frame 42, and an assembly sleeve 43 can be correspondingly installed on the end of the rod body 51, a fixing hole is opened on the corresponding assembly block 54, and a first assembly hole 541 is opened on the assembly sleeve 43; during installation, the assembly sleeve 43 at the end of the guide rod structure 5 is correspondingly sleeved on the assembly block 54, and the fixing hole is aligned with the first assembly hole 541.

[0052] See also Figure 3As a preferred embodiment of the present invention, the rotating seat 3 further comprises a bearing platform 34, the bearing platform 34 comprises two supporting plates 341 and two guiding plates 342, one end of the two supporting plates 341 is installed on the moving seat 31 at intervals, the other end of the supporting plate 341 is set as an inclined surface, the two guiding plates 342 are respectively rotatably installed on the other ends of the two supporting plates 341, and a limiting groove 343 is provided on the top of the supporting plate 341; The support sleeve 332 is slidably installed in the U-shaped frame 331 .

[0053] By setting the support platform 34, after a test station 9 completes the test, the guide plate 342 is rotated so that one end of the guide plate 342 contacts the ground. Fig. 9 , and then drive the trolley 4 to move along the guide plate 342 to the supporting platform 34, the wheels on both sides are correspondingly located on the two support plates 341 and in the limiting grooves 343, the limiting grooves 343 assist in limiting the driving trolley 4, and the driving trolley 4 drives the guide rod structure 5 to follow the upward lifting, the guide rod structure 5 drives the support sleeve 332 to slide up along the U-shaped frame 331, and then the guide plate 342 is rotated to fit the inclined surface of the support plate 341, and then the entire test device can be moved to the next test station 9 by controlling the moving seat 31 to move to the next test station 9, and the position adjustment operation is simple.

[0054] Among them, one end of the limiting groove 343 facing the guide plate 342 is set as an inclined surface, so that the driving trolley 4 can enter the limiting groove 343 more smoothly.

[0055] Wherein, a plurality of sliding rods are installed on both sides of the inner wall of the U-shaped frame 331, and a sliding sleeve is provided on both sides of the support sleeve 332 and is sleeved on the plurality of sliding rods to form a sliding connection.

[0056] See also Figure 2 and Figure 3 As a preferred mode of this embodiment, the rod body 51 includes a plurality of single rods 511 and a plurality of rotating shafts 512, and the adjacent single rods 511 are rotationally connected via the rotating shafts 512, and the adjacent single rods 511 can only rotate in the vertical direction.

[0057] By configuring the rod body 51 to be a plurality of single rods 511 , when the test device is not in use or is moved to a different test station 9 , the rod body 51 can be rotated and folded, thereby reducing space occupation and facilitating storage and transfer of the test device.

[0058] In this embodiment, the rod body 51 includes two long single rods 511, a short single rod 511 and a single rod 511 for installation. The four rods are rotatably connected in sequence through a rotating shaft 512, wherein the short single rod 511 is provided so that the two long single rods 511 can be folded when they are retracted. Fig.10The installation single rod 511 is installed at one end of a long single rod 511, and the assembly block 54 is installed on the installation single rod 511; wherein the long single rod 511 and the short single rod 511 can also be correspondingly set to other numbers as needed.

[0059] The single rods 511 can only move in the vertical direction through the rotating shaft 512, so when the motor 321 drives the rod body 51 to rotate in the horizontal direction, the rod body 51 can drive the driving trolley 4 to follow and move.

[0060] As an optional method of this embodiment, the rotating seat 3 also includes a driving member 35, which includes a driving sleeve 351, an L-shaped plate 352 and a connecting plate 353. The driving sleeve 351 is installed on the driving shaft 322, one end of the L-shaped plate 352 is installed on the top of the driving sleeve 351, and the top of the connecting plate 353 passes through the L-shaped plate 352 and is connected to the support sleeve 332.

[0061] By providing the driving member 35 , when the rotating device 32 drives the guide rod structure 5 to rotate, the driving sleeve 351 cooperates with the L-shaped plate 352 and the connecting plate 353 to assist in driving the U-shaped frame 331 to rotate.

[0062] In this embodiment, the driving sleeve 351 may be fixedly connected to the driving shaft 322 .

[0063] See also Figure 6 As an optional method of this embodiment, the driving member 35 also includes a limiting shaft 354 and a positioning hole 355. The positioning hole 355 is opened on the flange at the top of the driving sleeve 351. The limiting shaft 354 is installed at the bottom end of the connecting plate 353 and is located below the positioning hole 355. The driving sleeve 351 is threadedly connected to the driving shaft 322.

[0064] In this embodiment, a threaded surface is provided on the driving shaft 322 , and an internal threaded surface is correspondingly provided inside the driving sleeve 351 .

