CN102435442B - Automatic drive robot used in vehicle road tests - Google Patents
Automatic drive robot used in vehicle road tests Download PDFInfo
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- CN102435442B CN102435442B CN2011102610268A CN201110261026A CN102435442B CN 102435442 B CN102435442 B CN 102435442B CN 2011102610268 A CN2011102610268 A CN 2011102610268A CN 201110261026 A CN201110261026 A CN 201110261026A CN 102435442 B CN102435442 B CN 102435442B
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Abstract
本发明公开了一种用于车辆道路试验的自动驾驶机器人，包括执行单元、环境感知单元、车辆运行状态检测单元、用户交互单元和控制单元。环境感知单元检测试验车辆的运行环境，车辆运行状态检测单元实时检测车辆的运行状态。用户交互单元用于在进行道路试验前进行试验相关设定；所述控制单元包括驾驶控制单元与安全控制单元；驾驶控制单元驱动执行单元控制车辆的运行，可使车辆按照用户预设的试验项目进行试验，安全控制单元检测环境传感器信息、车辆故障信息、车辆运动状态信息，及时发现安全问题，实现车辆安全控制。本发明可代替人工驾驶完成各种汽车道路试验，具有控制准确、持续工作时间长、试验效率高和重复性好的优点。
The invention discloses an automatic driving robot for vehicle road test, which comprises an execution unit, an environment perception unit, a vehicle running state detection unit, a user interaction unit and a control unit. The environment perception unit detects the running environment of the test vehicle, and the vehicle running state detection unit detects the running state of the vehicle in real time. The user interaction unit is used to make test-related settings before the road test; the control unit includes a driving control unit and a safety control unit; the driving control unit drives the execution unit to control the operation of the vehicle, which can make the vehicle follow the test items preset by the user Carrying out the test, the safety control unit detects environmental sensor information, vehicle fault information, and vehicle motion state information, discovers safety problems in time, and realizes vehicle safety control. The invention can replace manual driving to complete various automobile road tests, and has the advantages of accurate control, long continuous working time, high test efficiency and good repeatability.
Description
Technical field
The present invention relates to the Vehicular intelligent technology, specifically, is a kind of intelligent automatic pilot instrument for the road vehicle test.
Background technology
In the vehicle test field, to consider from security standpoint, the car room real vehicle collision test adopts the alternative true man of dummy to carry out impact test.In outdoor actual road test, need to do a large amount of safety and fail-test, dangerous equally, be used for the road vehicle test if use automatic Pilot to substitute pilot steering, will have wide market outlook in vehicle safety and fail-test.
The automatic robot driver of road vehicle test use is the device that replaces true driver by predetermined test specification, vehicle to be handled and travelled in automobile test, have manipulation and precise control to vehicle, continuous working period is long, test efficiency is high, good reproducibility and measuring accuracy advantages of higher, can replace pilot steering to complete safely various automotive performances examinations and reliability testing is tested., according to the difference of application scenario, usually can be divided into indoor automatic robot driver and actual road test automatic robot driver to the vehicle test automatic robot driver.The most typical application of indoor automatic robot driver is exactly the motor vehicle emission test.Aspect the road vehicle test,, owing to adopting automatic robot driver to replace the driver, have a clear superiority in to guaranteeing driver safety, raising test accuracy and repeatability, so it is the ideal chose that replaces pilot steering.
Since little wild the survey since device Co., Ltd. succeeds in developing in the world the First automatic robot driver of Japan in 1994, Germany SCHENCK company, STAHLE company, Volkswagen, Britain MIRA company, Froude Consine company, Anthony Best Dynamics company and U.S. Chrysler all develop the automatic robot driver of using for automobile performance test.At home, the DNC-I that has independent intellectual property right, the DNC-II type automatic robot driver of Southeast China University and the technique center joint research and development success of leap group.These drive robots belong to indoor automatic robot driver, vehicle are controlled the control problem of the safety problem, road environment identification problem and the complicated road operating condition that do not need to consider high speed traveling.
