Driving robot for vehicle pre-braking collision test and collision test system

Abstract

The invention discloses a driving robot for a vehicle pre-braking collision test and a collision test system, and belongs to the technical field of vehicle collision tests. The driving robot for the vehicle pre-braking collision test comprises a braking robot, and the braking robot comprises a brake; the brake oil cylinder is connected with the brake through a first brake oil way; the electric oil cylinder is connected with the brake through a first brake oil way; and the brake channel switching control valve is arranged on the first brake oil way and the second brake oil way so as to open and close the first brake oil way and the second brake oil way. According to the driving robot for the vehicle pre-braking collision test, the interference risk between the driving robot and the simulation person is low, and the reliability of test data is high.

Description

Technical Field

[0001] This application belongs to the field of vehicle collision testing technology, and in particular relates to a driving robot and collision testing system for vehicle pre-braking collision testing. Background Technology

[0002] In passive collision tests of vehicles, a traction system is typically used to guide the vehicle along a predetermined trajectory and at a predetermined speed to collide with obstacles. With the rapid development of the intelligent connected vehicle industry, vehicle pre-braking collision test technology has entered a stage of rapid development. Its core lies in achieving safe and controllable active collision tests through high-precision braking control and intelligent decision-making systems. However, the control precision of traditional passive collision traction systems is insufficient to meet the requirements, hence the need to utilize driving robots to complete this type of test.

[0003] In the vehicle pre-braking active collision test, the driving robot needs to be installed in the areas where the steering wheel, accelerator, and brake pedals are located to control these pedals. However, a human simulator needs to be placed in the driver's position and needs to mimic the operating posture. This means that there are simulated arms and legs at the steering wheel, accelerator, and brake pedals. There is insufficient installation space, a high risk of interference with the human simulator, and it can easily affect the relevant collision data of the human simulator, resulting in unsatisfactory test data reliability. Summary of the Invention

[0004] This application provides a driving robot and a collision testing system for vehicle pre-braking collision testing, aiming to at least partially solve the technical problem of the assembled driving robot interfering with the collision process of the simulated human in active vehicle collision testing, thus affecting the reliability of collision data. Therefore,

[0005] In one aspect of this application, a driving robot for vehicle pre-braking collision testing is provided, including a braking robot, the braking robot comprising:

[0006] Brake;

[0007] The brake cylinder is connected to the brake via a first brake oil circuit;

[0008] An electric hydraulic cylinder is connected to the brake via a first brake hydraulic circuit;

[0009] A brake channel switching control valve is installed on the first brake oil circuit and the second brake oil circuit to control the opening and closing of the first brake oil circuit and the second brake oil circuit.

[0010] In some embodiments, the driving robot for vehicle pre-braking collision testing further includes an accelerator robot connected to the vehicle's accelerator pedal.

[0011] In some embodiments, the throttle robot includes:

[0012] A drive motor is configured to be installed on the side of the accelerator pedal away from the pedal surface;

[0013] A traction rope, with one end wound around the shaft of the drive motor and the other end connected to the accelerator pedal, is used to pull the accelerator pedal to move under the traction of the drive motor.

[0014] In some embodiments, the driving robot for vehicle pre-braking collision testing further includes a steering robot, which is located on the side of the vehicle steering wheel away from the driver's seat and is connected to the steering wheel.

[0015] In some embodiments, the steering robot includes:

[0016] A clamp is attached to the circumferential side of the steering wheel;

[0017] The drive cylinder has its cylinder body mounted on the vehicle body on the side of the vehicle away from the driver's seat, opposite to the steering wheel, and the cylinder rod of the drive cylinder is movably connected to the clamp.

[0018] In some embodiments, the drive cylinder is a linear servo electric cylinder.

[0019] Another aspect of the embodiments of this application also provides a collision test system, including the driving robot for vehicle pre-braking collision test, the collision test system further including: a test controller, a wireless communication module, an inertial navigation module and a data acquisition module;

[0020] The test controller is electrically connected to the wireless communication module, the inertial navigation module, the data acquisition module, and the driving robot.

[0021] In some embodiments, the wireless communication module includes a local area gateway and a transmission antenna, wherein the local area gateway is electrically connected to the test controller and the transmission antenna.

[0022] In some embodiments, the inertial navigation module includes a gyroscope, an accelerometer, and a GPS locator electrically connected to the test controller.

[0023] In some embodiments, the data acquisition module includes an integrated data acquisition device and a video acquisition device electrically connected to the test controller.

