CN113504053B

CN113504053B - Front axle assembly of automatic driving test target vehicle carrying platform

Info

Publication number: CN113504053B
Application number: CN202110670669.1A
Authority: CN
Inventors: 张琳; 李志华; 黄岩军; 陈虹
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2023-03-28
Anticipated expiration: 2041-06-17
Also published as: CN113504053A

Abstract

The invention relates to a front axle assembly of a vehicle carrying platform for an automatic driving test target, which comprises a shell, a wheel assembly, a steering assembly and a suspension assembly, wherein the front axle assembly executes steering and braking instructions issued by an upper controller, and transmits steering force to wheels through a rack-and-pinion steering system of the steering assembly to realize steering movement; the front axle assembly is arranged by adopting a bilateral electromagnetic brake, and the braking capability meets the requirement of extreme test; the suspension component is arranged by adopting parallel equal-length double transverse arms, and the wheel positioning parameters have small change along with wheel jump; the front axle assembly is installed in a modularized embedded mode, the structure height is extremely low, and the rolling resistance is high. Compared with the prior art, the front axle assembly solves the comprehensive problems of braking force requirement, compactness, high structural strength and the like faced by the automatic driving target vehicle carrying platform, is matched with other actuating mechanisms and target vehicles, and can meet the strict requirements of automatic driving danger testing working conditions such as emergency braking, high-speed collision rolling and the like.

Description

Front axle assembly of automatic driving test target vehicle carrying platform

Technical Field

The invention relates to the technical field of automatic driving tests, in particular to a front axle assembly of a vehicle carrying platform of an automatic driving test target.

Background

Autopilot testing typically detects the ability of an autonomous vehicle to sense the surrounding environment, to handle emergencies, and to coordinate interactions between vehicles. In order to ensure the safety of testing personnel and equipment in a collision test, under dangerous test working conditions such as vehicle emergency braking, collision and the like, a target vehicle usually adopts soft materials such as foam materials or fabrics and the like, and has the capability of autonomously moving and simulating high-speed movement of an automobile in a real road environment. In the automatic driving collision test, the tested vehicle is impacted and rolled at high speed when the target runs at high speed, and the damage or rollover of the tested vehicle is avoided when the target runs at high speed, so that the height of the target vehicle carrying platform is generally not more than 100mm, the rolling of the tested vehicle is borne, and the requirements on the compactness and the structural strength of key assemblies such as a front axle and the like are high. In addition, when the target vehicle simulates the emergency braking condition, the braking deceleration of the carrying platform is required to be greater than 0.8g, so that all wheels of the carrying platform of the target vehicle are required to apply enough braking force.

At present, the thickness of a domestic vehicle carrying platform adopted by the test is too large, and dangerous test working conditions such as vehicle emergency braking, collision, rolling and the like cannot be completed. For example, in the mobile target car of CN 112109806A, the mobile target car adopts a leaf spring type ackerman steering assembly, and the height of the assembly mechanism of the leaf spring superposed with the spiral spring is large, so that the overall height is too large, and the structure cannot be provided with a braking system, which is difficult to meet the requirement of the automatic driving test on the braking performance of the target vehicle bearing platform. As the "traffic simulation body bearing platform for unmanned test" with application publication No. CN 108749955A, its steering assembly integrates two driving motors, and adopts a gear mechanism directly driven by the motors, but its two steering wheels are rigidly coupled, steering resistance and wheel wear are large, and the system is not integrated with a braking system, so that it is difficult to meet the requirement of braking performance.

The severe test conditions impose severe requirements on the front axle assembly of the target vehicle carrying platform, but at present, no adequate solution is available.

Disclosure of Invention

The present invention is directed to overcoming the above-mentioned deficiencies of the prior art and providing a front axle assembly for a vehicle carrying platform for an autopilot test target vehicle.

The purpose of the invention can be realized by the following technical scheme:

a front axle assembly of a vehicle carrying platform for automatically driving a test target comprises a shell, a steering component, two wheel components and two suspension components,

the middle part of the steering component is fixedly connected with the shell, the two wheel components are symmetrically arranged at the tail ends of the steering component, the steering component drives the wheels of the wheel components to rotate,

the two suspension assemblies are symmetrically arranged on two sides of the steering assembly, fixed ends of the suspension assemblies are rotatably and fixedly connected with the shell, and rotating ends of the suspension assemblies are rotatably and fixedly connected with the wheel assemblies.

