CN108458879B - Method for operating active safety testing device of ultra-flat bearing robot - Google Patents
Method for operating active safety testing device of ultra-flat bearing robot Download PDFInfo
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- 238000009781 safety test method Methods 0.000 title claims abstract description 70
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- 238000011076 safety test Methods 0.000 claims description 21
- 239000003921 oil Substances 0.000 claims description 17
- 239000010720 hydraulic oil Substances 0.000 claims description 11
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- 230000035939 shock Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
An active safety testing device of an ultra-flat bearing robot comprises an ultra-flat bearing robot main body frame, a left driving unit and a right driving unit, wherein the left driving unit and the right driving unit are respectively arranged at two sides of the rear part of the ultra-flat bearing robot main body frame; the integrated navigation is arranged between the left driving unit and the right driving unit; the brake system is arranged between the left steering unit and the right steering unit; the control unit is used for communicating with the remote controller in a wireless mode, the remote controller sends an instruction to the control unit, and the control unit controls the active safety testing device of the ultra-flat bearing robot to work according to the instruction. The operation method of the active safety testing device of the ultra-flat carrying robot is also provided. The invention can simulate the running state of the pedestrian vehicle, is used for testing the ADAS of the vehicle, and has the advantages of simple structure, flexible adjustment, high efficiency of testing and accurate result.
Description
Technical Field
The invention relates to the field of automobile safety test, in particular to an active safety test device of an ultra-flat bearing robot for automobile ADAS performance test, which can automatically run.
Background
With the increasing popularity of automobiles, the safety issue of the vehicle is becoming more and more important. Conventional passive security has matured considerably and related devices for testing passive security have become very popular. Compared with passive safety, active safety is taken as a novel research direction, development is not perfect, and corresponding testing devices are fewer.
As a key system for realizing active safety of a vehicle, an ADAS (advanced driving assistance system) has been increasingly deployed on various levels of passenger cars and commercial vehicles, and thus it is particularly important to test the accuracy and reliability of an ADAS mounted on a vehicle. In order to test active safety test devices such as ADAS systems, an ultra-flat bearing robot active safety test device which can simulate an actual vehicle when a balloon vehicle runs on a specific road is designed.
Disclosure of Invention
In order to solve the problems in the prior art, the present invention thus provides an apparatus for active safety testing of a vehicle.
The invention particularly provides an active safety testing device of an ultra-flat bearing robot, which comprises an ultra-flat bearing robot main body frame, a left driving unit and a right driving unit, wherein the left driving unit and the right driving unit are respectively arranged at two sides of the rear part of the ultra-flat bearing robot main body frame and respectively drive a driving wheel hub of the active safety testing device of the ultra-flat bearing robot; the integrated navigation device is arranged between the left driving unit and the right driving unit and is used for navigating the active safety testing device of the ultra-flat bearing robot; the system comprises a main body frame, a left steering unit, a right steering unit, a brake system and a control unit, wherein the left steering unit and the right steering unit are respectively arranged at two sides of the front part of the main body frame of the super-flat carrying robot and are respectively used for driving a steering wheel hub of an active safety testing device of the super-flat carrying robot to rotate; the control unit is used for communicating with the remote controller in a wireless way, the remote controller sends an instruction to the control unit, and the control unit controls the active safety testing device of the ultra-flat bearing robot to work according to the instruction; the ultra-flat load robot active safety testing device further comprises a plurality of drivers and a plurality of battery modules, wherein the battery modules are used for supplying power to the ultra-flat load robot active safety testing device.
Further, the plurality of drivers includes a first driver and a second driver disposed below the left driving unit, a third driver disposed below the control unit, and the third driver and the first driver and the second driver are respectively disposed at both sides of the super flat carrier robot main body frame.
Further, the control unit is disposed at a lower position of the right driving unit, and the plurality of battery modules includes a first battery module disposed between the third driver and a second driver, and further includes a second battery module and a third battery module disposed below the first battery module; a fourth driver 4 is arranged between the second and third battery modules.
Further, the left driving unit and the right driving unit are of the same structure, the left driving unit comprises a servo motor, the servo motor drives a driving wheel hub of the active safety testing device of the ultra-flat bearing robot to rotate through a sprocket transmission device, and accordingly the driving wheel hub can drive the active safety testing device of the ultra-flat bearing robot to move, and the active safety testing device further comprises a damper 25 and a lower swing arm 30 which are matched to achieve the function of shock absorption.
