CN109855887A - Flat rubber belting formula road simulator for automatic driving vehicle test - Google Patents
Flat rubber belting formula road simulator for automatic driving vehicle test Download PDFInfo
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- CN109855887A CN109855887A CN201910288146.3A CN201910288146A CN109855887A CN 109855887 A CN109855887 A CN 109855887A CN 201910288146 A CN201910288146 A CN 201910288146A CN 109855887 A CN109855887 A CN 109855887A
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- 238000012360 testing method Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000004088 simulation Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
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Abstract
A kind of flat rubber belting formula road simulator for automatic driving vehicle test, is related to vehicle testing technical field, the solution is to improve simulation test effect.The device includes bearing base, and two be mounted on bearing base front wheels, two rear wheels；The front wheels include the front wheel supporting frame being mounted on bearing base, and it is mounted on front pulley, front-wheel roller group on front wheel supporting frame, the front wheel drive band being wound around in front pulley and front-wheel roller group, the preceding band driving motor with torque sensor for driving front pulley to rotate；The rear wheels include the rear wheel support frame being fixed on bearing base, and it is mounted on auxiliary belt wheel, rear belt wheel, rear-wheel roller group on rear wheel support frame, the rear wheel drive band being wound around on rear belt wheel, rear front-wheel roller group and auxiliary belt wheel, the rear band driving motor with torque sensor rotated for belt wheel after driving.Device provided by the invention is applicable in the driving status of simulation test automatic driving vehicle.
Description
Technical field
The present invention relates to vehicle testing technologies, more particularly to a kind of flat rubber belting formula road for automatic driving vehicle test
The technology of simulator.
Background technique
The simulation test of automatic driving vehicle mostly carries out in closing place, since place space cannot infinitely amplify, because
Vehicle movement is all converted to the relative motion of object of reference closing the automatic driving vehicle simulation test in place by this.
Road simulator detects the real-time revolving speed of wheel of automatic driving vehicle by rotary drum, is vehicle detection peripheral ring
Border variation provides a real-time reference variable, and provides real-time respective feedback.But the rotary drum in existing road simulator
All using customization outer rotor motor structure or using the Induction Motor-Driven structure of twin shaft output.Since rotary drum is arc surface,
And the state of imprinting wheel and the trace of practical flat road surface are different, stress, acceleration and deceleration performance and practical different from,
Actual travel condition of vehicle thus can only be approximately simulated, simulation effect is poor.
Summary of the invention
For above-mentioned defect existing in the prior art, technical problem to be solved by the invention is to provide a kind of simulation effects
The good flat rubber belting formula road simulator for automatic driving vehicle test of fruit.
In order to solve the above-mentioned technical problem, a kind of flat rubber belting formula road for automatic driving vehicle test provided by the present invention
Road simulator, it is characterised in that: including bearing base, and be mounted on each front wheels in left and right of bearing base front, pacify
Each rear wheels in left and right mounted in bearing base rear portion；
The front wheels include front wheel supporting frame, and the front wheel drive band being mounted on front wheel supporting frame；The front wheel supporting frame
It is mounted on bearing base, front wheel supporting frame is equipped with the front pulley for driving front wheel drive band to move, front wheel supporting frame
Top is equipped with front-wheel roller group；
The front-wheel roller group is made of multiple front-wheel roll shafts being parallel to each other, and each front-wheel roll shaft sequentially put down from front to back to
It lays；The front wheel drive band is annular belt body, and front wheel drive band is wound around in front pulley and front-wheel roller group；
The front wheel supporting frame be equipped with for drive front pulley rotate preceding band driving motor, the preceding shaft with driving motor with
Front pulley is coaxially connected, and the front wheel torque sensing for detecting the Shaft Torque is equipped in the preceding shaft with driving motor
Device；
The rear wheels include rear wheel support frame, and the rear wheel drive band being mounted on rear wheel support frame；
The rear wheel support frame is fixed on bearing base, and rear wheel support frame is equipped with auxiliary belt wheel, and for driving rear-wheel to pass
The dynamic rear belt wheel with movement, and the wheel shaft of belt wheel and the wheel shaft of rear belt wheel is assisted to be parallel to each other, it is set at the top of rear wheel support frame
There is rear-wheel roller group；
The rear-wheel roller group is laid between rear belt wheel and auxiliary belt wheel, and rear-wheel roller group is by multiple rear-wheel roll shaft groups being parallel to each other
At, and each rear-wheel roll shaft sequentially flat Xiang Bushe from front to back；The rear wheel drive band be annular belt body, rear wheel drive band around
It is located on rear belt wheel, rear front-wheel roller group and auxiliary belt wheel；
The rear wheel support frame is equipped with the rear band driving motor rotated for belt wheel after drive, after the shaft with driving motor and
Belt wheel is coaxially connected afterwards, and the rear-wheel torque sensing for detecting the Shaft Torque is equipped in the rear shaft with driving motor
Device.
