CN211452855U - Intelligent networking automobile test platform - Google Patents
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- CN211452855U CN211452855U CN201922265523.XU CN201922265523U CN211452855U CN 211452855 U CN211452855 U CN 211452855U CN 201922265523 U CN201922265523 U CN 201922265523U CN 211452855 U CN211452855 U CN 211452855U
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Abstract
The utility model discloses an intelligence networking vehicle test platform, include: the system comprises a perception calibration module, an attack and defense test module, an automatic driving drive-by-wire test module and a monitoring module, wherein the perception calibration module comprises a radar, a camera and at least one adjusting module which are arranged on an automobile body to be tested, and the adjusting module is used for adjusting the angles of the radar and the camera; the attack and defense testing module is used for carrying out attack and defense testing in the running process of the automobile to be tested to obtain a first response signal; the automatic driving drive-by-wire test module controls the automobile to be tested to operate according to an external instruction to obtain a second response signal; and the monitoring module obtains a test result of the automobile to be tested according to the information monitored by the radar and the camera, the first response signal and the second response signal. Through implementing the utility model discloses, can realize that L2 reaches above autopilot perception system sensor demarcation and fusion effect test. Meanwhile, the monitoring module can monitor the execution effect of the automatic driving of the automobile to be tested, the defense response after the attack is received and the like.
Description
Technical Field
The utility model relates to an intelligence networking car technical field, concretely relates to intelligence networking car test platform.
Background
According to the definition of the China automobile industry Association on the intelligent networked automobile, the intelligent networked automobile is a new generation automobile which is provided with advanced vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes the exchange and sharing of intelligent information of the automobile and X (people, vehicles, roads, backstage and the like), has the functions of complex environment perception, intelligent decision, cooperative control, execution and the like, can realize safe, comfortable, energy-saving and efficient driving, and can finally replace people to operate.
At present, both internet companies and traditional vehicles and enterprises are actively exploring relevant technologies in the field of automatic driving and successively release intelligent networked automobiles with different automation degrees at home and abroad, but the intelligent automobiles still need to undergo a strict and long test process to reach a mass production stage. However, the test platform of the domestic and foreign intelligent internet automobile mainly takes a virtual simulation test platform as a main part, the research and development test of a real automobile mainly takes the refitted existing mature automobile type as a main part, and no automatic driving research and development test platform which is based on a real automobile structure and a real automobile system and faces to L2 or above exists at present. And each large research and development organization establishes a test platform with partial functions based on the research and development requirements of the large research and development organization.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides an intelligence networking automobile test platform to do not have among the solution prior art based on real automobile structure and system to the technical problem of L2 and above autopilot research and development test platform.
The utility model provides a technical scheme as follows:
the embodiment of the utility model provides an intelligence networking vehicle test platform, this test platform includes: the system comprises a perception calibration module, an attack and defense test module, an automatic driving drive-by-wire test module and a monitoring module, wherein the perception calibration module comprises a radar, a camera and at least one adjusting module which are installed on an automobile body to be tested, the adjusting module is respectively connected with the radar and the camera, and the adjusting module is used for adjusting the angle and the position of the radar and the camera; the attack and defense testing module is used for performing attack and defense testing in the running process of the automobile to be tested and obtaining a first response signal of the automobile to be tested after the automobile to be tested receives the attack and defense testing; the automatic driving drive-by-wire test module is used for controlling the automobile to be tested to operate according to an external instruction and obtaining a second response signal after the automobile to be tested operates; the monitoring module is respectively connected with the perception calibration module, the attack and defense test module and the automatic driving drive-by-wire test module, and the monitoring module is used for obtaining a test result of the automobile to be tested according to information monitored by the radar and the camera, the first response signal and the second response signal.
Optionally, the intelligent networking automobile test platform further comprises: the automobile frame that awaits measuring, the frame is the grid structure, perception calibration module includes: the system comprises a laser radar calibration test module, a millimeter wave radar calibration test module, an ultrasonic radar calibration test module and a camera calibration test module, wherein the laser radar calibration test module comprises a laser radar and a first adjusting bracket, the laser radar is mounted on the body of the automobile to be tested through the adjusting bracket, and the first adjusting bracket adjusts the inclination angle and the position of the laser radar; the millimeter wave radar calibration test module comprises a millimeter wave radar and a second adjusting bracket, the millimeter wave radar is mounted on the automobile frame to be tested through the second adjusting bracket, and the angle of the millimeter wave radar is adjusted through the second adjusting bracket; the ultrasonic radar calibration test module comprises an ultrasonic radar and a third adjusting bracket, the ultrasonic radar is mounted on the automobile frame to be tested through the third adjusting bracket, and the angle of the ultrasonic radar is adjusted through the third adjusting bracket; the camera calibration testing module comprises a camera and a fourth adjusting support, the camera is mounted on the automobile frame to be tested through the fourth adjusting support, and the angle of the camera is adjusted through the fourth adjusting support.
