An ultra-high performance large bearing device for intelligent driving test

Abstract

The application discloses a kind of super high performance large carrying device for intelligent driving test, it is related to intelligent driving auxiliary system and automatic driving test technical field, the device includes frame, front and rear suspension components, battery and brake components, front and rear suspension components are respectively arranged at the front and rear ends of large carrying device chassis, for realizing the support and walking of large carrying device, steering mechanism is provided in front suspension component, for changing the direction of device, rear suspension component is used to drive the whole device movement, brake component is used to brake front wheel component after driving component stops driving, to prevent large carrying device inertial movement, battery is used to power supply each component in device;The technical scheme in the application realizes the support and walking of large carrying device using front and rear suspension structure, provides power for the device by high-performance motor, and sets up damping and brake mechanism in front and rear suspension structure, can be used to simulate high-speed traffic scene, help to improve the accuracy of test.

Description

Technical Field

[0001] This utility model relates to the field of intelligent driving assistance systems (ADAS) and autonomous driving testing technology, specifically to an ultra-high performance large-scale load-bearing device for intelligent driving testing. Background Technology

[0002] As global autonomous driving technology rapidly evolves from Level 2 to Level 4 / 5, testing regulations for intelligent driving are becoming increasingly stringent in various countries. According to China's "Regulations on the Management of Road Testing of Intelligent Connected Vehicles," test scenarios must cover complex multi-dimensional conditions, including highways, urban roads, and extreme weather, and place higher demands on the dynamic performance of testing equipment. For example, ADAS functions such as Automatic Emergency Braking (AEB) and Adaptive Cruise Control (ACC) need to verify their response accuracy and reliability at high speeds of ≥120 km / h or even 130 km / h. However, current mainstream testing equipment generally suffers from core problems such as insufficient dynamic performance, instability and reliability deficiencies, and low scenario realism. Traditional testing platforms (such as low-speed testing platforms or static scene simulators with speeds ≤80 km / h) cannot meet the demands of high-speed motion, resulting in a disconnect between the test scenario and the dynamic characteristics of real roads. Existing equipment is prone to fishtailing, skidding, or even loss of control at high speeds due to insufficient suspension system strength (traditional testing platforms have a high center of gravity, generating strong lateral forces during steering, leading to fishtailing; the suspension system lacks shock absorption design, and even small road surface fluctuations can cause more severe vibration responses; the suspension structure can undergo elastic deformation or even torsion at high speeds, causing wheel camber changes or loss of vertical contact, resulting in skidding and sideslip), seriously affecting test safety. Low-speed or fixed-track testing cannot reproduce the transient behaviors of vehicles on real roads, such as high-speed lane changes and emergency obstacle avoidance, leading to a decrease in the reliability of test data.

[0003] Currently, to improve the reliability of test data, imported equipment is typically used for testing. However, according to a test report from a car manufacturer, some imported equipment experienced trajectory deviation errors exceeding ±0.5m when running at speeds above 110 km / h due to suspension system resonance. Furthermore, the system repeatedly overheated and crashed, resulting in several instances of loss of control. Moreover, imported equipment has high unit procurement costs, long delivery cycles, and reliance on imported key components, leading to long and expensive maintenance times. It is also not optimized for complex road conditions in China (such as frequent lane changes and non-standard traffic signs), making it difficult to meet the diverse needs of domestic testing scenarios. In contrast, the current state of domestic technology lacks mature high-speed testing robot products. Existing solutions are mostly based on modified vehicles or low-to-medium speed platforms, with speed limits generally below 80 km / h. Low-speed platforms cannot reproduce the transient behaviors of vehicles in real-world traffic, such as high-speed lane changes and emergency obstacle avoidance, thus failing to meet testing requirements. Modified vehicles require manual driving, which is affected by the driver's subjective factors, resulting in test results with fluctuations of up to 30% for the same scenario, severely limiting testing efficiency. Utility Model Content

[0004] The purpose of this invention is to provide an ultra-high performance large-scale load-bearing device for intelligent driving testing, addressing the problems existing in the prior art. This device solves the problems of insufficient suspension system strength in modified vehicles and low-to-medium speed platforms, which cannot meet the requirements of high-speed motion and cannot reproduce the transient behaviors of vehicles in real roads, such as high-speed lane changes and emergency obstacle avoidance, thereby improving the reliability of test data.

[0005] The technical solution of this utility model is: to provide an ultra-high performance large-scale load-bearing device for intelligent driving testing, the device comprising:

[0006] The frame assembly, front suspension assembly, battery assembly, drive assembly, rear drive assembly, and braking assembly are respectively mounted on the frame assembly;

[0007] The front suspension assembly and the rear drive assembly are respectively located at the front and rear ends of the chassis of the large load-bearing device to provide support for the large load-bearing device. The front suspension assembly is equipped with a steering mechanism and a front wheel assembly. The steering mechanism is used to drive the front wheel assembly to rotate in order to change the direction of travel of the large load-bearing device. The rear drive assembly is equipped with a rear wheel assembly. The drive assembly is used to drive the rear wheel assembly to rotate. The rear wheel assembly is used to drive the entire large load-bearing device to move. The braking assembly is used to brake the front wheel assembly after the drive assembly stops driving to prevent the large load-bearing device from moving inertia. The battery assembly is used to supply power to the various components in the large load-bearing device.

[0008] Furthermore, the frame assembly includes a main frame and mounting accessories. The main frame is composed of a shell and a base plate, and has a cavity inside. The front suspension assembly, battery assembly, drive assembly, rear drive assembly and braking assembly are respectively fixed in the cavity of the main frame by the mounting accessories.

[0009] Furthermore, the front suspension assembly also includes a suspension mechanism and a front suspension cylinder assembly;

[0010] The rear end of the front suspension cylinder assembly is fixedly connected to the main frame, and the front piston rod is fixedly connected to the suspension mechanism to support the suspension mechanism; the suspension mechanism is used to support all other components in the front suspension assembly except for the front suspension cylinder assembly.

[0011] Furthermore, the front wheel assembly and steering mechanism are respectively mounted on the suspension mechanism. The front wheel assembly includes an axle assembly, a tire, and a sleeve structure. A telescopic universal joint is provided in the middle of the axle assembly, one end of which is fixedly connected to the tire, and the other end of the sidewall is connected to the suspension mechanism through a bearing and a bearing mounting seat. The sleeve structure is fitted onto the axle assembly near the tire and is connected to the axle assembly through a bearing. The suspension mechanism has symmetrical limiting structures at both ends. The sleeve structure has symmetrical protrusions on the upper and lower sides, and the protrusions are connected to the limiting structures through bearings. Steering arms are also symmetrically provided on both sides of the sleeve structure, and the steering arms are dynamically connected to the tire. The tire extends from the opening on the bottom plate of the main frame.

