An emergency braking test system for an autonomous vehicle

Abstract

The present invention provides an emergency braking test system for an autonomous vehicle, which relates to the field of autonomous vehicle testing and includes: a test track, the test track includes a straight track area and a curved track area, test workstations are correspondingly arranged in both the straight track area and the curved track area, and road surfaces with different friction coefficients are arranged in both the straight track area and the curved track area; a test device, the test device is arranged at one of the test workstations, and the test device includes a rotating seat, a driving trolley, a guide rod structure, a simulation test piece and a detection sensor. The emergency braking test system for an autonomous vehicle provided by the present invention can detect the ultimate braking distance of the test vehicle under different speeds and road surface conditions, and the rotating device can be used to adjust the starting driving angle of the driving trolley driving the simulation test piece and can drive the driving trolley and the simulation test piece to rotate to avoid collision with the test vehicle.

Description

Technical Field

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

[0002] Autonomous vehicles rely on sensors such as lidar, cameras, and radars to achieve environmental perception, use technologies such as satellite positioning for precise positioning, and utilize complex algorithms to complete path planning and decision-making, etc.

[0003] The safety of autonomous vehicles is of crucial importance. Therefore, autonomous vehicles need to undergo a large number of safety tests, including emergency braking tests. Currently, the test items for the emergency braking of autonomous vehicles include testing whether an autonomous vehicle can make an emergency stop when encountering suddenly crossing pedestrians, two-wheel vehicles, etc. during driving. Among them, different friction coefficients of the road surface have a great impact on the braking distance of the vehicle. For example, common cement roads, asphalt roads, etc., and slippery road surfaces formed after rain on the road surface, etc. Currently, the test requires driving to different roads for testing, which is not convenient for quickly switching road surfaces with different friction coefficients for testing;

[0004] And currently, during the test, a driving trolley is usually set to drive a simulated dummy or a two-wheel vehicle, etc. to cross the road at a certain speed to detect whether the autonomous vehicle can make a safe stop; when the driving trolley crosses the intersection during the test, it generally includes moving from different angles, such as crossing the road or driving into the path of the test vehicle obliquely at 15°. Currently, the driving trolley directly drives 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 troublesome. At the same time, during the test process, when detecting the minimum braking distance, it is inevitable that the vehicle will hit the driving trolley and the simulated pedestrians, two-wheel vehicles, etc., making the driving trolley prone to damage. How to improve the functions of adjusting the driving angle of the driving trolley and avoiding hitting the test vehicle still has room for improvement.

[0005] Therefore, it is necessary to provide an emergency braking test system for autonomous vehicles to solve the above technical problems. Summary of the Invention

[0006] The present invention provides an emergency braking test system for autonomous vehicles, which solves the problem that there is still room for improvement in how to improve the functions of adjusting the driving angle of the driving trolley and avoiding hitting the test vehicle during the test.

[0007] To solve the above technical problems, the emergency braking test system for autonomous vehicles provided by the present invention includes: a test track, the test track includes a straight track area and a curved track area, test workstations are correspondingly arranged in both the straight track area and the curved track area, and road surfaces with different friction coefficients are arranged in both the straight track area and the curved track area;

[0008] Testing device, the testing device is arranged at a testing station, the testing device includes a rotating seat, a driving trolley, a guide rod structure, a simulation test piece and a detection sensor;

[0009] The rotating seat includes a moving seat and a rotating device, and the rotating device is installed on the moving seat;

[0010] The simulation test piece is detachably installed 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 installed on the driving trolley;

[0011] During testing, 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 simulation test piece to enter the test track at a preset angle;

[0012] When the detection sensor detects a test vehicle coming, the rotating device drives the guide rod structure to drive the driving trolley to rotate a preset angle.

[0013] Preferably, the rotating device includes a motor, a driving shaft and a U-shaped sleeve. The motor is installed on the moving seat, the bottom end of the driving shaft is installed on the output shaft of the motor, the U-shaped sleeve is installed on the top end of the driving shaft, and the U-shaped sleeve is sleeved on the other end of the guide rod structure.

[0014] Preferably, the rotating seat further includes a support member, the support member includes a U-shaped frame and a support sleeve. The bottom end of the U-shaped frame is slidably installed in the arc-shaped chute at the top of the moving seat and is 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 sequentially passes through the U-shaped frame and the support sleeve.

[0015] Preferably, the guide rod structure includes a rod body, an elastic member and an end cap. One end of the rod body away from the driving trolley sequentially passes through the U-shaped frame and the support sleeve. 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.

