A bench-based automotive AEB performance detection device and method

Abstract

The present invention relates to the technical field of automotive safety performance detection, and particularly relates to a bench-based automotive AEB performance detection device and method. The device includes a servo motor drive unit, a driven unit, a gantry, a guide rail, and a signal acquisition and control unit. The detection method includes three stages: detection preparation, detection process, and detection end. The vehicle is placed on the bench, and the perception degree of AEB is detected by simulating the scenario of an obstacle suddenly appearing in front of the vehicle. The present invention can comprehensively detect the performance of the automotive AEB system without installing complex equipment, ensure its reliability and accuracy under different working conditions, has high detection accuracy, a simple device structure, is convenient for installation and operation, and has good application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive safety performance detection, and particularly to a bench-based automotive AEB performance detection device and method. Background Art

[0002] A drum dynamometer is an important automotive testing equipment, mainly used for testing the power performance, fuel economy, and emission performance of automobiles, etc. The drum dynamometer is operated indoors, avoiding the influence of external factors such as weather and traffic on the test, reducing the safety risk, and during the test, the wheels rotate on the drum and the vehicle body is stationary, and there will be no dangerous situations such as vehicle out of control. It can simulate different driving conditions, such as different road conditions, different driving modes, etc., providing accurate data support for automobile manufacturers and repair enterprises.

[0003] The Autonomous Emergency Braking (AEB) system is a sub-function of an Advanced Driver Assistance System (ADAS). It can actively intervene in the braking process when detecting that the distance from the vehicle ahead is insufficient and there is a risk of collision, automatically decelerate and reduce the possibility of an accident or mitigate the consequences of a collision.

[0004] With the continuous improvement of vehicle active safety technology, AEB systems are becoming increasingly popular in various vehicle models. Therefore, under the condition of meeting the collision risk, whether AEB can be normally activated and triggered is an important indicator to measure whether the AEB performance meets the standard.

[0005] Traditional AEB performance detection generally uses road test methods to test the AEB performance of automobiles, but it is very easy to cause collisions between the test vehicle and the test obstacle, resulting in damage to the test device, increasing the test development cost and maintenance cost, and it is impossible to quickly and batch detect the whole vehicle in the vehicle factory inspection link, resulting in a significant reduction in production efficiency.

[0006] Currently, there is a lack of a device and method for testing the AEB performance of automobiles on a drum dynamometer in this field. Summary of the Invention

[0007] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a bench-based automotive AEB performance detection device and method for a bench which is a drum dynamometer.

[0008] According to the first aspect of the present invention, there is provided a bench-based automotive AEB performance detection device, characterized in that:

[0009] It includes a servo motor drive unit, a driven unit, a gantry, a guide rail, and a signal acquisition and control unit;

[0010] The servo motor drive unit includes a first servo motor, a second servo motor, a third servo motor, a first motor bracket, a second motor bracket, a third motor bracket, and a winding drum;

[0011] The first motor bracket is fixed to the inner side of the left end of the gantry. The second motor bracket and the third motor bracket are respectively fixed to the left and right sides of the gantry. Two mutually parallel hole columns extending in the vertical direction are respectively arranged on the left and right sides of the gantry;

[0012] The area between the hole columns is a hollow area. The parts of the second motor bracket and the third motor bracket that block the first steel wire from passing through the gantry are hollow, and the upper hollow area thereof communicates with the hollow area of the gantry, so that the first steel wire can sequentially bypass the fourth pulley, the first pulley, the second pulley, the third pulley, and then return to the fourth pulley to form a closed loop path;

[0013] The first servo motor, the second servo motor, and the third servo motor are respectively fixed to the first motor bracket, the second motor bracket, and the third motor bracket by bolts;

[0014] The driven unit includes a baffle, a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a first steel wire, and a second steel wire;

[0015] A first fixed support and a third fixed support are arranged at the upper right corner of the gantry, and a second fixed support is arranged at the upper left corner of the gantry. The first fixed support, the second fixed support, and the third fixed support are fixed to the gantry by bolts, and the second pulley and the third pulley are respectively installed on the second fixed support and the third fixed support;

[0016] Guide rails are arranged on the left and right sides of the gantry, and the gantry moves back and forth along the guide rails;

[0017] The first steel wire is connected to the baffle and is used to horizontally translate the baffle to simulate an obstacle crossing the road;

[0018] The second steel wire passes through the fifth pulley and is used to upwardly pull the baffle and keep it in a taut state;

[0019] The signal acquisition and control unit is used to control the servo motor and monitor the change in the length of the steel wire.