Further, the left driving unit further comprises a hydraulic system, the hydraulic system comprises an oil pressure motor and an oil pressure pump, the oil pressure motor drives the oil pressure pump to rotate so as to generate high-pressure hydraulic oil, and the high-pressure hydraulic oil is further conveyed to the braking system through an oil pipe.
Further, the left steering unit and the right steering unit are of the same structure, and the left steering unit comprises a steering motor which drives a steering pushing block to reciprocate; the steering pushing block is connected with a steering rod and a steering connector, the steering rod and the steering connector are positioned on the same straight line, the steering rod and the steering connector are driven to do reciprocating motion by the reciprocating motion of the pushing block, the tail end of the steering connector is connected with a steering pull rod, the steering pull rod is hinged with the steering connector at a certain angle, the reciprocating motion of the steering pull rod is converted into rotary motion of the steering pull rod, and the steering pull rod further drives a steering wheel hub of the active safety testing device of the ultra-flat bearing robot to rotate.
Further, the braking system comprises a brake caliper, the high-pressure hydraulic oil is further conveyed to the brake caliper, the brake caliper clamps the brake, and the brake pad is connected to the steering wheel hub through a brake transmission rod and a universal joint.
In addition, the invention also provides a method for operating the active safety testing device of the ultra-flat bearing robot, which comprises the following steps:
The balloon vehicle is placed on the active safety testing device of the ultra-flat bearing robot and fixed, and the active safety testing device of the ultra-flat bearing robot is controlled to run on a standard testing road by using a remote controller and is regulated until the position is regulated;
Installing a tested vehicle accurate positioning navigation system on the tested vehicle, wherein the tested vehicle is placed at a certain distance from the active safety testing device of the ultra-flat carrying robot, and the longitudinal axis of the tested vehicle is collinear with the longitudinal axis of the active safety testing device of the ultra-flat carrying robot;
starting the active safety testing device of the ultra-flat bearing robot, sending an instruction by the remote controller, and receiving the instruction by the control unit to start each driver, so that the active safety testing device of the ultra-flat bearing robot runs at a specified speed, and simultaneously starting the accurate positioning navigation system of the tested vehicle;
the method comprises the steps that a detected vehicle is accelerated to a specified speed, the distance between the detected vehicle and an active safety testing device of the ultra-flat bearing robot is determined through combined navigation of a detected vehicle accurate positioning navigation system and the active safety testing device of the ultra-flat bearing robot, when the detected vehicle reaches the specified speed and the distance between the detected vehicle and the active safety testing device of the ultra-flat bearing robot reaches a specified value, the detected vehicle accurate positioning navigation system sends the detected vehicle speed, acceleration and relative position information to a control unit of the active safety testing device of the ultra-flat bearing robot, and the control unit controls the active safety testing device of the ultra-flat bearing robot to perform corresponding actions through analyzing the received information;
If the tested vehicle does not collide with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle reaches the standard; if the tested vehicle collides with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle does not reach the standard.
Further, the control unit adjusts the right steering unit and the left steering unit in real time according to the received information such as the speed, the acceleration and the relative position of the detected vehicle, so that the longitudinal axes of the detected vehicle and the active safety test device of the ultra-flat bearing robot are collinear, and simultaneously controls the left driving unit, the right driving unit and the braking system in real time, so that the relative position, the relative speed and the relative acceleration of the active safety test device of the ultra-flat bearing robot and the detected vehicle can meet the test requirement
Briefly, according to the present invention, there is provided an apparatus for testing an ADAS of a vehicle under test with an automatically controllable carrying balloon, the active safety testing apparatus comprising:
The super-flat bearing robot main body frame is used for installing other parts units;
The left driving unit and the right driving unit are arranged at the rear part of the super-flat bearing robot frame, power is provided by a servo motor, and wheels are driven to rotate through chain transmission;
The left steering unit and the right steering unit are arranged at the front part of the super-flat bearing robot frame, the steering motor provides power to drive the steering pushing block, and the force is transmitted to the steering pull rod through the steering rod and the steering connector, so that the wheels are driven to steer;
The braking system of the active safety testing device is hydraulic braking. During braking, the hydraulic motor drives the hydraulic pump to pump out hydraulic oil, the hydraulic oil enables the brake caliper to clamp the brake pad, and the brake pad is connected with the steering wheel hub through the brake transmission rod and the universal joint, so that the braking effect is achieved;
The active safety testing device also comprises three control units and two main control boxes, and is mainly used for communicating with a remote controller and controlling each module of the ultra-flat bearing robot to work according to instructions. In addition, the device still includes three detachable battery module, can provide sufficient power for super flat bearing robot to can conveniently dismantle in order to charge.