[0016] Preferably, the driving trolley includes a vehicle body, a mounting frame, a fitting sleeve and a mounting component. The mounting frame is installed on the vehicle body. The mounting component includes a fixed frame, an electric push cylinder, a pressing plate and a first positioning shaft. The electric push cylinder is installed at the top end of the mounting frame through the fixed frame. The pressing plate is installed at the output end of the electric push cylinder. The first positioning shaft is installed at the bottom end of the pressing plate. The guide rod structure further includes an assembly block. The assembly block is installed at one end of the rod body away from the end cap. The assembly block is inserted into the fitting sleeve. The bottom end of the first positioning shaft passes through the fitting sleeve and the assembly block.

[0017] Preferably, the rotating seat further includes a bearing platform, which includes two support plates and two guide plates. One ends of the two support plates are spaced and installed on the moving seat, the other ends of the support plates are provided as inclined surfaces, the two guide plates are respectively rotatably installed at the other ends of the two support plates, and a limiting groove is opened at the top of the support plate;

[0018] The support sleeve is slidably installed in the U-shaped frame.

[0019] Preferably, the rotating seat further 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 at the top end of the driving sleeve, and the top end of the connecting plate passes through the L-shaped plate and is connected to the support sleeve.

[0020] Preferably, the rod body includes a plurality of single rods and a plurality of rotating shafts. Adjacent single rods are rotatably connected by the rotating shafts, and adjacent single rods can only rotate in the vertical direction.

[0021] Preferably, the driving member further includes a limiting shaft and a positioning hole. The positioning hole is opened on the 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, and the driving sleeve is threadedly connected to the driving shaft.

[0022] Preferably, 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 in the installation part of the T-shaped frame;

[0023] An installation hole is opened at the top end of the installation frame. The installation assembly further includes a second positioning shaft, which is installed at the bottom of the pressing plate and is aligned with the installation hole. Among them, the length of the second positioning shaft is longer than the length of the first positioning shaft;

[0024] When the simulation test piece is assembled with the driving trolley, the installation part of the T-shaped frame is arranged between the installation frame and the pressing plate, the installation hole is aligned with the second assembly hole, and the electric push cylinder pushes the pressing plate downward so that the second positioning shaft sequentially passes through the second assembly hole and the installation hole.

[0025] Compared with the related art, the emergency braking test system for autonomous vehicles provided by the present invention has the following beneficial effects:

[0026] The present invention provides an emergency braking test system for autonomous vehicles, in which the test track is set as a straight track area and a curved track area, and roads with different friction coefficients are corresponding to both, so that the test vehicle can be quickly switched to roads with different friction coefficients for sequential tests, and water can also be sprayed on the two roads, etc., to form a slippery road surface and then conduct tests;

[0027] During the test, the test device moves to the corresponding test station for testing. For example, it first conducts tests in the straight track area. For instance, Figure 1 , the test device is set at the test station in the straight track area, and the rotating device drives the guide rod structure to drive the driving cart to move to a preset angle, making the angle adjustment convenient;

[0028] After adjusting the driving angle of the driving cart, the test vehicle travels from the straight track area of the test track towards 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 cart drives the simulated test piece to travel towards the test track at a preset speed, and it is detected whether the test vehicle can brake in time after detecting the simulated test piece. Among them, the driving cart drives the guide rod structure to move along. Since the guide rod structure is slidably connected to the output end of the rotating device, the guide rod structure is equivalent to the function of a slide rail, guiding and limiting the driving direction of the driving cart;

[0029] During the test, when the detection sensor detects the test vehicle, it is determined that the test vehicle does not brake safely and a collision will occur. At this time, the rotating device drives the guide rod structure to drive the driving cart to quickly rotate to be parallel to the straight track area of the test track (when testing in the curved track area, it rotates to be tangent to the arc of the curved track area), thereby preventing the driving cart and the simulated test piece from colliding with the test vehicle, resulting in damage to the driving cart and the simulated test piece. At the same time, the ultimate braking distance of the test vehicle under different speeds and road surface conditions can be detected. The rotating device can be used to adjust the starting driving angle of the driving cart driving the simulated test piece and can drive the driving cart and the simulated test piece to rotate to avoid colliding with the test vehicle. Description of the Drawings

[0030] Figure 1 is a schematic structural diagram of the emergency braking test system for an autonomous vehicle provided by the present invention;

[0031] Figure 2 is a schematic structural diagram of the test device provided by the present invention;

[0032] Figure 3 is a schematic structural diagram of the rotating seat provided by the present invention;

[0033] Figure 4 is a schematic structural diagram of the driving cart provided by the present invention;

[0034] Figure 5 is a schematic diagram of the rotating device driving the guide rod structure to drive the driving cart for angle adjustment provided by the present invention;

[0035] Figure 6 is a schematic structural diagram of the rotating seat after removing part of the U-shaped frame provided by the present invention;

[0036] Figure 7Partial cross-sectional view of the driving cart provided by the present invention;

[0037] Figure 8 Structural schematic diagram of the simulation test piece provided by the present invention;

[0038] Figure 9 Structural schematic diagram of the driving cart assembled on the bearing platform provided by the present invention;

[0039] Figure 10 Structural schematic diagram of the guide rod structure rotating and retracting.

