CN112162540A - Manned vehicle experiment platform for ADAS experiment and automatic driving test - Google Patents
Manned vehicle experiment platform for ADAS experiment and automatic driving test Download PDFInfo
- Publication number
- CN112162540A CN112162540A CN202010873602.3A CN202010873602A CN112162540A CN 112162540 A CN112162540 A CN 112162540A CN 202010873602 A CN202010873602 A CN 202010873602A CN 112162540 A CN112162540 A CN 112162540A
- Authority
- CN
- China
- Prior art keywords
- chassis
- data
- vehicle
- module
- testing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a manned vehicle experiment platform for ADAS experiments and automatic driving tests. And the GNSS antenna and the IMU module are combined to obtain the vehicle positioning. The collected data is processed by the industrial personal computer, and a control signal is sent out and transmitted to the drive-by-wire chassis. And the wire control chassis feeds back the speed and the rotation angle to the industrial personal computer. A user inputs a control instruction through a keyboard, the display performs visual operation, the drive-by-wire chassis can be controlled through the remote controller, and meanwhile, the vehicle can be braked by pressing the emergency brake button in an emergency situation. And after collision occurs, triggering a circuit in the anti-collision bumper to make the vehicle brake emergently. The invention can be used for carrying out chassis AEB, ACC, LKA, automatic driving tracking, laser radar mapping and positioning, automatic start and stop, traffic sign identification, multi-target identification and blind spot detection experiments.
Description
Technical Field
The invention relates to an experimental platform for teaching and scientific research, in particular to a manned vehicle experimental platform for ADAS experiments and automatic driving tests.
Background
Unmanned vehicles are the main development direction of the future vehicle industry, and the update iteration of the automatic driving technology becomes the hot spot of research of various colleges and universities and enterprises.
Currently, the society of international automatic engineers (SAE), which is widely recognized in the world, classifies the automatic driving level into six levels of L0 to L5 according to the degree of automation of the vehicle. L0 is full driver mode without automation, L5 is full automatic driving under all road and environmental conditions. An Advanced Driving Assistance System (ADAS) with adaptive cruise (ACC), Automatic Emergency Braking (AEB), lane keeping system (LKA), and auto park functions is part of an automated automatic driving at the level of L2-L3.
With the maturity of ADAS technology, more and more related automatic driving courses are set up in higher schools and automobile technical schools, and the requirements for developing related teaching and experiments are increased. At present, development of development experiment teaching aids for introducing and verifying ADAS principles and automatic driving courses are scarce, most of related courses are based on theoretical teaching, partial experiments are performed in a simulation environment or by adopting model vehicles, and few experimental teaching vehicles capable of visually performing practical training can be used. On the other hand, the autodrive is a great trend towards the ultimate goal of the level L5, and an autodrive vehicle experiment platform is also needed to develop an experiment test on a real complex traffic scene by using a low-cost real vehicle. The existing automatic driving experimental vehicle has the following problems: firstly, hardware cost is too high, and the cost of high performance sensor and industrial computer makes many scientific research teams hope the experimental car and can not ask. Secondly, the difficulty of real vehicle transformation is high, an open chassis CAN communication protocol is needed for automatic driving, and systematic transformation from hardware to software, from communication to calculation, from perception to control decision is needed for the vehicle, so that the system is complex and the transformation difficulty is high. Thirdly, the technical threshold is high, one automatic driving automobile needs to store knowledge and technology of multi-disciplinary fusion of machinery, vehicles, computers, communication, control and the like, and a team concentrating on a certain professional theoretical research is difficult to modify the whole system. Therefore, a vehicle experiment platform capable of verifying the integrated automatic driving test of the research result of a plurality of scientific research teams is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a manned vehicle experiment platform for ADAS experiments and automatic driving tests, which can develop and test the technical development and the test in the related fields of ADAS experiment training, automatic driving and the like, and has multiple functions, multiple platforms, multiple languages and multiple sensors.
The invention discloses a manned vehicle experiment platform for ADAS experiments and automatic driving tests.
The GNSS antenna is used for differential positioning. The IMU module is used for carrying out data fusion on positioning data of the GNSS antenna. The laser radar module is used for collecting laser point cloud data. The millimeter wave radar module is used for the distance between obstacles and acquiring the relative speed and the angle relation between two objects. The ultrasonic radar module is used for transmitting ultrasonic signals to obtain the distance between the ultrasonic radar module and the front obstacle. The camera module is used for digital image acquisition. The display is used for providing a visual operation interface. The wireless router provides mobile network data for the industrial personal computer. The CAN bus is used for transmitting data in real time. The industrial personal computer is used for receiving positioning data from the IMU module, laser point cloud data of the laser radar module, image data of the camera module, distance data of a front obstacle of the millimeter wave radar, distance data of ultrasonic wave reflection collected by the ultrasonic radar module, network data of the wireless router, steering data and acceleration and deceleration data fed back by the vehicle, and calculating and outputting instructions.
