Mobile testing device based on autonomous wide-body vehicle architecture

Abstract

This utility model provides a mobile testing device based on an unmanned wide-body vehicle architecture, relating to the field of unmanned driving testing technology. The device includes: a mobile test vehicle body, comprising a support frame and a driving device, the support frame moving via the driving device; an information acquisition device mounted on the support frame, including one or a combination of the following: a rotating lidar, a solid-state lidar, a millimeter-wave radar, an image acquisition device, and a combined navigation device; an auxiliary device mounted on the support frame, including one or a combination of the following: supplementary lighting and a warning device; and a controller assembly electrically connected to the driving device, the information acquisition device, and the auxiliary device. In this utility model's technical solution, the controller assembly coordinates the control of the driving device, the information acquisition device, and the auxiliary device, simulating the environment of multiple sensors or components working collaboratively during the movement of the mobile test vehicle body. This enables full-system testing of the unmanned driving system, more closely resembling real-world vehicle conditions.

Description

Technical Field

[0001] This utility model relates to the field of unmanned driving testing technology, and more specifically, to a mobile testing device based on an unmanned wide-body vehicle architecture. Background Technology

[0002] In related technologies, when testing the lidar of a wide-body vehicle, the lidar is first connected to a domain controller, then fixed on a base and powered. This only tests the single performance of the lidar and cannot determine whether the lidar can be used normally in actual applications.

[0003] Therefore, how to provide a mobile testing device based on an autonomous wide-body vehicle architecture to simulate the environment when multiple sensors work together is an urgent problem to be solved. Utility Model Content

[0004] In order to solve or improve the technical problem that traditional technologies only test the single performance of lidar and cannot simulate the environment when multiple sensors work together, one objective of this utility model is to provide a mobile testing device based on the architecture of an unmanned wide-body vehicle.

[0005] To achieve the above objectives, this utility model provides a mobile testing device based on an unmanned wide-body vehicle architecture, comprising: a mobile testing vehicle body, including a support frame and a driving device, the driving device being mounted on the support frame and the support frame moving via the driving device; an information acquisition device mounted on the support frame; wherein the information acquisition device includes one or a combination of the following: a rotating lidar, a solid-state lidar, a millimeter-wave radar, an image acquisition device, and a combined navigation device; an auxiliary device mounted on the support frame; wherein the auxiliary device includes one or a combination of the following: a supplementary light and a warning device; and a controller assembly mounted on the mobile testing vehicle body, the controller assembly being electrically connected to the driving device, the information acquisition device, and the auxiliary device.

[0006] This invention aims to provide a mobile testing device based on an unmanned wide-body vehicle architecture. The device uses a controller component to coordinate the control of the driving device, information acquisition device, and auxiliary device. This design can simulate the environment when multiple sensors or components work together during the movement of the mobile test vehicle, enabling full-system testing of the unmanned driving system. This is closer to the actual vehicle condition and can largely avoid situations where a single sensor cannot be used normally in practical applications after testing.

[0007] In some technical solutions, the controller component may optionally include: a domain controller electrically connected to the driving device, the information acquisition device, and the auxiliary device; and a smart gateway electrically connected to the domain controller.

[0008] In this technical solution, the domain controller's fusion processing of multi-sensor data and its coordinated control of the driving and auxiliary devices are entirely based on the architecture design of an autonomous wide-body vehicle, solving the problem that traditional single-sensor testing cannot verify the "multi-component linkage logic." The communication and interaction between the intelligent gateway and the cloud platform make the testing scenario closer to the actual application environment.

[0009] In some technical solutions, the controller component may optionally include an antenna electrically connected to the smart gateway.

[0010] In this technical solution, the smart gateway interacts with the cloud platform via an antenna, and also receives remote control commands from the remote controller via the antenna. By configuring the antenna, the efficiency and accuracy of the smart gateway's information reception are improved.

[0011] In some technical solutions, the mobile testing device based on the autonomous wide-body vehicle architecture may optionally include: a support frame, which is movably mounted on the vehicle frame; and a controller assembly mounted on the support frame.

[0012] In this technical solution, the controller component is movably mounted on the carrier frame via a support frame, and the controller component can move relative to the carrier frame via the support frame. This design allows the movable testing device of this utility model to be adapted to hardware from different manufacturers, thus broadening its applicability.

[0013] In some technical solutions, optionally, one of the support frame and the load-bearing frame is provided with a slide rail, and the other is provided with a slide groove; the slide rail and the slide groove cooperate with each other.

[0014] In this technical solution, the support frame can achieve precise displacement along a single axis through the cooperation of the slide rail and the slide groove, which meets the optimal installation position requirements of the controller components under different test scenarios. It can also make the movable test device compatible with hardware from different manufacturers, thus expanding its application range.