Preferably, the wheel assembly comprises a stator assembly and a rotor assembly, the rotor assembly comprises a wheel, the stator assembly is connected with the rotating end of the suspension assembly, and the rotor assembly is rotatably arranged in the stator assembly.

Preferably, the stator assembly comprises a wheel disc outer bearing seat and a wheel disc outer bearing cover, the wheel disc outer bearing cover is arranged on the wheel disc outer bearing seat,

the rotor assembly further comprises a wheel disc bearing, a wheel disc inner bearing seat, a wheel disc inner bearing cover, a wheel seat, a wheel axle and a brake, wherein the wheel disc inner bearing cover is arranged on the wheel disc inner bearing seat, the wheel disc outer bearing seat is arranged on the periphery of the wheel disc inner bearing seat to form a gap, the wheel disc bearing is arranged between the wheel disc inner bearing seat and the wheel disc outer bearing seat, the wheel seat is fixedly arranged on the inner side of the wheel disc inner bearing seat, the wheel axle is arranged in the wheel seat, the wheel hub is arranged on the wheel axle, the brake is fixedly connected with the wheel seat, and the braking end of the brake is arranged on the wheel.

Preferably, the brake is a bilateral electromagnetic brake, the brake comprises two brake assemblies symmetrically arranged on two sides of the wheel, each brake assembly comprises an electromagnetic brake and a ceramic brake disc, the electromagnetic brake is fixedly connected with the wheel seat, the ceramic brake discs are connected with the wheel, and the ceramic brake discs are arranged at the tail ends of the electromagnetic brakes.

Preferably, the steering assembly comprises a rotating motor, a rack assembly and two steering pulling assemblies symmetrically arranged on two sides of the rack assembly, an output end of the rotating motor is connected with the rack assembly, and the rotating motor runs and sequentially drives the rack assembly and the steering pulling assemblies to move.

Preferably, the rack assembly comprises a gear, a rack and a rack seat, the gear is fixed at the tail end of an output shaft of the rotating motor, the rack seat is connected with the shell, the rack is movably inserted in the rack seat, the gear and the rack are in meshing transmission, the rotating motor operates to drive the rack to translate under the limitation of the rack seat, and the tail end of the rack is connected with the steering pulling assembly.

Preferably, the steering pulling assembly comprises a first spherical hinge, a second spherical hinge and a tie rod, the spherical hinge is fixedly arranged at the tail end of the rack assembly, one end of the tie rod is rotatably connected with the first spherical hinge, the other end of the tie rod is rotatably connected with the second spherical hinge, and the second spherical hinge is connected with the wheel assembly.

Preferably, each suspension assembly comprises two swing arm groups, the two swing arm groups are symmetrically arranged on the front side and the rear side of the wheel assembly, each swing arm group comprises at least one swing arm, the fixed end of each swing arm is hinged to the shell, and the rotating end of each swing arm is hinged to the wheel assembly.

Preferably, the swing arm group comprises two equal-length swing arms which are arranged in parallel.

Preferably, the front axle assembly further comprises a plurality of wheel springs, the wheel springs are fixedly arranged on the wheel assembly, and the tops of the wheel springs are abutted to the shell.

Preferably, a reinforcing rib box is arranged at the inner cavity of the shell.

Compared with the prior art, the invention has the following advantages:

(1) The steering assembly is a classic Ackerman steering trapezoid, a gear and rack mechanism is used as a power source, the structure has the advantages of good straight-line driving performance, compact structure and the like, when the steering assembly is steered, the rotation center of the wheel is overlapped with the central line of the wheel, the steering resistance moment is minimum, good steering portability is realized, the response characteristic of a steering system is improved, and the straight-line driving capacity and the aligning capacity of a carrying platform are improved;

(2) The suspension assembly is of a parallel isometric double-cross arm structure, when the suspension assembly passes through an uneven road surface, the axis of a wheel is always parallel to the ground, so that the good adhesion of the wheel and the ground is ensured, the abrasion of a tire is reduced, the guiding and wheel positioning effects in the wheel jumping process are considered, the suspension assembly is matched with a wheel spring, the impact of a road surface is buffered and absorbed, the driving smoothness of a carrying platform is improved, the rubber spring can provide elasticity and damping characteristics at the same time, and the impact of the road surface is buffered and attenuated;

(3) The wheel assembly is matched with the stator assembly and the rotor assembly, so that the wheel steering and buffering functions based on the steering assembly and the suspension assembly are realized, the wheel assembly is provided with the bilateral electromagnetic brake, the friction material is a ceramic-based material, the wheel assembly has the characteristics of compact structure, high braking strength and good braking thermal stability, and the braking capacity meets the extreme test requirement;

(4) The shell and each component are arranged in a matched mode, the strength is increased by the reinforcing rib box, and the light weight maximization is realized on the premise of ensuring the strength, so that the structural compactness is realized.