The manned vehicle experiment platform for ADAS experiments and automatic driving tests is also provided with a wireless keyboard for inputting experiment data or control instructions to an industrial personal computer and a remote controller with the highest control authority, and realizes one-key connection of a wired control chassis in emergency; the data of the remote controller is directly communicated with a signal receiver on a vehicle data CAN bus through wireless signals, an accelerator system and a brake system of the vehicle are controlled by the remote controller to accelerate, decelerate and brake, and a steering control system is controlled to control the steering of the drive-by-wire chassis.
Meanwhile, the front end face and the rear end face of the linear chassis are provided with anti-collision bumpers and pressure sensors, signals are transmitted to the linear chassis through a CAN bus after a vehicle is collided, and the linear chassis CAN be braked emergently. And an emergency brake button is further designed on the linear chassis, and by pressing the emergency brake button, a brake command is transmitted to a linear chassis brake system through a CAN bus to perform one-key braking.
The invention has the advantages that:
1. the manned vehicle experiment platform for ADAS experiments and automatic driving tests can realize multifunctional tests and experiments, can meet the requirements of teaching of automatic driving experiments, engineering practical training, scientific research and function demonstration, and can develop teaching experiments and subject researches such as chassis AEB, ACC, LKA, automatic driving tracking, laser radar mapping and positioning, automatic starting and stopping, traffic sign identification, multi-target identification, blind spot detection experiments and the like.
2. The manned vehicle experiment platform for ADAS experiments and automatic driving tests optimizes software and hardware integrated design, is preassembled with Apollo and ROS operating systems, supports programming languages such as C language, C + +, Python and the like, meets various development and test requirements of ADAS experiment teaching automatic driving research tests, is beneficial to a user to quickly develop research and development of automatic driving technologies, and has good compatibility and matching performance.
3. The manned vehicle experiment platform for ADAS experiments and automatic driving tests has multiple redundancy safety designs for guaranteeing the experiment safety, and firstly, once danger occurs, a user can carry out one-key connection through a remote controller; and secondly, an emergency brake button is arranged on the vehicle, and one-key braking can be realized. Thirdly, anti-collision bumpers are arranged at the front and the rear of the vehicle, and the vehicle can automatically brake after collision.
Drawings
Fig. 1 is a schematic structural view of a manned vehicle experimental platform for ADAS experiments and automatic driving tests provided by the present invention.
In the figure:
1-display 2-rear equipment mount 3-seat
4-GNSS antenna 5-IMU module 6-tail lamp
7-anti-collision bumper 8-driving wheel 9-drive-by-wire chassis
10-steering wheel 11-emergency brake button 12-industrial personal computer
13-wireless router 14-ultrasonic radar module 15-millimeter wave radar module
16-front equipment mount 17-camera module 18-lidar module
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
The invention relates to a manned vehicle experiment platform for ADAS experiments and automatic driving tests, which comprises a wire control chassis 9, an industrial personal computer 12, a camera module 17, a laser radar module 18, an ultrasonic radar module 14, a millimeter wave radar module 15, a GNSS antenna 4, an IMU module 5, a display 1, a wireless router 13, a remote controller, a keyboard and a CAN bus.
The wire control chassis 9 is 320kg in mass, 1.7-1.8 m in length and 0.9-1 m in width, a truss structure adopts a motor-drive axle combined drive form, and a rear axle adopts an integral axle structure as a drive axle. The steering wheel 10 in the wire control chassis 9 is a front wheel, the steering angle is-30 degrees to-30 degrees, and the front wheel adopts a double-wishbone type suspension on a passenger vehicle, so that the operation is stable and accurate, the trafficability is high, the shock absorption is good, and the automatic driving algorithm can be easily transplanted to the passenger vehicle. The driving wheel 8 in the wire control chassis 9 is a rear wheel, a motor is connected with a driving axle to transmit power, and the driving axle suspension adopts a similar trailing arm type suspension, so that the structure is simple, the installation is convenient, and the adaptability is strong.