Optionally, the lidar calibration test module includes: three laser radars and install the slip track at the automobile body top that awaits measuring, three laser radars pass through first regulation support is in the slip track is last to be removed.
Optionally, the millimeter wave radar calibration testing module includes: and the two millimeter wave radars pass through the second adjusting support and are arranged at the tail position of the automobile to be detected.
Optionally, the ultrasonic radar calibration testing module includes: and the ultrasonic radars are arranged on different grids of the automobile frame to be detected through the third adjusting bracket.
Optionally, the camera calibration testing module includes: the system comprises a binocular forward-looking camera and four around-looking cameras, wherein the binocular forward-looking camera is used for installing the position of a front window of an automobile to be detected, and the around-looking cameras are respectively installed at the head, the tail and two sides of the automobile body of the automobile to be detected.
Optionally, the automated driving-by-wire test module comprises: the brake-by-wire device comprises an electronic brake pedal and a brake controller and is used for braking the automobile to be tested according to the brake-by-wire.
Optionally, the automatic driving-by-wire test module further comprises: the drive-by-wire steering device comprises an electronic power steering device and is used for steering the automobile to be tested according to the drive-by-wire.
Optionally, the intelligent networking automobile test platform further comprises: and the combined inertial navigation system is used for positioning the automobile to be tested.
Optionally, the intelligent networking automobile test platform further comprises: and the power supply system is used for supplying power to the perception calibration module, the attack and defense test module, the automatic driving drive-by-wire test module and the monitoring module.
The embodiment of the utility model provides a technical scheme has following advantage:
the embodiment of the utility model provides an intelligence networking vehicle test platform can acquire the vehicle condition information and environmental information etc. around the car that awaits measuring through radar and the camera in the perception calibration module, and porous grid structure's frame design and the use of adjusting the support can make radar and camera install the different positions at the automobile body simultaneously, can realize that the autopilot perception system sensor of L2 and above is markd and fuse the effect test. In addition, the operation such as acceleration, braking and the turning that automatic drive-by-wire test module can await measuring the car through external signal control, attacks and defends test module and can carry out information security performance to the car that awaits measuring through Tbox and test, and monitoring module can monitor the execution effect of the car automatic driving that awaits measuring simultaneously and accept the defense response after attacking etc. consequently, the utility model provides an intelligent networking car test platform can realize based on real car structure and system towards L2 and above autopilot research and development and test.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block diagram of an embodiment of the present invention, illustrating an intelligent networked automobile test platform;
fig. 2A is a left front 45 ° three-dimensional structure diagram of the vehicle body of the intelligent networking vehicle test platform in the embodiment of the present invention; fig. 2B is a diagram of a three-dimensional structure of the intelligent networked automobile test platform in an embodiment of the present invention, in which the bottom of the automobile body is inclined by 45 degrees; fig. 2C is a side view of the vehicle body structure of the intelligent networked vehicle test platform according to the embodiment of the present invention;
fig. 3 is a block diagram of another embodiment of the present invention, illustrating a structure of an intelligent networked automobile test platform;
FIG. 4 is a schematic view of the installation positions of the radar and the camera of the intelligent networked automobile test platform in the embodiment of the present invention;
FIG. 5 is a block diagram of an automatic driving line control module of the intelligent networked automobile test platform according to the embodiment of the present invention;
fig. 6 is a block diagram of an automatic driving wire control module of an intelligent networked automobile test platform according to another embodiment of the present invention;
fig. 7 is a block diagram of another embodiment of the present invention, which illustrates an intelligent networked automobile test platform.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the utility model provides an intelligence networking vehicle test platform, as shown in FIG. 1, this test platform includes: the system comprises a perception calibration module 10, an attack and defense test module 20, an automatic driving drive-by-wire test module 30 and a monitoring module 40.