[0012] The steering mechanism includes a steering motor and a steering lever. One end of the steering lever is connected to the extension rod of the steering motor via a straight ball joint, and the other end is connected to the steering arm via a curved ball joint. The steering motor is used to push or pull the steering arm to rotate through the steering lever, thereby steering the tires.

[0013] Furthermore, the front suspension assembly also includes a braking mechanism, which is mounted on the suspension assembly and includes a brake gear, a caliper, and a disc brake pad. The brake gear consists of two vertically meshing gears, one of which is coaxially fixedly connected to the disc brake pad and rotates synchronously, while the other is fixed to the end of the wheel axle assembly away from the tire. The caliper is mounted on one side of the disc brake pad, and the edge of the disc brake pad is located in the clamping area of ​​the caliper. The caliper is used to decelerate the rotating disc brake pad until it stops rotating by gradually increasing the friction force during braking.

[0014] Furthermore, the drive components include a braking resistor, a driver, a high-voltage distribution box, and a drive motor;

[0015] The high-voltage distribution box is electrically connected to the battery pack and the driver respectively, and is used to distribute the high-voltage electricity output by the battery pack to the driver. The driver is connected to the drive motor and is used to control the rotation of the drive motor. The braking resistor is connected to the driver through a cable and is used to absorb the regenerative electrical energy fed back when the drive motor brakes or decelerates.

[0016] Furthermore, the rear-wheel drive assembly also includes a control arm suspension and a rear suspension cylinder assembly;

[0017] One end of the swing arm suspension near the head of the large load-bearing device is hinged to the main frame, and the middle position near the hinge point is fixedly connected to the piston rod of the rear suspension cylinder assembly. The rear end of the rear suspension cylinder assembly is movably connected to the mounting accessories on the main frame through a pin, which is used to support the swing arm suspension. The swing arm suspension is used to support all other components in the rear drive assembly except for the rear suspension cylinder assembly.

[0018] Furthermore, the rear-drive assembly also includes a coupling, a transmission assembly, and a brake.

[0019] The rear wheel assembly includes two rear wheels and an axle that are fixedly connected. The two rear wheels are located at both ends of the axle, and the sides of the axle near the rear wheels are connected to the swing arm suspension via bearings. The transmission assembly includes two sets of chains. One end of the coupling is connected to the drive motor, and the other end is equipped with a drive shaft. The drive shaft of the coupling near the rear end of the main frame is connected to the middle position of the rear wheel assembly axle via one set of chains. The drive shaft of the coupling away from the rear end of the main frame is connected to the shaft of the brake via the other set of chains. The drive shaft of the coupling near the rear end of the main frame also extends to the position of the brake and is fixedly connected to the brake. The drive motor is used to drive the rear wheel assembly to rotate through the coupling and the transmission assembly. The brake is used to quickly lock the drive shaft of the coupling through friction after the drive motor is turned off, so as to achieve rapid braking.

[0020] Furthermore, the braking components include a brake motor, an upper pump, and an ABS system;

[0021] The brake motor drives the upper pump via its telescopic rod, causing the upper pump to output hydraulic pressure. The hydraulic pressure output from the upper pump first passes through the ABS system and then flows to the calipers in the front suspension assembly. The upper pump controls the calipers to tighten by outputting hydraulic pressure, thereby braking the front wheel assembly. The ABS system is connected to a speed sensor mounted on the tire to measure the speed of the large load-bearing device. The ABS system receives the feedback signal from the speed sensor during braking and continuously switches the hydraulic circuit on and off when the speed of the large load-bearing device is lower than a preset speed to prevent the front wheel assembly from locking up.

[0022] Furthermore, the ultra-high performance large-scale load-bearing device also includes a control component, which is equipped with a GPS module and a low-voltage box to feed back the position signal of the large-scale load-bearing device to the host computer and to feed back the control signals issued by the host computer to the various execution devices in the large-scale load-bearing device.

[0023] The beneficial effects of this utility model are:

[0024] First, this utility model provides a front suspension assembly comprising a suspension mechanism, a steering mechanism, and a braking mechanism. The front suspension assembly is installed at the front end of the chassis of an ultra-high-performance large load-bearing device, enabling front wheel extension, steering, and braking functions. The front wheels are mounted on the suspension mechanism, which is connected to the main frame of the load-bearing device via cylinders. During normal operation, the front wheels extend beyond the main frame under the action of the cylinders. When the load-bearing device is crushed by a heavy object exceeding a certain load capacity, the front wheels are compressed back into the cavity inside the main frame, thus protecting the suspension mechanism. Furthermore, the load-bearing device has a low center of gravity, and during high-speed operation, the cylinders can elastically extend and retract to press the front wheels as close to the ground as possible, adapting to vibrations caused by uneven road surfaces, preventing slippage and elastic deformation of the suspension mechanism, maintaining the overall balance of the load-bearing device, and improving testing safety. The height of the suspension mechanism in this utility model's front suspension assembly meets the testing requirements of actual national road conditions, making it applicable to large target load-bearing devices. Moreover, the front suspension assembly integrates steering and braking functions, improving the movement flexibility of the load-bearing device and filling a gap in the industry's product performance limits.

[0025] Secondly, this utility model provides a rear suspension assembly comprising a swing arm suspension, a drive assembly, and a brake. The rear suspension assembly is installed at the rear end of the chassis of an ultra-high performance large load-bearing device, enabling rear wheel extension and retraction, providing driving power, and parking functions. The rear wheels are mounted on the swing arm suspension, one end of which is hinged to the main frame 0102. Near the hinge point, a cylinder connects the swing arm suspension to the main frame 0102. During normal operation of the load-bearing device, the rear wheels can extend beyond the main frame. When the load-bearing device is run over by a heavy object exceeding a certain load capacity, the rear wheels can retract into the cavity inside the main frame, thus protecting the swing arm suspension. Similarly, during high-speed operation, the cylinder can also elastically extend and retract to press the rear wheels against the ground as much as possible to adapt to uneven road surfaces. The system effectively prevents vibrations, including tail-wagging, slippage, and elastic deformation of the swing arm suspension, maintaining the overall balance of the load-bearing device and further improving testing safety. The rear wheels are connected to the output shaft of the motor and the brake drive in the drive assembly via chains. When the motor is running, the rear wheels can move stably via chain drive. When the motor is powered off or stopped, the brake quickly locks the drive shaft connected to the motor to achieve parking. The swing arm suspension height in the rear suspension assembly of this invention meets the testing requirements of actual road conditions in China, enabling the load-bearing device to support large targets. Furthermore, the rear suspension assembly ensures stable and reliable movement of the load-bearing device through chain drive and provides parking functionality via the brake, preventing the ultra-high-performance large intelligent load-bearing device from slipping.