[0015] In some technical solutions, optionally, when the information acquisition device includes an image acquisition device, the auxiliary device includes a fill light.

[0016] In this technical solution, in environments with complex or dim lighting, such as mining areas, supplementary lighting can provide additional illumination for the image acquisition device, ensuring that the image acquisition device can clearly capture image information of the surrounding environment and avoid visual recognition failure due to insufficient light. This more realistically simulates the sensor working state of a real vehicle in low-light environments and ensures the accuracy of multi-sensor collaborative testing.

[0017] In some technical solutions, the warning device may optionally include one or a combination of the following: a warning light and a buzzer.

[0018] In this technical solution, the warning device is used to issue warning information, such as light warning information or sound warning information, to ensure the safety of the testing process and closely resemble the warning logic of a real vehicle in the working scenario.

[0019] In some technical solutions, the traveling device may optionally include: at least two parallel rotating shafts rotatably mounted on a support frame; a plurality of wheels mounted on the rotating shafts, with at least one wheel at each end of each rotating shaft; and a driving member mounted on the support frame, which is connected to at least one rotating shaft for driving the rotating shafts to rotate relative to the support frame.

[0020] In this technical solution, the driving component drives the rotating shaft to rotate relative to the supporting frame, which in turn drives the wheels to rotate relative to the supporting frame, thereby realizing the walking function of the movable test vehicle. During the movement of the movable test vehicle, the environment of multiple sensors or multiple components working together is simulated, and the whole system test of the autonomous driving system is completed.

[0021] In some technical solutions, the mobile testing device based on the autonomous wide-body vehicle architecture may optionally include: a first battery device, which is mounted on the vehicle frame and is electrically connected to the information acquisition device, the auxiliary device and the controller assembly. The first battery device is used to provide electrical energy.

[0022] In this technical solution, by setting up a first battery device, power can be supplied to the information acquisition device, auxiliary device and controller components to adapt to the complex environment of the mining area and the needs of mobile testing.

[0023] In some technical solutions, the integrated navigation device may optionally include a satellite positioning device and an inertial navigation device.

[0024] In this technical solution, the integrated navigation device can acquire the current position coordinates, speed and attitude information of the movable test vehicle to determine its position and motion state in the environment, so as to achieve navigation and path planning.

[0025] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention. Attached Figure Description

[0026] Figure 1 A schematic diagram of a mobile testing device based on an unmanned wide-body vehicle architecture according to an embodiment of the present invention is shown.

[0027] Figure 2 A schematic diagram of a mobile testing device based on an unmanned wide-body vehicle architecture according to another embodiment of the present invention is shown;

[0028] Figure 3 A schematic diagram of a mobile testing device based on an unmanned wide-body vehicle architecture according to another embodiment of the present invention is shown;

[0029] Figure 4 A schematic diagram of a driving device according to an embodiment of the present invention is shown;

[0030] Figure 5 A structural block diagram of a warning device according to an embodiment of the present invention is shown;

[0031] Figure 6 A structural block diagram of a controller assembly according to an embodiment of the present invention is shown;

[0032] Figure 7 A schematic diagram of the connection structure between the support frame and the load-bearing frame according to an embodiment of the present invention is shown.

[0033] in, Figures 1 to 7 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0034] 100: Mobile test device based on unmanned wide-body vehicle architecture; 110: Mobile test vehicle body; 111: Support frame; 112: Driving device; 1121: Axle; 1122: Wheel; 1123: Drive unit; 120: Information acquisition device; 121: Rotating lidar; 122: Solid-state lidar; 123: Millimeter-wave radar; 124: Image acquisition device; 125: Integrated navigation device; 1251: Satellite positioning device; 1252: Inertial navigation device; 130: Auxiliary device; 131: Fill light; 132: Warning device; 1321: Warning light; 1322: Buzzer; 140: Controller assembly; 141: Domain controller; 142: Smart gateway; 143: Antenna; 150: Support frame; 161: Slide rail; 162: Slide groove; 170: First battery device; 200: Cloud platform. Detailed Implementation

[0035] To better understand the above-mentioned objectives, features, and advantages of the embodiments of this utility model, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of this utility model and the features thereof can be combined with each other.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, embodiments of the present invention may be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0037] In recent years, as autonomous driving technology has matured, the testing requirements for related hardware have become increasingly stringent. Initially, it was only necessary to build a test bench for a single piece of hardware to test its functions and parameters. Gradually, this evolved into connecting several sensors and controllers with similar functions for collaborative testing. Then, all the autonomous driving domain hardware was connected according to the architecture diagram to test whether the autonomous driving system was working properly.