Drawings

FIG. 1 is a schematic side view of the inventive shaft;

FIG. 2 is a bottom view of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a cross-sectional view of the wheel assembly of the present invention;

FIG. 5 is a top view of the wheel steering schematic of the present invention;

FIG. 6 is a schematic view of a suspension assembly of the present invention;

FIG. 7 is a schematic view of the various structures outside the housing of the present invention;

FIG. 8 is a schematic view of the construction of the rotating assembly of the present invention;

fig. 9 is a schematic structural view of the wheel assembly of the present invention.

The automobile wheel comprises a shell 1, a shell 2, a swing arm 3, a wheel assembly 3-1, a wheel disc outer bearing seat 3-2, a wheel disc bearing 3-3, a wheel disc inner bearing seat 3-4, a wheel seat 3-5, a wheel shaft 3-6, a wheel 3-7, a ceramic brake disc 3-8, an electromagnetic brake 3-9, a tapered roller bearing 3-10, a wheel disc inner bearing cover 3-11, a wheel disc outer bearing cover 4, a wheel spring 5, a reinforcing rib box 6, a control driving cabin 7, a swing arm seat 8, a transverse pull rod 9-1, a first spherical hinge 9-2, a second spherical hinge 10, a rack seat 11, a rack 12, a gear 13, a rotating motor 14 and an inspection window.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.

Examples

A front axle assembly of a carrying platform of an automatic driving test target vehicle is disclosed, as shown in figures 1-3, a shell 1, a steering component, two wheel components 3 and two suspension components are arranged in the shell in a modularized embedded manner, the height of the structure is extremely low, the front axle assembly is matched with other actuating mechanisms and target vehicles, the strict requirements of automatic driving danger test working conditions such as emergency braking and high-speed collision rolling can be met, a gear rack mechanism is used as a power source of a steering system, the suspension system is a parallel double-swing-arm mechanism, and a hub electromagnetic braking system, and the flat, compact and integrated front axle configuration is realized.

In the embodiment, the shell 1 is integrally formed by high-strength aluminum alloy, the reinforcing rib box 5 is arranged in the inner cavity, the thicknesses of the shell 1 and the reinforcing rib box 5 are designed by using an equipotential body optimization design method, and the light weight is realized on the premise of ensuring the strength. When being rolled by a heavy vehicle, the wheels 3-6 and other components are retracted into the shell 1, stress is evenly transmitted to the shell 1, stress equipotential bodies are formed, stress concentration is avoided, and the shell 1 does not generate plastic deformation. The assembly shell 1 is provided with an inspection window 14 at the wheel 3-6 part for inspecting the abrasion of the wheel 3-6 and accommodating the wheel 3-6 when being rolled to prevent the overload of the wheel 3-6 structure. All the components are embedded in the shell 1, so that the total height of the front axle assembly does not exceed the diameter of the wheels 3-6, and the compactness of the structure is realized to the maximum extent.

As shown in fig. 5, 7 and 8, the steering assembly includes a rotating electrical machine 13, a rack assembly and two steering pulling assemblies symmetrically disposed on two sides of the rack assembly, an output end of the rotating electrical machine 13 is connected to the rack assembly, and the rotating electrical machine 13 runs and drives the rack assembly and the steering pulling assemblies to move in sequence.