The beneficial effects of the invention are as follows: the active safety testing device can simulate the running condition of a vehicle, can be used for testing the ADAS of the vehicle, and has the advantages of simple structure, flexible adjustment, high testing efficiency and accurate result.
Drawings
The invention may best be understood by reference to the following description taken in conjunction with the accompanying drawings, illustrating by way of example and not limitation, the principles of the invention, and the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the overall structure of an active safety test device of an ultra-flat carrier robot;
FIG. 2 is a schematic diagram of the structure of a left steering unit in an active safety test device of an ultra-flat load robot; and
Fig. 3 is a schematic structural diagram of a left driving unit in the active safety test device of the ultra-flat carrier robot.
In the accompanying drawings:
1. super flat bearing robot main body frame 2, driver 13 and driver 2
4. Left driving unit 5, integrated navigation 6, right driving unit
7. Control unit 8, driver 3 9, and battery module 1
10. Battery module 211, driver 4 12, right steering unit
13. Brake system 14, left steering unit 15, and battery module 3
16. Steering pushing block 17, steering motor 18 and brake caliper
19. Brake pad 20, brake transmission rod 21 and universal joint
22. Steering wheel hub 23, steering tie rod 24 and steering connector
25. Damper 26, steering rod 27, hydraulic pump
28. Oil pressure motor 29, servo motor 30, lower swing arm
31. Driving wheel hub
Detailed Description
The invention will be further described with reference to the examples and figures, it being noted that the following examples are illustrative only and are not intended to limit the invention.
In this embodiment, it is prescribed that the integrated navigation 5 is directed from the brake system 13 from front to back.
Referring to fig. 1, the active safety test device of the ultra-flat loading robot of the present invention comprises an ultra-flat loading robot main body frame 1, a left driving unit 4 and a right driving unit 6 respectively installed at two sides of the rear part of the ultra-flat loading robot main body frame 1, wherein the left driving unit 4 and the right driving unit 6 respectively drive a driving wheel hub of the active safety test device of the ultra-flat loading robot, and a combined navigation 5 is arranged between the left driving unit 4 and the right driving unit 6 for navigating the active safety test device of the ultra-flat loading robot; the system further comprises a left steering unit 14 and a right steering unit 12 which are respectively arranged at two sides of the front part of the main body frame 1 of the ultra-flat carrying robot, wherein the left steering unit 14 and the right steering unit 12 are respectively used for driving the steering wheel hub 22 of the active safety testing device of the ultra-flat carrying robot to rotate, and a braking system 13 is arranged between the left steering unit 14 and the right steering unit 12 and is used for braking the steering wheel hub 22 of the active safety testing device of the ultra-flat carrying robot.
The first driver 1 and the second driver 2 are arranged below the left driving unit 4, and are used for controlling the rotating speed and the rotating direction of a servo motor 29 of the driving unit, and exchanging information with the control unit 7, so that the control unit 7 can accurately control the left driving unit and the right driving unit.
The control unit 7 is arranged at a position below the right driving unit 6 and is used for controlling each unit of the active safety testing device of the whole ultra-flat carrying robot.
The third driver 8 is disposed below the control unit 7 and is respectively disposed on two sides of the super flat bearing robot main body frame 1 with the first driver 2 and the second driver 3, and the third driver 8 is used for controlling the rotation speed and the rotation direction of the steering motor 17 and performing information interaction with the control unit 7, so as to realize accurate control of the left and right steering units by the control unit 7.
The first battery module 9 is arranged between said third driver 8 and the second driver 3.
A second battery module 10 and a third battery module 15 are arranged below the first battery module 9, and the first battery module 9, the second battery module 10 and the third battery module 15 are connected in series for a lithium battery pack, and are used for providing 220V voltage and ensuring sufficient electric quantity for the ultra-flat-load robot to operate. A fourth driver 4 is disposed between the second battery module 10 and the third battery module 15, and is used for controlling the rotation speed and the rotation direction of the brake motor, and exchanging information with the control unit 7, so as to realize accurate control of the brake motor by the control unit 7, thereby accurately controlling the magnitude of the braking force.