The steering control of the wire-controlled chassis 9 is completed by a steering system, the steering system adopts a mode that a 220W power-assisted steering motor is used for controlling a steering transmission shaft, a universal joint and a steering gear control steering tie rod, so that enough steering force can be provided, the structure is compact, the space of the chassis is saved, and in addition, the steering motor has a locked-rotor protection function and can protect the motor during extreme steering. The parking motor of parking system adopts the parking motor of car rule level, promotes the parking effect, and spare part is reliable, and the position of parking system can be arranged in a flexible way to the position of mount. The braking system adopts a mode of adding the motor to the electric cylinder, the high-power absolute value servo motor has large braking force, and the servo motor has accurate control and high response speed. The drive-by-wire chassis 9 is provided with a power battery system not less than 6 kw.h and can provide not less than 3 kinds of direct current and 220v alternating current power outputs.
The wire control chassis 9 has the highest speed per hour of 40km/h, the climbing speed of 5km/h and the maximum climbing gradient of 30 degrees. The load of the wire control chassis 9 is larger than 500kg, 2-4 people can be carried, at least two people are taken in the experiment operation engineering, one person controls the experiment, and the other person observes the state of the vehicle. A tail lamp 6 is installed behind the drive-by-wire chassis 9, and is turned on at the time of a braking operation for warning a pedestrian or a vehicle behind. The wire-controlled chassis 9 CAN send feedback signals and receive control signals to the industrial personal computer 12 through the CAN bus, a user CAN send control commands to control the wire-controlled chassis 9 through the remote controller or the industrial personal computer 12, and the VCU in the wire-controlled chassis 9 also feeds back motor rotating speed, motor torque and fault information to the industrial personal computer 12 through the CAN bus.
The wire control chassis 9 is provided with a vehicle body shell; the shell of the vehicle body adopts a structure with a concave middle part, and the top surface of the front part is provided with a front equipment mounting rack 16; the front side equipment mounting frame front side is the inclined plane that inclines backward, and installs transparent deep bead, and the design of front side equipment mounting frame front side position transparent deep bead lower part has the bottom end rail that is used for the mount other equipment. The rear equipment mounting frame 2 is arranged on the top surface of the rear part; 2 trailing flank of rear portion equipment fixing frame has and is used for placing the protection crossbeam of taking the back-up, and the design of trailing flank below has the bottom end rail that is used for the mount other equipment simultaneously, and rear portion equipment fixing frame 2 left and right sides front side has the hand vertical pole automobile body shell rear portion top surface of the person of taking and is the user seat, mountable car rule level seat, the position is placed as user's shank to middle part indent part, and then the user takes experience vehicle experiment platform, observes experimental data. The seat 3 may be used in conjunction with the rear equipment mount 2 to protect the occupant.
The said 12 is fixed on the front top surface of the drive-by-wire chassis 9, under the front equipment mounting frame 16. The industrial personal computer 12 adopts an industrial vehicle-mounted industrial personal computer 12 supporting a GPU high-end display card, supports high-speed memory and storage, completely meets the calculation function and data processing capacity of large data volume of an automatic driving experiment, and also provides abundant acquisition card slots comprising an expandable CAN bus, which are used for receiving data from various sensors, calculating and processing the data in real time and sending instructions to an execution mechanism in the wire control chassis 9. The industrial personal computer 12 is supplied with 24V direct current power by a power battery system.
The GNSS antenna 4 is two, installs respectively in drive-by-wire chassis 9 the preceding, back both ends, installs respectively on the bottom end rail of anterior equipment fixing frame 16 and rear portion equipment fixing frame 2 for carry out GNSS differential positioning, realize centimetre level location under the good condition of signal condition that does not shelter from, GNSS antenna 4 pencil all links to each other with IMU module 5, need cooperate the use with IMU module 5 data fusion.
The IMU module 5 is arranged on the drive-by-wire chassis 9 and is positioned right above the center of the rear shaft. The IMU module 5 has two GNSS antenna 4 interfaces, and the positioning data of the GNSS antenna 4 are transmitted to the IMU module 5 for data fusion so as to realize more accurate positioning. 5 surperficial below of IMU module still has a comprehensive pencil socket, divides a plurality of interfaces and links to each other with other equipment respectively, includes: one network cable interface in the IMU module 5 integrated wire harness is connected with the wireless router 13, and GNSS differential positioning information transmitted from a nearby base station is received through the wireless router 13, so that errors are reduced; the other USB interface of the IMU module 5 integrated wiring harness branch is connected with the industrial personal computer 12, and transmits positioning information fused with the data of the GNSS antenna 4 and the IMU module 5 to the industrial personal computer 12; the IMU module 5 integrated wire harness is also provided with a time service branching beam of the laser radar, and is mainly used for carrying out time service on the laser radar module 18 and synchronizing the time of the IMU module 5 and the time of the laser radar module 18.