Below list the related invention of automatic robot driver:
1) invention CN 100495274C automatic drive of large engineering vehicle control method and system, mainly by video camera, identify the pavement marker line, then to the control of vehicle travel direction, this haulage vehicle is the heavy construction car, travelling speed is slow, need not consider the traffic safety under high-speed working condition, in should inventing in addition, environment was simple, the engineering truck operating condition is single.
2) invention CN 100449443C automatic vehicle control system, by mounting guide rail guide car two in road, directly use the luminaire in roadside to carry out location recognition, environment is not identified, this invention must be travelled being equipped with on the permanent haulage line of guide rail.
3) speed tracking fuzzy control method of vehicle of invention CN 101667015A Vehicle Driver Robot, this invention is to control for the speed of the robot of driving in vehicle chamber, does not relate to the problems such as vehicle safety control.
Summary of the invention
The object of the invention is to provide a kind of automatic robot driver for the road vehicle test, the actual road test of vehicle is carried out in alternative pilot steering, it can meet the driving demand of road vehicle test high-speed, high precision, and can improve efficiency and the security of road vehicle test.
A kind of automatic robot driver for the road vehicle test, is characterized in that: comprise performance element, environment sensing unit, travel condition of vehicle detecting unit, user interaction unit and control module user interaction unit.
Wherein, performance element comprises steering mechanical hand, gear shifting manipulator, braking pedipulator, throttle pedipulator and base; Wherein, base is rectangular frame structure, is arranged on the driver's seat in vehicle; Between the front and back dual-side of base, gear shifting manipulator is installed, the front portion that the base top is equipped with steering mechanical hand, base is equipped with braking pedipulator and throttle pedipulator.
Described steering mechanical hand comprises fixed head, adjustable support, bearing circle mechanical gripper, steer motor and motor fixture; Adjustable support is rod shaped structure, and an end is hinged on fixed head, and the other end and motor fixture are hinged; Be provided with steer motor in the motor fixture, steer motor is fixed by the motor clamp; The output terminal of steer motor, towards the place ahead of base, is connected with planetary reduction gear on output terminal, the output terminal of planetary reduction gear is fixed with the bearing circle mechanical gripper, bearing circle mechanical gripper and steering wheel for vehicle fixed installation; Before and after described fixed head and base, side is vertical is slidably connected.By fixed head horizontally slip between side before and after the base, hinged, the adjustable support of adjustable support and fixed head and motor fixture hinged, can realize steering mechanical hand installation site and setting angle adjustable onboard, thereby adapt to dissimilar vehicle.
Described gear shifting manipulator comprises gearshift handgrip, ball-screw, shift motor; Shift motor is fixedly mounted on a back up pad, and back up pad is horizontally fixed between the dual-side of base front and back, and shift motor is positioned at base rear portion side edge, is socketed with a bearing support on ball-screw, and bearing support is fixed on back up pad; One end of ball-screw is connected with the output shaft of shift motor; On ball-screw, thread bush is connected to feed screw nut A, and the gearshift handgrip connecting link that feed screw nut A and thread bush are connected on ball-screw is connected; Have transverse slipway on chassis side, gearshift handgrip connecting link passes transverse slipway and is connected with the gearshift handgrip; The gear level of gearshift handgrip and vehicle is connected.
Described braking pedipulator and throttle pedipulator structure are identical, include machine leg, brake pedal web member, drive motor, driving leading screw and installing plate; Wherein, drive motor is fixedly mounted on installing plate; Drive on leading screw and be socketed with support; Support is fixed on installing plate; An end that drives leading screw is connected with the output shaft of drive motor; Drive thread bush on leading screw and be connected to slide block; The machine leg is a branching rod structure, and an end of machine leg is hinged with the slide block that drives on leading screw, and slide block is fixed with the feed screw nut B that drives screw thread socket on leading screw; The other end of machine leg and pedal web member are hinged, by the brake pedal in pedal web member and vehicle or gas pedal, fix; Be slidably connected between described installing plate and base the place ahead side, fixed head is horizontally slipped between side before and after base.The machine leg is designed to multistage, and each intersegmental employing is threaded, and, by regulating each intersegmental length that is threaded, adjusts the length of machine leg, thereby adapts to different vehicle.
