A testing system for commercial vehicle driver assistance sensors

Abstract

This utility model discloses a testing system for commercial vehicle driver assistance sensors, including a vehicle under inspection, a visual laser sensor, a rear wheelbase adjustment mechanism, a composite robot, a camera sensor, and guide rollers. After the vehicle enters the workstation, the wheels move along the guide rollers and are fixed in position by wheel limiters. The visual laser sensor and the camera sensor work together to calculate the vehicle's position and transmit it to the composite robot via a wireless AP. The composite robot is equipped with a robotic arm and a quick-change tool tray, which can automatically carry and switch between ACC and LDW targets to complete the testing and calibration of the driver assistance sensors. This system solves the problems of low accuracy, low target switching efficiency, and inaccurate vehicle parking in existing testing methods by relying on manual adjustment, through multi-sensor calibration and automatic operation of the composite robot. It improves the automation level, testing efficiency, and calibration accuracy of commercial vehicle driver assistance sensor testing.

Description

Technical Field

[0001] This utility model belongs to the field of vehicle testing and inspection technology, specifically relating to a testing system for commercial vehicle driving assistance sensors. Background Technology

[0002] With the development of intelligent driving technology, the application of Advanced Driver Assistance Systems (ADAS) in commercial vehicles is becoming increasingly widespread, including functions such as Adaptive Cruise Control (ACC), Lane Departure Warning (LDW), and Automatic Emergency Braking (AEB). The installation of driver assistance sensor systems in commercial vehicles is of great significance to road safety. The newly issued "JT / T1178-2018 Safety Technical Conditions for Operating Freight Vehicles" by the Ministry of Transport of China explicitly requires that operating freight vehicles must be equipped with Electronic Stability Control (ESC), Emergency Braking System (AEBS), and lane departure warning functionality. Therefore, the detection of driver assistance sensors in commercial vehicles is particularly important.

[0003] Currently, most mainstream commercial vehicle driver assistance testing equipment on the market uses a contact-type caliper combined with a gantry (ground rail). While this solution can complete certain testing tasks, it still has significant shortcomings: First, the overall height of the gantry is relatively large, resulting in insufficient stability and causing the target to easily shake during testing, thus affecting calibration accuracy; second, the contact-type caliper has a limited range of vehicle models it can adapt to, failing to meet the needs of future model expansion; third, the mechanical structure is complex, equipment installation relies on civil engineering, and the cost is high, making it difficult to promote in large-scale testing scenarios.

[0004] In addition, existing testing methods still have several problems in specific operational aspects. After the vehicle enters the testing station, its position often deviates. Traditional testing stations rely on manual observation and adjustment, making it difficult to obtain the vehicle's precise position in a timely manner, which can easily lead to errors in the relative position of the target and the vehicle's sensors. Sensor calibration requires switching between multiple types of targets (such as ACC targets and LDW targets), but currently, this mostly relies on manual handling and replacement, which is time-consuming, labor-intensive, and prone to inaccurate positioning, reducing testing efficiency. Furthermore, most existing target calibrations are statically preset; the robot or target support lacks the ability to learn its initial position. If the ground environment shifts or errors occur due to long-term equipment use, the overall testing accuracy will decrease.

[0005] In addition, before testing, multiple vision cameras need to be calibrated, but existing methods mostly involve individual calibration, lacking a unified integrated calibration mechanism. The operation process is cumbersome and it is difficult to guarantee the synchronization accuracy between multiple sensors.

[0006] In summary, existing testing methods for commercial vehicle driver assistance sensors still have shortcomings in terms of vehicle positioning accuracy, target switching efficiency, equipment origin calibration, multi-camera joint calibration, and the stability and adaptability of testing devices. Utility Model Content

[0007] In view of the problems existing in the prior art, the purpose of this utility model is to provide a commercial vehicle driving assistance sensor testing system, which is a new type of detection system that can realize high-precision automated calibration and testing, so as to improve detection efficiency and the reliability of results.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A commercial vehicle driving assistance sensor testing system includes a vehicle to be inspected located on the ground, wherein visual laser sensors and a rear wheelbase adjustment mechanism are installed on both sides of the vehicle to be inspected.

