Multi-form obstacle simulation for intelligent vehicle obstacle avoidance

Abstract

This utility model discloses a multi-form simulated obstacle for obstacle avoidance in intelligent vehicles, composed of several obstacle units. Each obstacle unit includes an obstacle plate, a first connecting component, and a second connecting component. The first connecting component includes a first connector on the obstacle plate and a first connecting groove that mates with the first connector. The first connector is located on one side of the obstacle plate, and the first connecting groove is located on the side opposite to the side where the first connector is located. The second connecting component includes a second connector on the obstacle plate and a second connecting groove that mates with the second connector. The second connector is located at one diagonal of the obstacle plate, and the second connecting groove is located at the diagonal opposite to the diagonal where the second connector is located. This multi-form simulated obstacle can be assembled into various types of obstacles, thereby better testing the obstacle avoidance performance of intelligent vehicles.

Description

Technical Field

[0001] This invention belongs to the field of obstacle avoidance testing for intelligent vehicles, and specifically relates to a multi-form simulated obstacle for obstacle avoidance in intelligent vehicles. Background Technology

[0002] Obstacle avoidance testing for intelligent vehicles is a crucial experimental step in the development of intelligent control, robotics, and embedded systems. Its core purpose is to verify the vehicle's perception, decision-making, and execution capabilities, effectively testing key performance indicators such as sensor performance, control algorithms, and system stability. Currently, the obstacles used in test scenarios are diverse in type and shape, including common items like cardboard boxes, plastic sheets, books, and folders. While these simulated obstacles are relatively easy to obtain, each obstacle has a limited function, simulating only simple planar or curved obstacles. Such simplistic shapes make it difficult to effectively test the obstacle avoidance performance of intelligent vehicles, including aspects such as obstacle avoidance success rate, minimum obstacle avoidance distance, anti-interference ability, path optimization ability, multi-obstacle handling ability, steering smoothness, and the effectiveness of backward movement strategies. Utility Model Content

[0003] To overcome the shortcomings of existing technologies, this invention provides a multi-form simulated obstacle for obstacle avoidance in intelligent vehicles. The multi-form simulated obstacle can form various types of obstacles, thereby better testing the obstacle avoidance performance of intelligent vehicles.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is:

[0005] A multi-form simulated obstacle for obstacle avoidance in an intelligent vehicle is composed of several obstacle units. Each obstacle unit includes an obstacle plate and a first connecting component and a second connecting component disposed on the obstacle plate.

[0006] The first connecting component includes a first connector disposed on the obstacle plate and a first connecting groove cooperating with the first connector, wherein the first connector is disposed on one side of the obstacle plate, and the first connecting groove is disposed on the side opposite to the side where the first connector is located.

[0007] The second connecting component includes a second connector disposed on the obstacle plate and a second connecting groove cooperating with the second connector, wherein the second connector is disposed on one of the opposite corners of the obstacle plate, and the second connecting groove is disposed on the opposite corner to the corner where the second connector is located.

[0008] Preferably, the obstacle plate is a square plate.

[0009] Preferably, the first connecting components are in two sets, and the first connecting member and the first connecting groove in the two sets of first connecting components are respectively disposed on the four sides of the obstacle plate.

[0010] Preferably, the second connecting assembly consists of two sets, with the second connector and the second connecting groove in each set being disposed at the four opposite corners of the obstacle plate.

[0011] Preferably, the first connector includes a support column and a spherical protrusion disposed on the support column, wherein the support column is installed diagonally on the obstacle plate.

[0012] Preferably, the first connecting groove is a spherical groove, and two sets of symmetrically arranged elastic clips are provided in the spherical groove; there is a deformation gap between the outer side of the elastic clip and the inner side of the spherical groove for the elastic clip to deform, and the inner side of the elastic clip is provided with an arc-shaped surface that cooperates with the spherical protrusion; when the two sets of elastic clips clamp the spherical protrusion, the center of the spherical protrusion coincides with the center of the arc-shaped surface of the two sets of elastic clips.

[0013] Preferably, the second connector includes a connecting post and a columnar protrusion disposed on the connecting post, the columnar protrusion being mounted on the connecting post; the connecting post is mounted on the side of the obstacle plate.