[0038] Now, even higher requirements have been put forward: First, the entire test bench must be able to "move" and test the entire system under moving conditions. Second, the entire test bench must be "flexible" and able to switch to different hardware under similar architecture conditions. Therefore, it is necessary to design a test bench that meets the new requirements.

[0039] In the passenger vehicle sector, the yellow car test bench has become a mature product and is widely used in vehicle testing. The mainstream products adopt a modular steel structure design and combine composite materials to improve vibration resistance and durability.

[0040] It should be noted that the yellow car test bench is a test platform that simulates electronic and electrical architecture. Its core objective is to realize the physical connections and signal interactions of a real vehicle in a laboratory environment for the functional verification of the whole vehicle or domain controller.

[0041] As for unmanned driving technology in mining areas, the yellow-board vehicle technology was not applied; instead, test benches designed for single sensors were typically used.

[0042] Existing technical solutions are incomplete. Taking a verification bench for unmanned driving technology in a mining area as an example, if a lidar is to be tested, it is first connected to a domain controller, then fixed on a base and powered. Only the single performance of the lidar is tested, without linkage with or interference from other sensors. Lidar that passes this test has two limitations: first, it cannot be determined whether it can operate normally and without interference when working with other sensors; second, because the actual application environment is far harsher than the laboratory environment, it cannot be confirmed whether the lidar can be used normally in practical applications.

[0043] This invention provides a mobile testing device based on an unmanned wide-body vehicle architecture. Its main base is a mobile testing vehicle (mobile test vehicle body), which is equipped with remote control operation capabilities. The information acquisition device, auxiliary devices, and controller components are all arranged on the vehicle according to the layout of a real wide-body vehicle. During testing, it can not only simulate the environment of multi-sensor collaborative operation, but also move the entire test bench to simulate the sensor working environment during motion, which helps improve the accuracy of test results.

[0044] The following reference Figures 1 to 7 This invention describes a mobile testing device based on an unmanned wide-body vehicle architecture, according to some embodiments of the present invention.

[0045] In one embodiment of this utility model, such as Figure 1 and Figure 2 As shown, the mobile test device 100 based on an autonomous wide-body vehicle architecture includes a mobile test vehicle body 110, an information acquisition device 120, an auxiliary device 130, and a controller assembly 140. The mobile test vehicle body 110 includes a support frame 111 and a driving device 112, which is mounted on the support frame 111 and allows the support frame 111 to move. The information acquisition device 120, the auxiliary device 130, and the controller assembly 140 are all mounted on the support frame 111. The controller assembly 140 is electrically connected to the driving device 112, the information acquisition device 120, and the auxiliary device 130. The controller assembly 140 is used to coordinate the control of the driving device 112, the information acquisition device 120, and the auxiliary device 130 to simulate the autonomous driving system of a wide-body vehicle.

[0046] The information acquisition device 120 includes one or a combination of the following: a rotating lidar 121, a solid-state lidar 122, a millimeter-wave radar 123, an image acquisition device 124, and a combined navigation device 125. Specifically, the rotating lidar 121 acquires the three-dimensional spatial coordinates and shape contour information of objects surrounding the movable test vehicle 110; the solid-state lidar 122 acquires the relative position and motion state information of objects surrounding the movable test vehicle 110; the millimeter-wave radar 123 acquires the distance, velocity, and azimuth information of the target object; the image acquisition device 124 acquires image information of the surrounding environment of the movable test vehicle 110; and the combined navigation device 125 acquires the current position coordinates, velocity, and attitude information of the movable test vehicle 110.

[0047] The auxiliary device 130 includes one or a combination of the following: a supplementary light 131 and a warning device 132. The supplementary light 131 is used to supplement light; the warning device 132 is used to issue a warning message.

[0048] It should be noted that the support frame 111 of the movable test vehicle body 110, relative to the driving device 112, information acquisition device 120, auxiliary device 130 and controller assembly 140, mainly serves as a mounting carrier.

[0049] The driving device 112 is used to enable the mobile test vehicle 110 to move, so as to simulate the environment when multiple sensors or multiple components work together during the movement of the mobile test vehicle 110.

[0050] The information acquisition device 120 is used to collect or acquire information, such as information about the movable test vehicle 110, information about surrounding objects, information about the target object, and information about the surrounding environment.

[0051] When there is only one type of information acquisition device 120, the information acquisition device 120 is any one of the following: rotating lidar 121, solid-state lidar 122, millimeter-wave radar 123, image acquisition device 124, and integrated navigation device 125. When there are two or more types of information acquisition devices 120, the information acquisition device 120 is any combination of the following: rotating lidar 121, solid-state lidar 122, millimeter-wave radar 123, image acquisition device 124, and integrated navigation device 125.