Specifically, the rack assembly comprises a gear 12, a rack 11 and two rack seats 10, the steering pulling assembly comprises a first spherical hinge 9-1, a second spherical hinge 9-2 and a tie rod 8, the rack 11, the spherical hinge and the tie rod 8 form an ackermann steering trapezoid, the rotary motor 13 is fixedly arranged in the middle of the bottom surface of the shell 1, the gear 12 is sleeved on an output shaft of the rotary motor 13, the two rack seats 10 are symmetrically arranged on two sides of the rotary motor 13 and fixedly connected with the bottom surface of the shell 1, a main body of the rack 11 is a cylinder, meshing teeth are arranged on the bottom surface of the middle of the rack 11, the rack 11 is movably inserted into the rack seats 10, the gear 12 of the rotary motor 13 is in meshing transmission with the meshing teeth on the bottom surface of the middle of the rack 11, a first spherical hinge 9-1 is arranged at the tail end of the rack 11, one end of the tie rod 8 is rotatably connected with the first spherical hinge 9-1, the other end of the tie rod is rotatably connected with the second spherical hinge 9-2, the second spherical hinge 9-2 is connected with a wheel disc inner bearing cover 3-10 of the wheel assembly 3, and the tie rod 9-2 is driven by the rotary motor 13 to move under the restriction of the rack seat 11 and the tie rod seat and the tie rod 9-2.

The steering assembly forms a classical Ackerman steering trapezoid, a gear 12, a rack 11 mechanism and a rotating motor 13 are used as power sources, the structure has the advantages of good linear driving performance, compact structure and the like, a control driving cabin 6 is arranged at the bottom of the shell 1 and used for installing the rotating motor 13 and a controller, the controller is connected with the rotating motor 13 and the wheel assembly 3, and when the steering assembly steers, the steering axis of the wheels 3-6 coincides with the central plane of the wheels 3-6, so that the steering resistance is reduced, and the response characteristic of the steering assembly is improved.

As shown in fig. 4 and 9, the wheel assembly 3 includes a stator assembly and a rotor assembly, the rotor assembly includes wheels 3-6, the stator assembly is connected to the rotating end of the suspension assembly, and the rotor assembly is rotatably disposed in the stator assembly.

Specifically, the stator assembly comprises a wheel disc outer bearing seat 3-1 and a wheel disc outer bearing cover 3-11, the wheel disc outer bearing cover 3-11 is covered on the wheel disc outer bearing seat 3-1, the rotor assembly further comprises a wheel disc bearing 3-2, a wheel disc inner bearing seat 3-3, a wheel disc inner bearing cover 3-10, a wheel seat 3-4, a wheel shaft 3-5 and a brake, the wheel disc inner bearing cover 3-10 is covered on the wheel disc inner bearing seat 3-3, the wheel disc outer bearing seat 3-1 is arranged on the peripheral side of the wheel disc inner bearing seat 3-3 to form a gap, the wheel disc bearing 3-2 is arranged between the wheel disc inner bearing seat 3-3 and the wheel disc outer bearing seat 3-1, the wheel seat 3-4 is fixedly arranged on the inner side of the wheel disc inner bearing seat 3-3, two conical roller bearings 3-9 are symmetrically arranged in the wheel seat 3-4, two ends of the wheel shaft 3-5 are respectively arranged in the conical roller bearings 3-9, the wheel shaft 3-6 is fixedly sleeved on the wheel shaft 3-5 to rotate by taking the wheel shaft 3-5 as a rotating shaft, the brake is fixedly connected with the wheel seat 3-4, the upper end of the brake, and the rotor assembly can rotate freely inside the wheel assembly. The wheel assembly 3 is matched with the steering assembly to ensure that the rotation center of the wheels 3-6 is superposed with the center line of the wheels 3-6, the steering resistance moment is minimum, and good steering portability is realized.

In the embodiment, the brake is a bilateral electromagnetic brake 3-8, the brake comprises two brake components symmetrically arranged on two sides of a wheel 3-6, the brake components comprise an electromagnetic brake 3-8 and a ceramic brake disc 3-7, the electromagnetic brake 3-8 is fixedly connected with a wheel seat 3-4 and is arranged in concave positions on two sides of the wheel 3-6 in a semi-embedded mode, the ceramic brake disc 3-7 is connected with the wheel 3-6 and is arranged at the tail end of the electromagnetic brake 3-8, and therefore the hub electromagnetic brake component is formed, and the ceramic brake disc 3-7 has the advantages of being compact in structure, high in brake strength, good in brake thermal stability and the like. When the brake is needed, the electromagnetic brake 3-8 is electrified to attract the ceramic brake disc 3-7 to brake the wheel 3-6, when the brake is needed to be released, the current of the electromagnetic brake 3-8 is released, and the electromagnetic brake 3-8 is separated from the ceramic brake disc 3-7 to release the brake.