Provided by the present invention for the flat rubber belting formula road simulator of automatic driving vehicle test, allow wheel in flat transmission
Movement is taken, so that the ground contact patch of wheel and real road are almost the same, can really carry out road analogy as far as possible, it can be complete
The simulation of beauty reflects the true operating status of vehicle, has the characteristics that simulation effect is good.
Detailed description of the invention
Fig. 1 is the top view of the flat rubber belting formula road simulator for automatic driving vehicle test of the embodiment of the present invention；
Fig. 2 is the master of the front wheels in the flat rubber belting formula road simulator for automatic driving vehicle test of the embodiment of the present invention
View；
Fig. 3 is the front wheels edge figure in the flat rubber belting formula road simulator for automatic driving vehicle test of the embodiment of the present invention
The cross-sectional view after line A-A cutting in 2；
Fig. 4 is the master of the rear wheels in the flat rubber belting formula road simulator for automatic driving vehicle test of the embodiment of the present invention
View；
Fig. 5 is the rear wheels edge figure in the flat rubber belting formula road simulator for automatic driving vehicle test of the embodiment of the present invention
The cross-sectional view after line B-B cutting in 4.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with Detailed description of the invention, but the present embodiment is not used to limit
The system present invention, all that protection scope of the present invention should all be included in using similar structure and its similar variation of the invention, present invention
In pause mark indicate the relationship of sum.
As shown in Figure 1, a kind of flat rubber belting formula road mould for automatic driving vehicle test provided by the embodiment of the present invention
Quasi- device, it is characterised in that: including bearing base 1, and be mounted on each front wheels 2 in left and right of bearing base front, install
Each rear wheels 3 in left and right at bearing base rear portion；
As shown in Fig. 2-Fig. 3, the front wheels include front wheel supporting frame 21, and the front wheel drive being mounted on front wheel supporting frame 21
Band 24；The front wheel supporting frame 21 is mounted on bearing base, and front wheel supporting frame 21 is equipped with for driving front wheel drive band 24
The top of the front pulley 22 of movement, front wheel supporting frame 21 is equipped with front-wheel roller group 23；
The front-wheel roller group 23 is made of multiple front-wheel roll shafts being parallel to each other, and each front-wheel roll shaft is sequentially put down from front to back
To laying；The front wheel drive band 24 is annular belt body, and front wheel drive band 24 is wound around in front pulley 22 and front-wheel roller group 23；
The front wheel supporting frame 21 is equipped with the preceding band driving motor 25 for driving front pulley 22 to rotate, preceding band driving motor 25
Shaft and front pulley 22 it is coaxially connected, and in the preceding shaft with driving motor 25 be equipped with for detecting the Shaft Torque
Front wheel torque sensor 26；
As shown in fig. 4-5, the rear wheels include rear wheel support frame 31, and the rear wheel drive being mounted on rear wheel support frame 31
Band 34；
The rear wheel support frame 31 is fixed on bearing base, and rear wheel support frame 31 is equipped with auxiliary belt wheel 37, and for driving
The rear belt wheel 32 that rear wheel drive band 34 moves, and the wheel shaft of belt wheel 37 and the wheel shaft of rear belt wheel 32 is assisted to be parallel to each other, rear-wheel
The top of support frame 31 is equipped with rear-wheel roller group 33；
The rear-wheel roller group 33 is laid between rear belt wheel 32 and auxiliary belt wheel 37, after rear-wheel roller group 33 is by multiple be parallel to each other
Take turns roll shaft composition, and each rear-wheel roll shaft sequentially flat Xiang Bushe from front to back；The rear wheel drive band 34 is annular belt body, after
Wheel transmission belt 34 is wound around on rear belt wheel 32, rear front-wheel roller group 33 and auxiliary belt wheel 37；
The rear wheel support frame 31 is equipped with the rear band driving motor 35 rotated for belt wheel 32 after driving, rear band driving motor 35
Shaft and rear belt wheel 32 it is coaxially connected, and in the rear shaft with driving motor 35 be equipped with for detecting the Shaft Torque
Rear-wheel torque sensor 36.