[0024] The embodiments of this application have at least the following beneficial effects:

[0025] The vehicle pre-braking collision test driving robot and collision test system provided in this application include a braking robot. The braking robot includes a brake, a brake cylinder, an electric cylinder, and a brake channel switching control valve. The brake cylinder is connected to the brake through a first brake oil circuit; the electric cylinder is also connected to the brake through the first brake oil circuit; the brake channel switching control valve is located on the first brake oil circuit and the second brake oil circuit to control the opening and closing of the first brake oil circuit and the second brake oil circuit. That is, based on the vehicle braking system, the second brake oil circuit and the electric cylinder are connected through the brake channel switching control valve, so that the electric cylinder and the brake channel switching control valve can be electrically controlled to directly drive the brake to operate, thereby realizing the braking operation without the need for a drive mechanism to push and pull the brake pedal. This greatly simplifies the size of the braking robot and eliminates the need to place it in the vicinity of the brake pedal in the driver's seat, thus avoiding interference with the simulation robot and improving the reliability of vehicle pre-braking collision test data to a certain extent. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of the collision test system in an embodiment of this application is shown;

[0028] Figure 2 It shows Figure 1 A schematic diagram of the braking robot in the collision testing system;

[0029] Figure 3 It shows Figure 1 A schematic diagram of the braking robot in the collision testing system.

[0030] Figure label:

[0031] 1-Brake robot, 11-Brake, 12-Brake cylinder, 121-First brake circuit, 122-Brake pedal, 123-Vacuum booster, 13-Electric cylinder, 131-Second brake circuit, 14-Brake channel switching control valve.

[0032] 2-Steering robot, 21-Gripper, 22-Drive cylinder;

[0033] 3-Throttle robot;

[0034] 4-Test Controller;

[0035] 5-Inertial navigation module, 51-Gyroscope, 52-Accelerometer, 53-GPS locator;

[0036] 6-Wireless communication module, 61-Local area gateway, 62-Transmission antenna;

[0037] 7-Data acquisition module, 71-Integrated data acquisition equipment, 72-Video acquisition equipment;

[0038] 8-Safety monitoring module;

[0039] 9. Steering wheel. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0042] This application is described below with reference to the accompanying drawings and specific embodiments:

[0043] In passive vehicle crash tests, a traction system is typically used to guide the vehicle along a predetermined trajectory and at a predetermined speed to collide with obstacles. To improve the reliability and accuracy of crash test data, active crash testing can be employed. In active crash tests involving pre-braking, a driving robot needs to be installed in the areas corresponding to the steering wheel, accelerator, and brake pedals to control these functions. However, a human simulator needs to be placed in the driver's position to mimic the operating posture. This means that simulated arms and legs are required at the steering wheel, accelerator, and brake pedals. Insufficient installation space and a high risk of interference with the human simulator can easily affect the simulator's crash data, leading to unsatisfactory test data reliability.

[0044] Therefore, this application provides a driving robot and a collision testing system for vehicle pre-braking collision testing, which aims to at least reduce the risk of interference between the driving robot and the simulated human during active collision testing and improve the reliability of collision data.

[0045] See Figure 1 , Figure 2 and Figure 3 In some embodiments, the driving robot for vehicle pre-braking collision testing is used to simulate a driver operating the vehicle, specifically including operating the steering wheel, stepping on the brake, and stepping on the accelerator; correspondingly, the driving robot may include a braking robot 1, a steering robot 2, and an accelerator robot 3, which respectively control the steering wheel, implement braking, and control the accelerator.

[0046] See Figure 2 In some embodiments, the braking robot 1 may include a brake 11, a brake cylinder 12, an electric cylinder 13, and a brake channel switching control valve 14.

[0047] The brake cylinder 12 is connected to the brake 11 via the first brake oil circuit 121, enabling the brake 11 to be actuated and thus achieving braking operation. Generally, the brake cylinder 12 can be connected to the brake pedal 122, allowing the operator to actuate the brake cylinder 12 by pressing the brake pedal 122. To reduce the difficulty of braking, a vacuum booster 123 can be installed between the brake pedal 122 and the brake cylinder 12. The brake pedal 122 is typically located below the driver's seat, matching the foot of the simulated human; correspondingly, the vacuum booster 123 and the brake cylinder 12 are typically located outside the driver's side, such as at the bottom of the vehicle body.

[0048] The electric hydraulic cylinder 13 is connected to the brake 11 via the second brake oil circuit 131, thereby enabling the electric hydraulic cylinder 13 to drive the brake 11 to perform braking operations. Generally, the electric hydraulic cylinder 13 operates under the drive of an external electronic control signal to achieve braking operations. Typically, the electric hydraulic cylinder 13 can operate under the drive of a test controller, upstream control host, etc. The electric hydraulic cylinder 13 can be installed outside the driver's seat, such as at the bottom of the vehicle body, to avoid interference with the simulated human and to prevent additional impacts during a collision, thus ensuring the reliability of the collision data.