[0065] Please refer to Fig. 9 and Fig.10When the driving trolley 4 moves onto the carrying platform 34, the driving trolley 4 drives the guide rod structure 5 to follow and lift up, and the guide rod structure 5 moves to the top of the U-shaped sleeve 323, and at the same time drives the support sleeve 332 to move up, and the support sleeve 332 drives the connecting plate 353 to move up, so that the limiting shaft 354 is inserted into the positioning hole 355. At this time, when the motor 321 drives the driving shaft 322 to rotate, because the limiting shaft 354 cooperates with the positioning hole 355 to limit the axial position of the driving sleeve 351, the driving sleeve 351 moves up along the threaded surface of the driving shaft 322, and the driving sleeve 351 drives the L-shaped plate 352 to move up, and the L-shaped plate 352 pushes a single rod 511 up to ninety degrees, and limits the single rod 511, and then makes the other single rods 511 fold up accordingly, as shown in FIG. Fig.10 , so that the rod body 51 can be kept folded upward, reducing the space occupied by the rod body 51. And when moving the test device, the erected rod body 51 can be used as a push handle, and the staff can support the push handle to help maintain the stability of the moving base 31 when moving.

[0066] That is, the rotating device 32 can be used to drive the driving trolley 4 to rotate in one state, and can drive the single rod 511 to rotate upward and keep it in a vertically folded state in another state, and the switching of the two states is realized during the process of assembling the driving trolley 4 on the supporting platform 34.

[0067] Among them, preferably, a rubber sleeve is arranged at the bottom end of the inner wall of the driving sleeve 351, which is tightly attached to the driving shaft 322, so that when the limiting shaft 354 is not assembled with the positioning hole 355, the driving sleeve 351 can more stably follow the rotation of the driving shaft 322, and the diameter of the part of the driving shaft 322 corresponding to the rubber sleeve is set slightly larger than other parts, so that when the driving sleeve 351 moves up along the thread surface, the rubber sleeve will not interact with the thread surface.

[0068] See also Figure 7 and Figure 8 The simulation test piece 6 includes a simulation piece 61 and a T-shaped frame 62, the T-shaped frame 62 is installed on the simulation piece 61, and the mounting portion 621 of the T-shaped frame 62 is provided with a second assembly hole 622; The top of the mounting frame 42 is provided with a mounting hole 421, and the mounting assembly 44 further includes a second positioning shaft 445, which is mounted at the bottom of the pressing plate 443 and aligned with the mounting hole 421, wherein the length of the second positioning shaft 445 is longer than that of the first positioning shaft 444; When the simulation test piece 6 is assembled with the driving trolley 4, the mounting portion 621 of the T-shaped frame 62 is arranged between the mounting frame 42 and the pressure plate 443, the mounting hole 421 is aligned with the second assembly hole 622, and the electric push cylinder 442 pushes the pressure plate 443 downward to make the second positioning shaft 445 pass through the second assembly hole 622 and the mounting hole 421 in sequence.

[0069] When it is necessary to replace the simulation parts 61 of different shapes, such as simulation parts 61 of different shapes such as pedestrians or two-wheeled vehicles, the electric push cylinder 442 lifts the pressure plate 443 to move the second positioning shaft 445 out of the second assembly hole 622. At this time, the current simulation part 61 can be disassembled and then replaced with the corresponding simulation part 61. During assembly, the mounting portion 621 of the T-shaped frame 62 is inserted between the pressure plate 443 and the top of the mounting frame 42 to align the second assembly hole 622 with the mounting hole 421. Then the electric push cylinder 442 pushes the pressure plate 443 down to drive the second positioning shaft 445 to pass through the second assembly hole 622 and the mounting hole 421 to achieve quick assembly, thereby simplifying the operating steps for replacing different simulation parts 61.

[0070] Among them, the length of the second positioning shaft 445 is set to be longer than the first positioning shaft 444, so that in the test, when the first positioning shaft 444 moves out of the first assembly hole 541 to separate the assembly block 54 from the assembly sleeve 43, the second positioning shaft 445 is still assembled with the mounting hole 421, and the simulation part 61 will not be separated from the driving trolley 4.

[0071] In the present invention, the drive of the motor 321, the electric push cylinder 442, the drive trolley 4 and the mobile seat 31 is preferably set to remote control. The control method includes setting a control handle, or downloading an APP for control through a terminal device such as a mobile phone, etc. After the remote control authorization is passed, the detection sensor 7 can be used to control the start of the motor 321.