[0020] Preferably, the winding drum, the fourth pulley, and the first pulley are respectively fixed to the first motor bracket, the second motor bracket, and the third motor bracket by bolts;

[0021] The output shafts of the first servo motor, the second servo motor, and the third servo motor are respectively connected to the input shafts of the winding drum, the fourth pulley, and the first pulley, and are guaranteed to be coaxial.

[0022] Preferably, the signal acquisition and control unit includes a single-chip microcomputer, a rotary encoder, and a winding drum encoder;

[0023] The rotary encoder is installed on the second servo motor and is used to detect the rotation angle and speed of the motor rotor;

[0024] The reel encoder is used to provide real-time feedback on the length of the second steel wire released or retracted by the reel;

[0025] The single-chip microcomputer is used to control the operations of the first servo motor, the second servo motor, and the third servo motor.

[0026] Preferably, the left guide rail of the gantry is a longitudinal ridge-like convex structure, and the right guide rail is a flat guide rail;

[0027] By moving the gantry back and forth along the guide rail, the distance between the baffle and the front bumper of the vehicle is adjusted to simulate the braking distance.

[0028] Preferably, taking the first pulley as the coordinate origin, the direction from the first pulley to the fourth pulley as the x-axis, and the direction vertically upward from the first pulley as the y-axis, a two-dimensional rectangular coordinate system is established;

[0029] Set the reel, the first fixed support, and the baffle as points A, B, and C. In the single-chip microcomputer, calculate the lengths L AC and L CB of AC and CB, and the calculation formula is:

[0030] ;

[0031] ;

[0032] The perimeter L rope =L AC +L CB Update the target perimeter to:

[0033] L rope,new = L rope,old +ΔL;

[0034] Where:

[0035] L rope is the length of AC + CB;

[0036] L rope,new is the length of AC + CB at this moment;

[0037] L rope,old is the length of AC + CB at the previous moment;

[0038] ΔL=(L AC,new +L CB,new )−(L AC,old +L CB,old );

[0039] Wherein:

[0040] L AC,new is the length of AC at this moment;

[0041] L CB,new is the length of CB at this moment;

[0042] L AC,old is the length of AC at the previous moment;

[0043] L CB,old is the length of CB at the previous moment;

[0044] Calculate the compensation amount ΔL;

[0045] If ΔL > 0, the first servo motor needs to release the second steel wire;

[0046] If ΔL < 0, the first servo motor needs to tighten the second steel wire;

[0047] The single-chip microcomputer calculates the length change of AC + CB according to the positions of the drum, the first fixed support and the baffle, and controls the first servo motor to release or tighten the second steel wire to compensate for the length change.

[0048] According to the second aspect of the present invention, there is provided a detection method for an AEB performance detection device of an automobile based on a test bench, characterized by including the following steps:

[0049] Step 1: The vehicle drives into the drum dynamometer, aligning the wheels with the drum dynamometer; at the same time, the vehicle to be tested is located at the horizontal center of the detection device, and the detection device is located directly in front of the vehicle to be tested. The vehicle to be tested accelerates from a standstill to a predetermined speed and then maintains a constant speed.

[0050] Step 2: When starting the test, the baffle simulating an obstacle in the detection device is placed at the horizontal center of the gantry, and the height of the baffle on the gantry in the detection device is adjustable. The gantry slowly moves towards the front bumper of the vehicle through the side rails on both sides; after the vehicle AEB is triggered, the gantry immediately stops moving to detect whether the vehicle AEB is triggered normally.

[0051] Restore the baffle to one side of the gantry. The vehicle accelerates from a standstill to the same predetermined speed as before. The baffle is driven by the servo motor in the detection device to move horizontally from one side of the gantry to the other side at different speeds, and the baffle is adjusted to different heights to simulate obstacles of different heights crossing the road to test the accuracy of the vehicle AEB in recognizing obstacles.

[0052] Step 3: The detection device retreats to the initial position, and the vehicle drives out of the drum dynamometer, and the detection ends.

[0053] Preferably, in step two, by adjusting the moving distance of the gantry along the guide rail, different braking distances are simulated.