[0052] The rotating lidar 121 is a sensor that uses a rotating laser emitting and receiving module to scan the surrounding environment 360 degrees and emit laser beams, calculating distance using the time difference of laser reflection. Its core features are a wide scanning range and high point cloud density, enabling it to construct a three-dimensional contour of the surrounding environment. The rotating lidar 121 can acquire the three-dimensional spatial coordinates and shape contour information of objects surrounding the movable test vehicle 110, and can be used for obstacle recognition, environmental modeling, path planning, etc.

[0053] It should be noted that the number of rotating lidar 121 is at least one, that is, there can be one, two or more rotating lidar 121. The setting position and number of rotating lidar 121 can be flexibly set according to actual needs.

[0054] In one specific embodiment, there are three rotating lidars 121, with two rotating lidars 121 located at the front end of the support frame 111 and the other rotating lidar 121 located at the rear end of the support frame 111.

[0055] The solid-state lidar 122 has no mechanical rotating structure and achieves laser emission and reception through chip-level optical phased array technology. It features small size, high stability, long lifespan, and strong vibration resistance, making it suitable for complex working conditions (such as mining areas). The solid-state lidar 122 can acquire relative position and motion information of objects around the movable test vehicle 110. The solid-state lidar 122 complements the rotating lidar 121, which helps improve the reliability of environmental perception.

[0056] It should be noted that the number of solid-state lidar 122 is at least one, that is, there can be one, two or more solid-state lidar 122. The setting position and number of solid-state lidar 122 can be flexibly set according to actual needs.

[0057] In one specific embodiment, there is one solid-state lidar 122, and the solid-state lidar 122 is located on the top of the supporting frame 111.

[0058] The millimeter-wave radar 123 is a sensor that detects targets by emitting and receiving millimeter waves (typically with wavelengths of 1 mm to 10 mm). It has strong penetrating power and is suitable for long-range detection in complex environments. The millimeter-wave radar 123 can acquire distance, velocity, and azimuth information of target objects, and is mainly used for obstacle detection, speed measurement, and collision warning.

[0059] It should be noted that the number of millimeter-wave radars 123 is at least one, that is, there can be one, two or more millimeter-wave radars 123. The location and number of millimeter-wave radars 123 can be flexibly set according to actual needs.

[0060] In one specific embodiment, there are two millimeter-wave radars 123, one of which is located at the front end of the support frame 111 and the other is located at the rear end of the support frame 111.

[0061] The image acquisition device 124 is a sensor that captures visible light images through an optical lens. The image acquisition device 124 can acquire image information of the surrounding environment of the movable test vehicle 110, and plays a role in visual recognition.

[0062] It should be noted that the number of image acquisition devices 124 is at least one, that is, there can be one, two or more image acquisition devices 124. The location and number of image acquisition devices 124 can be flexibly set according to actual needs.

[0063] In one specific embodiment, the number of image acquisition devices 124 is seven. Of the seven image acquisition devices 124, at least one image acquisition device 124 is located at the front end of the support frame 111, at least one image acquisition device 124 is located at the rear end of the support frame 111, at least one image acquisition device 124 is located on the left side of the support frame 111, and at least one image acquisition device 124 is located on the right side of the support frame 111. This arrangement helps to eliminate blind spots and improve visual perception capabilities.

[0064] The integrated navigation device 125 is a sensor device that integrates multiple navigation technologies. By fusing data, it makes up for the shortcomings of a single navigation technology, which helps to improve positioning stability and accuracy.

[0065] The integrated navigation device 125 can acquire the current position coordinates, speed and attitude information of the movable test vehicle 110 to determine its own position and motion state in the environment, so as to realize navigation and path planning.

[0066] It should be noted that the attitude information includes, but is not limited to, the pitch angle and roll angle of the movable test vehicle 110.

[0067] The auxiliary device 130 plays a primarily auxiliary role in the entire testing apparatus, such as providing supplementary lighting or issuing warning signals. If there is only one type of auxiliary device 130, it can be either a supplementary light 131 or a warning device 132. If there are two types of auxiliary devices 130, the auxiliary device 130 includes both a supplementary light 131 and a warning device 132.

[0068] The supplementary light 131 is used to supplement the light source, and its intensity can be adjusted according to the ambient light intensity. In environments with complex or dim lighting, such as mining areas (e.g., at night, in tunnels, or when dust obscures the light), the supplementary light 131 can provide additional illumination to the image acquisition device 124, ensuring that the image acquisition device 124 can clearly capture image information of the surrounding environment (such as object outlines, textures, colors, etc.), avoiding visual recognition failure due to insufficient light, thereby more realistically simulating the sensor working state of a real vehicle in low-light environments and ensuring the accuracy of multi-sensor collaborative testing.