Referring to fig. 2 and 3, the left driving unit 4 and the right driving unit 6 have the same structure, and fig. 3 illustrates the left driving unit 4 as an example.
The left driving unit 4 comprises a servo motor 29, the servo motor 29 drives a driving wheel hub of the active safety testing device of the super-flat bearing robot to rotate through a chain wheel transmission device, so that the driving wheel hub can drive the active safety testing device of the super-flat bearing robot to move, and the left driving unit further comprises a damper 25 and a lower swing arm 30 which are matched to realize the function of shock absorption. The servo motor is controlled by the control unit 7, and when the integrated navigation 5 judges that the ultra-flat bearing robot is offset in the running process, the integrated navigation 5 feeds back a signal to the control unit 7, and the control unit 7 sends a signal to control the steering unit to steer, so that the running direction of the ultra-flat bearing robot is corrected, and the straight running is kept.
The lower swing arm 30 and the wheel hub are fixed together, the lower swing arm 30 and the damper 25 are connected with the rotating block through bolts, the rotating block and the fixing seat are connected through bolts and can rotate around the fixing seat, and the fixing seat is fixed on the shell. When the wheel hub 31 moves upwards, the lower swing arm 30 is driven to move upwards, and the lower swing arm 30 drives the rotating block to rotate around the fixed seat, so that the damper 25 is compressed, and the purpose of shock absorption is achieved.
The left drive unit 4 further includes a hydraulic system including an oil motor 28 and an oil pump 27, the oil motor 28 driving the oil pump 27 to rotate to generate high-pressure hydraulic oil. The high pressure hydraulic oil is further delivered to the brake system 13 via an oil line.
Referring to fig. 2 and 3, the left steering unit 14 and the right steering unit 12 have the same structure, and the left steering unit 14 is illustrated in fig. 2. The left steering unit comprises a steering motor 17, the steering motor 17 drives a steering pushing block 16 to reciprocate, the steering pushing block 16 is connected with a steering rod 26 and a steering connector 24, and the steering pushing block 16, the steering rod 26 and the steering connector 24 are located on the same straight line, so that the reciprocating motion of the pushing block 16 drives the steering rod 26 and the steering connector 24 to reciprocate, the tail end of the steering connector 24 is connected with a steering pull rod 23, the steering pull rod 23 is hinged with the steering connector 24 at a certain angle, the reciprocating motion of the steering pull rod 23 is converted into the rotary motion of the steering pull rod 23, and the steering pull rod 23 further drives a steering wheel hub 22 of the active safety testing device of the ultra-flat bearing robot to rotate.
Referring to fig. 2 and 3, the braking system 13 includes a brake caliper 18, the high-pressure hydraulic oil from a hydraulic pump 27 is further delivered to the brake caliper 18 through an oil pipe, the brake caliper 18 clamps a brake pad 19, and the brake pad 19 is connected to a steering wheel hub 22 through a brake transmission rod 20 and a universal joint 21, so as to achieve the purpose of braking. The brake caliper 18, brake pads 19, brake actuator lever 20 and universal joint 21 are juxtaposed under the steering rod 26 and steering connector 24. The brake calipers 18 and brake pads 19 are provided behind the steering motor 17.
Referring to fig. 1, the control unit 7 communicates with the remote controller in a wireless manner, the remote controller sends an instruction to the control unit 7, and the control unit 7 controls each module of the ultra-flat bearing robot to work according to the instruction; the battery module is provided with three detachable rechargeable batteries, and can provide sufficient power for the work of each module of the ultra-flat bearing robot.
When a user is testing the AEB system of the vehicle by using the test system, the test system is carried out according to the following steps:
And placing the balloon vehicle on the active safety testing device of the ultra-flat bearing robot and fixing, and controlling the active safety testing device of the ultra-flat bearing robot to travel on a standard testing road by using a remote controller and adjusting until the position is adjusted.
And installing the precise positioning navigation system of the tested vehicle on the tested vehicle, and placing the tested vehicle at a certain distance from the active safety testing device of the ultra-flat bearing robot according to the requirement of the vehicle evaluation rule, wherein the longitudinal axis of the tested vehicle is collinear with the longitudinal axis of the active safety testing device of the ultra-flat bearing robot.