The wheels 3-6 are positioned below the inspection window 14, and the wheels 3-6 are matched with the inspection window 14 in size and shape, so that the abrasion of the wheels 3-6 can be inspected, the wheels 3-6 can be stored when the wheels are rolled, the overload of the structure of the wheels 3-6 is prevented, the total height of a front axle assembly does not exceed the diameter of the wheels 3-6, and the structural compactness is realized to the maximum extent.

As shown in fig. 5 to 7, each suspension assembly includes two swing arm groups, the two swing arm groups are symmetrically disposed on the front side and the rear side of the wheel assembly 3, each swing arm group includes at least one swing arm 2, the fixed end of the swing arm 2 is hinged to the housing 1 through a swing arm seat 7, and the rotating end of the swing arm 2 is hinged to the bottom of the wheel disc outer bearing seat 3-1 of the wheel assembly 3 through a hinge plate.

Specifically, in this embodiment, the swing arm group includes two equal-length swing arms 2, the two equal-length swing arms 2 are arranged in parallel to form a structural layout of the parallel equal-length swing arms 2, the guiding and wheel 3-6 positioning functions in the wheel 3-6 jumping process are considered, and when the vehicle passes through an uneven road surface, the 3-5 line of the wheel axle is ensured to be always parallel to the ground, so that the good adhesion of the wheel 3-6 to the ground is ensured, the tire wear is reduced, when the wheel 3-6 jumps, the center plane of the wheel 3-6 is not inclined, the ground area of the wheel 3-6 is ensured, and the wheel 3-6 wear is reduced.

In addition, in order to improve the buffering effect of the wheels 3-6 and the shell 1, the front axle assembly further comprises a plurality of wheel springs 4, the wheel springs 4 are fixedly arranged on wheel disc outer bearing covers 3-11 of the wheel assembly 3, the tops of the wheel springs 4 are abutted to the shell 1, two sides of each wheel 3-6 are respectively provided with one wheel spring 4, the road surface impact is buffered and absorbed, and the driving smoothness of the carrying platform is improved. Specifically, the wheel spring 4 is a rubber O-shaped spring, so that the grounding performance of the wheel 3-6 in the running process is guaranteed, and the bottom of the wheel spring is detachably and fixedly connected with the wheel disc outer bearing cover 3-11 through a screw rod and a screw hole. The rubber spring can provide both elasticity and damping characteristics, cushioning and attenuating road impacts.

The working principle is as follows:

when the wheels 3-6 of the invention are turned, the controller sends a control command to the rotating motor 13 according to the target turning angle requirement, the driving gear 12 rotates to enable the rack 11 to translate, the rotor assembly is driven to rotate and the wheels 3-6 are turned under the dragging of the first spherical hinge 9-1, the tie rod 8 and the second spherical hinge 9-2 in sequence, the turning closed loop control target is an equivalent front axle turning angle equivalent to the middle point of the front axle, and the target turning angle of the driving gear 12 is finally obtained through the transmission relation between the translation distance of the rack 11 and the equivalent front axle turning. The layout of the steering assembly eliminates the steering resistance moment of the traditional steering system caused by the misalignment of the turning center of the wheels 3-6 and the plane of the wheels 3-6, and improves the steering portability of the steering system. In addition, when the vehicle is unloaded, the wheels 3-6 have no toe-in; when a target vehicle is carried, the wheel 3-6 assembly moves upwards relative to the suspension assembly, and the rotor part of the wheel assembly 3 generates tiny toe-in of the wheel 3-6 by the wheel 3-6 due to the guiding effect of the tie rod 8, and the toe-in improves the straight-line driving capability and the aligning capability of the carrying platform.

When the front axle assembly of the invention needs braking, the braking current is output to the electromagnetic brakes 3-8 after receiving the message of the controller, and the magnitude of the braking current is adjusted according to the current deceleration, so that the carrying platform reaches the target deceleration. In an emergency, the rotating electric machine 13 is reversed to provide an additional braking torque for rapid braking of the carrying platform. The composite braking system can realize braking deceleration of more than 0.8g on a good horizontal road surface, and can simulate dangerous traffic scenes such as vehicle emergency braking and the like.

The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.