[0010] The visual laser sensor and the rear wheelbase adjustment mechanism are located at the front and rear wheels of the vehicle to be inspected, respectively.

[0011] A composite robot is installed at the front of the vehicle to be inspected, and a driver assistance sensor detection target is installed on the composite robot.

[0012] The rear wheelbase adjustment mechanism includes a base frame, a slide table slidably connected to the base frame, and a camera sensor mounted on the slide table;

[0013] The camera sensor and the visual laser sensor work together to calculate the position of the vehicle body to be inspected and transmit it to the composite robot via a wireless AP.

[0014] Furthermore, guide rollers are provided on the ground below the vehicle to be inspected for guiding purposes. When the vehicle to be inspected is parked, the wheels on the vehicle to be inspected move along the guide rollers.

[0015] Furthermore, the slide is equipped with a motor for driving its movement on the base frame;

[0016] The motor output end is equipped with a drive wheel, and the base frame is equipped with a guide rail, with the drive wheel attached to the guide rail.

[0017] Furthermore, the composite robot is equipped with a robotic arm, and the movable end of the robotic arm is equipped with a first quick-change tool tray;

[0018] A second quick-change tool tray is provided on the outer side of the driving assistance sensor detection target;

[0019] The first and second quick-change tool trays work together to allow the robotic arm to replace the driver assistance sensor detection targets.

[0020] Furthermore, the types of driving assistance sensing and detection targets are set as ACC targets and LDW targets, and the composite robot can switch between different types of targets.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] This commercial vehicle driver assistance sensor testing system, by setting up visual laser sensors and camera sensors on both sides of the vehicle under inspection, can acquire the vehicle's position in real time when the vehicle enters the work station, and transmit it to the composite robot for processing via wireless AP. This avoids the deviation problems caused by traditional inspection relying on manual observation and adjustment, and significantly improves the accuracy of vehicle positioning and the reliability of testing.

[0023] The testing system is equipped with a robotic arm and a quick-change tool tray on the composite robot, which can realize the automatic switching between ACC targets and LDW targets. This replaces the manual handling and replacement of targets, avoids the problems of inaccurate switching and low efficiency caused by manual operation, makes the testing process more efficient, and ensures the consistency and stability of the calibration position.

[0024] During the vehicle's entry into the workstation, the testing system is equipped with guide rollers to limit and guide the wheels, ensuring that the vehicle can accurately stop in the specified position. This solves the problem of calibration error caused by unstable vehicle parking position in the existing testing system and improves the repeatability and stability of the overall test.

[0025] The testing system employs a combination of motor, drive wheel, and guide rail in the rear wheelbase adjustment mechanism, enabling automatic driving movement of the slide table and camera sensor. This avoids the complexity and inefficiency of manual movement, while the guide rail's limiting function ensures the smoothness of the sliding process, thereby improving the accuracy of vehicle body position detection.

[0026] This testing system uses a composite robot in conjunction with a ground target to learn its own origin position and completes calibration before testing using cameras and vision sensors. This enables multiple devices to maintain a precise coordinate reference, solving the problem of decreased accuracy caused by the lack of automatic calibration mechanism in static presets in existing methods. It effectively ensures the synchronization and accuracy of multi-sensor joint calibration. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the rear wheelbase adjustment mechanism of this utility model. Figure 1 ;

[0029] Figure 3 This is a schematic diagram of the rear wheelbase adjustment mechanism of this utility model. Figure 2;

[0030] Figure 4 This is a schematic diagram of the structure of the composite robot of this utility model.