[0040] Reference numerals in the figure:

[0041] 1. Test track; 11. Straight track area; 12. Curved track area;

[0042] 2. Test vehicle;

[0043] 3. Rotating seat; 31. Moving seat; 32. Rotating device; 33. Support member; 34. Bearing platform; 35. Driving member;

[0044] 321. Motor; 322. Driving shaft; 323. U-shaped sleeve; 331. U-shaped frame; 332. Support sleeve;

[0045] 341. Support plate; 342. Guide plate; 343. Limit groove;

[0046] 351. Driving sleeve; 352. L-shaped plate; 353. Connecting plate; 354. Limit shaft; 355. Positioning hole;

[0047] 4. Driving cart; 41. Vehicle body; 42. Mounting frame; 43. Fitting sleeve; 44. Mounting assembly;

[0048] 441. Fixed frame; 442. Electric push cylinder; 443. Pressing plate; 444. First positioning shaft; 445. Second positioning shaft; 421. Mounting hole;

[0049] 5. Guide rod structure; 51. Rod body; 52. Elastic member; 53. End cap; 54. Assembly block; 541. First assembly hole; 511. Single rod; 512. Rotating shaft;

[0050] 6. Simulation test piece; 61. Simulation piece; 62. T-shaped frame; 621. Mounting part; 622. Second assembly hole;

[0051] 7. Detection sensor; 8. Baffle; 9. Test station. Detailed implementation manner

[0052] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] The present invention provides an emergency braking test system for an autonomous vehicle.

[0054] Please refer to Figures 1 to 4 , in an embodiment of the present invention, the emergency braking test system for the autonomous vehicle includes: a test track 1, the test track 1 includes a straight track area 11 and a curved track area 12, test workstations 9 are correspondingly arranged in both the straight track area 11 and the curved track area 12, and road surfaces with different friction coefficients are arranged in both the straight track area 11 and the curved track area 12;

[0055] a test device, the test device is arranged at one of the test workstations 9, and the test device includes a rotating seat 3, a driving trolley 4, a guide rod structure 5, a simulation test piece 6, and a detection sensor 7;

[0056] 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;

[0057] The simulation test piece 6 is detachably installed 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 installed on the driving trolley 4;

[0058] 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 simulation test piece 6 to enter the test track 1 at a preset angle;

[0059] When the detection sensor 7 detects the oncoming test vehicle 2, the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to rotate by a preset angle.

[0060] Please refer to Figure 1, in this embodiment, the test track 1 is set to be circular. The two ends of the test track 1 are bend areas 12. The two bend areas 12 are connected by two straight track areas 11 to form a circle. One straight track area 11 and one bend area 12 are combined into a road surface with a certain coefficient of friction, and the other straight track area 11 and the other bend area 12 are combined into a road surface with another coefficient of friction. For example, one is a cement road surface and the other is an asphalt road surface. Thus, the test vehicle 2 can quickly switch to road surfaces with different coefficients of friction for sequential tests. Moreover, water can be sprayed on the two road surfaces to form a slippery road surface for further testing.

[0061] Among them, test workstations 9 are arranged on both the straight track area 11 and the bend area 12. And multiple test areas are arranged on the bend area 12. In this embodiment, three test workstations 9 are set, which are respectively located on both sides and the middle position of the bend area 12. And removable baffle plates 8 are arranged on the sides of the test workstations 9 and are correspondingly installed on the inner and outer sides of the bend area 12. The baffle plates 8 are installed according to the test needs to simulate the objects that block the vehicle's line of sight during actual driving.

[0062] The simulation test piece 6 is a plastic sign or a three-dimensional model in the shape of a human, a two-wheeler, etc. And the moving speed of the driving trolley 4 is correspondingly set according to the simulated pedestrian or two-wheeler. For example, the speed for simulating a pedestrian suddenly trotting across the road is set at 10 - 20 km / h, and the speed for simulating an electric scooter crossing the road is set at 20 - 50 km / h.