[0069] It should be noted that the number of fill lights 131 is at least one, that is, there can be one, two or more fill lights 131. The setting position and number of fill lights 131 can be flexibly set according to actual needs.

[0070] In one specific embodiment, there are two supplementary lights 131, one of which is located on the left side of the support frame 111 and the other is located on the right side of the support frame 111.

[0071] The warning device 132 is used to issue warning information, such as light warning information or sound warning information, to ensure the safety of the testing process and to closely resemble the warning logic of a real vehicle in the working scenario.

[0072] It should be noted that the number of warning devices 132 is at least one, that is, there can be one, two or more warning devices 132. The location and number of warning devices 132 can be flexibly set according to actual needs.

[0073] In one specific embodiment, there are three warning devices 132, and all three warning devices 132 are located at the front end of the support frame 111.

[0074] This invention aims to provide a mobile testing device 100 based on an unmanned wide-body vehicle architecture. The device uses a controller component 140 to coordinate the control of the driving device 112, the information acquisition device 120, and the auxiliary device 130. This design can simulate the environment when multiple sensors or multiple components work together during the movement of the mobile test vehicle 110, enabling full-system testing of the unmanned driving system. This is closer to the actual vehicle condition and can largely avoid the situation where a single sensor cannot be used normally in actual applications after testing.

[0075] In some embodiments, optionally, such as Figure 2 and Figure 6 As shown, the controller component 140 includes a domain controller 141 and an intelligent gateway 142. The domain controller 141 is electrically connected to the driving device 112, the information acquisition device 120, and the auxiliary device 130. The intelligent gateway 142 is electrically connected to the domain controller 141 and is used for communication with the cloud platform 200.

[0076] The domain controller 141 is capable of coordinating the control of the driving device 112, the information acquisition device 120 and the auxiliary device 130 to simulate the unmanned driving system of a wide-body vehicle.

[0077] It should be noted that the intelligent gateway 142 is a TBOX (Telematics BOX). The domain controller 141 can communicate with the cloud platform 200 through the intelligent gateway 142 to realize data interaction between the domain controller 141 and the cloud platform 200.

[0078] During the testing process, a series of data generated are uploaded to the planning and control platform (cloud platform 200) via the intelligent gateway 142 to realize the transmission of real vehicle data.

[0079] In addition, the domain controller 141 can also receive remote control commands through the smart gateway 142.

[0080] The domain controller 141's fusion processing of multi-sensor data and its coordinated control of the driving device 112 and auxiliary device 130 are entirely based on the architecture design of an autonomous wide-body vehicle, solving the problem that traditional single-sensor testing cannot verify the "multi-component linkage logic". The communication and interaction between the intelligent gateway 142 and the cloud platform 200 make the test scenario closer to the actual application environment.

[0081] It should be noted that the number of domain controllers 141 is at least one; that is, there can be one, two, or more domain controllers 141, and the location and number of domain controllers 141 can be flexibly configured according to actual needs. Similarly, the number of smart gateways 142 is at least one; that is, there can be one, two, or more smart gateways 142, and the location and number of smart gateways 142 can be flexibly configured according to actual needs.

[0082] In one specific embodiment, the support frame 111 has a mounting cavity. There is one domain controller 141 and one smart gateway 142, both of which are located within the mounting cavity.

[0083] In some embodiments, optionally, such as Figure 1 As shown, the controller assembly 140 also includes an antenna 143. The antenna 143 is electrically connected to the smart gateway 142.

[0084] The smart gateway 142 interacts with the cloud platform 200 via antenna 143, and also receives remote control commands from the remote controller via antenna 143. By configuring antenna 143, the efficiency and accuracy of information reception by the smart gateway 142 can be improved.

[0085] Optionally, the antenna 143 is electrically connected to the smart gateway 142 via a wire harness or cable strip.

[0086] In one specific embodiment, antenna 143 is a 5G network antenna. This design allows the controller component 140 to have stronger wireless communication capabilities and lower information latency.

[0087] It should be noted that 5G is short for 5th Generation Mobile Communication Technology, which is the next generation of cellular mobile communication technology after 4G (4th Generation Mobile Communication Technology). It aims to achieve higher speed, lower latency, larger connection scale and stronger reliability wireless communication by optimizing wireless transmission technology and improving network architecture performance.