A described side that connects slide block is provided with optoelectronic switch, and optoelectronic switch and installing plate are fixed, and are provided with anti-dazzling screen between optoelectronic switch and slide block, and the break-make by optoelectronic switch judges whether vehicle inside brake pedal is positioned at initial position.
Described environment sensing unit, mainly for detection of the running environment of test vehicle, comprises differential GPS and CCD camera; Wherein, differential GPS is arranged on vehicle, is used for the Real-time Obtaining vehicle position information; The CCD camera is arranged on front part of vehicle, is used for Real-time Obtaining road video information.
Described travel condition of vehicle detecting unit is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor, side acceleration sensor, yaw-rate sensor and position feedback transducer; Wherein, vehicle speed sensor is arranged in driving axle housing, is used for Real-time Obtaining car speed information; Side acceleration sensor and yaw-rate sensor are installed in the barycenter place of vehicle, are used for respectively the side acceleration of Real-time Obtaining vehicle and the yaw velocity of vehicle; Described position feedback transducer has four, be arranged on respectively on steering mechanical hand, gear shifting manipulator, braking pedipulator and throttle pedipulator, and be used for respectively displacement, brake pedal displacement and the accelerator pedal displacement of the current rotating of steering wheel angle of Real-time Obtaining vehicle, gear level.
Described user interaction unit is used for before carrying out actual road test, the user carries out the setting of test type, and, according to the test type that sets, carry out the permissible value of the biased error of Vehicle Driving Cycle circuit, the speed of a motor vehicle, operating range and vehicle and track center line and set.
Described control module mainly comprises Driving control unit and security control unit; The Driving control unit is controlled each servomotor in performance element, thereby bearing circle, brake pedal, gas pedal and the gear level controlled in vehicle by performance element operate, and realizes the operation of vehicle is controlled.
When the user presets the Vehicle Driving Cycle circuit in user interaction unit, the Driving control unit will extract default Vehicle Driving Cycle circuit and the speed of a motor vehicle from user interaction unit, with the positional information of vehicle by the differential GPS collection and by the current running status of the vehicle that extracts in the travel condition of vehicle detecting unit, compared, thereby control performance element to vehicle brake, acceleration, steering operation, vehicle is travelled according to default travel route.
When the user does not have Vehicle Driving Cycle circuit default in user interaction unit, the Driving control unit is by CCD camera collection road video information, video is processed, extract lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading, the servomotor of controlling in topworks is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line.
The running status that security control unit Real-Time Monitoring vehicle is current, carry out the vehicle-state estimation, judge whether vehicle has the possibility of the situation of causing danger, if the possibility of causing danger is arranged, security control unit sends the danger early warning signal to carrying out control module, and after the Driving control unit receives this danger early warning signal, control performance element operating and controlling vehicle travels in safe range.
Security control unit extracts the failure message of vehicle from the diagnostics interface of vehicle self, when vehicle has fault to occur, can control performance element vehicle is braked;
Security control unit and Driving control unit keep real-time Communication for Power, and when breaking down for one in Driving control unit and security control unit, communication disruption, control performance element 1 by another at this moment and carry out brake operating, guarantee that vehicle safety stops.The invention has the advantages that:
1, automatic robot driver of the present invention, can replace pilot steering to complete various motor road tests, and precise control, continuous working period is long, test efficiency is high and good reproducibility;
2, automatic robot driver of the present invention adopts the dual controller mode, two controller real-time Communication for Power, and when one of them broke down, another can work, and guaranteed the safety of automated driving system;
3, automatic robot driver of the present invention, need not to reequip vehicle, and be applicable to different vehicles.