[0063] During the test, the test device moves to the corresponding test workstation 9 for testing. For example, first, the test is carried out on the straight track area 11. For example, Figure 1 , the test device is set at the test workstation 9 in the straight track area 11. The rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to move to a preset angle, making the angle adjustment convenient. For example, Figure 5 , for example, driving perpendicularly to the straight track area 11 of the test track 1, that is, simulating the test piece 6 crossing the road; or driving into the test track 1 obliquely at an angle of 15°;

[0064] After adjusting the driving angle of the driving trolley 4, the test vehicle 2 travels from the straight track area 11 of the test track 1 towards the simulation test piece 6 at a preset speed. When moving to a preset distance from the simulation test piece 6, the driving trolley 4 drives the simulation test piece 6 to travel towards the test track 1 at a preset speed, and it is detected whether the test vehicle 2 can brake in time after detecting the simulation test piece 6. Among them, the driving trolley 4 drives the guide rod structure 5 to move along. Since the guide rod structure 5 is slidably connected to the output end of the rotating device 32, the guide rod structure 5 is equivalent to the function of a slide rail to guide and limit the driving direction of the driving trolley 4;

[0065] Subsequently, the starting speed of the test vehicle 2 can be adjusted for testing, and the distance between the test vehicle 2 and the simulation test piece 6 can be adjusted to make the driving trolley 4 travel towards the test track 1 for testing;

[0066] During the test, when the detection sensor 7 detects the test vehicle 2 and determines that the test vehicle 2 fails to brake safely and a collision will occur, the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to quickly rotate to be parallel to the straight section 11 of the test track 1 (when testing in the curved section 12, rotate to be tangent to the arc of the curved section 12), so as to prevent the driving trolley 4 and the simulated test piece 6 from colliding with the test vehicle 2, resulting in damage to the driving trolley 4 and the simulated test piece 6. At the same time, the ultimate 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 driving the simulated test piece 6 and can drive the driving trolley 4 and the simulated test piece 6 to rotate to avoid colliding with the test vehicle 2.

[0067] After the test is completed at a test station 9, the test device can be moved to other test stations 9 for testing in the same way.

[0068] Among them, the cut-in angle of 15° to 20° is a typical representative of high-risk oblique crossing scenarios. According to accident data statistics, in the collision between two-wheeled vehicles and automobiles, the proportion of two-wheeled vehicles entering the driving path of vehicles obliquely at 15° to 20° exceeds 40%; among them, in this angle range, the influence on the camera is that when crossing obliquely at 15°, the pixel displacement direction of the target in the image is not orthogonal to the moving direction of the host vehicle, and the traditional optical flow algorithm is prone to losing the target; the influence on the millimeter-wave radar is that the radar 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 influence on the lidar is that the point cloud stretches and deforms under oblique movement, and the clustering algorithm needs to be processed additionally; by simulating the test piece 6 to cross obliquely into the test track 1 at 15° to 20°, the ability of the autonomous driving system in aspects such as longitudinal and lateral coupling control, low signal-to-noise ratio target detection, and real-time trajectory prediction can be effectively verified.

[0069] In this embodiment, the detection sensor 7 can be an optoelectronic switch or a laser sensor, etc., and the detection distance is 10 - 50 cm.

[0070] Among them, the detection sensor 7 is signal-connected to the motor 321 through a communication module, and the communication module can be Bluetooth communication, local area network communication, etc.

[0071] Among them, the ranging from the test vehicle 2 to the simulated test piece 6 can be measured in advance and marked with a sign. When the test vehicle 2 reaches the sign at the corresponding distance, the staff controls the driving trolley 4 to move towards the test track 1.

[0072] It is also possible to set a sensing device at a position corresponding to the distance. When the sensing device detects the test vehicle 2, the driving trolley 4 is controlled to move towards the test track 1.

[0073] In this embodiment, two driving wheels and two steering wheels are provided at the bottom of the moving seat 31. The two driving wheels are located at the rear of the moving seat 31 and are used to drive the moving seat 31 to travel. The two steering wheels are installed at the front of the moving seat 31 and are used to support the front part of the moving seat 31 and can adjust the moving direction of the moving seat 31. The rotation of the driving wheels and the angle adjustment of the steering wheels are both driven by a driving motor as the power. By providing the driving wheels and the steering wheels, it is convenient to move to different test stations 9.

[0074] Please refer to Figure 3 , as an alternative way 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 at the top end of the driving shaft 322. The U-shaped sleeve 323 is sleeved on the other end of the guide rod structure 5.

[0075] During operation, when it is necessary to adjust the traveling angle of the driving cart 4 or drive the driving cart 4 to rotate during the test, the motor 321 drives the driving shaft 322 to drive the U-shaped sleeve 323 to rotate. The U-shaped sleeve 323 drives the driving cart 4 to rotate to the corresponding position through the guide rod structure 5. When adjusting the starting traveling angle of the driving cart 4, it is also possible to install the driving cart 4 on the guide rod structure 5 after adjusting the angle of the guide rod structure 5;

[0076] During the test, when the driving cart 4 drives the simulation test piece 6 towards the test track 1, the guide rod structure 5 slides along the U-shaped sleeve 323.