The perception calibration module 10 comprises a radar, a camera and at least one adjusting module, wherein the radar, the camera and the at least one adjusting module are mounted on an automobile body to be detected; the attack and defense testing module 20 is used for carrying out attack testing in the running process of the automobile to be tested and obtaining a first response signal of the automobile to be tested after the automobile to be tested receives the attack testing; the automatic driving drive-by-wire test module 30 controls the vehicle to be tested to operate according to the external instruction, and obtains a second response signal after the vehicle to be tested operates; the monitoring module 40 is respectively connected with the perception calibration module 10, the attack and defense testing module 20 and the automatic driving drive-by-wire testing module 30, and the monitoring module 40 is used for obtaining a testing result of the automobile to be tested according to information monitored by the radar and the camera, the first response signal and the second response signal.
When the monitoring module judges the test result of the automobile to be tested according to the information monitored by the radar and the camera, the first response signal and the second response signal, the monitoring module can specifically perform steering or braking according to whether the automobile to be tested defends an external attack signal or whether the automobile to be tested performs steering or braking according to the control signal.
Optionally, as shown in fig. 2A to 2C, the intelligent networked automobile test platform may further include an automobile frame, and the automobile frame may adopt a porous grid structure. Wherein, FIG. 2A is a left front 45 degree three-dimensional effect drawing of the vehicle body; FIG. 2B is a three-dimensional effect diagram of the bottom of the vehicle body inclining by 45 degrees; fig. 2C is a side view of the vehicle body structure. Therefore, the radar and the camera in the perception calibration module can be arranged on grids at different positions of the vehicle body according to requirements. Meanwhile, the camera and the radar can be arranged on the adjusting support, so that the radar and the camera can be adjusted by the calibration module conveniently.
Optionally, attack viruses or bugs and the like can be preset in the attack and defense testing module 20, and the bugs can be sent to the vehicle to be tested when the attack and defense testing is performed, the vehicle to be tested is tested during the operation process, the defense condition of the vehicle to be tested is monitored, and the first response signal of the vehicle to be tested is obtained and sent to the monitoring module 40. Specifically, the first response signal includes the defense condition of the vehicle to be tested against the attack and the like.
The embodiment of the utility model provides an intelligence networking vehicle test platform can acquire the vehicle condition information and environmental information etc. around the car that awaits measuring through radar and the camera in the perception calibration module, and porous grid structure's frame design and the use of adjusting the support can make radar and camera install the different positions at the automobile body simultaneously, can realize that the autopilot perception system sensor of L2 and above is markd and fuse the effect test. In addition, the automatic driving drive-by-wire test module can control the running of the automobile to be tested such as acceleration, braking and steering through external signals, the attack and defense test module can test the information safety performance of the automobile to be tested through the Tbox, and meanwhile, the monitoring module can monitor the execution effect of automatic driving of the automobile to be tested and the defense response after receiving attack. Therefore, the embodiment of the utility model provides an intelligent networking automobile test platform can realize based on real automobile structure and system towards L2 and above autopilot research and development and test.
As an optional implementation manner of the embodiment of the present invention, as shown in fig. 3 and 4, the sensing calibration module includes: the system comprises a laser radar calibration test module 11, a millimeter wave radar calibration test module 12, an ultrasonic radar calibration test module 13 and a camera calibration test module 14.
Optionally, the lidar calibration test module 11 may include the lidar 1, a first adjusting bracket and a first calibration module, the lidar 1 is mounted on the vehicle body to be detected through the adjusting bracket, and the first calibration module adjusts the inclination angle and the position of the lidar 1 according to the information monitored by the lidar. Wherein, this laser radar marks test module 11 can include three laser radar 1, can be at the automobile body top installation slip track that awaits measuring simultaneously, and three laser radar 1 can be through first regulation support mounting on the slip track. The first support structure that adjusts can be different according to laser radar 1's model design, and the quantity of first support of adjusting also can keep unanimous with laser radar 1's quantity. The first calibration module can acquire monitoring information of the laser radar 1, and adjust the position and the inclination of the laser radar 1 in real time according to the monitoring information, for example, when the monitoring information of two laser radars 1 is the same or information cannot be monitored by a certain laser radar, the position and the inclination of the laser radar can be dynamically adjusted. In addition, the first calibration module can also fuse the monitoring information of the plurality of laser radars 1, and the monitoring precision of the laser radar calibration test module is improved.
Optionally, the millimeter wave radar calibration test module 12 includes a millimeter wave radar 2, a second adjusting bracket and a second calibration module, the millimeter wave radar is mounted on the vehicle frame to be detected through the second adjusting bracket, and the second calibration module adjusts an angle of the millimeter wave radar according to information monitored by the millimeter wave radar 2. The millimeter wave radar calibration test module 12 may include: and five millimeter wave radars 2, wherein three millimeter wave radars 2 pass through the second adjusting bracket is arranged at the head position of the automobile to be detected, and two millimeter wave radars 2 pass through the second adjusting bracket is arranged at the tail position of the automobile to be detected.