[0014] Preferably, the outer surface of the columnar protrusion is an arc surface, and the inner surface is a plane; the connecting column is connected to the inner surface of the columnar protrusion.

[0015] Preferably, the arc of the arc surface is greater than 180 degrees.

[0016] Preferably, the second connecting groove includes an arc-shaped block disposed on the obstacle plate, and the space within the arc-shaped block forms an arc-shaped limiting groove that cooperates with the columnar protrusion.

[0017] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0018] 1. The multi-form simulated obstacle for obstacle avoidance of the intelligent car of this utility model overcomes the problem that the current single conventional obstacle has a single form and limited ability to simulate obstacles in real scene. Taking the obstacle unit as the smallest unit, by connecting and adjusting the position of multiple groups of obstacle units, obstacles of different shapes and sizes can be simulated, thereby better testing the obstacle avoidance performance of the intelligent car, so as to better improve and perfect the intelligent car.

[0019] 2. The multi-form simulated obstacle for obstacle avoidance of the intelligent car of this utility model can simulate the characteristics of complex obstacles such as planes, folded surfaces, curved surfaces, solid surfaces, and hollow surfaces by combining more minimum units. It can also simulate obstacles with a sufficiently small area or volume, or a sufficiently large area or volume, so as to better test the obstacle avoidance performance of the intelligent car and thus better improve and perfect it. Attached Figure Description

[0020] Figures 1-3 This is a structural schematic diagram of the obstacle unit in the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model from three different perspectives.

[0021] Figure 4 This is a structural diagram illustrating the process of combining the spherical protrusions and spherical grooves of two obstacle units in the multi-morphological simulated obstacle avoidance method of the intelligent vehicle of this utility model.

[0022] Figure 5 This is a structural diagram illustrating the process of combining the columnar protrusions and arc-shaped limiting grooves of two obstacle units in the multi-morphological simulated obstacle avoidance method of the intelligent vehicle of this utility model.

[0023] Figure 6 This is a structural schematic diagram of the first specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0024] Figure 7 This is a structural schematic diagram of the second specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0025] Figure 8 This is a structural schematic diagram of the third specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0026] Figure 9 This is a structural schematic diagram of the fourth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0027] Figure 10 This is a structural schematic diagram of the fifth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0028] Figure 11 This is a structural schematic diagram of the sixth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0029] Figure 12 This is a structural schematic diagram of the seventh specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0030] Figure 13This is a structural schematic diagram of the eighth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0031] Figure 14 This is a structural schematic diagram of the ninth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0032] Figure 15 This is a structural schematic diagram of the tenth specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model.

[0033] Figure 16 This is a structural schematic diagram of the eleventh specific embodiment of the multi-morphological simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the implementation of the present invention is not limited thereto.

[0035] See Figures 1-16 The multi-form simulated obstacle for obstacle avoidance of the intelligent vehicle of this utility model is composed of several obstacle units spliced ​​together. Each obstacle unit includes an obstacle plate 1 and a first connecting component and a second connecting component disposed on the obstacle plate 1.

[0036] The first connecting component includes a first connector disposed on the obstacle plate 1 and a first connecting groove cooperating with the first connector, wherein the first connector is disposed on one side of the obstacle plate 1, and the first connecting groove is disposed on the side opposite to the side where the first connector is located.

[0037] The second connecting component includes a second connector disposed on the obstacle plate 1 and a second connecting groove that mates with the second connector. The second connector is disposed on one of the opposite corners of the obstacle plate 1, and the second connecting groove is disposed on the opposite corner to the corner where the second connector is located.

[0038] In this embodiment, the obstacle plate 1 is a square plate; the first connecting assembly consists of two sets, with the first connector and the first connecting groove in each set being respectively disposed on the four sides of the obstacle plate 1; the second connecting assembly consists of two sets, with the second connector and the second connecting groove in each set being respectively disposed on the four opposite corners of the obstacle plate 1.