[0026] Third, this utility model provides an ultra-high performance large-scale load-bearing device for intelligent driving testing. Through a reasonable layout and a novel front and rear suspension structure, two types of high-performance motors are combined. For the front suspension assembly, a telescopic motor provides steering power, enabling the load-bearing device to steer. For the rear suspension assembly, two sets of rotary motors drive the rear wheel assembly through a chain structure, allowing the entire device to achieve an ultra-high-speed travel of 120 km / h. Simultaneously, a hydraulic disc brake assembly is configured in the front suspension assembly, enabling the large load-bearing device to achieve significant deceleration under the braking effect, thus completing high-speed scenario testing within a limited distance. Compared to existing testing schemes based on modified vehicles or low-to-medium speed platforms, testing using the large load-bearing device provided by this utility model can simulate real traffic scenarios such as highways and expressways, completing test tasks such as emergency braking, high-speed following, and high-speed lane changing, which helps improve the accuracy of the tests. Attached Figure Description

[0027] The advantages of the above and / or additional aspects of this utility model will become apparent and readily understood in the description of the embodiments taken in conjunction with the following drawings, wherein:

[0028] Figure 1 This is a schematic diagram of the structure of the ultra-high performance large load-bearing device of this utility model after the bottom plate has been removed;

[0029] Figure 2 This is the overall assembly drawing of the ultra-high performance large-scale load-bearing device of this utility model;

[0030] Figure 3 This is a schematic diagram of the frame assembly of the ultra-high performance large load-bearing device of this utility model;

[0031] Figure 4 This is a schematic diagram of the skirt assembly of the ultra-high performance large load-bearing device of this utility model;

[0032] Figure 5 This is a schematic diagram of the bottom plate in the main frame of the ultra-high performance large load-bearing device of this utility model;

[0033] Figure 6 A schematic diagram of some structures in the installation accessories of the ultra-high performance large load-bearing device of this utility model;

[0034] Figure 7 This is a schematic diagram of the front suspension component of the ultra-high performance large load-bearing device of this utility model;

[0035] Figure 8 This is a schematic diagram of the steering mechanism of the ultra-high performance large load-bearing device of this utility model;

[0036] Figure 9 This is a schematic diagram of the braking mechanism of the ultra-high performance large load-bearing device of this utility model;

[0037] Figure 10 This is a schematic diagram of the battery assembly of the ultra-high performance large-scale load-bearing device of this utility model;

[0038] Figure 11 This is a schematic diagram of the drive assembly of the ultra-high performance large load-bearing device of this utility model;

[0039] Figure 12 This is a schematic diagram of the rear drive assembly of the ultra-high performance large load-bearing device of this utility model;

[0040] Figure 13 This is a schematic diagram of the braking component of the ultra-high performance large load-bearing device of this utility model;

[0041] Figure 14 This is a schematic diagram of the installation of the control component of the ultra-high performance large load-bearing device of this utility model;

[0042] Figure 15 This is a side sectional view of the front wheel assembly of the control component of the ultra-high performance large load-bearing device of this utility model.

[0043] Among them, 01-Frame assembly; 0101Skirt assembly; 010101-Skirt support triangle plate; 010102Skirt cover plate; 0102-Main frame; 010201-Shell; 010202-Base plate; 010203-Conical support; 0103-Mounting accessories; 02-Front suspension assembly; 0201-Suspension mechanism; 020101-Limiting structure; 0202-Steering mechanism; 020201-Steering motor; 020202-Steering linkage; 0203-Brake mechanism; 020301-Brake gear; 020302-Caliper; 020303-Disc brake pad; 0204-Front suspension cylinder assembly; 0205-Front wheel assembly; 020501-Wheel axle assembly; 020502-Tire; 020503- Sleeve structure; 0205031-Steering arm; 03-Battery assembly; 0301-72V battery; 04-Drive assembly; 0401-Brake resistor; 0402-Driver; 0403-High voltage distributor box; 0404-Drive motor; 05-Rear drive assembly; 0501-Coupling; 0502-Rear suspension cylinder assembly; 0503-Transmission assembly; 0504-Brake; 0505-Swing arm suspension; 0506-Rear wheel assembly; 06-Brake assembly; 0601-Brake motor; 0602-Mounting bracket; 0603-Upper pump; 0604-ABS system; 07-Control assembly; 0701-GPS module; 0702-Low voltage box; 0703-Inertial navigation system; 0704-Power module; 0705-Relay assembly. Detailed Implementation

[0044] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present 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.

[0045] In the following description, many specific details are set forth in order to provide a full understanding of the present invention. However, the present invention may also 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.

[0046] like Figures 1 to 14 As shown, this embodiment provides an ultra-high performance large-scale load-bearing device for intelligent driving testing. The device includes: a frame assembly 01, a front suspension assembly 02, a battery assembly 03, a drive assembly 04, a rear drive assembly 05, a braking assembly 06, and a control assembly 07. The front suspension assembly 02, battery assembly 03, drive assembly 04, rear drive assembly 05, braking assembly 06, and control assembly 07 are all mounted on the frame assembly 01.

[0047] In this embodiment, taking the state of the large bearing device moving forward as a reference, one end in the direction of forward movement is defined as the head or front end, and the other end in the opposite direction of forward movement is defined as the tail or rear end.

[0048] like Figures 2 to 4 As shown, the frame component 01 includes a skirt component 0101, a main frame 0102, and an installation accessory 0103. Both the skirt component 0101 and the installation accessory 0103 are fixedly installed on the main frame 0102.

[0049] The frame component 01 is made of 7075 aerospace aluminum alloy. Multiple holes, such as through holes or blind holes, can be set on the non-critical load-bearing structural components to reduce material usage and weight, without significantly affecting structural strength or rigidity. Some structural components can adopt irregular designs (i.e., the structural shape is not a regular square or circle, but an asymmetric or complex curved surface design optimized according to functional requirements and mechanical simulation results) to improve structural utilization, reduce the use of ineffective materials, and achieve optimal material distribution and lightweighting.