Description of drawings
Fig. 1 is automatic robot driver one-piece construction block diagram of the present invention;
Fig. 2 is performance element structural representation in automatic robot driver of the present invention;
Fig. 3 is braking pedipulator or throttle pedipulator schematic diagram in performance element.
In figure:
1-performance element 2-environment sensing unit 3-travel condition of vehicle detecting unit 4-user interaction unit
5 control module 101-steering mechanical hand 102-gear shifting manipulator 103-braking pedipulators
104-throttle pedipulator 105-base 1011-fixed head 1012-adjustable support
1013-bearing circle mechanical gripper 1014-steer motor 1015-motor fixture 1016-planetary reduction gear
1021-gearshift handgrip 1022-ball-screw 1023-shift motor 1024-bearing support
1025-feed screw nut A 1026-gearshift handgrip connecting link 1031-machine leg
1032-brake pedal web member 1033-drive motor 1034-drives leading screw
1035-installing plate 1036-support 1037-slide block 1038-feed screw nut B
1039-optoelectronic switch 1030-anti-dazzling screen 201-differential GPS 202-CDD camera
301-vehicle speed sensor and yaw 302-side acceleration sensor 303-yaw-rate sensor
Embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
A kind of automatic robot driver for the road vehicle test of the present invention, be arranged on vehicle interior, comprise performance element 1, environment sensing unit 2, travel condition of vehicle detecting unit 3, user interaction unit 4 and control module 5 user interaction unit 4, as shown in Figure 1.
As shown in Figure 2, wherein, performance element 1 comprises steering mechanical hand 101, gear shifting manipulator 102, braking pedipulator 103, throttle pedipulator 104 and base 105.Wherein, base 105 is rectangular frame structure, is arranged on the driver's seat in vehicle, is used as the fixed pedestal of braking pedipulator 103 and throttle pedipulator 104.Between the front and back dual-side of base 105, gear shifting manipulator 102 is installed, the front portion that base 105 tops are equipped with steering mechanical hand 101, base 105 is equipped with braking pedipulator 103 and throttle pedipulator 104.
Described steering mechanical hand 101 comprises fixed head 1011, adjustable support 1012, bearing circle mechanical gripper 1013, steer motor 1014 and motor fixture 1015.Wherein, adjustable support 1012 is rod shaped structure, and an end is hinged on fixed head 1011, and the other end and motor fixture 1015 are hinged.Be provided with steer motor 1014 in motor fixture 1015, steer motor 1014 is fixedly clamped by motor fixture 1015.The output terminal of steer motor 1014A is towards the place ahead of base 105, be connected with planetary reduction gear 1016 on output terminal, the output terminal of planetary reduction gear 1016 is fixed with tabular bearing circle mechanical gripper 1013, and bearing circle mechanical gripper 1013 is used for realizing fixing between steering mechanical hand 101 and steering wheel for vehicle.The front and back side is vertical is slidably connected for described fixed head 1011 and base 105, fixed head 1011 can be horizontally slipped between base 105 front and back sides, make the position of bearing circle mechanical gripper 1013 can be on base 105 left and right adjusting, be convenient to thus the installation of bearing circle mechanical gripper 1013.By fixed head 1011 horizontally slip between base 1015 front and back sides, adjustable support 1012 and fixed head 1011 hinged, adjustable support 1012 is hinged with motor fixture 1015, can realize steering mechanical hand 1013 installation site and setting angle adjustable onboard, thereby adapt to different vehicles.Pass through said structure, can bearing circle mechanical gripper 1013 and steering wheel for vehicle be fixed by adjusting the position of adjustable support 1012 and motor fixture 1015, pass through thus the output shaft rotation of steer motor 1014, slow down and increase square through planetary reduction gear 1016, drive steering wheel for vehicle and rotate.By controlling rotating speed and the corner of steer motor 1014, thereby control velocity of rotation and the rotational angle of steering wheel for vehicle.