[0088] In addition, the controller assembly 140 is capable of receiving remote control commands from the remote controller to enable the mobile test device to have remote control functionality.

[0089] In some embodiments, the control of the mobile test device (mobile test device 100 based on an autonomous wide-body vehicle architecture) is optionally manual and not linked with the autonomous driving system. The autonomous driving system can be linked later by upgrading the program and adjusting the wiring harness, so that the entire mobile test device has autonomous driving control capability.

[0090] In some embodiments, the controller assembly 140 may optionally be electrically connected to each component or device in the driving device 112, the information acquisition device 120, and the auxiliary device 130 via a wiring harness or cable tray.

[0091] In some embodiments, optionally, such as Figure 7 As shown, the mobile test device 100 based on the unmanned wide-body vehicle architecture also includes a support frame 150. The support frame 150 is movably mounted on the carrier frame 111, and the controller assembly 140 is mounted on the support frame 150.

[0092] The controller assembly 140 is movably mounted on the carrier frame 111 via the support frame 150. The controller assembly 140 can move relative to the carrier frame 111 via the support frame 150. This design allows the movable testing device of this utility model to be adapted to hardware from different manufacturers, thus expanding its applicability.

[0093] Optionally, the controller assembly 140 and the support frame 150 are detachably connected, which facilitates the disassembly and assembly of the various parts of the controller assembly 140 by the staff, and is beneficial for maintenance or replacement.

[0094] In one specific embodiment, both the domain controller 141 and the smart gateway 142 are mounted on the support frame 150 and are detachably connected to the support frame 150 by means of bolts, screws or clips.

[0095] In some embodiments, optionally, such as Figure 3 and Figure 7 As shown, one of the support frame 150 and the carrier frame 111 is provided with a slide rail 161, and the other is provided with a slide groove 162; the slide rail 161 and the slide groove 162 cooperate with each other.

[0096] Through the cooperation of the slide rail 161 and the slide groove 162, the support frame 150 can achieve precise displacement along a single axis, meet the optimal installation position requirements of the controller component 140 under different test scenarios, and also make the movable test device compatible with hardware from different manufacturers, thus expanding its application range.

[0097] For example, when verifying the effect of the distance between the sensor and the controller on signal attenuation, the spacing can be precisely controlled.

[0098] In one specific embodiment, the support frame 150 is provided with a slide rail 161, and the carrier frame 111 is provided with a slide groove 162. At least a portion of the slide rail 161 is disposed in the slide groove 162 to realize the sliding connection between the support frame 150 and the carrier frame 111.

[0099] In one specific embodiment, the support frame 150 is provided with a slide groove 162, and the carrier frame 111 is provided with a slide rail 161. At least a portion of the slide rail 161 is disposed in the slide groove 162 to realize the sliding connection between the support frame 150 and the carrier frame 111.

[0100] It should be noted that the number of slide rails 161 is at least one, that is, there can be one, two or more slide rails 161. The number of slide grooves 162 is at least one, that is, there can be one, two or more slide grooves 162. Considering the stability of the support frame 150 during movement, space occupation, cost and other factors, the slide rails 161 and slide grooves 162 are flexibly set according to actual needs.

[0101] When there are two or more slide rails 161, the slide rails 161 are parallel to each other.

[0102] Optionally, the cross-sectional shape of the slide rail 161 is adapted to the cross-sectional shape of the slide groove 162.

[0103] In one specific embodiment, the groove 162 is a dovetail groove, that is, the cross-sectional shape of the groove 162 is trapezoidal.

[0104] In some embodiments, optionally, when the information acquisition device 120 includes an image acquisition device 124, the auxiliary device 130 includes a fill light 131.

[0105] In environments with complex or dim lighting, such as mining areas, the supplementary light 131 can provide additional illumination for the image acquisition device 124, ensuring that the image acquisition device 124 can clearly capture image information of the surrounding environment and avoid visual recognition failure due to insufficient light. This more realistically simulates the sensor working state of a real vehicle in low-light environments and ensures the accuracy of multi-sensor collaborative testing.

[0106] Optionally, the image acquisition device 124 includes one or a combination of the following: a camera and a webcam.

[0107] The camera is used to acquire image information of the surrounding environment of the movable test vehicle 110. The webcam is used to acquire video information of the surrounding environment of the movable test vehicle 110 and to determine image information based on the video information.

[0108] When there is only one type of image acquisition device 124, the image acquisition device 124 can be either a camera or a webcam. When there are two types of image acquisition devices 124, the image acquisition device 124 includes both a camera and a webcam.

[0109] In some embodiments, optionally, such as Figure 5As shown, the warning device 132 includes one or a combination of the following: a warning light 1321 and a buzzer 1322. The warning light 1321 is used to emit a warning message by means of light. The buzzer 1322 is used to emit a warning message by means of sound.