Specifically, the three millimeter wave radars 2 of the vehicle head may include two short range millimeter wave radars and one long range millimeter wave radar, and the two millimeter wave radars 2 of the vehicle tail may be two short range millimeter wave radars. The millimeter wave radar 2 can be mounted to different positions of the frame grid through the second adjusting bracket. In addition, the second calibration module can calculate the information of the target object according to the information monitored by the millimeter wave radar 2 and perform visual display, and meanwhile, the second calibration module can dynamically adjust the detection range of the millimeter wave radar by adjusting the angle of the millimeter wave radar 2.
Optionally, the ultrasonic radar calibration test module 13 includes an ultrasonic radar 4, a third adjusting bracket and a third calibration module, the ultrasonic radar 4 is mounted on the frame of the vehicle to be detected through the third adjusting bracket, and the third calibration module adjusts the angle of the ultrasonic radar 4 according to the information monitored by the ultrasonic radar 4; the ultrasonic radar calibration test module 13 may include: twelve ultrasonic radar 4, ultrasonic radar 4 pass through the third regulation support and install on the different net of the automobile frame that awaits measuring. In addition, the third calibration module can also fuse the monitoring information of the plurality of ultrasonic radars 4, so that the monitoring precision of the ultrasonic radar calibration test module is improved.
Optionally, the camera calibration testing module 14 includes a camera, a fourth adjusting bracket and a fourth calibration module, the camera 3 is mounted on the frame of the vehicle to be tested through the fourth adjusting bracket, and the fourth calibration module adjusts the angle of the camera according to the information monitored by the camera 3. The camera calibration test module 14 includes: the system comprises a binocular front-view camera 3 and four around-view cameras 3, wherein the binocular front-view camera 3 is installed at the position of the front window of the automobile to be detected, and the around-view cameras 3 are respectively installed at the head, the tail and two sides of the automobile body of the automobile to be detected. Wherein, look around the camera and can install on the different grids of the automobile frame that awaits measuring through the fourth support of adjusting. Meanwhile, the fourth calibration module can analyze the imaging effect of the binocular camera and the fusion effect of the multiple panoramic cameras, so that the dynamic adjustment of the multiple cameras is realized.
The embodiment of the utility model provides an intelligence networking automobile test platform, monitoring module 40 can acquire the monitoring information of each module radar and camera in the perception calibration module, can realize the adjustment to each radar and camera parameter according to this monitoring information simultaneously, can also fuse the monitoring information of each module with the horizontal contrast of each module performance.
As an optional implementation manner of the embodiment of the present invention, as shown in fig. 5, the automatic driving-by-wire test module 30 includes: a computing platform 32 and a brake-by-wire device 31, wherein the brake-by-wire device 31 comprises an electronic brake pedal 33 and a brake controller (VCU) 34, and is used for braking the Vehicle to be tested according to the brake-by-wire. Specifically, when the brake-by-wire is performed, the brake controller 34 receives a brake request signal output by the computing platform 32 to generate a brake instruction, and sends the brake instruction to the electronic brake pedal 33, and the electronic brake pedal 33 controls the vehicle to be tested to move according to the brake instruction.
Specifically, the electronic brake pedal 33 may perform information interaction through the CAN bus. The electronic brake pedal 33 can be arranged between a brake pedal 35 of the vehicle to be tested and a vehicle body electronic stability control system 36 (ESC), the electronic brake pedal 33 can output a hydraulic signal to the ESC36 according to the pedal stroke, speed and braking instruction of the brake pedal, and the ESC36 realizes acceleration control, braking control and steering control of the vehicle to be tested through a wheel cylinder 37. In addition, also can adopt other communication modes to realize the drive-by-wire braking to the car that awaits measuring, the utility model discloses do not restrict to this.