[0050] like Figure 1 , Figure 2 and Figure 5As shown, the main frame 0102 has a flattened frustum shape on the outside, which includes a frustum-shaped shell 010201 and a rectangular base plate 010202. Rectangular openings 0102021 are provided at the four corners of the rectangular base plate. These rectangular openings are used to extend the front and rear wheels to facilitate the movement of the large load-bearing device. A conical support 010203 is also provided on the side of the rectangular base plate closest to the ground. The conical support 010203 is used to support the main frame 0102 when the front and rear wheels are not extended out of the rectangular opening, so as to avoid the rectangular base plate directly contacting the ground and reducing friction damage. The main frame 0102 has a cavity inside for installing the various components of the large load-bearing device except for the skirt assembly 0101.

[0051] like Figure 4 As shown, the skirt assembly 0101 includes a skirt support triangle plate 010101 and a skirt cover plate 010102. The edge slope of the skirt support triangle plate 010101 is ≤15°. The skirt assemblies 0101 are symmetrically arranged on the front and rear sides of the frame assembly 01. Each skirt assembly 0101 includes a skirt cover plate 010102 and multiple skirt support triangle plates 010101. The multiple skirt support triangle plates 010101 are fixedly connected to the side of the main frame 0102, and the skirt cover plate 010102 is fixedly installed on the multiple skirt support triangle plates 010101.

[0052] In this embodiment, the skirt support triangle plate 010101 adopts an irregular design, with an overall triangular shape and multiple holes on its surface to reduce material usage and weight. Under the support of the skirt support triangle plate 010101, the angle between the skirt cover plate 010102 and the side of the main frame 0102 is 0° to 15°.

[0053] Mounting accessory 0103 is fixed inside the main frame 0102 and is used to install various components in the large load-bearing device other than the frame assembly 01. Mounting accessory 0103 provides specific mounting structures for the front suspension assembly 02, battery assembly 03, drive assembly 04, rear drive assembly 05, braking assembly 06, and control assembly 07. These mounting structures may include vertically or horizontally mounted plates (with through holes, threaded holes, etc.), mounting brackets (such as L-shaped, U-shaped, or custom-shaped metal brackets), etc. For example, horizontal mounting blocks with threaded holes can be used to install batteries, motors, etc., while U-shaped metal brackets are used to install suspension components, etc. Figure 6 The image shows the mounting accessory 0103 at the location of the drive assembly 04. The middle position is used to install the high-voltage distribution box 0403, and the two sides are used to install the braking resistor 0401 and the driver 0402.

[0054] like Figure 7As shown, the front suspension assembly 02 includes a suspension mechanism 0201, a steering mechanism 0202, a braking mechanism 0203, a front suspension cylinder assembly 0204, and a front wheel assembly 0205.

[0055] The front wheel assembly 0205 comprises two sets symmetrically arranged on the suspension mechanism 0201. Each front wheel assembly 0205 includes an axle assembly 020501, a tire 020502, and a sleeve structure 020503. A telescopic universal joint (capable of transmitting rotational motion and torque from one axle to another, even if the two axles are at an angle) is provided in the middle of the axle assembly 020501. One end of the axle assembly 020501 is fixedly connected to the tire 020502 by screws, and the other end sidewall is connected to the suspension mechanism 0201 via a bearing and bearing mounting seat. Figure 15 As shown, the sleeve structure 020503 is sleeved on the axle assembly 020501 at one end near the tire 020502 (not covering the telescopic universal joint in the middle), and is connected to the axle assembly 020501 via a bearing. The axle assembly 020501 can rotate based on the sleeve structure 020503 under the action of the bearing. The suspension mechanism 0201 has symmetrically arranged limiting structures 020101 at both ends. The sleeve structure 020503 has symmetrically arranged protrusions on its upper and lower sides. These protrusions are connected to the limiting structures via bearings. The sleeve structure 020503 can rotate based on the bearing. The limiting structure rotates; the sleeve structure 020503 is also symmetrically provided with steering arms 0205031 on both sides. The steering arms and tires 020502 form a follow-up connection. When the steering arms rotate, the tires 020502 deflect accordingly. The steering arms 0205031 are connected to the steering mechanism 0202. The tires 020502 can rotate synchronously with the wheel axle assembly 020501 (i.e., the two are in a fixed connection state) to achieve high-speed operation of large load-bearing devices. The tires 020502 can also deflect horizontally based on the limiting structure under the pushing and pulling action of the steering mechanism 0202 to achieve steering.

[0056] The rear end of the front suspension cylinder assembly 0204 is fixed to the main frame 0102 by the mounting accessory 0103. The piston rod at the front end of the front suspension cylinder assembly 0204 is fixedly connected to the suspension mechanism 0201 to support the suspension mechanism 0201.

[0057] The front suspension cylinder assembly 0204 uses a cylinder as an elastic element. When the pressure on a large load-bearing device exceeds a preset pressure value (such as when it is run over by another vehicle during testing or when pressure is applied by other heavy objects besides its own load), the cylinder piston rod naturally retracts, thus retracting the suspension mechanism 0201. This allows the tire 020502 in the front wheel assembly 0205 to retract through a rectangular opening on the rectangular base plate into a pre-reserved chamber inside the main frame 0102, protecting the suspension mechanism 0201 from damage. Furthermore, when the pressure on the large load-bearing device is below the preset pressure value (such as when it is not carrying an object or...), the cylinder piston rod retracts naturally, thus protecting the suspension mechanism 0201 from damage. When the pressure of the object being carried is lower than the preset pressure value, the piston rod of the cylinder naturally extends to push out the suspension mechanism 0201, so that the tire 020502 in the front wheel assembly 0205 extends out of the main frame 0102 through the rectangular opening on the rectangular base plate for testing. The main frame 0102 has reserved space inside for its movement. The front suspension cylinder assembly 0204 can protect the suspension mechanism 0201 and push the front wheel assembly 0205 out after the large load-bearing device unloads the heavy object, restoring the walking state required for the test without affecting the experimental progress.

[0058] The suspension mechanism 0201 is set as a rectangular structural frame, with through holes in non-critical load-bearing parts to reduce material usage and weight, without affecting the overall structural strength or rigidity.

[0059] like Figure 8 As shown, the steering mechanism 0202 includes a steering motor 020201 and a steering lever 020202. One end of the steering lever 020202 is equipped with a straight ball joint, which is connected to the telescopic rod at the front end of the steering motor 020201. The other end is equipped with a curved ball joint, which is connected to the steering arm 0205031 of the wheel axle assembly 020501. The steering motor 020201 can push or pull the steering arm 0205031 to rotate through the steering lever 020202 when steering, so that the tire 020502 mounted on the wheel axle assembly 020501 can turn. The straight and curved ball joints allow the steering lever 020202 to change its angle during movement to adapt to the rotation of the steering arm of the wheel axle assembly 020501.