The embodiment of the present invention is applicable in the driving status of simulation test automatic driving vehicle, can effectively simulate under different operating conditions
Such as upward slope, descending, acceleration, braking actual road conditions, usage mode are as follows:
A host computer is configured to control preceding band driving motor 25, rear band driving motor 35 operation, by the control signal of host computer
Output port be connected to before with driving motor 25, after the control port with driving motor 35, and by each front wheel torque sensor 26,
The torque detection signal output port of rear-wheel torque sensor 36 is connected to the data collection terminal mouth of host computer；
The front wheel drive being parked in two front-wheels of tested vehicle respectively when test at the front-wheel roller group 23 in two front wheels
On band 24, the rear wheel drive band 34 that two rear-wheels of tested vehicle is parked in respectively at the rear-wheel roller group 33 in two rear wheels
On；
For precursor vehicle, when the front-wheel of tested vehicle starts turning, the front-wheel of vehicle generates opposing front wheels transmission belt 24
Movement tendency, to generate before corresponding power is transmitted in the shaft with driving motor 25, preceding band driving motor 25 is simulated at this time
Road load, and then it is transmitted to front wheel torque sensor 26, the torque that front wheel torque sensor 26 detects is output to host computer,
Host computer is run according to band driving motor 25 before the torque signal control detected, to drive front pulley 22 to rotate, and then band
Dynamic front wheel drive band 24 moves, so as to adjust current payload size, while host computer controlled according to front wheel rotation speed after band driving
Motor 35 rotates synchronously, and guarantees that antero posterior axis vehicle wheel rotational speed is consistent, i.e., preceding band driving motor 25 work is under load model, rear band drive
The dynamic work of motor 35 is under velocity mode.
For rear-guard vehicle, then situation on the contrary, can by band driving motor work after PC control under load model,
And the preceding work of band driving motor 35 is under velocity mode.
For four-wheel drive cars, then it can all work and load by band driving motor, rear band driving motor before PC control
Under mode.
During the present invention is implemented, due to being provided with auxiliary belt wheel in rear wheels, the flat portion of rear wheel drive band 34 is longer, can be simultaneous
Hold the different various of wheelbase.
Claims (1)
1. a kind of flat rubber belting formula road simulator for automatic driving vehicle test, it is characterised in that: including bearing base, and
Each front wheels in left and right of bearing base front are mounted on, each rear wheels in left and right at bearing base rear portion are mounted on；
The front wheels include front wheel supporting frame, and the front wheel drive band being mounted on front wheel supporting frame；The front wheel supporting frame
It is mounted on bearing base, front wheel supporting frame is equipped with the front pulley for driving front wheel drive band to move, front wheel supporting frame
Top is equipped with front-wheel roller group；
The front-wheel roller group is made of multiple front-wheel roll shafts being parallel to each other, and each front-wheel roll shaft sequentially put down from front to back to
It lays；The front wheel drive band is annular belt body, and front wheel drive band is wound around in front pulley and front-wheel roller group；
The front wheel supporting frame be equipped with for drive front pulley rotate preceding band driving motor, the preceding shaft with driving motor with
Front pulley is coaxially connected, and the front wheel torque sensing for detecting the Shaft Torque is equipped in the preceding shaft with driving motor
Device；
The rear wheels include rear wheel support frame, and the rear wheel drive band being mounted on rear wheel support frame；
The rear wheel support frame is fixed on bearing base, and rear wheel support frame is equipped with auxiliary belt wheel, and for driving rear-wheel to pass
The dynamic rear belt wheel with movement, and the wheel shaft of belt wheel and the wheel shaft of rear belt wheel is assisted to be parallel to each other, it is set at the top of rear wheel support frame
There is rear-wheel roller group；
The rear-wheel roller group is laid between rear belt wheel and auxiliary belt wheel, and rear-wheel roller group is by multiple rear-wheel roll shaft groups being parallel to each other
At, and each rear-wheel roll shaft sequentially flat Xiang Bushe from front to back；The rear wheel drive band be annular belt body, rear wheel drive band around
It is located on rear belt wheel, rear front-wheel roller group and auxiliary belt wheel；
The rear wheel support frame is equipped with the rear band driving motor rotated for belt wheel after drive, after the shaft with driving motor and
Belt wheel is coaxially connected afterwards, and the rear-wheel torque sensing for detecting the Shaft Torque is equipped in the rear shaft with driving motor
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910288146.3A CN109855887A (en) | 2019-04-11 | 2019-04-11 | Flat rubber belting formula road simulator for automatic driving vehicle test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910288146.3A CN109855887A (en) | 2019-04-11 | 2019-04-11 | Flat rubber belting formula road simulator for automatic driving vehicle test |
Publications (1)
| Publication Number | Publication Date |
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| CN109855887A true CN109855887A (en) | 2019-06-07 |
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| CN201910288146.3A Pending CN109855887A (en) | 2019-04-11 | 2019-04-11 | Flat rubber belting formula road simulator for automatic driving vehicle test |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414725A (en) * | 2020-12-03 | 2021-02-26 | 上海测迅汽车科技有限公司 | Flat belt VTEHIL test bench of commercial car |
| WO2022087864A1 (en) * | 2020-10-28 | 2022-05-05 | 陈建宝 | Testing apparatus for electric vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022087864A1 (en) * | 2020-10-28 | 2022-05-05 | 陈建宝 | Testing apparatus for electric vehicle |
| CN112414725A (en) * | 2020-12-03 | 2021-02-26 | 上海测迅汽车科技有限公司 | Flat belt VTEHIL test bench of commercial car |
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