[0031] The attached diagram lists the components represented by each number as follows:

[0032] 1. Rear wheelbase adjustment mechanism;

[0033] 11. Base frame; 111. Guide rail; 12. Slide table; 13. Motor; 131. Drive wheel; 14. Camera sensor;

[0034] 2. Visual laser sensor;

[0035] 3. Driver assistance sensor detection target; 31. Second quick-change tool tray;

[0036] 4. Composite robot; 41. Robotic arm; 411. First quick-change tool tray;

[0037] 5. Vehicle to be inspected; 6. Guide rollers. Detailed Implementation

[0038] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0039] See Figure 1-4A commercial vehicle driver assistance sensor testing system includes a vehicle 5 to be inspected on the ground. Visual laser sensors 2 and a rear wheelbase adjustment mechanism 1 are installed on both sides of the vehicle 5. The visual laser sensors 2 are installed on the ground near the front and rear axles of the vehicle, used to accurately detect the relative position of the vehicle body through a combination of vision and laser after the vehicle stops. The rear wheelbase adjustment mechanism 1 is used to adapt and correct for commercial vehicles with different wheelbases, avoiding the limited adaptability of traditional contact-type centering devices. The visual laser sensors 2 and the rear wheelbase adjustment mechanism 1 are located at the front and rear wheels of the vehicle 5, respectively, to ensure accurate capture and positioning when the vehicle enters the work station. A composite robot 4 is installed at the front of the vehicle 5, which undertakes the tasks of target handling, switching, and calibration, replacing manual handling. The target is used to improve detection accuracy and efficiency; the composite robot 4 is equipped with a driving assistance sensor detection target 3, which is used to interact with the vehicle's driving assistance system for testing and calibrating functions such as ACC and LDW; the rear wheelbase adjustment mechanism 1 includes a base frame 11, which is the load-bearing frame of the entire mechanism. A slide table 12 is slidably connected to the base frame 11, and the slide table 12 can move along the base frame 11 to achieve position adjustment. A camera sensor 14 is installed on the slide table 12; the camera sensor 14 collects images of the vehicle's exterior to assist the visual laser sensor 2 in accurately calculating the vehicle's position, and transmits the vehicle position information to the composite robot 4 in real time via a wireless AP. The composite robot 4 completes automated calibration based on the received information, solving the error problem caused by manual adjustment in traditional detection.

[0040] See Figure 1 Guide rollers 6 are installed on the ground below the vehicle 5 to be inspected. The guide rollers 6 are arranged in pairs on the ground where the vehicle enters the work station. They are used to limit and guide the wheels when the vehicle enters, so as to ensure that the vehicle can accurately enter the specified position. When the vehicle 5 is parked, the wheels on the vehicle 5 move along the guide rollers 6, and finally the front wheels of the vehicle are locked on the wheel limiters, thereby fixing the position of the vehicle and avoiding the calibration inaccuracy caused by parking errors. This design makes up for the problems of insufficient stability and low alignment accuracy of traditional gantry frames.

[0041] See Figure 1-3The slide table 12 is equipped with a motor 13 for driving its movement on the base frame 11. The motor 13 serves as a power source, using electrical energy to drive the linear movement of the slide table 12. The output end of the motor 13 is equipped with a drive wheel 131, which engages with the internal guide rail 111 of the base frame 11. When the drive wheel 131 rotates, it drives the slide table 12 to move smoothly along the guide rail 111, avoiding wobbling during the sliding process. The guide rail 111 is used to limit the movement trajectory of the slide table 12, ensuring that the camera sensor 14 can be accurately positioned during the detection process, thereby providing a reliable guarantee for subsequent vehicle body position calculation and sensor testing. This mechanism replaces manual movement with automated drive, solving the problems of complex operation and low efficiency of existing detection systems.

[0042] See Figure 4 The composite robot 4 is equipped with a robotic arm 41, which is used to perform precise handling and replacement of targets, improving the level of testing automation. The movable end of the robotic arm 41 is equipped with a first quick-change tool tray 411, which serves as the connection interface between the robotic arm 41 and the target. A second quick-change tool tray 31 is provided on the outside of the driver assistance sensing detection target 3. The second quick-change tool tray 31 and the first quick-change tool tray 411 cooperate with each other, and the robotic arm 41 can quickly replace the target through a quick-change connection, avoiding the problems of inaccurate positioning and low efficiency when replacing manually. This quick-change mechanism can maintain the consistency of the target installation position during multiple tests, improving detection accuracy and repeatability.

