An automobile automatic driving experiment simulation platform

Abstract

The application relates to an automatic driving experiment simulation platform for a vehicle, and belongs to the field of automatic driving experiment simulation devices for vehicles. The platform can simulate a real road traffic environment, effectively verify and learn the automatic driving vehicle, and comprises a test platform and multiple loop tracks. The loop tracks are provided with movable bottom plates which can slide along guide rails, and the movable bottom plates are provided with deformable simulation baffles. The simulation baffles can move in multiple dimensions in the horizontal and vertical directions, and simulate different traffic participants and sudden situations. The platform adopts multiple devices and mechanisms, improves the flexibility and controllability of the simulation platform, and adopts electrical equipment, guarantees the durability and safety performance of the simulation platform. The platform can realize diversified simulation scenes according to the requirements and preferences of users. The simulation platform can better simulate the complex environment of actual road traffic, and is more conducive to the verification and learning of the automatic driving system.

Description

Technical Field

[0001] This invention belongs to the field of automotive autonomous driving experimental simulation devices, and in particular relates to an automotive autonomous driving experimental simulation platform. Background Technology

[0002] Autonomous driving refers to the technology that uses onboard sensors, controllers, actuators, and other devices to achieve autonomous control of some or all of a vehicle's driving tasks. The goal of autonomous driving is to improve traffic safety, efficiency, and comfort, while reducing energy consumption and environmental pollution.

[0003] The research and testing of autonomous driving is a complex and time-consuming process, requiring verification of the functionality and performance of autonomous driving systems under different scenarios and conditions. To reduce the cost and risk of real-vehicle testing, simulation testing is an effective method that can simulate real traffic scenarios and the behavior of autonomous driving systems in a virtual environment.

[0004] Existing autonomous driving simulation testing platforms can provide a wide variety of test scenarios, but they also have some limitations: on the one hand, the test scenarios in these platforms are usually pre-designed or generated based on real map data, making it difficult to cover all possible situations, especially rare or dangerous ones.

[0005] On the other hand, the test scenarios in these platforms are usually fixed or randomly changing, making it difficult to adapt them to the learning progress and performance of the autonomous driving system, thereby improving test efficiency and effectiveness.

[0006] Therefore, this invention aims to provide an experimental simulation platform for autonomous driving of automobiles. By setting up multiple modular roadblocks on roads that can be randomly generated and automatically combined, the platform facilitates the training of autonomous driving systems. This invention can effectively generate various parameter recombination scenarios; that is, it can randomly or systematically generate multiple possible scenarios based on the value range and distribution characteristics of different scenario elements. Furthermore, this invention can dynamically adjust the position, shape, and quantity of the modular roadblocks based on feedback information from the autonomous driving system under different scenarios, thereby achieving adaptive training of the autonomous driving system. Summary of the Invention

[0007] The purpose of this invention is to provide an experimental simulation platform for autonomous driving of automobiles, which enables wireless remote authorization and control of electrical equipment, can simulate real road traffic environments, and effectively verify and learn autonomous vehicles.

[0008] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: An autonomous driving experimental simulation platform for automobiles includes a test platform with multiple annular track tracks. Multiple movable base plates are movably mounted on the annular track tracks. Guide rail mounting slots are formed on the annular track tracks, and first guide rails are installed in the guide rail mounting slots. Base plate mounting modules are provided below the movable base plates and are movably mounted on the first guide rails. The upper surface of the movable base plates is arc-shaped, and first baffle mounting slots are formed on the movable base plates, in which simulated baffles are movably mounted.

[0009] Furthermore, the simulated baffle can be shaped like a car, pedestrian, or animal.

[0010] Furthermore, the movable base plate can be driven by a motor on the base plate mounting module to slide along the first guide rail.

[0011] Furthermore, a rotating roller is provided on the side of the first baffle mounting groove. The roller is driven by a motor, and the side of the roller abuts against the side of the simulated baffle.

[0012] Furthermore, the simulated baffle is provided with a first side support plate and a second side support plate on both sides, and the first baffle side support groove is provided on both sides of the first baffle mounting groove. The lower ends of the first side support plate and the second side support plate are movably installed in the first baffle side support groove.

[0013] Furthermore, the first side support plate and the second side support plate can be hinged to be movably mounted on the side of the simulated baffle.