[0054] Preferably, in step two, it also includes the coordinated drive of the second servo motor and the third servo motor to change the height of the baffle to simulate obstacles of different heights.

[0055] Preferably, in step two, it also includes the single-chip microcomputer adjusting the actions of the servo motor in real time according to the feedback of the rotary encoder and the reel encoder to keep the baffle stable.

[0056] Preferably, in step three, it also includes moving the gantry to the initial position through the guide rail to complete the detection cycle.

[0057] The device described in the present invention uses the lateral translation of the baffle to simulate the movement trajectory of the obstacle, and uses the forward and backward movement of the guide rail to simulate the distance between the obstacle and the front bumper of the vehicle. The detection method described in the present invention includes three stages: detection preparation, detection process, and detection end. The vehicle is placed on the bench, and then the perception degree of AEB is detected under the scenario that an obstacle suddenly appears in front of the vehicle. The present invention can detect the AEB performance of the vehicle without installing complex equipment. The device described in the present invention has a novel and unique design concept, good detection accuracy, simple structure, convenient installation and operation, and strong repeatability. The research results have certain theoretical value and practical value, and have good application and promotion prospects.

[0058] The technical effects of the present invention are:

[0059] 1. While eliminating the possibility of collision between the vehicle and the obstacle during the AEB performance test, it also ensures the objective evaluation of the vehicle's AEB performance under actual operating conditions. The test variables can be accurately controlled in a controlled environment, such as different weather and lighting, and high-efficiency batch detection of the whole vehicle can be implemented, and it has excellent repeatability.

[0060] 2. This device only uses some simple parts such as motors and pulleys to detect the AEB performance test of the vehicle on a drum dynamometer. And by moving the baffle, the speed when the obstacle crosses, the height of the obstacle are simulated, and by moving the gantry forward and backward through the guide rail, the distance between the vehicle and the obstacle at different vehicle speeds is simulated, and the AEB performance of the vehicle is detected by truly simulating obstacles in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Through reference to the accompanying drawings and the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present invention will become clearer. The accompanying drawings are intended to assist in understanding the solution and do not constitute a limitation to the present invention. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0062] Figure 1 Axonometric view of the automotive AEB performance detection device;

[0063] Figure 2 Axonometric view of the second servo motor;

[0064] Figure 3 Axonometric view of the third servo motor;

[0065] Figure 4 Axonometric view of the first servo motor;

[0066] Figure 5 Axonometric view of the left guide rail of the gantry;

[0067] Figure 6 Axonometric view of the right guide rail of the gantry;

[0068] Figure 7 Axonometric view of the first fixed support;

[0069] Figure 8 Schematic diagram of the signal acquisition and control system.

[0070] Reference numerals: 1 - first pulley, 2 - second pulley, 3 - third pulley, 4 - fourth pulley, 5 - fifth pulley, 6 - first wire, 7 - second wire, 8 - left guide rail, 9 - first servo motor, 10 - drum, 11 - second servo motor, 12 - third motor bracket, 13 - first motor bracket, 14 - second motor bracket, 15 - baffle, 16 - drum dynamometer, 17 - rotary encoder, 18 - drum encoder, 19 - single-chip microcomputer, 20 - third servo motor, 21 - gantry, 22 - first fixed support, 23 - second fixed support, 24 - third fixed support, 25 - right guide rail, 26 - spring. Detailed implementation manners

[0071] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention shall fall within the protection scope of the present invention.

[0072] As Figure 1 、 4As shown in Figs. 6 and 7, the first motor bracket 13 of the present invention is fixed to the inner side of the left end of the gantry 21 by bolts. The first servo motor 9 is fixed to the first motor bracket 13 by bolts. The output shaft of the first servo motor 9 is connected to the input shaft of the winding drum 10 and is located on the same axis. The first motor bracket 13 below the cutting winding drum 10 enables the second steel wire 7 wound around the winding drum 10 to obliquely pass downward around the fifth pulley 5 and be connected to a spring 26. The stiffness of the spring 26 is just sufficient to overcome the weight of the baffle 15. Then it is connected to the first fixed support 22 at the upper right corner of the gantry 21 by the spring 26 to pull up the baffle 15, and the second steel wire 7 always remains in a taut state to prevent the baffle 15 from sagging. The first fixed support 22 and the third fixed support 24 are provided at the upper right corner of the gantry 21, and the second fixed support 23 is provided at the upper left corner of the gantry 21. The first fixed support 22, the second fixed support 23, and the third fixed support 24 are all fixed to the gantry 21 by bolts. The second pulley 2 and the third pulley 3 are respectively installed on the second fixed support 23 and the third fixed support 24. The second fixed support 23 and the third fixed support 24 are respectively fixed to the upper left corner and the upper right corner of the gantry 21 by bolts. The first steel wire 6 pulls the baffle 15 to translate horizontally through the second servo motor 11 and the third servo motor 20 to simulate an obstacle crossing the road.