[0043] See Figure 4 The driving assistance sensor detection target 3 is set to two types: ACC target and LDW target. The ACC target is used to simulate the vehicle in front to test the adaptive cruise control system, and the LDW target is used to simulate lane lines to test the lane departure warning system. Through the cooperation of the robotic arm 41 and the quick-change tool tray of the composite robot 4, the composite robot 4 can quickly switch between the ACC target and the LDW target to complete the testing of different driving assistance functions. This design avoids the shortcomings of traditional detection systems that rely on manual handling of targets, reduces test deviations caused by target switching errors, and improves the overall automation level and detection reliability of the system.

[0044] The working principle of this utility model is as follows:

[0045] First, the vehicle to be inspected, 5, drives into the test station from the outside. The wheels move along the guide rollers 6 until the front wheels are stuck in the wheel limiters, at which point the vehicle stops and the test begins.

[0046] The first step involves the driver using the OBD module to read vehicle information and upload it to the server. The server then sends instructions based on this information, causing the camera sensor 14 to move to the position of the vehicle's second axle. Once in position, the camera sensor 14 begins operation, and the visual laser sensor 2 calculates the vehicle's position using a combination of vision and laser technology. This calculated position information is then transmitted wirelessly to the composite robot 4. The composite robot 4 then moves to the calibration position carrying the ACC and LDW targets. The switching and calibration of different targets is achieved through the switching disk on the composite robot 4. After calibration, the composite robot 4 returns to its original position, and the vehicle drives away.

[0047] Before the test, the four vision cameras will be calibrated using a target board, and the robot will also learn its own origin position using a ground target.

[0048] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A commercial vehicle driver assist sensor testing system characterized by: The vehicle to be inspected (5) is located on the ground and is equipped with a visual laser sensor (2) and a rear wheelbase adjustment mechanism (1) on both sides. The visual laser sensor (2) and the rear wheelbase adjustment mechanism (1) are located at the front and rear wheel positions of the vehicle to be inspected (5), respectively. A composite robot (4) is installed at the front of the vehicle (5) to be inspected, and a driving assistance sensor detection target (3) is installed on the composite robot (4); The rear wheelbase adjustment mechanism (1) includes a base frame (11), a slide table (12) is slidably connected on the base frame (11), and a camera sensor (14) is provided on the slide table (12); The camera sensor (14) and the visual laser sensor (2) work together to calculate the position of the vehicle body (5) to be inspected and transmit it to the composite robot (4) via wireless AP.

2. A commercial vehicle driver assist sensor testing system according to claim 1, characterized in that: A guide roller (6) is provided on the ground below the vehicle to be inspected (5) for guiding. When the vehicle to be inspected (5) is parked, the wheels on the vehicle to be inspected (5) move along the guide roller (6).

3. A commercial vehicle driver assist sensor testing system as described in claim 1, wherein: The slide (12) is provided with a motor (13) for driving it to move on the base frame (11); The output end of the motor (13) is provided with a drive wheel (131), and the base frame (11) is provided with a guide rail (111), with the drive wheel (131) attached to the guide rail (111).

4. The commercial vehicle driver assist sensor testing system of claim 1, wherein: The composite robot (4) is equipped with a robotic arm (41), and the movable end of the robotic arm (41) is equipped with a first quick-change tool tray (411); A second quick-change tool tray (31) is provided on the outside of the driving assistance sensor detection target (3); The first quick-change tool tray (411) and the second quick-change tool tray (31) cooperate with each other so that the robotic arm (41) can replace the driving assistance sensor detection target (3).

5. A commercial vehicle driver assist sensor testing system as claimed in claim 4, characterized by: The type of the driving assistance sensing detection target (3) is set as ACC target and LDW target, and the different types of targets can be switched by the composite robot (4).

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