[0039] See Figures 1-16The first connecting member includes a support column 2 and a spherical protrusion 3 disposed on the support column 2, wherein the support column 2 is installed at a diagonal position of the obstacle plate 1; the first connecting groove is a spherical groove 4, and two sets of symmetrically arranged elastic clamping pieces 401 are disposed in the spherical groove 4. There is a deformation gap between the outer surface of the elastic clamping piece 401 and the inner surface of the spherical groove 4 for the elastic clamping piece to deform. The inner surface of the elastic clamping piece 401 is provided with an arc-shaped surface that cooperates with the spherical protrusion 3; when the two sets of elastic clamping pieces 401 clamp the spherical protrusion 3, the center of the spherical protrusion 3 coincides with the center of the arc-shaped surface of the two sets of elastic clamping pieces 401, thereby clamping the spherical protrusion 3; in addition, a flared mouth is provided at the entrance of the spherical groove 4 to guide the spherical protrusion 3 into the spherical groove 4.

[0040] See Figures 1-16 The second connector includes a connecting post 5 and a columnar protrusion 6 disposed on the connecting post 5. The columnar protrusion 6 is mounted on the connecting post 5. The connecting post 5 is mounted on the side of the obstacle plate 1. The outer side of the columnar protrusion 6 is an arc surface, and the inner side is a plane. The connecting post 5 is connected to the inner side of the columnar protrusion 6. The second connecting groove includes an arc-shaped block disposed on the obstacle plate 1. The space inside the arc-shaped block forms an arc-shaped limiting groove 7 that cooperates with the columnar protrusion 6.

[0041] See Figure 3 and Figure 16 The columnar protrusion 6 is positioned at a greater distance from the obstacle plate than the spherical protrusion 3 in space, to ensure that the columnar protrusion 6 does not interfere with the spherical protrusion 3 during the process of combining with the connecting column 5 and during rotation. Similarly, the spherical protrusion 3 does not interfere with the columnar protrusion 6 during the process of combining with the spherical groove 4 and during rotation.

[0042] See Figure 6 and Figure 9 The angle between the spherical protrusion 3 and the spherical groove 4 has a large adjustable range to meet different shape requirements during testing.

[0043] In this embodiment, the arc of the circular surface is greater than 180 degrees; and the arc-shaped limiting groove 7 is greater than or equal to the arc of the arc surface of the columnar protrusion 6, so as to prevent the columnar protrusion 6 from horizontally dislodging from the opening of the arc-shaped limiting groove 7.

[0044] See Figures 1-16 The working principle of the multi-form simulated obstacle for obstacle avoidance of the intelligent car of this utility model is as follows:

[0045] When it is necessary to construct obstacles of different sizes or spatial shapes, it is only necessary to connect the first connector and the first connecting slot in two adjacent sets of obstacle units, or connect the second connector and the second connecting slot. Since the connection structure between the first connector and the first connecting slot can be regarded as a universal bearing structure, and the connection structure between the second connector and the second connecting slot can be regarded as a rotating structure, the angle and attitude between two adjacent sets of obstacle units can be adjusted arbitrarily, thereby constructing obstacles of different shapes and sizes / volumes. This allows for better testing of the obstacle avoidance performance of the intelligent vehicle, so as to better improve and perfect the intelligent vehicle.

[0046] This embodiment illustrates various forms of simulated obstacles used for obstacle avoidance in the intelligent vehicle of this invention, including...

[0047] Figure 6 Three obstacle units were arranged at varying heights to form a planar obstacle with a hollowed-out bottom, in order to test the intelligent vehicle's obstacle avoidance capability against obstacles that combine solid and hollow elements.

[0048] Figure 7 Three obstacle units are fitted together at the same height to form a folded or curved obstacle with small hollows at the bottom, in order to test the obstacle avoidance ability of the intelligent car to avoid obstacles that combine solid and void and are not planar.

[0049] Figure 8 Four obstacle units are interwoven through side or diagonal connection structures to form complex non-planar obstacles, in order to test the intelligent vehicle's obstacle avoidance capability for non-planar obstacles that combine physical and virtual elements.

[0050] Figure 9 Five obstacle units were constructed with planar obstacles containing large cutouts to test the intelligent vehicle's ability to avoid obstacles that could pass through the inner border of the obstacle.

[0051] Figure 10 Three obstacle units are connected diagonally to form a complex non-planar obstacle to test the obstacle avoidance capability of the intelligent vehicle for non-planar obstacles that combine physical and virtual elements.