[0060] Specifically, when the steering mechanism 0202 turns left, the telescopic rod at the front end of the steering motor 020201 extends and pushes the steering arm 0205031 to rotate counterclockwise through the steering rod 020202. The steering arm 0205031 is fixedly connected to the sleeve structure 020503, causing the sleeve structure 020503 to rotate horizontally counterclockwise based on the limiting structure. The tire 020502 mounted on the wheel axle assembly 020501 follows the steering arm 0205031 to deflect to the left. When the steering mechanism 0202 turns right, the telescopic rod at the front end of the steering motor 020201 retracts and pulls the steering arm 0205031 to rotate clockwise through the steering rod 020202, causing the sleeve structure 020503 to rotate horizontally clockwise based on the limiting structure. The tire 020502 mounted on the wheel axle assembly 020501 follows the steering arm 0205031 to deflect to the right, completing the steering.

[0061] In this embodiment, the steering motor 020201 can be a stepper servo electric cylinder motor.

[0062] like Figure 7 , Figure 9 As shown, the braking mechanism 0203 includes two sets symmetrically arranged on the suspension mechanism 0201. Each set of braking mechanism 0203 includes a brake gear 020301, a caliper 020302, and a disc brake pad 020303. The brake gear 020301 consists of two gears meshing perpendicularly. One of them is coaxially fixedly connected to the disc brake pad 020303 and rotates synchronously. The other is fixed to one end of the wheel axle assembly 020501 away from the tire 020502. The caliper 020302 is located on one side of the disc brake pad 020303, and the edge of the disc brake pad 020303 is located in the clamping area of ​​the caliper 020302. The caliper 020302 is used to gradually increase the friction force during braking to decelerate the rotating disc brake pad 020303 until it stops rotating. That is, the caliper 020302 can cooperate with the disc brake pad 020303 to generate braking force, so that the front wheel assembly 0205 stops.

[0063] like Figure 10 As shown, the battery assembly 03 includes four high-performance 72V batteries 0301, which are used to power the various components in the large load-bearing device, enabling ultra-long endurance testing and improving testing efficiency; the battery assembly 03 is fixedly mounted on the main frame 0102 by mounting accessory 0103.

[0064] like Figure 11 As shown, the drive assembly 04 includes four braking resistors 0401, four drivers 0402, a high-voltage distribution box 0403, and four drive motors 0404. The drive assembly 04 is fixedly mounted on the main frame 0102 by mounting accessories 0103.

[0065] Battery assembly 03 is connected to high voltage distribution box 0403 via cables. High voltage distribution box 0403 is connected to four drivers 0402 via cables. High voltage distribution box 0403 is used to receive high voltage DC or AC power from battery assembly 03 and distribute the high voltage DC or AC power to the four drivers 0402.

[0066] The four drivers 0402 are connected to the four drive motors 0404 via cables to convert high-voltage electricity into three-phase AC power for the motors. At the same time, they control the drive motors 0404 to rotate according to the start command issued by the control component 07.

[0067] The four braking resistors 0401 are connected to the four drivers 0402 via cables, specifically to the braking terminals of the drivers. They are used to absorb the regenerative electrical energy fed back by the drive motor 0404 when it brakes or decelerates, prevent voltage surges, and convert the energy into heat for safe release, thereby avoiding overvoltage of the driver 0402 and protecting the electrical stability of the system.

[0068] like Figure 12 As shown, the rear drive assembly 05 includes two sets, and the two sets of rear drive assemblies 05 are respectively fixedly installed on the main frame 0102 by mounting accessories 0103; the rear drive assembly 05 includes a coupling 0501, a rear suspension cylinder assembly 0502, a transmission assembly 0503, a brake 0504, a swing arm suspension 0505, and a rear wheel assembly 0506.

[0069] The coupling 0501 includes four couplings, which are fixedly connected to the output shafts of the four drive motors 0404 in the drive assembly 04, respectively, for transmitting speed and torque.

[0070] One end of the swing arm suspension 0505 near the head of the large load-bearing device is hinged to the main frame 0102. The middle position of the swing arm suspension 0505 near the hinge point is fixedly connected to the piston rod at the front end of the rear suspension cylinder assembly 0502. The rear end of the rear suspension cylinder assembly 0502 is movably connected to the mounting accessory 0103 on the main frame 0102 via a pin (i.e., the rear end of the rear suspension cylinder assembly 0502 is a U-shaped fork with a through hole, which matches the mounting seat with a through hole in the mounting accessory 0103; the U-shaped fork is aligned with the mounting seat according to the through hole, and...). (A single-axis rotational degree of freedom is formed by connecting via a pin). The rear suspension cylinder assembly 0502 is used to support the swing arm suspension 0505. Under the action of external pressure, the piston rod at the front end of the suspension cylinder assembly 0502 performs telescopic movement, allowing the swing arm suspension 0505 to swing around its hinge point with the main frame 0102. The pin connecting the rear suspension cylinder assembly 0502 and the main frame 0102 allows the angle of the suspension cylinder assembly 0502 to change during telescopic movement to adapt to the swing of the swing arm suspension 0505.

[0071] One end of the swing arm suspension 0505 near the rear of the large load-bearing device is connected to the rear wheel assembly 0506. The rear wheel assembly 0506 includes two rear wheels and an axle. The two rear wheels are rigidly connected to both ends of the axle (i.e., the two rear wheels are fixed on the same axle, and the axle and wheels rotate as a whole). The two sides of the axle near the rear wheels are fixed to the rear end of the swing arm suspension 0505 by bearings and can rotate under the action of the bearings.

[0072] The rear suspension cylinder assembly 0502 also uses a cylinder as an elastic element. When the pressure on the large load-bearing device exceeds the preset pressure value (such as when it is run over by other vehicles or subjected to pressure from other heavy objects other than its own load during the test), it can naturally retract the cylinder piston rod to retract the swing arm suspension 0505. This allows the rear wheel in the rear wheel assembly 0506 to be retracted into the reserved cavity inside the main frame 0102 through the rectangular opening on the rectangular base plate, thus protecting the swing arm suspension 0505 from damage. When the pressure on the large load-bearing device is lower than the preset pressure value (such as when it is not carrying an object or the pressure of the object it carries is lower than the preset pressure value), it can naturally extend the cylinder piston rod to push out the swing arm suspension 0505. This allows the rear wheel in the rear wheel assembly 0506 to extend out of the main frame 0102 through the rectangular opening on the rectangular base plate so that the test can continue.