[0110] When there is only one type of warning device 132, the warning device 132 is one of the warning light 1321 and the buzzer 1322. When there are two types of warning devices 132, the warning device 132 includes both the warning light 1321 and the buzzer 1322.

[0111] The warning device 132 is used to issue warning information, such as light warning information or sound warning information, to ensure the safety of the testing process and to closely resemble the warning logic of a real vehicle in the working scenario.

[0112] Optionally, the warning light 1321 adjusts the flashing frequency and color change according to different warning levels.

[0113] Optionally, the buzzer 1322 adjusts the buzzing rhythm according to different warning levels, such as low-frequency buzzing and high-frequency buzzing.

[0114] In one specific embodiment, the warning light 1321 is a tri-color warning light, integrating red, yellow and green colors, and conveying specific status information by flashing or remaining constantly lit by different colored lights.

[0115] The tri-color warning light has at least three operating states: flashing red, solid yellow, and solid green. A flashing red warning light indicates an emergency; a solid yellow warning light indicates a warning; and a solid green warning light indicates a normal operating state.

[0116] In one specific embodiment, there are three tri-color warning lights, and all three tri-color warning lights are located at the front end of the support frame 111.

[0117] In some embodiments, optionally, such as Figure 1 , Figure 2 and Figure 4 As shown, the traveling device 112 includes at least two parallel rotating shafts 1121, a plurality of wheels 1122, and a driving member 1123. The rotating shafts 1121 are rotatably mounted on the support frame 111. The wheels 1122 are mounted on the rotating shafts 1121, with at least one wheel 1122 at each end of each rotating shaft 1121. The driving member 1123 is mounted on the support frame 111 and is drively connected to at least one rotating shaft 1121. The driving member 1123 drives the rotating shafts 1121 to rotate relative to the support frame 111.

[0118] It should be noted that the number of rotating shafts 1121 is at least two, that is, there can be two or more rotating shafts 1121, and the number of rotating shafts 1121 can be flexibly set according to actual needs.

[0119] The axle 1121 is rotatably mounted on the support frame 111 and can rotate relative to the support frame 111. Each axle 1121 has at least one wheel 1122 at each end, that is, the end of the axle 1121 has one, two or more wheels 1122, which can be flexibly set according to actual needs.

[0120] Optionally, the drive component 1123 is a hydraulic motor, which is connected to the rotating shaft 1121 to drive the rotating shaft 1121 to rotate relative to the supporting frame 111, thereby driving the wheel 1122 to rotate to achieve the walking function.

[0121] Optionally, the driving component 1123 is a drive motor, which is connected to the rotating shaft 1121 to drive the rotating shaft 1121 to rotate relative to the supporting frame 111, thereby driving the wheel 1122 to rotate to achieve the walking function.

[0122] The drive component 1123 drives the rotating shaft 1121 to rotate relative to the support frame 111, thereby driving the wheel body 1122 to rotate relative to the support frame 111, so as to realize the walking function of the mobile test vehicle 110. During the movement of the mobile test vehicle 110, the environment of multiple sensors or multiple components working together is simulated, and the whole system test of the unmanned driving system is completed.

[0123] In one specific embodiment, there are two rotating shafts 1121, and the two rotating shafts 1121 are arranged in parallel. This can be understood as the two rotating shafts 1121 being the front drive shaft and the rear drive shaft, respectively. There are four wheels 1122. Each end of the front drive shaft has one wheel 1122; each end of the rear drive shaft also has one wheel 1122. The driving component 1123 is a drive motor, and the drive motor is connected to the rear drive shaft. This can be understood as the rear drive shaft being the driving shaft and the front drive shaft being the driven shaft. The movable test vehicle body 110 uses a single motor and rear-wheel drive to achieve its walking function, simulating the low-speed operation of an unmanned wide-body vehicle. Other equipment is mounted on the vehicle platform (carrier frame 111).

[0124] Optionally, the maximum speed of the movable test vehicle 110 is 15 km / h, mainly used to simulate the low-speed operation of an unmanned wide-body vehicle.

[0125] Optionally, the mobile testing device 100 based on the autonomous wide-body vehicle architecture also includes a second battery device. The second battery device is mounted on the support frame 111 and is electrically connected to the drive unit 1123. The second battery device is used to provide electrical energy to the drive unit 1123.

[0126] Optionally, a second battery compartment is provided on the support frame 111, and the second battery device is located in the second battery compartment. The second battery compartment can protect the second battery device and can largely prevent the second battery device from being bumped or knocked.