Claims

1. A front axle assembly of a vehicle carrying platform for an automatic driving test target is characterized by comprising a shell (1), a steering component, two wheel components (3) and two suspension components, wherein the steering component, the two wheel components (3) and the two suspension components are arranged in the shell (1),

the middle part of the steering component is fixedly connected with the shell (1), the two wheel components (3) are symmetrically arranged at the tail ends of the steering component, the steering component drives wheels (3-6) of the wheel components (3) to rotate,

the two suspension assemblies are symmetrically arranged on two sides of the steering assembly, the fixed ends of the suspension assemblies are rotatably and fixedly connected with the shell (1), and the rotating ends of the suspension assemblies are rotatably and fixedly connected with the wheel assemblies (3);

the wheel component (3) comprises a stator component and a rotor component, the rotor component comprises a wheel (3-6), the stator component is connected with the rotating end of the suspension component, the rotor component can be rotatably arranged in the stator component, the stator component comprises a wheel disc outer bearing seat (3-1) and a wheel disc outer bearing cover (3-11), the wheel disc outer bearing cover (3-11) is arranged on the wheel disc outer bearing seat (3-1),

the rotor assembly further comprises a wheel disc bearing (3-2), a wheel disc inner bearing seat (3-3), a wheel disc inner bearing cover (3-10), a wheel seat (3-4), a wheel shaft (3-5) and a brake, wherein the wheel disc inner bearing cover (3-10) is covered on the wheel disc inner bearing seat (3-3), a wheel disc outer bearing seat (3-1) is arranged on the periphery of the wheel disc inner bearing seat (3-3) to form a gap, the wheel disc bearing (3-2) is arranged between the wheel disc inner bearing seat (3-3) and the wheel disc outer bearing seat (3-1), the wheel seat (3-4) is fixedly arranged on the inner side of the wheel disc inner bearing seat (3-3), the wheel shaft (3-5) is arranged in the wheel seat (3-4), the wheel (3-6) is sleeved on the wheel shaft (3-5), the brake is fixedly connected with the wheel seat (3-4), and the brake end of the brake is arranged on the wheel (3-6);

the brake is a bilateral electromagnetic brake (3-8), the brake comprises two brake components symmetrically arranged on two sides of a wheel (3-6), the brake components comprise an electromagnetic brake (3-8) and a ceramic brake disc (3-7), the electromagnetic brake (3-8) is fixedly connected with a wheel seat (3-4), the ceramic brake disc (3-7) is connected with the wheel (3-6), and the ceramic brake disc (3-7) is arranged at the tail end of the electromagnetic brake (3-8);

every the suspension subassembly include two swing arm groups, two swing arm group symmetries locate the front side and the rear side of wheel subassembly (3), every swing arm group includes at least one swing arm (2), the stiff end of swing arm (2) articulated with casing (1), the rotation end of swing arm (2) articulated with wheel subassembly (3), swing arm group include two isometric swing arms (2), two isometric swing arm (2) parallel arrangement.

2. The front axle assembly of the automatic driving test target vehicle carrying platform according to claim 1, wherein the steering component comprises a rotating motor (13), a rack component and two steering pulling components symmetrically arranged on two sides of the rack component, an output end of the rotating motor (13) is connected with the rack component, and the rotating motor (13) operates and drives the rack component and the steering pulling components to act in sequence.

3. The front axle assembly of an automatic driving test target vehicle carrying platform according to claim 2, wherein the rack component comprises a gear (12), a rack (11) and a rack seat (10), the gear (12) is fixed at the tail end of an output shaft of a rotating motor (13), the rack seat (10) is connected with the shell (1), the rack (11) is movably inserted into the rack seat (10), the gear (12) is in meshing transmission with the rack (11), the rotating motor (13) runs to drive the rack (11) to translate under the limitation of the rack seat (10), and the tail end of the rack (11) is connected with the steering pulling component.

4. The front axle assembly of an automatic driving test target vehicle carrying platform according to claim 2, wherein the steering pulling component comprises a first spherical hinge (9-1), a second spherical hinge (9-2) and a tie rod (8), the spherical hinge is fixedly arranged at the tail end of the rack component, one end of the tie rod (8) is rotatably connected with the first spherical hinge (9-1), the other end of the tie rod is rotatably connected with the second spherical hinge (9-2), and the second spherical hinge (9-2) is connected with the wheel component (3).

5. The front axle assembly of a vehicle carrying platform for an automatic driving test target according to claim 1, further comprising a plurality of wheel springs (4), wherein the wheel springs (4) are fixedly arranged on the wheel components (3), and the top of the wheel springs (4) are abutted against the housing (1).