[0077] As another alternative way of this embodiment, the U-shaped sleeve 323 can also be replaced with a sliding seat. A sliding groove is provided at the top of the sliding seat, and a sliding rail is provided at the bottom of the corresponding guide rod structure 5. The sliding rail is slidably assembled with the sliding groove.

[0078] Please refer to Figure 3 and Figure 6 , as a preferred way of this embodiment, the rotating seat 3 further includes a support member 33. The support member 33 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 sliding 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. The other end of the guide rod structure 5 sequentially penetrates through the U-shaped frame 331 and the support sleeve 332.

[0079] By providing the support member 33 to assist in supporting the guide rod structure 5, the stability of the guide rod structure 5 during use is improved.

[0080] Among them, the center of the arc-shaped chute at the top of the moving seat 31 coincides with the center line of the output shaft of the motor 321. Thus, when the rotating device 32 drives the guide rod structure 5 to rotate, the U-shaped frame 331 can slide along the arc-shaped chute accordingly.

[0081] A slider is provided at the bottom of the U-shaped frame 331, and the slider slides into the chute to form a sliding assembly; and preferably, the cross-section of the slider is set as an inverted T shape, and the cross-sectional shape of the arc-shaped chute is correspondingly set, so as to form a limit in the vertical direction.

[0082] Please refer to Figure 6 , as a preferred way of this embodiment, the guide rod structure 5 includes a rod body 51, an elastic member 52 and an end cap 53. One end of the rod body 51 away from the driving trolley 4 sequentially penetrates through the U-shaped frame 331 and the support sleeve 332. 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.

[0083] During the test, when the detection sensor 7 detects the test vehicle 2, it is determined that the test vehicle 2 does not brake safely and a collision will occur. During the process that the rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to rotate quickly to a preset angle, centrifugal force will be generated during the rotation of the driving trolley 4, thereby pulling the guide rod structure 5 to move 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, and the elastic member 52 buffers the generated centrifugal force to prevent the guide rod structure 5 from separating from the rotating seat 3 due to the centrifugal force.

[0084] Among them, the elastic member 52 is a spring and can also be a reed or the like, and one end of the elastic member 52 is preferably fixedly connected to the end cap 53.

[0085] Please refer to Figure 4 and Figure 7 , as an alternative way of this embodiment, the driving trolley 4 includes a vehicle body 41, a mounting frame 42, a fitting sleeve 43 and a mounting component 44. The mounting frame 42 is installed on the vehicle body 41. The mounting component 44 includes a fixing frame 441, an electric push cylinder 442, a pressing plate 443 and a first positioning shaft 444. The electric push cylinder 442 is installed at the top of the mounting frame 42 through the fixing frame 441. The pressing plate 443 is installed at the output end of the electric push cylinder 442. The first positioning shaft 444 is installed at the bottom end of the pressing plate 443. The guide rod structure 5 further includes an assembly block 54. The assembly block 54 is installed at one end of the rod body 51 away from the end cap 53. The assembly block 54 is inserted into the fitting sleeve 43. The bottom end of the first positioning shaft 444 penetrates through the fitting sleeve 43 and the assembly block 54.

[0086] A first assembly hole 541 is provided in the corresponding assembly block 54, and a fixing hole is penetratingly provided in the fitting sleeve 43.

[0087] 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 fitting sleeve 43. At this time, the first assembly hole 541 is aligned with the fixing hole, and the electric push cylinder 442 pushes down the pressing plate 443, so that the first positioning shaft 444 correspondingly passes 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.

[0088] In the test, when the test vehicle 2 safely brakes to a stop, the driving trolley 4 passes through the test lane 1 where the test vehicle 2 is currently traveling, and then stops. After the driving trolley 4 passes through the front side of the head of the test vehicle 2, it starts to decelerate until it stops. During the process from starting to decelerate to stopping, the electric push cylinder 442 lifts the pressing plate 443, so that the first positioning shaft 444 moves out of the first assembly hole 541. At this time, when the driving trolley 4 moves, the fitting sleeve 43 is separated from the assembly block 54, that is, the guide rod structure 5 is separated from the driving trolley 4, so that the length of the guide rod structure 5 can be shortened. It is not necessary to set a rod body 51 long enough to always follow the driving trolley 4 until it stops. After the driving trolley 4 stops, the driving trolley 4 is moved again to be installed with the guide rod structure 5.