And starting the active safety testing device of the ultra-flat bearing robot, sending an instruction by the remote controller, and starting each driver by the control unit 7 after receiving the instruction, so that the active safety testing device of the ultra-flat bearing robot runs at a specified speed, and starting the accurate positioning navigation system of the tested vehicle.
The tested vehicle starts and accelerates to a designated speed through personnel control or a driving robot control vehicle, the distance between the tested vehicle and the active safety testing device of the ultra-flat bearing robot is determined through a tested vehicle accurate positioning navigation system and combined navigation 5, when the tested vehicle reaches the designated speed and the distance between the tested vehicle and the active safety testing device of the ultra-flat bearing robot reaches the designated value, the tested vehicle accurate positioning navigation system sends information such as the tested vehicle speed, acceleration, relative position and the like to a control unit 7 of the active safety testing device of the ultra-flat bearing robot, and the control unit 7 controls the active safety testing device of the ultra-flat bearing robot to perform corresponding actions through analyzing the received information.
In the testing process, the control unit 7 adjusts the right steering unit 12 and the left steering unit 14 in real time according to the received information such as the speed, the acceleration and the relative position of the tested vehicle, so that the longitudinal axes of the tested vehicle and the active safety testing device of the ultra-flat carrying robot are collinear, and simultaneously controls the left driving unit 4, the right driving unit 6 and the braking system 13 in real time, so that the relative position, the relative speed and the relative acceleration of the active safety testing device of the ultra-flat carrying robot and the tested vehicle can meet the testing requirements.
If the tested vehicle does not collide with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle reaches the standard; if the tested vehicle collides with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle does not reach the standard.
The non-illustrated portions referred to in the present invention are the same as or implemented using the prior art.
Although the present application has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that the present application is not limited to the particular embodiments, but various modifications, changes and substitutions can be made therein without departing from the spirit and spirit of the present application.
Claims (7)
1. The method for operating the active safety testing device of the ultra-flat carrying robot is characterized in that the active safety testing device of the ultra-flat carrying robot comprises an ultra-flat carrying robot main body frame, a left driving unit and a right driving unit which are respectively arranged at two sides of the rear part of the ultra-flat carrying robot main body frame; the integrated navigation device is arranged between the left driving unit and the right driving unit and is used for navigating the active safety testing device of the ultra-flat bearing robot; the system comprises a main body frame, a left steering unit, a right steering unit, a brake system and a control unit, wherein the left steering unit and the right steering unit are respectively arranged at two sides of the front part of the main body frame of the super-flat carrying robot and are respectively used for driving a steering wheel hub of an active safety testing device of the super-flat carrying robot to rotate; the control unit is used for communicating with the remote controller in a wireless way, the remote controller sends an instruction to the control unit, and the control unit controls the active safety testing device of the ultra-flat bearing robot to work according to the instruction; the device also comprises a plurality of drivers and a plurality of battery modules, wherein the battery modules are used for supplying power to the active safety testing device of the ultra-flat carrying robot;
The method comprises the following steps:
The balloon vehicle is placed on the active safety testing device of the ultra-flat bearing robot and fixed, and the active safety testing device of the ultra-flat bearing robot is controlled to run on a standard testing road by using a remote controller and is regulated until the position is regulated;
Installing a tested vehicle accurate positioning navigation system on the tested vehicle, wherein the tested vehicle is placed at a certain distance from the active safety testing device of the ultra-flat carrying robot, and the longitudinal axis of the tested vehicle is collinear with the longitudinal axis of the active safety testing device of the ultra-flat carrying robot;
starting the active safety testing device of the ultra-flat bearing robot, sending an instruction by the remote controller, and receiving the instruction by the control unit to start each driver, so that the active safety testing device of the ultra-flat bearing robot runs at a specified speed, and simultaneously starting the accurate positioning navigation system of the tested vehicle;
the method comprises the steps that a detected vehicle is accelerated to a specified speed, the distance between the detected vehicle and an active safety testing device of the ultra-flat bearing robot is determined through combined navigation of a detected vehicle accurate positioning navigation system and the active safety testing device of the ultra-flat bearing robot, when the detected vehicle reaches the specified speed and the distance between the detected vehicle and the active safety testing device of the ultra-flat bearing robot reaches a specified value, the detected vehicle accurate positioning navigation system sends the detected vehicle speed, acceleration and relative position information to a control unit of the active safety testing device of the ultra-flat bearing robot, and the control unit controls the active safety testing device of the ultra-flat bearing robot to perform corresponding actions through analyzing the received information;
If the tested vehicle does not collide with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle reaches the standard; if the tested vehicle collides with the balloon on the ultra-flat bearing robot testing device, the AEB of the tested vehicle does not reach the standard;
the control unit adjusts the right steering unit and the left steering unit in real time according to the received speed, acceleration and relative position of the detected vehicle, so that the longitudinal axes of the detected vehicle and the active safety testing device of the ultra-flat bearing robot are collinear, and simultaneously controls the left driving unit, the right driving unit and the braking system in real time, so that the relative position, the relative speed and the relative acceleration of the active safety testing device of the ultra-flat bearing robot and the detected vehicle can meet testing requirements.