[0014] Furthermore, a baffle mounting boss is provided below the simulated baffle, and the baffle mounting boss is movably installed in a guide groove provided on the side of the first baffle mounting groove. The side of the first guide rail mounting groove and the outer side of the power roller are provided with mutually cooperating friction textures to enhance friction.

[0015] Furthermore, first clearance grooves are provided on both sides of the first baffle mounting groove, a first transmission belt is installed in the first clearance groove, and a transport belt drive wheel is installed at both ends of the first transmission belt. The outer sides of the first transmission belt on both sides of the movable base plate abut against the sides of the simulated baffle.

[0016] Furthermore, the first transmission belt is provided with a plurality of evenly distributed transmission belt abutment blocks. First mounting posts are movably installed on both sides of the transmission belt abutment blocks. A first rack is provided in the middle of the transmission belt abutment blocks. A second spring is provided between the side of the first rack and the mounting groove. A first abutment block is provided on the side of the first rack. A first gear is provided on the side of the first abutment block that is close to the first rack. The first gear meshes with the first rack. An abutment arc surface is provided on the side of the first rack that is away from the first rack. The first rack is movably installed in the second clearance groove through the abutment block mounting shaft. The axis of the abutment block mounting shaft coincides with the axis of the first gear. A baffle abutment boss is provided below the simulated baffle. The side of the abutment arc surface abuts against the side of the baffle abutment boss.

[0017] Furthermore, a pantograph is provided below the first mounting shaft, and a positive voltage is provided at the lower end of the second guide rail mounting groove, with the pantograph abutting against the lower end of the second guide rail mounting groove.

[0018] Beneficial effects: 1. This invention provides an autonomous driving experimental simulation platform that can simulate real road traffic environments and effectively verify and learn autonomous vehicles. 2. The simulation platform of the present invention uses a movable base plate and simulated baffles to form variable road obstacles, which can simulate different traffic participants and emergencies, increasing the difficulty and adaptability of autonomous driving; 3. The simulation platform of the present invention employs a variety of devices and mechanisms, enabling the movable base plate and simulation baffle to move in multiple dimensions in the horizontal and vertical directions, thereby improving the flexibility and controllability of the simulation platform.

[0019] 4. The simulation platform of the present invention can select different shapes, sizes and numbers of simulation baffles, as well as different movement speeds, directions and trajectories, according to the user's needs and preferences, to realize diverse simulation scenarios; 5. The simulation platform of this invention uses electrical equipment such as motors, lithium batteries, and pantographs to ensure the long-term performance and safety of the simulation platform.

[0020] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the test platform according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the active base plate according to an embodiment of this disclosure; Figure 3 This is a schematic diagram of the first guide rail according to an embodiment of this disclosure; Figure 4 This is a schematic diagram of the internal structure of the movable base plate according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of a simulated baffle structure according to an embodiment of this disclosure; Figure 6 This is a schematic diagram of the base plate mounting module structure according to an embodiment of this disclosure; Figure 7 This is a schematic diagram of the back of the base plate mounting module according to an embodiment of the present disclosure; Figure 8 This is a schematic diagram of the transmission belt structure according to an embodiment of the present disclosure; Figure 9 This is a schematic diagram of the transmission belt contact block according to an embodiment of the present disclosure. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0025] Example 1, such as Figures 1-9 As shown, an autonomous driving experimental simulation platform for automobiles is characterized in that the simulation platform includes a test platform 1, on which multiple annular track 11 are provided, and multiple movable base plates 3 are movably installed on the annular track 11. Guide rail mounting grooves 12 are opened on the annular track 11, and a first guide rail 2 is installed in the guide rail mounting groove 12. A base plate mounting module 4 is provided below the movable base plate 3, and the base plate mounting module 4 is movably installed on the first guide rail 2. The upper surface of the movable base plate 3 is arc-shaped, and a first baffle mounting groove 31 is opened on the movable base plate 3. A simulated baffle 5 is movably installed in the first baffle mounting groove 31.

