CN112525550A - Miniaturized intelligent vehicle perception system is at ring test platform - Google Patents
Miniaturized intelligent vehicle perception system is at ring test platform Download PDFInfo
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- CN112525550A CN112525550A CN202011405271.7A CN202011405271A CN112525550A CN 112525550 A CN112525550 A CN 112525550A CN 202011405271 A CN202011405271 A CN 202011405271A CN 112525550 A CN112525550 A CN 112525550A
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- 238000012360 testing method Methods 0.000 title claims abstract description 61
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- 230000006870 function Effects 0.000 abstract description 6
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- 238000011161 development Methods 0.000 description 5
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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
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Abstract
The invention discloses a miniaturized intelligent vehicle sensing system in-loop test platform which comprises a vehicle sensing system in-loop test platform, wherein the vehicle sensing system is sequentially provided with an equipment base, a rotary motion rotary table, a lateral motion following lane, a six-degree-of-freedom platform, a fixed platform, a tested vehicle body and tested sensing system hardware from bottom to top on the loop test platform, the equipment base is formed by splicing a plurality of groups of unit bases, two groups of guide rails are symmetrically arranged on two sides of each unit base, a guide block is fixed at the bottom of each rotary motion rotary table, the upper end of each guide block is positioned above the corresponding guide rail, two sides of each guide block are arranged on the two groups of guide rails in a sliding mode, and a mounting groove is formed in each. The invention designs a miniaturized intelligent vehicle sensing system in-loop test platform which is transformed based on a complete vehicle VTEHIL test bed system, modules such as dynamometer functions and the like required by the complete vehicle are removed, the overall size is reduced, a high-precision six-degree-of-freedom platform is added, test equipment is simplified, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an in-loop test platform for a small intelligent vehicle sensing system.
Background
The research and development of intelligent vehicles belong to the strategic development direction of each vehicle enterprise. With falling to the ground of various technologies and laws and regulations matched with the intelligent vehicle, the mass production of the intelligent vehicle indicates daily wait, and the intelligent vehicle gradually enters the daily life of people, so that the intelligent traffic with high safety and without manual intervention is finally realized. In the development stage of the intelligent vehicle, the test of the whole vehicle and each system is very necessary. In a closed test field or indoor, various test tools, test racks and related traffic simulation bodies are utilized to build a real traffic scene, then a tested vehicle is driven to complete the driving action required by the unmanned test, a large amount of test data can be obtained, and the related test of the whole vehicle is completed for research and development.
However, the existing test of the intelligent vehicle sensing system has the following problems: if the whole vehicle is directly used, relevant tests and experiments are carried out on a test site and various indoor whole vehicle racks, so that not only the whole vehicle with the required number for testing is provided, but also a large amount of complete vehicle testing equipment and relevant professionals are needed, the occupancy rate of various resources is very high, the time is wasted, and the cost is increased. For this reason, a corresponding technical scheme needs to be designed to solve the existing technical problems.
Disclosure of Invention
The invention aims to provide a miniaturized intelligent vehicle sensing system in-loop test platform, which solves the technical problems that the whole vehicles are directly used, and relevant tests and experiments are carried out on a test site and various indoor whole vehicle racks, so that the whole vehicles with required quantity need to be tested, a large quantity of matched whole vehicle test equipment and relevant professionals are needed, the occupancy rate of various resources is very high, the time is wasted, and the cost is increased.
In order to achieve the purpose, the invention provides the following technical scheme: a miniaturized intelligent vehicle sensing system in-loop test platform comprises a vehicle sensing system in-loop test platform, wherein the vehicle sensing system is sequentially provided with an equipment base, a rotary motion rotary table, a lateral motion following lane, a six-degree-of-freedom platform, a fixed platform, a tested vehicle body and tested sensing system hardware from bottom to top on the loop test platform, the equipment base is formed by splicing a plurality of groups of unit bases, two groups of guide rails are symmetrically arranged on two sides of each unit base, a guide block is fixed at the bottom of each rotary motion rotary table, the upper end of each guide block is positioned above the corresponding guide rail, two sides of each guide block are slidably arranged on the two groups of guide rails, a mounting groove is formed in each rotary motion rotary table, the lateral motion following lane is horizontally fixed on each rotary motion rotary table, a notch corresponding to the mounting groove is formed in the middle of each guide block, the six-of-freedom platform is, the fixed platform is horizontally arranged at the top of the six-degree-of-freedom platform, the front end of the measured vehicle body is arranged on the fixed platform, and the hardware of the measured sensing system is arranged in the measured vehicle body.