[0052] Figure 11 Three obstacle units were fitted together at the same height to form a planar obstacle with small openings at the bottom, in order to test the intelligent vehicle's ability to avoid obstacles that combine solid and void planar obstacles.

[0053] Figure 12 Three obstacle units are connected by a side structure to form an obstacle of equal height or curved surface, in order to test the obstacle avoidance ability of the intelligent vehicle to avoid obstacles that combine physical and virtual elements and are non-planar.

[0054] Figure 13Three obstacle units are connected by a side structure to form a non-uniform plane obstacle, in order to test the obstacle avoidance capability of the intelligent vehicle to a plane obstacle that combines physical and virtual obstacles;

[0055] Figure 14 The diagram illustrates how obstacles constructed from three obstacle units maintain their spatial position. The obstacle units at both ends are not obstacles themselves, but mainly serve to maintain the spatial position of the obstacles constructed from the three middle obstacle units, in order to test the obstacle avoidance capability of the intelligent vehicle against planar obstacles that combine physical and virtual elements.

[0056] Figure 15 The diagram illustrates how obstacles constructed from multiple obstacle units maintain their spatial positions. The obstacle units at both ends are not the obstacles themselves, but are mainly used to maintain the spatial positions of the obstacles constructed from the multiple smallest units in the middle, so as to facilitate testing the obstacle avoidance capabilities of the intelligent vehicle through large empty space obstacles.

[0057] Figure 16 This diagram illustrates how obstacles constructed from multiple obstacle units maintain their spatial position. The bottom obstacle unit is not the obstacle itself, but mainly serves to maintain the spatial position of the obstacles constructed from the upper obstacle units, in order to facilitate testing the obstacle avoidance capabilities of the intelligent vehicle through large empty space obstacles.

[0058] The above are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A multi-form simulated obstacle for obstacle avoidance in an intelligent vehicle, characterized in that, It is composed of several obstacle units, each obstacle unit including an obstacle plate and a first connecting component and a second connecting component disposed on the obstacle plate. The first connecting component includes a first connector disposed on the obstacle plate and a first connecting groove cooperating with the first connector, wherein the first connector is disposed on one side of the obstacle plate, and the first connecting groove is disposed on the side opposite to the side where the first connector is located. The second connecting component includes a second connector disposed on the obstacle plate and a second connecting groove cooperating with the second connector, wherein the second connector is disposed on one of the opposite corners of the obstacle plate, and the second connecting groove is disposed on the opposite corner to the corner where the second connector is located.

2. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 1, characterized in that, The obstacle plate is a square plate.

3. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 2, characterized in that, The first connecting component consists of two sets, with the first connector and the first connecting groove in each set being respectively disposed on the four sides of the obstacle plate.

4. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 3, characterized in that, The second connecting component consists of two sets, with the second connector and the second connecting groove in each set being disposed at the four opposite corners of the obstacle plate.

5. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 4, characterized in that, The first connector includes a support column and a spherical protrusion disposed on the support column, wherein the support column is installed at a diagonal position on the obstacle plate.

6. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 5, characterized in that, The first connecting groove is a spherical groove, and two sets of symmetrically arranged elastic clips are provided in the spherical groove; there is a deformation gap between the outer side of the elastic clip and the inner side of the spherical groove for the elastic clip to deform, and the inner side of the elastic clip is provided with an arc-shaped surface that cooperates with the spherical protrusion; when the two sets of elastic clips clamp the spherical protrusion, the center of the spherical protrusion coincides with the center of the arc-shaped surface of the two sets of elastic clips.

7. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 6, characterized in that, The second connector includes a connecting post and a columnar protrusion disposed on the connecting post, the columnar protrusion being mounted on the connecting post; the connecting post is mounted on the side of the obstacle plate.

8. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 7, characterized in that, The outer surface of the columnar protrusion is an arc surface, and the inner surface is a plane; the connecting column is connected to the inner surface of the columnar protrusion.

9. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 8, characterized in that, The arc of the circular surface is greater than 180 degrees.

10. The multi-form simulated obstacle for obstacle avoidance of an intelligent vehicle according to claim 9, characterized in that, The second connecting groove includes an arc-shaped block disposed on the obstacle plate, and the space within the arc-shaped block forms an arc-shaped limiting groove that cooperates with the columnar protrusion.

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