[0026] With this design, when it is necessary to perform close-range verification or training of autonomous vehicles, the autonomous vehicle can be placed on the circular track 11 to enable autonomous driving. During the driving process, by simulating the participants in real-world road traffic, the characteristics of the simulated baffle 5 moving along the first guide rail 2 can be used to simulate the speed changes of real-world road traffic participants. This can more accurately and realistically simulate real road scenarios, which is more conducive to the training and verification of autonomous driving. At the same time, the simulated baffle 5 is movably mounted on the base plate mounting module 4. This allows the simulated baffle 5 to complete the movement of the entire plane by sliding on the base plate mounting module 4 in conjunction with the movement of the base plate mounting module 4. Thus, its movement is disordered. By randomly selecting algorithms or human operation, the road obstacle situation can be changed at any time to train and simulate the autonomous vehicle's response to it. When the simulated baffle 5 needs to move from one movable base plate 3 to another movable base plate 3 to obtain greater horizontal movement, the relative velocity of the two movable base plates 3 is kept stationary, and the horizontally opposite axes coincide, so that the simulated baffle 5 can move horizontally to another movable base plate 3.

[0027] Compared to existing fixed roadblocks or moving roadblocks in a single direction, this simulation platform can better simulate sudden situations and complex environments in real road traffic, which is more conducive to verifying and simulating training of autonomous driving systems.

[0028] Furthermore, the shape of the simulated baffle 5 can be that of various road traffic participants such as cars, pedestrians, and animals. The movable base plate 3 can be driven by a motor on the base plate mounting module 4 to slide along the first guide rail 2. Specifically, the motor can drive the friction wheel that is in close contact with the slide rail, and the movable base plate 3 can be driven to move by friction.

[0029] Furthermore, a rotating roller is provided on the side of the first baffle mounting groove 31. The roller is driven by a motor, and the side of the roller abuts against the side of the simulated baffle 5. Thus, the simulated baffle 5 can be slid within the first baffle mounting groove 31 by the rotation of the roller.

[0030] In some disclosures, the simulated baffle 5 is provided with a first side support plate 51 and a second side support plate 52 on both sides, and the first baffle mounting groove 31 is provided with a first baffle side support groove 32 on both sides. The lower ends of the first side support plate 51 and the second side support plate 52 are movably installed in the first baffle side support groove 32. With this design, the simulated baffle 5 can be laterally supported by the first side support plate 51 and the second side support plate 52 to ensure the stability of the simulated baffle 5. Furthermore, the first side support plate 51 and the second side support plate 52 can be movably installed on the side of the simulated baffle 5 by hinges. This allows the first side support plate 51 and the second side support plate 52 to adjust their angles. When the simulated baffle 5 is subjected to external forces, they can better cooperate with the first baffle side support groove 32 to form support and will not fail at the connection with the simulated baffle 5 due to the fixed connection.

[0031] Furthermore, a baffle mounting boss 53 is provided below the simulated baffle 5. The baffle mounting boss 53 is movably installed in the guide groove provided on the side of the first baffle mounting groove 31, which can ensure the stability of the sliding of the simulated baffle 5.

[0032] In some disclosures, the first baffle mounting groove 31 has first clearance grooves 33 on both sides, and a first transmission belt 6 is installed in the first clearance groove 33. Conveyor belt drive wheels 61 are installed at both ends of the first transmission belt 6. The outer sides of the first transmission belts 6 on both sides of the movable base plate 3 abut against the sides of the simulated baffle 5. Through this design, the first transmission belts 6 abut against the sides of the simulated baffle 5, causing the two first transmission belts 6 to move at the same speed but in opposite directions, thus driving the simulated baffle 5 forward. The first transmission belts 6 are made of elastic plastic, which allows for better contact with the sides of the simulated baffle 5 and greater friction. The surface of the first transmission belt 6 that abuts against the sides of the simulated baffle 5 has striped patterns to increase friction. The conveyor belt drive wheels 61 are driven by a motor, and further, the power source for the motor is a lithium battery, which is fixed inside the movable base plate 3.

[0033] In some disclosures, the first transmission belt 6 is provided with a plurality of evenly distributed transmission belt abutment blocks 7. First mounting posts 71 are movably mounted on both sides of the transmission belt abutment blocks 7, and a first mounting post 71 is located in the middle of the transmission belt abutment blocks 7. The upper and lower ends of the first mounting posts 71 are movably mounted in sliding mounting grooves above the first clearance groove 33. With this design, the position of the transmission belt abutment blocks 7 can be adjusted so that the abutment rollers 72 abut against the first transmission belt 6, causing it to move towards the simulated baffle 5. This allows for greater pressure to be applied to the side of the simulated baffle 5, ensuring its stability. Furthermore, the transmission belt abutment blocks 7 can be driven by a cylinder or a cam, allowing them to move in a direction perpendicular to the sliding direction of the simulated baffle 5.