In a preferred embodiment of the present invention, the guide rail has an L-shaped structure, a guide groove is formed in the guide rail, and a bottom of the guide block is slidably disposed in the guide groove.
As a preferred embodiment of the present invention, the swing motion turret includes a main table and a fixed ring installed above the main table, and the lateral motion follower lane is erected on the main table and connected above to the fixed ring.
In a preferred embodiment of the present invention, the width and length of the lateral movement traveling block are larger than the diameter of the revolving movement turntable.
As a preferred embodiment of the present invention, the six-degree-of-freedom platform includes a six-edged platform located in the middle and six groups of electric push rods arranged in an inclined manner and uniformly arranged below the six-edged platform, the lower ends of the six groups of electric push rods are fixed in the main platform, and movable connectors are installed at the corners of the power output end and the six-edged platform.
In a preferred embodiment of the present invention, a triangular reinforcing bar is integrally formed at a middle portion of the hexagonal platform, and the triangular reinforcing bar is formed by three sets of reinforcing plates arranged in a triangular shape.
As a preferred embodiment of the present invention, the movable connector includes a fixed block fixed at a corner of the six-edged platform and a rotating shaft movably inserted into the fixed block, and an outer end of the rotating shaft is rotatably connected to a power output end of the electric push rod.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention designs a miniaturized intelligent vehicle sensing system which also has the functions of lateral movement and rotary movement on a ring test platform to simulate the actions of lane changing and the like, and is provided with a six-degree-of-freedom platform which is used for fixing various functional hardware modules of the sensing system, ensuring that the relative position of each module is consistent with the installation position on a finished vehicle, and fusing the lateral movement, the rotary movement and the movement of the six-degree-of-freedom platform by using a stronger, more precise and more detailed movement control algorithm to provide more real and more comprehensive running actions and vehicle postures of the vehicle for the sensing system, and provide stronger and more professional data support for the development and optimization of the sensing system by adding traffic scenes realized by various traffic simulation participants, and meanwhile, the test work of the mode does not need to use the finished vehicle, a test field, the finished vehicle, related test equipment and personnel, greatly reducing the test cost.
2. The miniaturized intelligent vehicle sensing system in-loop test platform is formed by modifying a complete vehicle VTEHIL test bed system, modules such as a dynamometer function and the like required by the complete vehicle are removed, the overall size is reduced, a high-precision six-degree-of-freedom platform is added, test equipment is simplified, and the cost is reduced.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an overall top view block diagram of the present invention;
FIG. 3 is a schematic view of the mounting of the stationary platform of the present invention;
fig. 4 is a schematic view of the installation of the tested vehicle body according to the invention.
In the figure, 1, a device base; 2. a rotary motion turntable; 3. a lateral movement follower lane; 4. a six degree of freedom platform; 5. a fixed platform; 6. a tested vehicle body; 7. sensed system hardware; 8. a unit base; 9. a guide rail; 10. a guide block; 11. mounting grooves; 12. a notch; 13. a guide groove; 14. a main station; 15. a fixing ring; 16. a hexagonal platform; 17. an electric push rod; 18. a movable connector; 19. a triangular reinforcing rod; 20. a fixed block; 21. and rotating the shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a miniaturized intelligent vehicle sensing system on-ring test platform comprises a vehicle sensing system on-ring test platform, wherein the vehicle sensing system is sequentially provided with an equipment base 1, a rotary motion rotary table 2, a lateral motion follower lane 3, a six-degree-of-freedom platform 4, a fixed platform 5, a tested vehicle body 6 and tested sensing system hardware 7 from bottom to top on the ring test platform, the equipment base 1 is formed by splicing a plurality of groups of unit bases 8, two groups of guide rails 9 are symmetrically arranged on two sides of each unit base 8, a guide block 10 is fixed on the bottom of the rotary motion rotary table 2, the upper end of the rotary motion rotary table is positioned above the guide rails 9, two sides of the guide block 10 are slidably arranged on the two groups of guide rails 9, an installation groove 11 is formed in the rotary motion rotary table 2, the lateral motion follower lane 3 is horizontally fixed on the rotary motion rotary table 2, a notch 12 corresponding to the installation groove 11 is formed in the middle of the rotary motion rotary table, the fixed platform 5 is horizontally arranged on the top of the six-degree-of-freedom platform 4, the front end of the tested vehicle body 6 is arranged on the fixed platform 5, and the tested sensing system hardware 7 is arranged inside the tested vehicle body 6.