[0073] As Figure 1 , 2 and 3, on both sides of the gantry 21 of the present invention, two mutually parallel hole rows extending in the vertical direction are respectively provided. The space between the two hole rows is hollow, and both the third motor bracket 12 and the second motor bracket 14 blocking the hollow part between the two hole rows are hollow, which is convenient for the first steel wire 6 passing around the fourth pulley 4 to pass through both sides of the gantry 21, sequentially pass around the first pulley 1, the second pulley 2, and the third pulley 3, and then return to the fourth pulley 4 to form a closed loop path of the steel wire. The third motor bracket 12 and the second motor bracket 14 are respectively fixed to both sides of the gantry 21 by bolts, and the first pulley 1 and the fourth pulley 4 are on the same horizontal plane. The bolts of the third motor bracket 12 and the second motor bracket 14 are respectively installed and removed from the holes on both sides of the gantry 21, and the third motor bracket 12 and the second motor bracket 14 are moved up and down to change the height of the baffle 15. When the baffle 15 moves up and down, the second servo motor 11 and the third servo motor 20 are simultaneously controlled to rotate to retract or release the first steel wire 6 to simulate obstacles of different heights and achieve the effect of pre-tightening the first steel wire 6.

[0074] As Figure 1 , 5As shown in FIGS. 5 and 6, the left guide rail 8 of the gantry 21 of the present invention is a longitudinal ridge-like convex structure, which has a movement guiding function, so that the gantry 21 moves along a predetermined movement track. The right guide rail 25 is a flat guide rail. The gantry 21 is moved back and forth through the left guide rail 8 and the right guide rail 25 to change the distance between the baffle 15 and the front bumper of the vehicle, thereby simulating the braking distance of the vehicle.

[0075] As Figure 1 , 4 and 8 show that the rotary encoder 17 of the present invention is installed on the second servo motor 11, and the single-chip microcomputer 19 is used to control the first servo motor 9, the second servo motor 11 and the third servo motor 20; the rotary encoder 17 obtains the moving position of the baffle 15 by detecting the rotation angle and speed of the motor rotor in real time; the reel encoder 18 feeds back the actual length of the second wire 7 released or retracted by the reel 10 in real time; the position of the baffle 15 is obtained in real time through the rotary encoder 17 installed on the second servo motor 11, and the signal is transmitted to the single-chip microcomputer 19; the direction from the first pulley 1 to the fourth pulley 4 is the x-axis, the direction vertically upward of the first pulley 1 is the y-axis, and the first pulley 1 is the coordinate origin to establish a two-dimensional rectangular coordinate system; the reel 10, the first fixed support 22 and the baffle 15 are set as points A, B and C. In the single-chip microcomputer 19, the lengths L AC and L CB are calculated, and the calculation formula is:

[0076] ;

[0077] ;

[0078] Perimeter L rope =L AC +L CB The updated target perimeter is:

[0079] L rope,new = L rope,old +ΔL;

[0080] Where:

[0081] L rope is the length of AC + CB;

[0082] L rope,new is the length of AC + CB at this moment;

[0083] L rope,old is the length of AC + CB at the previous moment;

[0084] ΔL=(L AC,new +L CB,new )−(L AC,old +L CB,old );

[0085] Wherein:

[0086] L AC,new is the length of AC at this moment;

[0087] L CB,new is the length of CB at this moment;

[0088] L AC,old is the length of AC at the previous moment;

[0089] L CB,old is the length of CB at the previous moment;

[0090] Calculate the compensation amount ΔL;

[0091] If ΔL>0, the first servo motor 9 needs to release the second steel wire 7;

[0092] If ΔL<0, the first servo motor 9 needs to tighten the second steel wire 7;

[0093] Furthermore, a control signal is sent in the single-chip microcomputer 19 to control the first servo motor 9 to adjust the length of the second steel wire 7. The actual released or retracted length of the second steel wire 7 is fed back to the single-chip microcomputer 19 through the drum encoder 18 to ensure the accuracy of the released or retracted length of the second steel wire 7.