Described gear shifting manipulator 102 comprises gearshift handgrip 1021, ball-screw 1022, shift motor 1023.Shift motor 1023 is fixedly mounted on a back up pad, back up pad is horizontally fixed between base 105 front and back dual-sides, shift motor 1023 is positioned at base 105 rear portion side edge, be socketed with a bearing support 1024 on ball-screw 1022, bearing support 1024 is fixed on back up pad, make ball-screw 1022 and back up pad relative positioning by bearing support 1024, and ball-screw 1022 can rotate freely in bearing support 1024.One end of ball-screw 1022 is connected with the output shaft of shift motor 1023 by shaft coupling A.On ball-screw 1022, thread bush is connected to feed screw nut A1025, feed screw nut A1025 can ball-screw 1022 axially on movable block, feed screw nut A1025 and thread bush are connected on gearshift handgrip 1026 on the ball-screw 1022 handgrip connecting links 1026 of shifting gears and are connected.Have transverse slipway on base 105 sides, gearshift handgrip connecting link 1026 passes transverse slipway and is connected with gearshift handgrip 1021.Gearshift handgrip 1021 is used for firmly grasping the gear level of vehicle.Pass through said structure, the output shaft rotation of shift motor 1023, driving ball-screw 1022 rotates, thereby can make gearshift handgrip connecting link 1026 axial-movement along ball-screw 1022 in transverse slipway, drive thus gearshift handgrip 1021 associated movements, final by controlling rotating speed and the corner of shift motor 1023, control position and the speed of the handgrip 1021 of shifting gears, make gearshift handgrip 1021 realize gear shift operation with the gear level in motor vehicle.The present invention is mainly used in being equipped with the automatic Pilot of vehicle with automatic transmission, so do not need clutch coupling is controlled, the control of gear shifting manipulator has three gears, is respectively parking shift, reverse gear and forward gear.
Described braking pedipulator 103 is identical with throttle pedipulator 104 structures, as shown in Figure 3, includes machine leg 1031, brake pedal web member 1032, drive motor 1033, drives leading screw 1034 and installing plate 1035.Wherein, drive motor 1033 is fixedly mounted on installing plate 1035.Drive leading screw 1034 two ends and all be socketed with a support 1036, driving leading screw 1034 can freely rotate in two supports 1036.Two supports 1036 are fixed on installing plate 1035, by two supports 1036, make and drive leading screw 1034 and installing plate 1035 relative positionings.An end that drives leading screw 1034 is connected with the output shaft of drive motor 1033 by shaft coupling B.Drive thread bush on leading screw 1034 and be connected to slide block 1037, slide block 1037 can move on driving leading screw 1034 is axial.Machine leg 1031 is a branching rod structure, and an end of machine leg 1031 is hinged with the slide block 1037 that drives on leading screw 1034, and slide block 1037 is fixed with the feed screw nut B that drives screw thread socket on leading screw 1034.The other end of machine leg 1031 and brake pedal web member 1032 are hinged, by brake pedal web member 1032 and the brake pedal in vehicle, fix.Be slidably connected between described installing plate 1035 and base 105 the place ahead sides, make the installing plate 1035 can be in the base 105 upper left right slips of the place ahead side, braking pedipulator 103 and the position, left and right of throttle pedipulator 104 can be regulated, be convenient to brake the brake pedal in pedipulator 103 and throttle pedipulator 104 and vehicle, the installation between gas pedal.Drive leading screws 1034 and the output shaft of drive motor 1033 by said structure drive motor 1033 common concentric clockwise or rotate counterclockwise, feed screw nut band movable slider 1037 is moved up and down at driving leading screw 1034, thereby move up and down by slide block 1037 band movement machine legs 1031, finally can rotate with the brake pedal in motor vehicle or gas pedal by machine leg 1031.in order to make performance element 1 when starting at every turn, it (is that vehicle is advanced machine leg 1031 while brake pedal and gas pedal not being carried out any operation that vehicle inside brake pedal and gas pedal all are arranged in initial position, brake pedal and gas pedal position), therefore when machine leg 1031 does not carry out any operation to vehicle inside brake pedal and gas pedal, a side at slide block 1037 arranges optoelectronic switch 1039, optoelectronic switch 1039 is fixing with installing plate 1035, and at optoelectronic switch 1039 and 1037 of slide blocks, anti-dazzling screen 1030 is set, can judge by the break-make of optoelectronic switch 1039 thus whether vehicle inside brake pedal is positioned at initial position.