The designed intelligent vehicle sensing system in-loop test platform is transformed based on a complete vehicle VTEHIL test bed system, modules such as a dynamometer function and the like required by the complete vehicle are removed, the overall size is reduced, a high-precision six-degree-of-freedom platform 4 is added, the intelligent vehicle sensing system also has the functions of lateral movement and rotary movement on the loop test platform to simulate actions such as lane change and the like, the added six-degree-of-freedom platform 4 is used for fixing various functional hardware modules of the sensing system to ensure that the relative positions of the modules are consistent with the installation positions on the complete vehicle, and the lateral movement, the rotary movement and the movement of the six-degree-of-freedom platform are fused by using a stronger, more precise and more detailed movement control algorithm to provide more real and more comprehensive various running actions and vehicle postures of the sensing system for the sensing system and provide various traffic scenes realized by various traffic simulation participants to complete various in-loop tests of the sensing system, stronger and more professional data support is provided for development and optimization of a sensing system, and meanwhile, the whole vehicle, a test field, relevant whole vehicle test equipment and personnel are not needed for test work in the mode, so that the test cost of the experiment is greatly reduced
Further improved, as shown in fig. 1: the guide rail 9 is of an L-shaped structure, a guide groove 13 is formed in the guide rail, and the bottom of the guide block 10 is arranged in the guide groove 13 in a sliding mode.
Further improved, as shown in fig. 1: the rotary motion turntable 2 comprises a main table 14 and a fixing ring 15 arranged above the main table 14, the lateral motion following lane 3 is erected on the main table 14, the upper portion of the lateral motion following lane is connected with the fixing ring 15, and the lateral motion following lane 3 is convenient to install and detach.
Further improved, as shown in fig. 1: the width and the length of the lateral movement following lane 3 are both larger than the diameter of the rotary movement turntable 2.
Further improved, as shown in fig. 2: the six-degree-of-freedom platform 4 comprises a six-edge platform 16 located in the middle and six groups of electric push rods 17 evenly arranged below the six-edge platform 16 and arranged in an inclined manner, the lower ends of the six groups of electric push rods 17 are fixed in the main platform 14, and movable connectors 18 are installed at the corners of the power output end and the six-edge platform 16, and the six-degree-of-freedom platform 4 can be driven by the electric push rods 17 to rotate above.
Further improved, as shown in fig. 2: the middle part of the hexagonal platform 16 is integrally formed with a triangular reinforcing rod 19, and the triangular reinforcing rod 19 is formed by three groups of reinforcing plates in a triangular shape, so that the strength of the hexagonal platform 16 can be improved.
Specifically, the movable connector 18 comprises a fixed block 20 fixed at the corner of the hexagonal platform 16 and a rotating shaft 21 movably inserted into the fixed block 20, the outer end of the rotating shaft 21 is rotatably connected with the power output end of the electric push rod 17, and the detected vehicle body 6 and the detected sensing system hardware 7 can be pushed to rotate and adjust through the movable connector 18.