[0127] In some embodiments, optionally, such as Figure 2 As shown, the mobile testing device 100 based on the autonomous wide-body vehicle architecture also includes a first battery device 170. The first battery device 170 is mounted on the support frame 111. The first battery device 170 is electrically connected to the information acquisition device 120, the auxiliary device 130, and the controller assembly 140, and is used to provide electrical energy.

[0128] By setting up the first battery device 170, power can be supplied to the information acquisition device 120, the auxiliary device 130 and the controller assembly 140 to adapt to the complex environment of the mining area and the needs of mobile testing.

[0129] In one specific embodiment, the first battery device 170 is a storage battery.

[0130] Optionally, the support frame 111 is provided with a first battery compartment, and the first battery device 170 is disposed in the first battery compartment. The first battery compartment can protect the first battery device 170 and can largely prevent the first battery device 170 from being bumped or knocked.

[0131] In some embodiments, optionally, such as Figure 1 As shown, the integrated navigation device 125 includes a satellite positioning device 1251 and an inertial navigation device 1252. The satellite positioning device 1251 is used to acquire the current position coordinates of the movable test vehicle 110. The inertial navigation device 1252 is used to acquire the speed and attitude information of the movable test vehicle 110.

[0132] In one specific embodiment, the satellite positioning device 1251 is a GPS (Global Positioning System) device or a BeiDou positioning device.

[0133] The integrated navigation device 125 can acquire the current position coordinates, speed and attitude information of the movable test vehicle 110 to determine its own position and motion state in the environment, so as to realize navigation and path planning.

[0134] It should be noted that the attitude information includes, but is not limited to, the pitch angle and roll angle of the movable test vehicle 110.

[0135] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0136] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit 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 utility model.

[0137] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. 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.

[0138] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mobile testing device based on an unmanned wide-body vehicle architecture, characterized in that, include: The movable test vehicle body (110) includes a support frame (111) and a driving device (112), wherein the driving device (112) is disposed on the support frame (111), and the support frame (111) moves through the driving device (112); An information acquisition device (120) is mounted on the support frame (111); wherein the information acquisition device (120) includes one or a combination of the following: a rotating lidar (121), a solid-state lidar (122), a millimeter-wave radar (123), an image acquisition device (124), and a combined navigation device (125); An auxiliary device (130) is provided on the support frame (111); wherein the auxiliary device (130) includes one or a combination of the following: a supplementary light (131) and a warning device (132); A controller assembly (140) is disposed on the movable test vehicle body (110), and the controller assembly (140) is electrically connected to the driving device (112), the information acquisition device (120) and the auxiliary device (130).

2. The mobile testing device based on an unmanned wide-body vehicle architecture according to claim 1, characterized in that, The controller component (140) includes: The domain controller (141) is electrically connected to the driving device (112), the information acquisition device (120), and the auxiliary device (130); The smart gateway (142) is electrically connected to the domain controller (141).

3. The mobile testing device based on an unmanned wide-body vehicle architecture according to claim 2, characterized in that, The controller component (140) also includes: The antenna (143) is electrically connected to the smart gateway (142).

4. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, Also includes: A support frame (150) is movably mounted on the load-bearing frame (111); The controller assembly (140) is mounted on the support frame (150).

5. The mobile testing device based on an unmanned wide-body vehicle architecture according to claim 4, characterized in that, One of the support frame (150) and the carrier frame (111) is provided with a slide rail (161), and the other is provided with a slide groove (162); The slide rail (161) and the slide groove (162) cooperate with each other.

6. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, When the information acquisition device (120) includes the image acquisition device (124), the auxiliary device (130) includes the fill light (131).

7. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, The warning device (132) includes one or a combination of the following: a warning light (1321) and a buzzer (1322).

8. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, The driving device (112) includes: At least two parallel rotating shafts (1121) are rotatably mounted on the support frame (111); Multiple wheel bodies (1122) are provided on the rotating shaft (1121), and each rotating shaft (1121) has at least one wheel body (1122) at each end; A drive member (1123) is disposed on the support frame (111), the drive member (1123) is connected to at least one of the rotating shafts (1121) for driving the rotating shafts (1121) to rotate relative to the support frame (111).

9. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, Also includes: A first battery device (170) is disposed on the support frame (111). The first battery device (170) is electrically connected to the information acquisition device (120), the auxiliary device (130), and the controller assembly (140). The first battery device (170) is used to provide electrical energy.

10. The mobile testing device based on an unmanned wide-body vehicle architecture according to any one of claims 1 to 3, characterized in that, The integrated navigation device (125) includes a satellite positioning device (1251) and an inertial navigation device (1252).

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