In performance element 1 of the present invention in order to regulate apart from the gap of seat position according to the height of seat in different automobile types, brake pedal, therefore machine leg 1031 is designed to the n section, each intersegmental employing is threaded, thus can be by regulating each intersegmental degree of depth that is threaded, adjust the length of machine leg 1031, wherein, n is positive integer.
As shown in Figure 1, described environment sensing unit 2, mainly for detection of the running environment of test vehicle, comprises differential GPS 201 and CCD camera 202.Wherein, differential GPS 201 is arranged on vehicle, is used for the Real-time Obtaining vehicle position information, and its positioning precision is less than 0.2m, and data frequency is greater than 10Hz; CCD camera 202 is arranged on front part of vehicle, is used for Real-time Obtaining road video information, and its image was 30 frame/seconds, and resolution is 600 * 480 pixels.In use procedure of the present invention, lane line uses luminous mark, makes CCD camera 202 can obtain the lane line video information under general illumination condition.
Described travel condition of vehicle detecting unit 3 is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor 301, side acceleration sensor 302 and yaw-rate sensor 303.Wherein, vehicle speed sensor 301 is arranged in driving axle housing, is used for the information of each wheel wheel speed of Real-time Obtaining; Vehicle speed sensor 301 output signals are pulse signal.Side acceleration sensor 302 and yaw-rate sensor 303 are installed in the barycenter place of vehicle, are used for respectively side acceleration and the yaw velocity of Real-time Obtaining vehicle.Described position feedback sensing has four, be arranged on respectively on steering mechanical hand 101, gear shifting manipulator 102, braking pedipulator 103 and throttle pedipulator 104, be used for respectively displacement, brake pedal displacement and the accelerator pedal displacement of the current rotating of steering wheel angle of Real-time Obtaining vehicle, gear level.
Described user interaction unit 4 is mainly used in before automatic robot driver of the present invention carries out actual road test, the user carries out test type to automatic robot driver and (as track following, tests, brake test, the acceleration and deceleration test, circumference steering test etc.) setting, and, according to the test type that sets, carry out the setting of the biased error permissible value of Vehicle Driving Cycle circuit, the speed of a motor vehicle, operating range and vehicle and track center line.
Described control module 5 mainly comprises Driving control unit 501 and security control unit 502.Wherein, Driving control unit 501 is mainly controlled each servomotor in performance element 1, thereby bearing circle, brake pedal, gas pedal and the gear level controlled in vehicle by performance element 1 operate accordingly, realize the operation of vehicle is controlled.
as the user in user interaction unit 4 during default Vehicle Driving Cycle circuit, Driving control unit 501 will extract from user interaction unit 4 default Vehicle Driving Cycle circuit and the speed of a motor vehicle, with the positional information of vehicle by gathering in differential GPS 201 and by the current running status of vehicle of extracting in travel condition of vehicle detecting unit 3, compared, thereby controlling 1 pair of vehicle of performance element brakes, accelerate, steering operation, vehicle is travelled according to default travel route, performance element 1 is sent braking, accelerate, the driver behavior instruction such as turn to, realization is to Vehicular automatic driving.When the user does not have in the situation that the Vehicle Driving Cycle circuit of presetting in user interaction unit 4, the road video information that Driving control unit 501 gathers by CCD camera 202, video is processed, extract lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading, the servomotor of controlling in topworks 1 is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line.