The lidar module 18 is mounted to a top cross-member of the front equipment mounting bracket 16. The laser radar module 18 selects a laser radar with 16 laser beams, collects and transmits point cloud data within 100 meters in real time, and can construct a real-time map or record three-dimensional data in an Apollo system and an ROS system. Lidar module 18 is connected to a distribution box. The data transmission line of the junction box is connected with the industrial personal computer 12 through an Ethernet interface RJ45, processes the data collected by the laser radar module 18 and sends the processed data to the industrial personal computer 12. Laser radar module 18 is powered by a power battery system via a junction box with 12V dc power.
The millimeter wave radar module 15 is installed on the front portion of the vehicle and located in front of the installation frame of the front device 15, the distance between the front portion of the chassis and objects such as front vehicles is acquired in real time by transmitting millimeter wave signals with certain frequency, and the relative speed and the angle relation between two objects can be acquired. The detected data information is sent to the industrial personal computer 12 for processing. The millimeter wave radar module can be used for carrying out ADAS and automatic driving self-adaptive cruise, blind spot monitoring and collision early warning experiments.
The ultrasonic radar module 14 is fixedly installed in the middle of the lower cross beam of the front upper equipment mounting frame 15. The ultrasonic radar module 14 calculates the distance between the ultrasonic radar module and the front obstacle through the time difference of transmitting and receiving ultrasonic signals, carries out obstacle avoidance algorithm processing and the like according to the distance information of the front obstacle, detects the distance of the front obstacle of the automatic driving vehicle in real time, and can perform obstacle avoidance experiments and the like based on the millimeter wave radar module 15. The ultrasonic radar modules 14 may also be provided in multiple sets as needed for user experiments and tests, and may be uniformly arranged along the anti-collision bumper 7.
The camera module 17 is mounted on a top beam of the front equipment mounting frame 16 and located below the laser radar module 18, the resolution is not less than 1920 x 1080, and the forward looking angle can be guaranteed to cover the road ahead. The digital images acquired by the camera module 17 are input to the industrial personal computer 12 for further processing. The camera module 17 may be used to develop algorithm development and teaching experiments for lane line detection, lane line maintenance, traffic sign recognition, multi-objective classification.
The display 1 is arranged on a front equipment mounting rack of the drive-by-wire chassis 9, can be extended, folded and rotated, the direction of the screen can be adjusted according to the requirements of passengers, and the rear equipment mounting rack can also be additionally provided with a display for demonstration. . The display 1 is used for displaying the vehicle state and the sensor data processing result, and comprises visual operation interfaces for visualizing the data of the laser point cloud, identifying and classifying lane lines, identifying and classifying multiple targets, automatically driving and tracking and the like. The display 1 is provided with 220V alternating current by a power battery system through an inverter, and can be replaced by a liquid crystal display screen meeting direct current according to the requirement of a user.
The industrial personal computer 12 inputs experimental data or control instructions through a keyboard. The keyboard is a wireless keyboard and is connected with the industrial personal computer 12 through a wireless USB module. In the chassis control experiment, a user sets the data of the drive-by-wire chassis 9 and sends an accelerator, a brake and a steering command through a keyboard, and can also input other experiment program codes through the keyboard to operate the system operation of the manned vehicle experiment platform for the ADAS experiment and the automatic driving test.
The wireless router 13 is installed on the top surface of the front part of the wire control chassis 9, an SIM card with an industrial Internet of things data standard not lower than 4G is arranged in the wireless router, and can receive data of a mobile Internet, and the wireless router 13 is provided with a network cable interface connected with the industrial personal computer 12 and provides movable network data for the industrial personal computer 12. The wireless router 13 is powered by a power battery system to provide 12V direct current.
The CAN bus is mainly used for transmitting real-time data of vehicles, including parameters such as speed and steering. The CAN bus is connected with an industrial personal computer 12 through a CAN card drive, transmits instructions to a VCU of the wire control chassis 9, and the VCU controls an execution mechanism and feeds back the speed and the rotation angle from the wire control chassis 9.
The industrial personal computer 12 receives positioning data from the IMU module 5, laser point cloud data collected by the laser radar module 18, image data of the camera module 17, distance data of a front obstacle of the millimeter wave radar module 15, distance data of ultrasonic wave reflection collected by the ultrasonic radar module 14, network data of the wireless router 13, an output instruction of the industrial personal computer 12, and steering data and acceleration and deceleration data fed back by a vehicle. Meanwhile, the industrial personal computer 12 outputs commands to control a parking system, a steering system, a braking system and a motor of the vehicle. The industrial personal computer 12 outputs visual graphical interfaces of the sensors and provides experimental results for the user through the display 1. The industrial personal computer 12 is pre-installed with a Linux operating system environment, is matched with Apollo and ROS software platforms, and supports programming languages such as C language, C + +, Python and the like.