[0072] Among them, the driving wheels in the driving trolley 4 are preferably steerable, and the steering of the wheels is controlled by a steering motor. Therefore, when the driving trolley 4 rotates following the guide rod structure 5, the steering motor drives the driving wheels to rotate, so that it can move in the direction of rotation of the guide rod structure 5, thereby greatly reducing the friction between the driving wheels and the ground when the driving trolley 4 rotates following the guide rod structure 5.

[0073] The working principle of the emergency braking test system for the autonomous driving vehicle provided by the present invention is as follows: See also Figure 1 In this embodiment, the test track 1 is set to be annular, and the two ends of the test track 1 are curved areas 12. The two curved areas 12 are connected by two straight areas 11 to form an annular shape, wherein one straight area 11 and one curved area 12 are combined into a road surface with one friction coefficient, and the other straight area 11 and the other curved area 12 are combined into a road surface with another friction coefficient, such as one is a cement road surface and the other is an asphalt road surface, so that the test vehicle 2 can quickly switch to road surfaces with different friction coefficients for sequential testing, and water can also be sprayed on the two road surfaces to form a slippery road surface for testing.

[0074] Among them, test stations 9 are set in both the straight area 11 and the curved area 12, and multiple test areas are set in the curved area 12. In this embodiment, three test stations 9 are set, which are respectively located on both sides and the middle of the curved area 12, and a removable shielding plate 8 is set on the side of the test station 9, and the inner and outer sides of the curved area 12 are installed accordingly. The shielding plate 8 is installed according to the test needs to simulate the objects encountered in actual driving that block the line of sight of the autonomous driving vehicle.

[0075] The simulated test piece 6 is a plastic sign or a three-dimensional model of a human figure, a two-wheeled vehicle, etc. The moving speed of the driving vehicle 4 is set accordingly according to the simulated pedestrian or two-wheeled vehicle. For example, the speed of simulating a pedestrian suddenly jogging across the road is set at 10-20 km / h, and the speed of simulating a battery vehicle crossing the road is set at 20-40 km / h.

[0076] During the test, the test device moves to the corresponding test station 9 for testing, such as first testing in the straight area 11, such as Figure 1 The test device is set at the test station 9 at the straight area 11, and the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to move to a preset angle, so that the angle adjustment is convenient, such as Figure 5 , such as driving perpendicularly into the straight area 11 of the test track 1, that is, simulating the test piece 6 crossing the road; or driving obliquely into the test track 1 at 15°, etc.; After adjusting the driving angle of the driving trolley 4, the test trolley 2 drives from the straight area 11 of the test track 1 toward the direction of the simulated test piece 6 at a preset speed. When it moves to a preset distance from the simulated test piece 6, the driving trolley 4 drives the simulated test piece 6 to drive toward the test track 1 at a preset speed to detect whether the test trolley 2 can stop in time after detecting the simulated test piece 6, wherein the driving trolley 4 drives the guide rod structure 5 to follow the movement. Since the guide rod structure 5 is slidably connected to the output end of the rotating device 32, the guide rod structure 5 acts as a slide rail to guide and limit the driving direction of the driving trolley 4. Subsequently, the starting speed of the test trolley 2 can be adjusted for testing, and the distance between the test trolley 2 and the simulated test piece 6 can be adjusted to make the driving trolley 4 drive toward the test track 1; During the test, when the detection sensor 7 detects the test vehicle 2, it is determined that the test vehicle 2 has not stopped safely and a collision will occur. At this time, the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to rotate quickly to be parallel to the straight area 11 of the test track 1 (when testing the curve area 12, rotate to be tangent to the arc of the curve area 12), thereby avoiding the driving trolley 4 and the simulated test piece 6 from colliding with the test vehicle 2 and causing damage to the driving trolley 4 and the simulated test piece 6. At the same time, the maximum braking distance of the test vehicle 2 under different speeds and road conditions can be detected. The rotating device 32 can be used to adjust the starting driving angle of the driving trolley 4 to drive the simulated test piece 6, and can drive the driving trolley 4 and the simulated test piece 6 to rotate to avoid collision with the test vehicle 2.

[0077] After the test at one test station 9 is completed, the test device can be moved to other test stations 9 for similar testing.

[0078] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An emergency braking test system for an autonomous driving vehicle, characterized in that: include: A test track, the test track comprising a straight area and a curved area, the straight area and the curved area are respectively provided with test stations, and the straight area and the curved area are both provided with road surfaces with different friction coefficients; A testing device, the testing device is arranged at one of the testing stations, the testing device comprises a rotating seat, a driving trolley, a guide rod structure, a simulated test piece and a detection sensor; The rotating seat comprises a moving seat and a rotating device, and the rotating device is installed on the moving seat; The simulation test piece is detachably mounted on the driving trolley, one end of the guide rod structure is detachably connected to the driving trolley, and the other end is slidably connected to the output end of the rotating device, and the detection sensor is mounted on the driving trolley; During the test, the rotating device drives the guide rod structure to drive the driving trolley to rotate to a preset angle, and the driving trolley drives the simulated test piece to enter the test track at a preset angle; When the detection sensor detects the approaching test vehicle, the rotating device drives the guide rod structure to drive the driving vehicle to rotate a preset angle.