[0049] The brake channel switching control valve 14 is connected to the first brake oil circuit 121 and the second brake oil circuit 131 respectively, and can control the opening and closing of the first brake oil circuit 121 and the second brake oil circuit 131, thereby enabling the selection of one of the circuits to achieve braking operation.

[0050] Specifically, under normal conditions, the brake channel switching control valve 14 can open the first brake oil circuit 121 and close the second brake oil circuit 131, so that only the brake cylinder 12 can be operated to achieve the braking operation. That is, the driver can achieve the braking operation by stepping on the brake pedal 122, which meets the needs of normal driving.

[0051] During a collision test, the brake channel switching control valve 14 can close the first brake oil circuit 121 and open the second brake oil circuit 131, so that only the electric cylinder 13 can be operated to perform the braking operation; that is, only under the control of the upstream test control command, the electric cylinder 13 can drive the brake 11 to perform the braking operation, thus meeting the requirements of active collision testing.

[0052] Since the electric hydraulic cylinder 13 that drives the braking operation does not need to be installed near the brake pedal in the cab during active collision testing, it can avoid interference with the simulated human and thus avoid affecting the collision data; it also simplifies the structure of the braking robot 1 to a certain extent, and has more direct and efficient braking control compared to driving the brake pedal 122.

[0053] In some embodiments, the throttle robot is used to drive the accelerator pedal, simulating the operation of a driver pressing the accelerator. Specifically, the throttle robot can be connected to the accelerator pedal of a vehicle to achieve the operation of adjusting the throttle.

[0054] Generally, to reduce the risk of interference with the simulated human, the throttle robot can be placed on the back of the throttle pedal or outside the driver's compartment.

[0055] In some embodiments, the throttle robot may include a drive motor and a traction rope. The drive motor is configured to be mounted on the back of the throttle pedal, i.e., on the side away from the tread surface, thus away from the humanoid driver in the driver's seat. One end of the traction rope is wound around the shaft of the drive motor, and the other end is connected to the throttle pedal, so that the throttle pedal can be moved by the action of the drive motor to adjust the throttle position.

[0056] See Figure 3 In some embodiments, the steering robot 2 is connected to the vehicle's steering wheel 9 and directly drives the steering wheel 9 to rotate in order to achieve steering adjustment.

[0057] Generally, to avoid the steering robot 2 interfering with the reactivation and deployment of the airbag on the steering wheel 9, the steering robot 2 can be positioned away from the steering wheel 9. Simultaneously, for ease of installation and to keep it away from the human simulator, the steering robot 2 can be positioned on the side of the vehicle's steering wheel 9 furthest from the driver's seat. Alternatively, the steering robot 2 can be positioned above the dashboard.

[0058] In some embodiments, the steering robot 2 may include a gripper 21 and a drive cylinder 22. The gripper is connected to the circumferential side of the steering wheel 9, and the drive cylinder 22 is disposed on the vehicle body on the side of the vehicle steering wheel 9 away from the driver's seat. The cylinder rod of the drive cylinder 2 is movably connected to the gripper 21, thereby driving the gripper 21 to rotate with the steering wheel 9.

[0059] In some embodiments, the clamp 21 may be designed to engage and snap onto the rim of the steering wheel 9, and the cylinder rod of the drive cylinder 22 may be pivotally connected to the clamp 21.

[0060] The drive cylinder 22 can be a linear servo electric cylinder, thereby precisely controlling the steering angle.

[0061] Generally, the steering angle of the steering wheel 9 can be controlled within ±30° through assembly settings.

[0062] In some embodiments, a collision testing system is also provided, including the above-mentioned driving robot for vehicle pre-braking collision testing, a test controller 4, an inertial navigation module 5, a wireless communication module 6, and a data acquisition module 7; wherein the test controller 4 is electrically connected to the driving robot, the inertial navigation module 5, the wireless communication module 6, and the data acquisition module 7 respectively.

[0063] The test controller 4 is the vehicle control center of the crash test system, which coordinates the control and information acquisition of each component, and coordinates communication with the remote control center to transmit crash test data.

[0064] The inertial navigation module 5 is used to measure the three-dimensional attitude, velocity and position changes of an object, and can provide continuous, high-frequency motion data in a collision test environment.

[0065] The wireless communication module 6 is used to establish a communication connection with the remote center to realize the return of collision test data and the transmission of test control commands.

[0066] The data acquisition module 7 is used for data acquisition, such as aggregated data and video data.

[0067] In some embodiments, a safety monitoring module 8 may also be configured in the test controller 4 to configure safety range thresholds for vehicle speed, acceleration, etc., so that the vehicle can be brought to a stop when the threshold range is exceeded.