When in use: the equipment base 1 is a bearing part, the six-degree-of-freedom platform 4 is fixed on the rotary motion turntable 2, the six-degree-of-freedom platform 4 and the lateral motion following lane 3 can move laterally on the equipment base 1, the rotary motion turntable 2 can realize rotary motion along the equipment base 1, in addition, each group of electric push rods 17 in the six-degree-of-freedom platform 4 can realize self motion by pushing, the whole platform can simulate vehicle running action, vehicle posture and the like, a platform is built on the six-degree-of-freedom platform 4 by utilizing aluminum profiles and used for fixing the sensed system hardware 7, the placing position of a module is fixed according to the position of the vehicle body 6 to be sensed, and the specific placing position and layout mode can also be determined according to the design requirement, for the developed vehicle type, the vehicle body can also be directly used, the sensed system hardware 7 is installed, the vehicle body is fixed on a six-degree-of-freedom platform 4, relevant test experiments are carried out, after the intelligent vehicle sensing system is fixed in the mode, hardware function tests, stability tests and fusion tests of the intelligent vehicle sensing system, algorithm tests of the sensing system and the like can be completed by using the device and matching with real traffic scenes built by various traffic simulators, the research, development and verification efficiency of the sensing system is greatly improved, and relevant test cost is reduced.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a miniaturized intelligent vehicle perception system is at ring test platform, includes vehicle perception system and at ring test platform, its characterized in that: the vehicle sensing system is characterized in that an equipment base (1), a rotary motion rotary table (2), a lateral motion traveling lane (3), a six-degree-of-freedom platform (4), a fixed platform (5), a tested vehicle body (6) and tested sensing system hardware (7) are sequentially arranged on a ring test platform from bottom to top, the equipment base (1) is formed by splicing a plurality of groups of unit bases (8), two groups of guide rails (9) are symmetrically arranged on two sides of each unit base (8), a guide block (10) is fixed at the bottom of the rotary motion rotary table (2), the upper end of the rotary motion rotary table is positioned above the guide rails (9), two sides of the guide block (10) are slidably arranged on the two groups of guide rails (9), a mounting groove (11) is formed in the rotary motion rotary table (2), the lateral motion traveling lane (3) is horizontally fixed on the rotary motion rotary table (2), and a notch (12) corresponding to the mounting groove, the six-degree-of-freedom platform (4) is positioned in the mounting groove (11), the lower end of the six-degree-of-freedom platform is fixed on the rotary motion turntable (2), the fixed platform (5) is horizontally mounted at the top of the six-degree-of-freedom platform (4), the front end of the detected vehicle body (6) is mounted on the fixed platform (5), and the detected sensing system hardware (7) is mounted inside the detected vehicle body (6).
2. The small intelligent vehicle perception system in-loop test platform of claim 1, wherein: the guide rail (9) is of an L-shaped structure, a guide groove (13) is formed in the guide rail, and the bottom of the guide block (10) is arranged in the guide groove (13) in a sliding mode.
3. The small intelligent vehicle perception system in-loop test platform of claim 1, wherein: the rotary motion turntable (2) comprises a main table (14) and a fixing ring (15) arranged above the main table (14), and the lateral motion following lane (3) is erected on the main table (14) and is connected with the fixing ring (15) above the lateral motion following lane.
4. The small intelligent vehicle perception system in-loop test platform of claim 3, wherein: the width and the length of the lateral movement following lane (3) frame are both larger than the diameter of the rotary movement rotary table (2).
5. The small intelligent vehicle perception system in-loop test platform of claim 3, wherein: the six-degree-of-freedom platform (4) comprises a six-edge platform (16) located in the middle and six groups of electric push rods (17) which are uniformly arranged below the six-edge platform (16) and are obliquely arranged, the lower ends of the six groups of electric push rods (17) are fixed in the main platform (14), and movable connectors (18) are mounted at the corners of the power output end and the six-edge platform (16).
6. The small intelligent vehicle perception system in-loop test platform of claim 5, wherein: the middle part of the hexagonal platform (16) is integrally formed with a triangular reinforcing rod (19), and the triangular reinforcing rod (19) is formed by three groups of reinforcing plates in a triangular shape.
7. The small intelligent vehicle perception system in-loop test platform of claim 6, wherein: the movable connector (18) comprises a fixed block (20) fixed at the corner of the hexagonal platform (16) and a rotating shaft (21) movably inserted in the fixed block (20), and the outer end of the rotating shaft (21) is rotatably connected with the power output end of the electric push rod (17).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405271.7A CN112525550B (en) | 2020-12-03 | On-loop test platform for miniaturized intelligent vehicle sensing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011405271.7A CN112525550B (en) | 2020-12-03 | On-loop test platform for miniaturized intelligent vehicle sensing system |
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| CN112525550A true CN112525550A (en) | 2021-03-19 |
| CN112525550B CN112525550B (en) | 2024-07-19 |
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| CN106802650A (en) * | 2017-03-28 | 2017-06-06 | 吉林大学 | Electric motor coach integration control hardware is in ring test platform and method of testing |
| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
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