2. The emergency brake test system for an autonomous driving vehicle according to claim 1, characterized in that: The rotating device includes a motor, a drive shaft and a U-shaped sleeve. The motor is installed on the moving seat, the bottom end of the drive shaft is installed on the output shaft of the motor, the U-shaped sleeve is installed on the top end of the drive shaft, and the U-shaped sleeve is arranged on the other end of the guide rod structure.

3. The emergency braking test system for an autonomous driving vehicle according to claim 2, characterized in that: The rotating seat also includes a support member, which includes a U-shaped frame and a support sleeve. The bottom end of the U-shaped frame is slidably installed in the arc-shaped slide groove on the top of the movable seat and is arranged adjacent to the U-shaped sleeve. The support sleeve is installed in the U-shaped frame, and the other end of the guide rod structure passes through the U-shaped frame and the support sleeve in sequence.

4. The emergency brake test system for an autonomous driving vehicle according to claim 3, characterized in that: The guide rod structure includes a rod body, an elastic member and an end cap. The end of the rod body away from the driving trolley passes through the U-shaped frame and the support sleeve in sequence. The end cap is installed at the end of the rod body. The elastic member is sleeved on the rod body and is located between the end cap and the support sleeve.

5. The emergency brake test system for an autonomous driving vehicle according to claim 4, characterized in that: The driving trolley includes a vehicle body, a mounting frame, an assembly sleeve and an installation component. The mounting frame is installed on the vehicle body. The installation component includes a fixing frame, an electric push cylinder, a pressure plate and a first positioning shaft. The electric push cylinder is installed on the top of the mounting frame through the fixing frame. The pressure plate is installed at the output end of the electric push cylinder. The first positioning shaft is installed at the bottom end of the pressure plate. The guide rod structure also includes an assembly block. The assembly block is installed at the end of the rod body away from the end cap. The assembly block is inserted into the assembly sleeve. The bottom end of the first positioning shaft passes through the assembly sleeve and the assembly block.

6. The emergency brake test system for an autonomous driving vehicle according to claim 3, characterized in that: The rotating seat also includes a bearing platform, which includes two support plates and two guide plates. One end of the two support plates is installed on the moving seat at an interval, and the other end of the support plate is set as an inclined surface. The two guide plates are respectively rotatably installed at the other ends of the two support plates, and a limiting groove is provided on the top of the support plate; The support sleeve is slidably mounted in the U-shaped frame.

7. The emergency brake test system for an autonomous driving vehicle according to claim 4, characterized in that: The rod body includes a plurality of single rods and a plurality of rotating shafts. Adjacent single rods are rotationally connected via the rotating shafts, and adjacent single rods can only rotate in a vertical direction.

8. The emergency brake test system for an autonomous driving vehicle according to claim 3, characterized in that: The rotating seat also includes a driving member, which includes a driving sleeve, an L-shaped plate and a connecting plate. The driving sleeve is installed on the driving shaft, one end of the L-shaped plate is installed on the top of the driving sleeve, and the top of the connecting plate passes through the L-shaped plate and is connected to the support sleeve.

9. The emergency brake test system for an autonomous driving vehicle according to claim 8, characterized in that: The driving member also includes a limiting shaft and a positioning hole. The positioning hole is arranged on a flange at the top end of the driving sleeve. The limiting shaft is installed at the bottom end of the connecting plate and is located below the positioning hole. The driving sleeve is threadedly connected to the driving shaft.

10. The emergency brake test system for an autonomous driving vehicle according to claim 5, characterized in that: The simulation test piece includes a simulation piece and a T-shaped frame, the T-shaped frame is installed on the simulation piece, and a second assembly hole is opened on the mounting portion of the T-shaped frame; A mounting hole is formed at the top of the mounting frame, and the mounting assembly further comprises a second positioning shaft, which is mounted at the bottom of the pressing plate and aligned with the mounting hole, wherein the length of the second positioning shaft is longer than that of the first positioning shaft; When the simulation test piece is assembled with the driving trolley, the mounting portion of the T-shaped frame is arranged between the mounting frame and the pressure plate, the mounting hole is aligned with the second assembly hole, and the electric push cylinder pushes the pressure plate downward to make the second positioning axis pass through the second assembly hole and the mounting hole in sequence.

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