[0068] In some embodiments, the wireless communication module 6 may include a local area gateway 61 and a transmission antenna 62, wherein the local area gateway 61 is electrically connected to the test controller 4 and the transmission antenna 62.

[0069] In some embodiments, the inertial navigation module 5 includes a gyroscope 51, an accelerometer 52, and a GPS locator 53 that are electrically connected to the test controller 4.

[0070] The gyroscope 51 is used to measure the angular velocity (turning, pitching, and rolling rate) of an object rotating around the X, Y, and Z axes.

[0071] Accelerometer 52 is used to measure the linear acceleration (including gravitational acceleration) of an object in the X, Y, and Z axes.

[0072] GPS locator 53 is used for vehicle positioning to obtain vehicle location information in real time.

[0073] In some embodiments, the data acquisition module 7 includes a comprehensive data acquisition device 71 and a video acquisition device 72 that are electrically connected to the test controller 4.

[0074] The embodiments of this application have at least the following beneficial effects:

[0075] The vehicle pre-braking collision test driving robot and collision test system provided in this application include a braking robot. The braking robot includes a brake, a brake cylinder, an electric cylinder, and a brake channel switching control valve. The brake cylinder is connected to the brake through a first brake oil circuit; the electric cylinder is also connected to the brake through the first brake oil circuit; the brake channel switching control valve is located on the first brake oil circuit and the second brake oil circuit to control the opening and closing of the first brake oil circuit and the second brake oil circuit. That is, based on the vehicle braking system, the second brake oil circuit and the electric cylinder are connected through the brake channel switching control valve, so that the electric cylinder and the brake channel switching control valve can be electrically controlled to directly drive the brake to operate, thereby realizing the braking operation without the need for a drive mechanism to push and pull the brake pedal. This greatly simplifies the size of the braking robot and eliminates the need to place it in the vicinity of the brake pedal in the driver's seat, thus avoiding interference with the simulation robot and improving the reliability of vehicle pre-braking collision test data to a certain extent.

[0076] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0077] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0078] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0079] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0080] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0081] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0082] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0083] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A driving robot for vehicle pre-braking collision testing, characterized in that, Includes a braking robot, the braking robot comprising: Brake; The brake cylinder is connected to the brake via a first brake oil circuit; An electric hydraulic cylinder is connected to the brake via a first brake hydraulic circuit; A brake channel switching control valve is installed on the first brake oil circuit and the second brake oil circuit to control the opening and closing of the first brake oil circuit and the second brake oil circuit.

2. The driving robot for vehicle pre-braking collision testing as described in claim 1, characterized in that, The driving robot for vehicle pre-braking collision testing also includes an accelerator robot, which is connected to the vehicle's accelerator pedal.

3. The driving robot for vehicle pre-braking collision testing as described in claim 2, characterized in that, The throttle robot includes: A drive motor is configured to be installed on the side of the accelerator pedal opposite to the pedal surface; A traction rope, with one end wound around the shaft of the drive motor and the other end connected to the accelerator pedal, is used to pull the accelerator pedal to move under the traction of the drive motor.

4. The driving robot for vehicle pre-braking collision testing as described in claim 1, characterized in that, The driving robot for vehicle pre-braking collision testing also includes a steering robot, which is located on the side of the vehicle steering wheel away from the driver's seat and is connected to the steering wheel.

5. The driving robot for vehicle pre-braking collision testing as described in claim 4, characterized in that, The steering robot includes: A clamp that connects to the circumferential side of the steering wheel; The drive cylinder has its cylinder body mounted on the vehicle body on the side of the vehicle body away from the driver's seat, opposite to the steering wheel, and the cylinder rod of the drive cylinder is movably connected to the clamp.

6. The driving robot for vehicle pre-braking collision testing as described in claim 5, characterized in that, The drive cylinder is a linear servo electric cylinder.

7. A collision testing system, characterized in that, The system includes a driving robot for vehicle pre-braking collision testing as described in any one of claims 1 to 6, wherein the collision testing system further includes: a test controller, a wireless communication module, an inertial navigation module, and a data acquisition module; The test controller is electrically connected to the wireless communication module, the inertial navigation module, the data acquisition module, and the driving robot.

8. The collision testing system as described in claim 7, characterized in that, The wireless communication module includes a local area gateway and a transmission antenna, wherein the local area gateway is electrically connected to the test controller and the transmission antenna.

9. The collision testing system as described in claim 7, characterized in that, The inertial navigation module includes a gyroscope, an accelerometer, and a GPS locator that are electrically connected to the test controller.

10. The collision testing system as described in claim 7, characterized in that, The data acquisition module includes a comprehensive data acquisition device and a video acquisition device that are electrically connected to the test controller.

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