[0073] It should be noted that when the large load-bearing device is not subjected to external pressure or the pressure of the object it carries is lower than the preset pressure value, both the front suspension cylinder assembly 0204 and the rear suspension cylinder assembly 0502 are in an extended state, which allows the tires 020502 in the front wheel assembly 0205 and the rear wheels in the rear wheel assembly 0506 to extend outside the main frame 0102.

[0074] The transmission assembly 0503 includes two sets of chains. A drive shaft is located at the end of the coupling 0501 furthest from the drive motor 0404. The drive shaft of the coupling 0501, near the rear end of the main frame 0102, is connected to the axle of the rear wheel assembly 0506 via one set of chains (fixed gears are located at the axle of the rear wheel assembly 0506 and at the point where the drive shaft connects to the chain; the fixed gears mesh with the chain for transmission). The drive shaft of the coupling 0501 furthest from the rear end of the main frame 0102 is connected to the shaft of the brake 0504 via the other set of chains (both the drive shaft of the coupling 0501 and the shaft of the brake 0504 are connected to the brake 0504 via the other set of chains). The drive shaft of the coupling 0501, located near the rear end of the main frame 0102, extends to the location of the brake 0504 and is fixedly connected to the shaft of the brake 0504. The drive motor 0404 is used to drive the rear wheel assembly 0506 to rotate through the coupling 0501 and the transmission assembly 0503. The brake 0504 is connected to the control assembly 07 and can receive the opening or closing signal sent by the control assembly 07. The brake 0504 is used to open when the drive motor 0404 is de-energized or stops, and quickly locks the drive shaft connected to the drive motor 0404 through friction, thereby achieving rapid braking and preventing inertial motion.

[0075] In this embodiment, the transmission component 0503 is connected to the drive motor 0404 through components such as the transmission shaft and coupling 0501, and can rotate at high speed under the action of the drive motor 0404, thus meeting the requirement of high-speed operation of large load-bearing devices.

[0076] The drive assembly 04 and the rear drive assembly 05 can cooperate to provide walking power for the large load-bearing device. Specifically, after the high-voltage power distribution box 0403 receives high-voltage electricity from the battery assembly 03, it transmits the high-voltage electricity to the four drivers 0402. After receiving the start command issued by the control assembly 07, the four drivers 0402 control the four drive motors 0404 to rotate. The four drive motors 0404 drive the two sets of transmission assemblies 0503 through the coupling 0501. For a single rear drive assembly 05, the two sets of chains of the transmission assembly 0503 drive the rear wheel assembly 0506 and the brake 0504 to rotate through the drive shaft on its side. The rear wheel assembly 0506 provides walking power by rotating and pushing the large load-bearing device.

[0077] The drive assembly 04 can also brake the large load-bearing device. Specifically, after receiving the braking command from the control assembly 07, the four drives 0402 shut down the four drive motors 0404. After the four drive motors 0404 stop rotating, the control assembly 07 sends an opening signal to the brake 0504. The brake 0504 quickly locks the two sets of transmission shafts connected to the drive motors 0404 through friction. After the transmission shafts stop rotating, the rear wheel assembly 0506 stops rotating, thus completing the braking of the large load-bearing device.

[0078] like Figure 13 As shown, the braking assembly 06 includes a brake motor 0601, a mounting bracket 0602, an upper pump 0603, an oil pressure sensor, and an ABS system 0604; the brake motor 0601 and the upper pump 0603 are fixedly mounted on the mounting bracket 0602, and the mounting bracket 0602 is mounted on the main frame 0102.

[0079] The oil pressure sensor is installed on the upper pump 0603 to measure the hydraulic oil pressure in the output pipeline or cavity of the upper pump 0603 in real time and feed the data back to the control system to ensure the safe and stable operation of the equipment.

[0080] The telescopic rod at the front end of the brake motor 0601 is connected to the upper pump 0603, and is used to push the upper pump 0603 through its telescopic rod so that the upper pump 0603 outputs oil pressure.

[0081] The ABS system 0604 is fixedly installed on the main frame 0102. The oil output from the upper pump 0603 first passes through the ABS system 0604 and then flows to the caliper 020302 in the front suspension assembly 02. The upper pump 0603 is used to output oil pressure and control the caliper 020302 to tighten, thereby braking the front wheel assembly 0205. The ABS system 0604 is connected to a speed sensor, which is installed on the tire 020502 and is used to measure the movement speed of the large load-bearing device. The ABS system 0604 is used to receive the signal fed back by the speed sensor during braking and continuously closes and opens the oil circuit when the movement speed of the large load-bearing device is lower than the preset speed (usually close to zero) to prevent the front wheel assembly 0205 from locking up and avoid the entire large load-bearing device from slipping out of control.

[0082] In this embodiment, the ABS system 0604 can be activated when the speed of the large load-bearing device is lower than the preset speed, and by continuously closing and opening the oil circuit, the caliper 020302 is gradually tightened, thereby enabling the large load-bearing device to stop by intermittent braking.

[0083] During normal operation of the ultra-high performance large load-bearing device, the braking assembly 06 and the braking mechanism 0203 cooperate to brake the front wheel assembly 0205. Specifically, the control assembly 07 sends a braking signal to the brake motor 0601. After receiving the signal, the brake motor 0601 pushes the upper pump 0603 through its telescopic rod, causing the upper pump 0603 to output oil. The oil in the upper pump 0603 flows along the pipeline, and after passing through the ABS system 0604, it flows to the caliper 020302, causing the caliper 020302 to tighten and the friction between it and the disc brake pad 020303 to gradually increase, thereby generating braking force. The disc brake pad 020303 decelerates. Since the brake gear 020301 consists of two gears meshing perpendicularly, and one of them engages with the disc brake pad... 020303 is coaxially fixed and rotates synchronously. After the disc brake pad 020303 decelerates, it forces the two brake gears 020301 to decelerate. Since the other brake gear 020301 is fixed to the end of the wheel axle assembly 020501 away from the tire 020502, and the wheel axle assembly 020501 is fixedly connected to the tire 020502, after the two brake gears 020301 decelerate, the tire 020502 decelerates accordingly until it stops. During this process, the speed sensor feeds back the movement speed of the large load-bearing device to the ABS system 0604 in real time. When the movement speed of the large load-bearing device is lower than the preset speed, the ABS system 0604 starts to continuously close and open the oil circuit to apply intermittent braking to the large load-bearing device.

[0084] like Figure 8 As shown, the control component 07 includes a GPS module 0701, a low-voltage box 0702, an inertial navigation system 0703, a power supply module 0704, and a relay component 0705. The control component 07 is mounted on the main frame 0102.

[0085] The low-voltage box 0702 contains a main control board, a lower-level control board, and a switch board. The main control board and the lower-level control board are connected for communication.