[0094] The detection method of the present invention includes the following steps:

[0095] Step 1: The vehicle drives into the drum dynamometer 16, aligning the wheels with the drum dynamometer 16; at the same time, the vehicle to be tested is located at the horizontal center of the detection device, and the detection device is located directly in front of the vehicle to be tested. The vehicle to be tested starts from a standstill and accelerates to a predetermined speed, and then maintains a constant speed.

[0096] Step 2: When starting the test, the baffle 15 simulating an obstacle in the detection device is placed at the horizontal center of the gantry 21, and the height of the baffle 15 on the gantry 21 in the detection device is adjustable. The gantry 21 slowly moves towards the front bumper of the vehicle through the left guide rail 8 and the right guide rail 25; after the vehicle AEB is triggered, the gantry 21 immediately stops moving to detect whether the vehicle AEB is triggered normally.

[0097] Restore the baffle 15 to one side of the gantry 21. The vehicle accelerates from a standstill to the same predetermined speed as before. The baffle 15 is driven by the second servo motor 11 and the third servo motor 20 in the detection device to move horizontally from one side of the gantry 21 to the other side at different speeds, and the baffle 15 is adjusted to different heights to simulate obstacles of different heights crossing the road to test the accuracy of the vehicle AEB in recognizing obstacles.

[0098] Step 3: The detection device retreats backward to the initial position, and the vehicle drives out of the drum dynamometer 16, and the detection ends.

[0099] In Step 2, it also includes simulating different braking distances by adjusting the moving distances of the gantry 21 along the left guide rail 8 and the right guide rail 25.

[0100] In Step 2, it also includes the second servo motor 11 and the third servo motor 20 driving in cooperation to change the height of the baffle 15 to simulate obstacles at different heights.

[0101] In Step 2, it also includes the single-chip microcomputer 19 adjusting the actions of the servo motor in real time according to the feedback of the rotary encoder 17 and the reel encoder 18 to keep the baffle 15 stable.

[0102] In Step 3, it also includes moving the gantry 21 to the initial position through the left guide rail 8 and the right guide rail 25 to complete the detection cycle.

[0103] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the embodiments. For those skilled in the art, the present invention can have various changes and variations. Any changes, modifications, substitutions, combinations, and simplifications made to the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. A bench-based automotive AEB performance detection device, characterized in that: It includes a servo motor drive unit, a driven unit, a gantry, guide rails, and a signal acquisition and control unit; The servo motor drive unit includes a first servo motor, a second servo motor, a third servo motor, a first motor bracket, a second motor bracket, a third motor bracket, and a reel; The first motor bracket is fixed to the inner side of the left end of the gantry, the second motor bracket and the third motor bracket are respectively fixed to the left and right sides of the gantry, and two mutually parallel hole columns extending in the vertical direction are respectively arranged on the left and right sides of the gantry; The area between the hole columns is a hollow area. The parts of the second motor bracket and the third motor bracket that block the first steel wire from passing through the gantry are hollow, and the upper hollow area communicates with the hollow area of the gantry, so that the first steel wire can sequentially bypass the fourth pulley, the first pulley, the second pulley, the third pulley, and then return to the fourth pulley to form a closed loop path; The first servo motor, the second servo motor, and the third servo motor are respectively fixed to the first motor bracket, the second motor bracket, and the third motor bracket by bolts; The driven unit includes a baffle, a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a first steel wire, and a second steel wire; A first fixed support and a third fixed support are arranged at the upper right corner of the gantry, a second fixed support is arranged at the upper left corner of the gantry, the first fixed support, the second fixed support, and the third fixed support are fixed to the gantry by bolts, and the second pulley and the third pulley are respectively installed on the second fixed support and the third fixed support; Guide rails are arranged on the left and right sides of the gantry, and the gantry moves back and forth along the guide rails; The first steel wire is connected to the baffle and is used to horizontally translate the baffle to simulate an obstacle crossing the road; The second steel wire passes through the fifth pulley and is used to upwardly pull the baffle and keep it taut; The signal acquisition and control unit is used to control the servo motor and monitor the change in the length of the steel wire.