[0089] Among them, the start of the electric push cylinder 442 separates the first positioning shaft 444 from the first assembly hole 541. A timing device can be set to calculate the driving time through the current test lane 1 according to the current speed of the driving trolley 4 and the width of the current test lane 1 where the test vehicle 2 is traveling, and control the opening of the electric push cylinder 442, or a sensor is installed on the mounting frame 42. The sensor detects the distance from the moving seat 31. When the detected distance from the moving seat 31 is greater than the preset distance, the electric push cylinder 442 is started at this time.

[0090] In this embodiment, the test lane 1 is set as a double lane, and the test vehicle 2 preferably travels in the lane close to the test device. The length of the guide rod structure 5 is between the width value of one lane and the width value of two lanes.

[0091] Among them, the number of the first assembly holes 541 is preferably set to be multiple. In this embodiment, it is set to four, and the number and positions of the fixing holes are correspondingly set.

[0092] Among them, the detection sensor 7 is preferably rotatably installed on the mounting frame 42. When the driving trolley 4 obliquely inserts into the test lane 1 at a preset angle, the angle of the detection sensor 7 can be adjusted to face the test vehicle 2, so as to facilitate detecting the test vehicle 2.

[0093] As another alternative of this embodiment, an assembly block 54 can also be installed on the mounting bracket 42. Correspondingly, a mating sleeve 43 is installed at the end of the rod body 51. A fixing hole is formed in the corresponding assembly block 54, and a first assembly hole 541 is formed in the mating sleeve 43. During installation, the mating 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.

[0094] Please refer to Figure 3 , as a preferred embodiment of this embodiment, the rotating seat 3 further includes a bearing platform 34. The bearing platform 34 includes two support plates 341 and two guide plates 342. One ends of the two support plates 341 are spaced and installed on the moving seat 31. The other ends of the support plates 341 are provided with inclined surfaces. The two guide plates 342 are respectively rotatably installed at the other ends of the two support plates 341. A limiting groove 343 is formed at the top of the support plate 341;

[0095] The support sleeve 332 is slidably installed in the U-shaped frame 331.

[0096] By providing the bearing platform 34, after the test is completed at a test station 9, the guide plate 342 is rotated so that one end of the guide plate 342 contacts the ground, as Figure 9 , and then the trolley 4 is driven to move along the guide plate 342 onto the bearing platform 34. The wheels on both sides are correspondingly located on the two support plates 341 and are located in the limiting groove 343. The limiting groove 343 assists in limiting the driving trolley 4, and the driving trolley 4 drives the guide rod structure 5 to be lifted accordingly. The guide rod structure 5 drives the support sleeve 332 to slide up along the U-shaped frame 331. Then the guide plate 342 is rotated to fit the inclined surface of the support plate 341. Subsequently, by controlling the movement of the moving seat 31 to the next test station 9, the entire test device can be moved to the next test station 9, and the position adjustment operation is simple.

[0097] Among them, the end of the limiting groove 343 facing the guide plate 342 is provided with an inclined surface, so that the driving trolley 4 can enter the limiting groove 343 more smoothly.

[0098] Among them, a plurality of sliding rods are installed on both sides of the inner wall of the U-shaped frame 331. Sliding sleeves are provided on both sides of the support sleeve 332 and sleeved on the plurality of sliding rods to form a sliding connection.

[0099] Please refer to Figure 2 and Figure 3 , as a preferred embodiment of this embodiment, the rod body 51 includes a plurality of single rods 511 and a plurality of rotating shafts 512. Adjacent single rods 511 are rotatably connected by the rotating shafts 512, and adjacent single rods 511 can only rotate in the vertical direction.

[0100] By setting the rod body 51 as multiple single rods 511, when the testing device is not in use or is moved to different testing stations 9, the rod body 51 can be rotated and folded up, reducing the space occupied and facilitating the storage and transfer of the testing device.

[0101] In this embodiment, the rod body 51 includes two long single rods 511, one short single rod 511, and one mounting single rod 511. The four rods are sequentially rotatably connected by a rotating shaft 512. The short single rod 511 is provided so that the two long single rods 511 can be folded up when retracted, as shown in Figure 10 , the mounting single rod 511 is mounted at one end of a long single rod 511, and the assembly block 54 is mounted on the mounting single rod 511; where the long single rods 511 and the short single rod 511 can also be correspondingly set to other quantities according to needs.

[0102] The single rods 511 can only move vertically along the rotating shaft 512. Thus, when the rod body 51 is driven to rotate horizontally by the motor 321, the rod body 51 can drive the driving trolley 4 to move accordingly.