Vehicle position information and lane line information that described security control unit collection differential GPS 201 and CCD camera 202 obtain, when in difference GPS201 or CCD camera 202 one while breaking down, security control unit 502 is controlled 1 pair of vehicle of performance elements and is braked behaviour.
The security control unit 502 current running statuses of Real-Time Monitoring vehicle, carry out the vehicle-state estimation, judge the vehicle situation of whether can causing danger, if the possibility of causing danger is arranged, security control unit 502 sends the danger early warning signal to carrying out control module 501, and after Driving control unit 501 receives this danger early warning signal, control performance element 1 operating and controlling vehicle travels in safe range.
Claims (2)
1. an automatic robot driver that is used for the road vehicle test, comprise performance element, environment sensing unit, travel condition of vehicle detecting unit, user interaction unit and control module; It is characterized in that:
Wherein, performance element comprises steering mechanical hand, gear shifting manipulator, braking pedipulator, throttle pedipulator and base; Wherein, base is rectangular frame structure, is arranged on the driver's seat in vehicle; Between the front and back dual-side of base, gear shifting manipulator is installed, the front portion that the base top is equipped with steering mechanical hand, base is equipped with braking pedipulator and throttle pedipulator;
Described steering mechanical hand comprises fixed head, adjustable support, bearing circle mechanical gripper, steer motor and motor fixture; Adjustable support is rod shaped structure, and an end is hinged on fixed head, and the other end and motor fixture are hinged; Be provided with steer motor in the motor fixture, steer motor is fixed by the motor clamp; The output terminal of steer motor, towards the place ahead of base, is connected with planetary reduction gear on output terminal, the output terminal of planetary reduction gear is fixed with the bearing circle mechanical gripper, bearing circle mechanical gripper and steering wheel for vehicle fixed installation; Before and after described fixed head and base, side is vertical is slidably connected, and fixed head is horizontally slipped between side before and after base.
Described gear shifting manipulator comprises gearshift handgrip, ball-screw, shift motor; Shift motor is fixedly mounted on a back up pad, and back up pad is horizontally fixed between the dual-side of base front and back, and shift motor is positioned at base rear portion side edge, is socketed with a bearing support on ball-screw, and bearing support is fixed on back up pad; One end of ball-screw is connected with the output shaft of shift motor; On ball-screw, thread bush is connected to feed screw nut A, and the gearshift handgrip connecting link that feed screw nut A and thread bush are connected on ball-screw is connected; Have transverse slipway on chassis side, gearshift handgrip connecting link passes transverse slipway and is connected with the gearshift handgrip; The gear level of gearshift handgrip and vehicle is connected;
Described braking pedipulator and throttle pedipulator structure are identical, include machine leg, brake pedal web member, drive motor, driving leading screw and installing plate; Wherein, drive motor is fixedly mounted on installing plate; Drive on leading screw and be socketed with support; Support is fixed on installing plate; An end that drives leading screw is connected with the output shaft of drive motor; Drive thread bush on leading screw and be connected to slide block; The machine leg is a branching rod structure, and an end of machine leg is hinged with the slide block that drives on leading screw, and slide block is fixed with the feed screw nut B that drives screw thread socket on leading screw; The other end of machine leg and pedal web member are hinged, by the brake pedal in pedal web member and vehicle or gas pedal, fix; Be slidably connected between described installing plate and base the place ahead side; Described machine leg is the n section, and each intersegmental employing is threaded, and n is positive integer; A described side that connects slide block is provided with optoelectronic switch, and optoelectronic switch and installing plate are fixed, and are provided with anti-dazzling screen between optoelectronic switch and slide block, and the break-make by optoelectronic switch judges whether vehicle inside brake pedal is positioned at initial position;