[0034] In some disclosures, a second clearance groove 34 is provided below the first clearance groove 33, a first rack 73 is provided below the first mounting post 71, a second spring 74 is provided between the side of the first rack 73 and the mounting groove, a first abutment block 75 is provided on the side of the first rack 73, a first gear 78 is provided on the side of the first abutment block 75 close to the first rack 73, the first gear 78 meshes with the first rack 73, an abutment arc surface 76 is provided on the side of the first rack 73 away from the first rack 73, the first rack 73 is movably mounted in the second clearance groove 34 through an abutment block mounting shaft 77, the axis of the abutment block mounting shaft 77 coincides with the axis of the first gear 78, a baffle abutment boss 54 is provided below the simulated baffle 5, and the side of the abutment arc surface 76 abuts against the side of the baffle abutment boss 54. With this design, when the simulated baffle 5 is placed in the first baffle mounting groove 31, the side of the baffle abutting boss 54 abuts against the arc-shaped surface 76, causing it to rotate around the abutting block mounting shaft 77. In this way, the first gear 78 can drive the first rack 73 to overcome the elastic force of the second spring 74 and move towards the side of the first baffle mounting groove 31, which can abut against the first transmission belt 6 and apply greater pressure to the side of the simulated baffle 5. Thus, the movement of the simulated baffle 5 triggers the movement of the transmission belt abutting block 7, which can achieve better tension and abutting force than using multiple fixed pulleys to abut against the belt. At the same time, the distance of the abutting block mounting shaft 77, in conjunction with the first gear 78, forms a lever arm to obtain a greater abutting force.

[0035] In some disclosures, the first guide rail 2 has a second guide rail mounting groove 22, and a first guide rail mounting groove 21 is formed on the side of the second guide rail mounting groove 22. The base plate mounting module 4 is movably installed in the second guide rail mounting groove 22. The base plate mounting module 4 includes a first mounting shaft 41, on which a first mounting block 42 is movably mounted. The first mounting block 42 has four side mounting bosses 43 on its side. The base plate mounting module 4 has two power rollers 46 on its side, and the mounting shafts of the power rollers 46 are... Two second connecting rods 45 are movably mounted on the upper part. A first connecting rod 44 is movably mounted on the other end of the second connecting rod 45. The other end of the first connecting rod 44 is movably mounted on the side mounting boss 43. The second connecting rod 45 is movably mounted in the first guide rail mounting groove 21. The side of the power roller 46 abuts against the side of the first guide rail mounting groove 21. A spring mounting block 47 is provided on the connecting main shaft of the first connecting rod 44 and the second connecting rod 45. A first spring 49 is provided between the two spring mounting blocks 47. The first mounting shaft 41 is fixedly mounted below the movable base plate 3. With this design, the spring-loaded blocks 47 are brought closer together by the rebound force of the first spring 49. This allows the power roller 46 to exert an outward force that contacts the side of the first guide rail mounting groove 21. The rotation of the power roller 46 then drives the movable base plate 3 to move along the first guide rail 2. The second connecting rod 45, located within the first guide rail mounting groove 21, provides vertical support, ensuring the stability of the base plate mounting module 4 within the second guide rail mounting groove 22. The first mounting block 42, movably mounted on the first mounting shaft 41, ensures the stability of the base plate mounting module 4 when entering curves through this degree of freedom. Furthermore, the power roller 46 is powered by a lithium battery and driven by a brushless motor. The lithium battery is mounted on the movable base plate 3.

[0036] Furthermore, the sides of the first guide rail mounting groove 21 and the outer side of the power roller 46 are provided with mutually cooperating friction patterns to enhance friction.