2. The method of operating an active safety test device of an ultra-flat carrier robot according to claim 1, wherein the plurality of drivers includes a first driver and a second driver disposed below the left driving unit, a third driver disposed below the control unit, the third driver and the first driver and the second driver being respectively disposed at both sides of the ultra-flat carrier robot main body frame.
3. The method of operating an active safety test device for an ultra-flat carrier robot of claim 2, wherein the control unit is disposed at a lower position of the right drive unit, the plurality of battery modules including a first battery module disposed between the third driver and a second driver, and further including a second battery module and a third battery module disposed below the first battery module; a fourth driver is disposed between the second battery module and the third battery module.
4. The method of operating an active safety test device for an ultra-flat carrier robot according to claim 3, wherein the left driving unit and the right driving unit are of the same structure, the left driving unit includes a servo motor which drives a driving wheel hub of the active safety test device for an ultra-flat carrier robot to rotate through a sprocket transmission device, so that the driving wheel hub can drive the active safety test device for an ultra-flat carrier robot to move.
5. The method of operating an active safety test device for an ultra-flat load robot according to claim 4, wherein the left driving unit further comprises a hydraulic system including an oil motor and an oil pump, the oil motor driving the oil pump to rotate to generate high pressure hydraulic oil, the high pressure hydraulic oil being further delivered to the brake system through an oil pipe.
6. The method of operating an active safety test device for an ultra-flat carrier robot of claim 5, wherein the left steering unit and the right steering unit are of the same structure, the left steering unit comprises a steering motor, the steering motor drives a steering pushing block to drive a steering rod and a steering connector to move, and the steering connector further drives a steering pull rod to move so as to drive a steering wheel hub of the active safety test device for the ultra-flat carrier robot to rotate.
7. The method of operating an active safety test device for an ultra-flat load robot of claim 6, wherein the brake system comprises a brake caliper to which the high pressure hydraulic oil is further delivered, the brake caliper clamping the brake, and the brake pads are connected to the steering wheel hub by a brake actuator and a universal joint.
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| CN201810074019.9A CN108458879B (en) | 2018-01-25 | 2018-01-25 | Method for operating active safety testing device of ultra-flat bearing robot |
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| CN201810074019.9A CN108458879B (en) | 2018-01-25 | 2018-01-25 | Method for operating active safety testing device of ultra-flat bearing robot |
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| CN110588776B (en) * | 2019-10-22 | 2020-10-09 | 重庆凯瑞汽车试验设备开发有限公司 | Chassis trolley of bearing vehicle |
| CN113218673B (en) * | 2021-05-18 | 2024-05-10 | 长沙立中汽车设计开发股份有限公司 | Driving and controlling system for super-flat bearing robot |
| CN113607425B (en) * | 2021-07-26 | 2024-03-12 | 长沙立中汽车设计开发股份有限公司 | Small intelligent ultra-flat bearing robot for loading VRU target object |
| CN113899562A (en) * | 2021-08-26 | 2022-01-07 | 中汽研（天津）汽车工程研究院有限公司 | Intelligent network-connected automobile field test flat car |
| CN114235433B (en) * | 2021-11-15 | 2023-11-07 | 中国北方车辆研究所 | Bench test method for hub electric drive hybrid power unmanned vehicle |
| CN116499771B (en) * | 2023-06-26 | 2023-09-01 | 河北普傲汽车科技有限公司 | Ultrathin mobile flat plate for intelligent driving test of automobile |
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