As an optional implementation manner of the embodiment of the present invention, as shown in fig. 6, the automatic driving-by-wire test module 30 further includes: the steer-by-wire device 38, the steer-by-wire device 38 includes an Electronic Power Steering (EPS) for Steering the vehicle under test according to the steer-by-wire. Specifically, when the steer-by-wire device 38 performs steer-by-wire, the steer-by-wire device receives a steering request signal output by the computing platform 32, and generates a steering signal according to the steering request signal to control the vehicle to be tested to rotate. The steer-by-wire device 38 can obtain a steering angle signal of the steering wheel 39 of the vehicle to be tested in a specific working process, generate a steering signal to the computing platform 32 according to the steering angle signal, the computing platform 32 can compute an actual steering angle according to the steering signal and send the actual steering angle to the steer-by-wire device 38, and the steer-by-wire device 38 can output a torque to the steering gear 301 of the vehicle to be tested according to the steering angle, so that the vehicle to be tested can be steered. In addition, also can adopt other communication modes to realize the drive-by-wire of the car that awaits measuring and turn to, the utility model discloses do not restrict to this.
The embodiment of the utility model provides an intelligence networking automobile test platform through adding drive-by-wire arresting gear and drive-by-wire device that turns to, realizes the control that the drive-by-wire system turned to and the braking to the car that awaits measuring. Specifically, a brake-by-wire device can be designed in the brake system to realize the brake control instruction of the electronic brake pedal to the automobile to be tested; meanwhile, the steering system adopts the communication between the newly added steer-by-wire device and the computing platform to realize the control of the steering of the automobile to be tested, and the steering control of the automobile can be directly realized on the basis of not controlling a steering wheel. Therefore, the embodiment of the utility model provides an intelligent networking automobile test platform can directly realize the control to the automobile steering and the braking of awaiting measuring through computing platform, and monitoring module can monitor the effect that this autopilot carried out simultaneously, realizes the test to the automobile autopilot that awaits measuring.
As an optional implementation manner of the embodiment of the present invention, as shown in fig. 7, this intelligent networking automobile test platform further includes: and the combined inertial navigation module 50 is used for positioning the automobile to be tested. Meanwhile, the combined inertial navigation module 50 combines information of multiple navigation systems, and can provide full-attitude navigation information including attitude, speed, position and the like for the carrier.
As an optional implementation manner of the embodiment of the present invention, as shown in fig. 7, this intelligent networking automobile test platform further includes: and the power supply module 60 is used for supplying power to the perception calibration module 10, the attack and defense testing module 20, the automatic driving drive-by-wire testing module 30 and the monitoring module 40. The power module 60 can include a 12V vehicle-mounted battery which can be connected to a junction box which can supply power to all modules requiring voltage.
Although the present invention has been described in detail with respect to the exemplary embodiments and the advantages thereof, those skilled in the art will appreciate that various changes, substitutions and alterations can be made to the embodiments without departing from the spirit of the invention and the scope of the invention as defined by the appended claims. For other examples, one of ordinary skill in the art will readily appreciate that the order of the process steps may be varied while maintaining the scope of the present invention.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
Claims (10)
1. The utility model provides an intelligence networking vehicle test platform which characterized in that includes: a perception calibration module, an attack and defense test module, an automatic driving drive-by-wire test module and a monitoring module,
the perception calibration module comprises a radar, a camera and at least one adjusting module, wherein the radar, the camera and the at least one adjusting module are installed on an automobile body to be measured, the adjusting module is respectively connected with the radar and the camera, and the adjusting module is used for adjusting the angle and the position of the radar and the camera;
the attack and defense testing module is used for performing attack and defense testing in the running process of the automobile to be tested and obtaining a first response signal of the automobile to be tested after the automobile to be tested receives the attack and defense testing;
the automatic driving drive-by-wire test module is used for controlling the automobile to be tested to operate according to an external instruction and obtaining a second response signal after the automobile to be tested operates;
the monitoring module is respectively connected with the perception calibration module, the attack and defense test module and the automatic driving drive-by-wire test module, and the monitoring module is used for obtaining a test result of the automobile to be tested according to information monitored by the radar and the camera, the first response signal and the second response signal.
2. The intelligent networked automobile test platform of claim 1, further comprising: the automobile frame that awaits measuring, the frame is the grid structure, perception calibration module includes: a laser radar calibration test module, a millimeter wave radar calibration test module, an ultrasonic radar calibration test module and a camera calibration test module,
the laser radar calibration test module comprises a laser radar and a first adjusting support, the laser radar is mounted on the body of the automobile to be tested through the adjusting support, and the first adjusting support adjusts the inclination angle and the position of the laser radar;
the millimeter wave radar calibration test module comprises a millimeter wave radar and a second adjusting bracket, the millimeter wave radar is mounted on the automobile frame to be tested through the second adjusting bracket, and the angle of the millimeter wave radar is adjusted through the second adjusting bracket;
the ultrasonic radar calibration test module comprises an ultrasonic radar and a third adjusting bracket, the ultrasonic radar is mounted on the automobile frame to be tested through the third adjusting bracket, and the angle of the ultrasonic radar is adjusted through the third adjusting bracket;
the camera calibration testing module comprises a camera and a fourth adjusting support, the camera is mounted on the automobile frame to be tested through the fourth adjusting support, and the angle of the camera is adjusted through the fourth adjusting support.