[0037] In some disclosures, a pantograph 48 is provided below the first mounting shaft 41, and a positive voltage is provided at the lower end of the second guide rail mounting groove 22. The pantograph 48 abuts against the lower end of the second guide rail mounting groove 22. With this design, the pantograph 48 abuts against the lower end of the second guide rail mounting groove 22 to complete the conduction and supply power to the electrical components in the system of the movable base plate 3 and the base plate mounting module 4, ensuring the endurance capability and enabling long-term training simulation.

[0038] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," 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 the invention. In this specification, 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.

[0039] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A vehicle autonomous driving experimental simulation platform, characterized in that, The simulation platform includes a test platform (1), on which multiple circular track (11) are provided. Multiple movable base plates (3) are movably installed on the circular track (11). A guide rail mounting groove (12) is opened on the circular track (11). A first guide rail (2) is installed in the guide rail mounting groove (12). A base plate mounting module (4) is provided below the movable base plate (3). The base plate mounting module (4) is movably installed on the first guide rail (2). The upper surface of the movable base plate (3) is arc-shaped. A first baffle mounting groove (31) is opened on the movable base plate (3). A simulated baffle (5) is movably installed in the first baffle mounting groove (31).

2. The autonomous driving experimental simulation platform for automobiles according to claim 1, characterized in that, The simulated baffle (5) can be shaped like a car, pedestrian, or animal.

3. The autonomous driving experimental simulation platform for automobiles according to claim 1 or 2, characterized in that, The movable base plate (3) can be driven by a motor on the base plate mounting module (4) to slide along the first guide rail (2).

4. The autonomous driving experimental simulation platform for automobiles according to claim 1, characterized in that, The first baffle mounting groove (31) has a rotating roller on its side. The roller is driven by a motor and the side of the roller abuts against the side of the simulated baffle (5).

5. The automotive autonomous driving experimental simulation platform according to claim 1, characterized in that, The simulated baffle (5) is provided with a first side support plate (51) and a second side support plate (52) on both sides. The first baffle mounting groove (31) is provided with a first baffle side support groove (32) on both sides. The lower ends of the first side support plate (51) and the second side support plate (52) are movably installed in the first baffle side support groove (32).

6. The automotive autonomous driving experimental simulation platform according to claim 5, characterized in that, The first side support plate (51) and the second side support plate (52) can be hinged to be mounted on the side of the simulated baffle (5).

7. The autonomous driving experimental simulation platform for automobiles according to claim 1, characterized in that, The simulated baffle (5) is provided with a baffle mounting boss (53) below it. The baffle mounting boss (53) is movably installed in the guide groove provided on the side of the first baffle mounting groove (31). The side of the first guide rail mounting groove (21) and the outside of the power roller (46) are provided with mutually cooperating friction patterns to enhance friction.

8. The autonomous driving experimental simulation platform for automobiles according to claim 1, characterized in that, The first baffle mounting groove (31) has a first clearance groove (33) on both sides. A first transmission belt (6) is installed in the first clearance groove (33). A transport belt power wheel (61) is installed at both ends of the first transmission belt (6). The outer sides of the first transmission belt (6) on both sides of the movable base plate (3) abut against the side of the simulated baffle (5).

9. The automotive autonomous driving experimental simulation platform according to claim 8, characterized in that, The first transmission belt (6) is provided with a plurality of evenly distributed transmission belt contact blocks (7). First mounting posts (71) are movably installed on both sides of the transmission belt contact blocks (7). A first rack (73) is provided in the middle of the transmission belt contact blocks (7). A second spring (74) is provided between the side of the first rack (73) and the mounting groove. A first contact block (75) is provided on the side of the first rack (73). A first gear (78) is provided on the side of the first contact block (75) that is close to the first rack (73). The wheel (78) meshes with the first rack (73). The side of the first rack (73) away from the first rack (73) is provided with an abutting arc surface (76). The first rack (73) is movably installed in the second relief groove (34) through the abutting block mounting shaft (77). The axis of the abutting block mounting shaft (77) coincides with the axis of the first gear (78). A baffle abutting boss (54) is provided below the simulated baffle (5). The side of the abutting arc surface (76) abuts with the side of the baffle abutting boss (54).

10. The automotive autonomous driving experimental simulation platform according to claim 1, characterized in that, The first mounting shaft (41) has a pantograph (48) below it, and the lower end of the second guide rail mounting groove (22) has a positive voltage. The pantograph (48) abuts against the lower end of the second guide rail mounting groove (22).

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