2. The bench-based automotive AEB performance detection device according to claim 1, characterized in that: The reel, the fourth pulley, and the first pulley are respectively fixed to the first motor bracket, the second motor bracket, and the third motor bracket by bolts; The output shafts of the first servo motor, the second servo motor, and the third servo motor are respectively connected to the input shafts of the reel, the fourth pulley, and the first pulley, and are guaranteed to be coaxial.

3. The bench-based automotive AEB performance detection device according to claim 1 or 2, characterized in that: The signal acquisition and control unit includes a single-chip microcomputer, a rotary encoder, and a reel encoder; The rotary encoder is installed on the second servo motor and is used to detect the rotation angle and speed of the motor rotor; The reel encoder is used to real-time feedback the length of the second steel wire released or retracted by the reel; The single-chip microcomputer is used to control the actions of the first servo motor, the second servo motor, and the third servo motor.

4. The bench-based automotive AEB performance detection device according to claim 1, characterized in that: The left guide rail of the gantry is a longitudinal ridge-like convex structure, and the right guide rail is a flat guide rail; By moving the gantry back and forth along the guide rail, adjust the distance between the baffle and the vehicle's front bumper to simulate the braking distance.

5. The bench-based vehicle AEB performance detection device according to claim 3, characterized in that: Taking the first pulley as the coordinate origin, the direction from the first pulley to the fourth pulley as the x-axis, and the vertically upward direction of the first pulley as the y-axis, a two-dimensional rectangular coordinate system is established; Set the reel, the first fixed support and the baffle as points A, B and C, and calculate the lengths L of AC and CB AC and L CB , and the calculation formula is: ； ； Perimeter L rope = L AC + L CB The updated target perimeter is: L rope,new = L rope,old + ΔL; Wherein: L rope is the length of AC + CB; L rope,new is the length of AC + CB at this moment; L rope,old is the length of AC + CB at the previous moment; ΔL=(L AC,new +L CB,new )−(L AC,old +L CB,old ); Wherein: L AC,new is the length of AC at this moment; L CB,new is the length of CB at this moment; L AC,old is the length of AC at the previous moment; L CB,old is the length of CB at the previous moment; Calculate the compensation amount ΔL; If ΔL>0, the first servo motor needs to release the second steel wire; If ΔL<0, the first servo motor needs to tighten the second steel wire; The single-chip microcomputer calculates the length change of AC + CB according to the positions of the reel, the first fixed support and the baffle, and controls the first servo motor to release or tighten the second steel wire to compensate for the length change.

6. A detection method for the detection device of the vehicle AEB performance based on a test bench according to any one of claims 1-5, characterized in that, Including the following steps: Step 1: The vehicle drives into the drum dynamometer so that the wheels are aligned with the drum dynamometer; at the same time, the vehicle to be tested is located at the horizontal center of the detection device, and the detection device is located directly in front of the vehicle to be tested. The vehicle to be tested accelerates from a standstill to a predetermined speed and then maintains a constant speed. Step 2: When starting the test, the baffle simulating the obstacle in the detection device is placed at the horizontal center of the gantry, and the height of the baffle on the gantry in the detection device is adjustable. The gantry slowly moves towards the vehicle's front bumper along the guide rail; after the vehicle's AEB is triggered, the gantry immediately stops moving to detect whether the vehicle's AEB is triggered normally. Restore the baffle to one side of the gantry. The vehicle accelerates from a standstill to the same predetermined speed as before. The baffle is driven by the servo motor in the detection device to move horizontally from one side of the gantry to the other side at different speeds, and the baffle is adjusted to different heights to simulate obstacles of different heights crossing the road to test the accuracy of the vehicle's AEB in identifying obstacles. Step 3: The detection device retreats to the initial position, and the vehicle drives out of the drum dynamometer, and the detection ends.

7. The detection method according to claim 6, characterized in that: In step 2, it also includes simulating different braking distances by adjusting the moving distance of the gantry along the guide rail.

8. The detection method according to claim 6, characterized in that: In step 2, it also includes the coordinated drive of the second servo motor and the third servo motor to change the height of the baffle to simulate obstacles of different heights.

9. The detection method according to claim 6, characterized in that: In step 2, it also includes the single-chip microcomputer adjusting the actions of the servo motor in real time according to the feedback of the rotary encoder and the reel encoder to keep the baffle stable.

10. The detection method according to claim 6, characterized in that: In step 3, it also includes moving the gantry to the initial position through the guide rail to complete the detection cycle.

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