3. The intelligent networked automobile test platform according to claim 2, wherein the laser radar calibration test module comprises: three laser radars and install the slip track at the automobile body top that awaits measuring, three laser radars pass through first regulation support is in the slip track is last to be removed.
4. The intelligent networked automobile test platform of claim 2, wherein the millimeter wave radar calibration test module comprises: and the two millimeter wave radars pass through the second adjusting support and are arranged at the tail position of the automobile to be detected.
5. The intelligent networked automobile test platform of claim 2, wherein the ultrasonic radar calibration test module comprises: and the ultrasonic radars are arranged on different grids of the automobile frame to be detected through the third adjusting bracket.
6. The intelligent networked automobile test platform of claim 2, wherein the camera calibration test module comprises: the system comprises a binocular forward-looking camera and four around-looking cameras, wherein the binocular forward-looking camera is used for installing the position of a front window of an automobile to be detected, and the around-looking cameras are respectively installed at the head, the tail and two sides of the automobile body of the automobile to be detected.
7. The intelligent networked automobile test platform of claim 1, wherein the automatic driving drive-by-wire test module comprises: the brake-by-wire device comprises an electronic brake pedal and a brake controller and is used for braking the automobile to be tested according to the brake-by-wire.
8. The intelligent networked automobile test platform of claim 7, wherein the autopilot-by-wire test module further comprises: the drive-by-wire steering device comprises an electronic power steering device and is used for steering the automobile to be tested according to the drive-by-wire.
9. The intelligent networked automobile test platform of claim 1, further comprising: and the combined inertial navigation system is used for positioning the automobile to be tested.
10. The intelligent networked automobile test platform of claim 1, further comprising: and the power supply system is used for supplying power to the perception calibration module, the attack and defense test module, the automatic driving drive-by-wire test module and the monitoring module.
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| CN112666530A (en) * | 2020-12-01 | 2021-04-16 | 的卢技术有限公司 | Test bench for intelligent driving related sensor and manufacturing method |
| CN113156440A (en) * | 2021-04-27 | 2021-07-23 | 浙江工业大学 | Defense method and system based on radar and image data fusion detection |
| CN113183979A (en) * | 2021-05-26 | 2021-07-30 | 江苏盛海智能科技有限公司 | Drive-by-wire test method and system for unmanned vehicle |
| CN113188569A (en) * | 2021-04-07 | 2021-07-30 | 东软睿驰汽车技术（沈阳）有限公司 | Vehicle and laser radar coordinate system calibration method, device and storage medium |
| CN114628905A (en) * | 2022-05-16 | 2022-06-14 | 深圳市国天电子股份有限公司 | Monitoring device and method with adjustable angle based on millimeter wave radar |
| CN116558850A (en) * | 2023-05-30 | 2023-08-08 | 北京速度时空信息有限公司 | Automatic driving test system |
| CN117724406A (en) * | 2024-02-18 | 2024-03-19 | 中国汽车技术研究中心有限公司 | Four-wheel drive mobile platform transverse and longitudinal control calibration method |
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| CN112666530A (en) * | 2020-12-01 | 2021-04-16 | 的卢技术有限公司 | Test bench for intelligent driving related sensor and manufacturing method |
| CN113188569A (en) * | 2021-04-07 | 2021-07-30 | 东软睿驰汽车技术（沈阳）有限公司 | Vehicle and laser radar coordinate system calibration method, device and storage medium |
| CN113156440A (en) * | 2021-04-27 | 2021-07-23 | 浙江工业大学 | Defense method and system based on radar and image data fusion detection |
| CN113156440B (en) * | 2021-04-27 | 2024-03-26 | 浙江工业大学 | Defense method and system based on radar and image data fusion detection |
| CN113183979A (en) * | 2021-05-26 | 2021-07-30 | 江苏盛海智能科技有限公司 | Drive-by-wire test method and system for unmanned vehicle |
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| CN116558850A (en) * | 2023-05-30 | 2023-08-08 | 北京速度时空信息有限公司 | Automatic driving test system |
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