[0103] As an alternative way of this embodiment, the rotating seat 3 further includes a driving member 35. The driving member 35 includes a driving sleeve 351, an L-shaped plate 352, and a connecting plate 353. The driving sleeve 351 is mounted on the driving shaft 322. One end of the L-shaped plate 352 is mounted at the top of the driving sleeve 351. The top of the connecting plate 353 passes through the L-shaped plate 352 and is connected to the support sleeve 332.

[0104] 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.

[0105] In this embodiment, the driving sleeve 351 can be fixedly connected to the driving shaft 322.

[0106] Please refer to Figure 6 , as an alternative way of this embodiment, the driving member 35 further 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 mounted 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.

[0107] 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.

[0108] Please refer to in combination with Figure 9 and Figure 10, when the driving cart 4 moves onto the carrier 34, the driving cart 4 drives the guide rod structure 5 to lift upwards. The guide rod structure 5 moves above the U-shaped sleeve 323, and at the same time drives the support sleeve 332 to move upwards. The support sleeve 332 drives the connecting plate 353 to move upwards, 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, since the limiting shaft 354 cooperates with the positioning hole 355 to axially limit the driving sleeve 351, the driving sleeve 351 moves upwards along the thread surface of the driving shaft 322. The driving sleeve 351 drives the L-shaped plate 352 to move upwards. The L-shaped plate 352 pushes a single rod 511 upwards to 90 degrees and limits the single rod 511, and then folds the other single rods 511 correspondingly, as Figure 10 , so that the rod body 51 can be kept folded upwards, reducing the space occupied by the rod body 51. And when moving the testing device, the erected rod body 51 can be used as a push handle, and the staff can hold the push handle to assist in maintaining the stability when the moving seat 31 moves.

[0109] That is, the rotating device 32 can be used to drive the driving cart 4 to rotate in one state, and in another state, it can drive the single rod 511 to rotate upwards and keep it in a vertically folded state, and realize the switching between the two states during the process of assembling the driving cart 4 on the carrier 34.

[0110] Among them, preferably, a rubber sleeve is arranged at the bottom end of the inner wall of the driving sleeve 351, which is in close contact with the driving shaft 322. Thus, when the limiting shaft 354 is not assembled with the positioning hole 355, the driving sleeve 351 can rotate more stably following the driving shaft 322. 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 upwards along the thread surface, the rubber sleeve will not act on the thread surface.

[0111] Please refer to 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 a second assembly hole 622 is provided in the installation part 621 of the T-shaped frame 62;

[0112] An installation hole 421 is provided at the top end of the installation frame 42. The installation component 44 further includes a second positioning shaft 445. The second positioning shaft 445 is installed at the bottom of the pressing plate 443 and is aligned with the installation hole 421. Among them, the length of the second positioning shaft 445 is longer than the length of the first positioning shaft 444;

[0113] When the simulation test piece 6 is assembled with the driving trolley 4, the installation part 621 of the T-shaped frame 62 is arranged between the installation frame 42 and the pressing plate 443. The installation hole 421 is aligned with the second assembly hole 622, and the electric push cylinder 442 pushes the pressing plate 443 downward, so that the second positioning shaft 445 sequentially passes through the second assembly hole 622 and the installation hole 421.

[0114] When it is necessary to replace the simulation piece 61 with different shapes, such as simulation pieces 61 in the shapes of pedestrians or two-wheeled vehicles, etc., the electric push cylinder 442 lifts the pressing plate 443 to move the second positioning shaft 445 out of the second assembly hole 622. At this time, the current simulation piece 61 can be disassembled, and then the corresponding simulation piece 61 can be replaced. During assembly, the installation part 621 of the T-shaped frame 62 is inserted between the pressing plate 443 and the top of the installation frame 42, so that the second assembly hole 622 is aligned with the installation hole 421. Then, the electric push cylinder 442 pushes the pressing plate 443 downward to drive the second positioning shaft 445 to pass through the second assembly hole 622 and the installation hole 421 to achieve rapid assembly, thereby simplifying the operation steps of replacing different simulation pieces 61.

[0115] Wherein, the length of the second positioning shaft 445 is set to be longer than that of the first positioning shaft 444. Thus, during the test, when the first positioning shaft 444 moves out of the first assembly hole 541 and the assembly block 54 is separated from the assembly sleeve 43, the second positioning shaft 445 is still assembled with the installation hole 421, and the simulation piece 61 will not be separated from the driving trolley 4.

[0116] In the present invention, the driving of the motor 321, the electric push cylinder 442, the driving trolley 4 and the moving seat 31 is preferably set to be remotely controlled. The control methods include setting a control handle, or downloading an APP through a terminal device such as a mobile phone for control, etc. After remote control authorization, the detection sensor 7 can be used to control the start of the motor 321.