Described environment sensing unit, for detection of the running environment of test vehicle, comprises differential GPS and CCD camera; Wherein, differential GPS is arranged on vehicle, is used for the Real-time Obtaining vehicle position information; The CCD camera is arranged on front part of vehicle, is used for Real-time Obtaining road video information;
Described travel condition of vehicle detecting unit is used for detecting in real time the running status of vehicle, comprises vehicle speed sensor, side acceleration sensor, yaw-rate sensor and position feedback transducer; Wherein, vehicle speed sensor is arranged in driving axle housing, is used for Real-time Obtaining car speed information; Side acceleration sensor and yaw-rate sensor are installed in the barycenter place of vehicle, are used for respectively the side acceleration of Real-time Obtaining vehicle and the yaw velocity of vehicle; Described position feedback transducer has four, be arranged on respectively on steering mechanical hand, gear shifting manipulator, braking pedipulator and throttle pedipulator, and be used for respectively displacement, brake pedal displacement and the accelerator pedal displacement of the current rotating of steering wheel angle of Real-time Obtaining vehicle, gear level;
Described user interaction unit is used for before carrying out actual road test, the user carries out the setting of test type, and, according to the test type that sets, carry out the setting of the biased error permissible value of Vehicle Driving Cycle circuit, the speed of a motor vehicle, operating range and vehicle and track center line;
Described control module mainly comprises Driving control unit and security control unit; The Driving control unit is controlled each servomotor in performance element, thereby bearing circle, brake pedal, gas pedal and the gear level controlled in vehicle by performance element operate, and realizes the operation of vehicle is controlled;
When the user presets the Vehicle Driving Cycle circuit in user interaction unit, the Driving control unit will extract default Vehicle Driving Cycle circuit and the speed of a motor vehicle from user interaction unit, with the positional information of vehicle by the differential GPS collection and by extract in the travel condition of vehicle detecting unit the current running status of vehicle carry out analysis-by-synthesis, thereby control performance element to vehicle brake, acceleration, steering operation, vehicle is travelled according to default travel route;
When the user does not have Vehicle Driving Cycle circuit default in user interaction unit, the Driving control unit is by CCD camera collection road video information, video is processed, extract lane line information, and according to vehicle at the position of lane line and the angle of lane line and vehicle heading, the servomotor of controlling in topworks is controlled the direction of vehicle, guarantees that vehicle can follow the tracks of lane line;
The running status that security control unit Real-Time Monitoring vehicle is current, carry out the vehicle-state estimation, judges whether vehicle has the possibility of the situation of causing danger; If the possibility of causing danger is arranged, security control unit sends the danger early warning signal to carrying out control module, and the performance element operating and controlling vehicle is controlled after receiving this danger early warning signal in the Driving control unit, makes Vehicle Driving Cycle in safe range;
Security control unit extracts the failure message of vehicle from the diagnostics interface of vehicle self, when vehicle has fault to occur, can control performance element vehicle is braked;
Security control unit and Driving control unit keep real-time Communication for Power, and when breaking down for one in Driving control unit and security control unit, communication disruption, control performance element by another at this moment and carry out brake operating, guarantee that vehicle safety stops.
2. a kind of automatic robot driver for road vehicle test as claimed in claim 1, it is characterized in that: the steer motor in described performance element, shift motor and drive motor are AC servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102610268A CN102435442B (en) | 2011-09-05 | 2011-09-05 | Automatic drive robot used in vehicle road tests |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102610268A CN102435442B (en) | 2011-09-05 | 2011-09-05 | Automatic drive robot used in vehicle road tests |
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| Publication Number | Publication Date |
|---|---|
| CN102435442A CN102435442A (en) | 2012-05-02 |
| CN102435442B true CN102435442B (en) | 2013-11-13 |
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