[0086] The main control board communicates with GPS module 0701 and inertial navigation module 0703 via a switch board. GPS module 0701 is used to receive satellite signals and feed them back to the main control board through the switch board. Inertial navigation module 0703 is used to measure the position information of the entire large-scale carrier device and feeds the position information back to the main control board through the switch board. The switch board is used to realize data communication between the main control board and GPS module 0701 and inertial navigation module 0703.

[0087] The power module 0704 is electrically connected to the GPS module 0701, the low-voltage box 0702, the inertial navigation system 0703, and the relay assembly 0705 for power supply.

[0088] The bottom-level control board connects to various high-voltage electrical equipment (i.e., various electrical actuators, including various motor drivers, pumps, solenoid valves, etc.) in the large load-bearing device via relay assembly 0705. These high-voltage electrical equipment specifically include steering motor 020201, driver 0402, holding brake 0504, and brake motor 0601. The bottom-level control board acquires the status information from these high-voltage electrical equipment, feeds this status information back to the main control board, and feeds back the control signals issued by the main control board to these high-voltage electrical equipment to control their on / off states and provide isolation protection. The main control board communicates with the host computer by feeding back the status information from these high-voltage electrical equipment and sends the control signals from the host computer back to these high-voltage electrical equipment through the bottom-level control board, thus achieving low-voltage control of high-voltage systems.

[0089] In this embodiment, the large-scale load-bearing device achieves overall protection through component self-protection and structural protection. The overall structure adopts a split frame construction and an integrated base plate for sealing and encapsulation, supplemented by specially designed sealing strips to ensure the overall sealing performance of the platform. Simultaneously, the main critical electrical components all achieve an IP67 protection rating, and the design of the main internal frame incorporates sealing strips between the upper and lower edges and upper and lower cover plates of the electrical compartment. The wiring harness interfaces connected to the external frame also feature waterproof and dustproof connectors, serving as a second layer of protection to ensure an overall IP65 protection rating for the entire machine.

[0090] In this embodiment, the ultra-high performance large-scale carrier device can serve as a dynamic target platform to simulate targets that interact with the vehicle under test in real roads, such as vehicles in front, pedestrians crossing, and obstacles, thereby verifying the accuracy and safety of the ADAS function or autonomous driving algorithm of the vehicle under test.

[0091] Taking the performance of the Automatic Emergency Braking (AEB) system of a vehicle at high speed as an example, the function of a large load-bearing device is explained, and the specific process is as follows:

[0092] Test preparation: Load the large load-bearing device onto a lightweight simulated vehicle body. In a closed test site, set up the driving routes for the test vehicle and the large load-bearing device respectively. Set the driving speed of the test vehicle to 130km / h and the driving speed of the large load-bearing device to 120km / h. The initial distance between the two is 50 meters.

[0093] Experimental Execution: The test vehicle, equipped with an AEB system, travels along a preset route at high speed (≥120km / h). A large load-bearing device is controlled to move at a constant speed of 120km / h (or 30km / h, 60km / h, 100km / h, etc., as long as it is lower than the speed of the test vehicle) in front of the test vehicle. The test vehicle moves forward at the set speed and gradually approaches the large load-bearing device. After the test vehicle's AEB system detects the obstacle ahead (the lightweight simulated vehicle body loaded on the large load-bearing device), it automatically triggers the AEB system. The AEB system begins to decelerate and attempts to bring the vehicle to a complete stop to avoid a collision. The response data of the AEB system is recorded for subsequent evaluation. During this process, if the AEB system fails to trigger braking in time, the test personnel can remotely control the test vehicle to stop or control the large load-bearing device to steer to the side lane to avoid a collision.

[0094] It should be noted that, under the action of the front suspension cylinder assembly 0204 and the rear suspension cylinder assembly 0502, the large load-bearing device in this embodiment can support lightweight dummy vehicle bodies (usually made of lightweight materials such as pearl cotton and foam plastic), lightweight humanoid dummies, and box-shaped obstacles (such as dummy car trunks, cardboard boxes, etc.). The front suspension cylinder assembly 0204 and the rear suspension cylinder assembly 0502 are elastic components, which can support the tires 020502 of the front wheel assembly 0205 and the rear wheels while the large load-bearing device is supporting lightweight objects. Component 0506 extends from the rectangular opening in the rectangular base plate of the main frame 0102. During testing, when subjected to pressure from other vehicles or other heavy objects (such as the pressure of a falling object), the front suspension cylinder assembly 0204 and the rear suspension cylinder assembly 0502 are compressed, causing the tire 020502 and the rear wheel assembly 0506 to retract from the rectangular opening into the cavity of the main frame 0102. The large load-bearing device is supported by the tapered support 010203 at the lower end of the main frame 0102 to prevent damage.

[0095] In this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0096] The shapes of the components in the accompanying drawings are schematic and may differ from their actual shapes. The drawings are only used to illustrate the principle of this utility model and are not intended to limit this utility model.

[0097] Although the present invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and not intended to limit the application of the present invention. The scope of protection of the present invention is defined by the appended claims and may include various modifications, alterations, and equivalents made to the invention without departing from the scope and spirit of the present invention.

Claims

1. A high-performance large-scale load-bearing device for intelligent driving testing, characterized in that, The device includes: a frame assembly (01), a front suspension assembly (02), a battery assembly (03), a drive assembly (04), a rear drive assembly (05), and a braking assembly (06), wherein the front suspension assembly (02), the battery assembly (03), the drive assembly (04), the rear drive assembly (05), and the braking assembly (06) are respectively mounted on the frame assembly (01); The front suspension assembly (02) and the rear drive assembly (05) are respectively located at the front and rear ends of the chassis of the large load-bearing device, and are used to provide support for the large load-bearing device. The front suspension assembly (02) is provided with a steering mechanism (0202) and a front wheel assembly (0205). The steering mechanism (0202) is used to drive the front wheel assembly (0205) to rotate to change the direction of the large load-bearing device. The rear drive assembly (05) is provided with a rear wheel assembly (0506). The drive assembly (04) is used to drive the rear wheel assembly (0506) to rotate. The rear wheel assembly (0506) is used to drive the entire large load-bearing device to move. The braking assembly (06) is used to brake the front wheel assembly (0205) after the drive assembly (04) stops driving to prevent the large load-bearing device from moving due to inertia. The battery assembly (03) is used to supply power to each component in the large load-bearing device.

2. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 1, characterized in that, The frame assembly (01) includes a main frame (0102) and mounting accessories (0103). The main frame (0102) is composed of a shell and a base plate, and has a cavity inside. The front suspension assembly (02), battery assembly (03), drive assembly (04), rear drive assembly (05) and braking assembly (06) are respectively fixed in the cavity of the main frame (0102) by the mounting accessories (0103).

3. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 2, characterized in that, The front suspension assembly (02) also includes a suspension mechanism (0201) and a front suspension cylinder assembly (0204). The rear end of the front suspension cylinder assembly (0204) is fixedly connected to the main frame (0102), and the front piston rod is fixedly connected to the suspension mechanism (0201) to support the suspension mechanism (0201); the suspension mechanism (0201) is used to carry all other components in the front suspension assembly (02) except for the front suspension cylinder assembly (0204).

4. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 3, characterized in that, The front wheel assembly (0205) and steering mechanism (0202) are respectively mounted on the suspension mechanism (0201). The front wheel assembly (0205) includes an axle assembly (020501), a tire (020502), and a sleeve structure (020503). A telescopic universal joint is provided in the middle of the axle assembly (020501), one end of which is fixedly connected to the tire (020502), and the other end is connected to the suspension mechanism (0201) via a bearing and a bearing mounting seat. The sleeve structure (020503) is sleeved on the axle assembly (020501) near the tire (0205). One end of the suspension mechanism (0201) is connected to the wheel axle assembly (020501) via a bearing. The two ends of the suspension mechanism (0201) are symmetrically provided with limiting structures (020101). The upper and lower sides of the sleeve structure (020503) are symmetrically provided with protrusions. The protrusions are connected to the limiting structures (020101) via bearings. The two sides of the sleeve structure (020503) are also symmetrically provided with steering arms (0205031). The steering arms (0205031) and the tire (020502) form a follow-up connection. The tire (020502) extends out from the opening on the bottom plate of the main frame (0102). The steering mechanism (0202) includes a steering motor (020201) and a steering lever (020202). One end of the steering lever (020202) is connected to the telescopic rod of the steering motor (020201) through a straight rod ball joint, and the other end is connected to the steering arm (0205031) through a bent rod ball joint. The steering motor (020201) is used to push or pull the steering arm to rotate through the steering lever (020202) so that the tire (020502) can be steered.

5. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 4, characterized in that, The front suspension assembly (02) also includes a braking mechanism (0203), which is mounted on the suspension mechanism (0201). The braking mechanism (0203) includes a brake gear (020301), a caliper (020302), and a disc brake pad (020303). The brake gear (020301) consists of two gears that mesh vertically. One of them is coaxially fixedly connected to the disc brake pad (020303) and rotates synchronously. The other is fixed to the end of the wheel axle assembly (020501) away from the tire (020502). The caliper (020302) is mounted on one side of the disc brake pad (020303), and the edge of the disc brake pad (020303) is located in the clamping area of ​​the caliper (020302). The caliper (020302) is used to decelerate the rotating disc brake pad (020303) until it stops rotating by gradually increasing the friction force during braking.

6. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 2, characterized in that, The drive assembly (04) includes a braking resistor (0401), a driver (0402), a high-voltage distribution box (0403), and a drive motor (0404). The high-voltage distribution box (0403) is electrically connected to the battery pack (03) and the driver (0402) respectively, and is used to distribute the high-voltage electricity output by the battery pack (03) to the driver (0402). The driver (0402) is connected to the drive motor (0404) and is used to control the rotation of the drive motor (0404). The braking resistor (0401) is connected to the driver (0402) through a cable and is used to absorb the regenerative electrical energy fed back when the drive motor (0404) brakes or decelerates.

7. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 6, characterized in that, The rear drive assembly (05) also includes a swing arm suspension (0505) and a rear suspension cylinder assembly (0502). The swing arm suspension (0505) is hinged to the main frame (0102) at one end near the head of the large load-bearing device, and fixedly connected to the piston rod of the rear suspension cylinder assembly (0502) at the middle position near the hinge point. The rear end of the rear suspension cylinder assembly (0502) is movably connected to the mounting accessory (0103) on the main frame (0102) through a pin, which is used to support the swing arm suspension (0505). The swing arm suspension (0505) is used to carry all other components in the rear drive assembly (05) except for the rear suspension cylinder assembly (0502).

8. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 7, characterized in that, The rear drive assembly (05) also includes a coupling (0501), a transmission assembly (0503), and a brake (0504). The rear wheel assembly (0506) includes two fixedly connected rear wheels and an axle. The two rear wheels are located at both ends of the axle, and the axle is connected to the swing arm suspension (0505) via bearings on both sides near the rear wheels. The transmission assembly (0503) includes two sets of chains. One end of the coupling (0501) is connected to the drive motor (0404), and the other end is provided with a drive shaft. The drive shaft of the coupling (0501) near the rear end of the main frame (0102) is connected to the middle position of the axle of the rear wheel assembly (0506) via one of the chains. The coupling away from the rear end of the main frame (0102) is connected to the drive shaft of the main frame (0506). The drive shaft of (0501) is connected to the shaft of the brake (0504) via another set of chains. The drive shaft of the coupling (0501) near the rear end of the main frame (0102) extends to the location of the brake (0504) and is fixedly connected to the shaft of the brake (0504). The drive motor (0404) is used to drive the rear wheel assembly (0506) to rotate through the coupling (0501) and the transmission assembly (0503). The brake (0504) is used to quickly lock the drive shaft of the coupling (0501) by friction after the drive motor (0404) is turned off, so as to achieve rapid braking.

9. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 5, characterized in that, The braking assembly (06) includes a brake motor (0601), an upper pump (0603), and an ABS system (0604). The brake motor (0601) is used to push the upper pump (0603) through its telescopic rod, so that the upper pump (0603) outputs oil pressure. The oil output by the upper pump (0603) first passes through the ABS system (0604) and then flows to the caliper (020302) in the front suspension assembly (02). The upper pump (0603) is used to control the caliper (020302) to tighten by outputting oil pressure, so as to achieve braking of the front wheel assembly (0205). The ABS system (0604) is connected to the speed sensor, which is installed on the tire (020502) and is used to measure the movement speed of the large load-bearing device. The ABS system (0604) is used to receive the signal fed back by the speed sensor during the braking action, and continuously switch the oil circuit when the movement speed of the large load-bearing device is lower than the preset speed to prevent the front wheel assembly (0205) from locking up.

10. The ultra-high performance large-scale load-bearing device for intelligent driving testing as described in claim 1, characterized in that, The ultra-high performance large-scale load-bearing device also includes a control component (07), which is equipped with a GPS module (0701) and a low-voltage box (0702) for feeding back the position signal of the large-scale load-bearing device to the host computer.

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