[0117] Wherein, the driving wheels in the driving trolley 4 are preferably all set to be steerable, and the steering of the wheels is controlled by a steering motor. Thus, 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.

[0118] The working principle of the emergency braking test system for the autonomous vehicle provided by the present invention is as follows:

[0119] Please refer to Figure 1, in this embodiment, the test lane 1 is set to be circular. The two ends of the test lane 1 are the bend areas 12. The two bend areas 12 are connected by two straight lane areas 11 to form a circle. One straight lane area 11 and one bend area 12 are combined into a road surface with one coefficient of friction, and the other straight lane area 11 and the other bend area 12 are combined into a road surface with another coefficient of friction. For example, one is a cement road surface and the other is an asphalt road surface. Thus, the test vehicle 2 can be quickly switched to road surfaces with different coefficients of friction for sequential tests, and water can also be sprayed on the two road surfaces, etc., to form a slippery road surface for further tests.

[0120] Among them, test workstations 9 are arranged on both the straight lane area 11 and the bend area 12, and multiple test areas are arranged on the bend area 12. In this embodiment, three test workstations 9 are arranged, respectively at both sides and the middle position of the bend area 12. And detachable baffle plates 8 are arranged on the sides of the test workstations 9 and are correspondingly installed on the inner and outer sides of the bend area 12. The baffle plates 8 are installed according to the test needs and are used to simulate the objects that block the line of sight of the autonomous vehicle during actual driving.

[0121] The simulation test piece 6 is a plastic sign or a three-dimensional model such as a human figure or a two-wheeled vehicle. And the moving speed of the driving trolley 4 is correspondingly set according to the simulated pedestrian or two-wheeled vehicle. For example, the speed of simulating a pedestrian suddenly trotting across the road is set at 10 - 20 km / h, and the speed of simulating an electric vehicle crossing the road is set at 20 - 40 km / h.

[0122] During the test, the test device moves to the corresponding test workstation 9 for testing. For example, first, the test is carried out on the straight lane area 11. For example, Figure 1 , the test device is set at the test workstation 9 in the straight lane area 11. The rotating device 32 drives the guide rod structure 5 to drive the driving trolley 4 to move to a preset angle, making the angle adjustment convenient. For example, Figure 5 , such as driving perpendicularly into the straight lane area 11 of the test lane 1, that is, simulating the test piece 6 crossing the road; or driving into the test lane 1 obliquely at an angle of 15°; etc.

[0123] After adjusting the driving angle of the driving trolley 4, the test vehicle 2 travels from the straight lane area 11 of the test lane 1 towards the direction of the simulation test piece 6 at a preset speed. When moving to a preset distance from the simulation test piece 6, the driving trolley 4 drives the simulation test piece 6 to travel towards the test lane 1 at a preset speed, and it is detected whether the test vehicle 2 can brake in time after detecting the simulation test piece 6. Among them, the driving trolley 4 drives the guide rod structure 5 to move along. Since the guide rod structure 5 is slidably connected to the output end of the rotating device 32, the guide rod structure 5 is equivalent to the function of a slide rail, guiding and limiting 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 simulation test piece 6 can be adjusted to make the driving trolley 4 travel towards the test lane 1;

[0124] During the test, when the detection sensor 7 detects the test vehicle 2 and it is determined that the test vehicle 2 has not braked 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 quickly rotate to be parallel to the straight track area 11 of the test track 1 (when testing in the curved track area 12, rotate to be tangent to the arc of the curved track area 12), so as to avoid the driving trolley 4 and the simulated test piece 6 from colliding with the test vehicle 2, resulting in damage to the driving trolley 4 and the simulated test piece 6. At the same time, the ultimate 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 driving the simulated test piece 6 and can drive the driving trolley 4 and the simulated test piece 6 to rotate to avoid colliding with the test vehicle 2.

[0125] After the test is completed at a test station 9, the test device can be moved to other test stations 9 for testing in the same way.

[0126] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention in the same way.

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, a supporting member and a rotating device, wherein the rotating device is installed on the moving seat, and the supporting member comprises a U-shaped frame and a supporting sleeve; 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; The guide rod structure comprises a rod body, an elastic member and an end cap, wherein one 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 mounted on 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; 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 bottom end of the U-shaped frame is slidably mounted on the arc-shaped slide groove on the top of the moving 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 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.

5. 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.

6. The emergency brake test system for an autonomous driving vehicle according to claim 1, 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.

7. 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.

8. The emergency brake test system for an autonomous driving vehicle according to claim 7, 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.

9. The emergency brake test system for an autonomous driving vehicle according to claim 4, 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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