The anti-collision bumper 7 is respectively arranged on the front end face and the rear end face of the chassis, a pressure sensor is arranged in the anti-collision bumper 7, signals are transmitted to the wire-controlled chassis 9 through a CAN bus after the vehicle is collided, and the wire-controlled chassis 9 CAN be braked emergently. Meanwhile, an emergency brake button 11 is mounted on the front equipment mounting bracket 16. When the passengers feel dangerous in advance, the emergency brake button 11 CAN be quickly pressed, and the brake command is transmitted to the brake system of the drive-by-wire chassis 9 through the CAN bus to carry out one-key braking.
Besides the above-mentioned equipment, the invention also has a remote controller; the remote controller has the highest authority of controlling the manned vehicle experiment platform for ADAS experiment and automatic driving test in the experiment process, and realizes one-key connection of the line control chassis 9 in emergency. The data of the remote controller 19 is directly communicated with a signal receiver on a vehicle data CAN bus through wireless signals, and CAN send commands to a VCU through the CAN bus to control an accelerator system and a brake system of the vehicle to accelerate and decelerate and brake, and control a steering system to control the steering of the drive-by-wire chassis 9.
The manned vehicle experiment platform for ADAS experiments and automatic driving tests can be used for developing teaching experiments such as chassis AEB, ACC, LKA, automatic driving tracking, laser radar mapping and positioning, automatic start and stop, traffic sign recognition, multi-target recognition, blind spot detection experiments and the like, and is used for carrying out experimental tests of automatic driving perception algorithms and research and verification of control decision algorithms.
Claims (10)
1. A manned vehicle experiment platform for ADAS experiments and automatic driving tests is characterized in that: including drive-by-wire chassis and:
a GNSS antenna for differential positioning;
the IMU module is used for carrying out data fusion on positioning data of the GNSS antenna;
the laser radar module is used for collecting laser point cloud data;
the millimeter wave radar module is used for the distance between the obstacles and acquiring the relative speed and the angle relation between the two objects;
the ultrasonic radar module is used for transmitting ultrasonic signals to obtain the distance between the ultrasonic radar module and a front obstacle;
a camera module for digital image acquisition;
a display for providing a visual operation interface;
the wireless router provides mobile network data for the industrial personal computer;
the CAN bus is used for carrying out real-time data transmission;
the industrial personal computer is used for receiving positioning data from the IMU module, laser point cloud data of the laser radar module, image data of the camera module, distance data of a front obstacle of the millimeter wave radar, distance data of ultrasonic wave reflection collected by the ultrasonic radar module, network data of the wireless router, output instructions, steering data and acceleration and deceleration data fed back by the vehicle.
2. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: the wire control chassis adopts a motor-drive axle combined drive form, and the rear axle adopts an integral axle structure as a drive axle; the steering wheel in the wire control chassis is a front wheel, the steering angle is-30 degrees, and the front wheel adopts a double-wishbone type suspension on a passenger vehicle; the driving wheel is a rear wheel, the driving wheel is connected with a driving axle through a motor to transmit power, and a similar trailing arm type suspension is adopted as a suspension of the driving axle.
3. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: the steering control of the wire-controlled chassis is completed by a steering system, and the steering system adopts a mode that a 220W power-assisted steering motor is used for controlling a steering transmission shaft, a universal joint and a steering gear to control a steering tie rod; a parking motor of the parking system adopts a parking motor of a vehicle gauge level; and the power battery system is not less than 6 kw.h, and can provide not less than 3 kinds of direct current and 220v alternating current power output.
4. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: a vehicle body shell is arranged on the wire control chassis; the vehicle body shell adopts a middle concave structure, and a front equipment mounting rack is arranged on the top surface of the front part; the front side surface of the front side equipment mounting frame is an inclined surface inclined backwards, and is provided with a transparent wind shield, and a lower cross beam for mounting other equipment is arranged on the lower part of the transparent wind shield on the front side surface of the front side equipment mounting frame; a rear equipment mounting frame is arranged on the top surface of the rear part; the rear side face of the rear device installation frame is provided with a protection cross beam used for placing a user to sit backward, a lower cross beam used for hanging other devices is designed at the lowest part of the rear side face, the top face of the rear part of a longitudinal rod vehicle body shell, which is held by the user, is arranged at the front side of the left side face and the right side face of the rear device installation frame, a vehicle seat is installed, and a concave part in the middle part is used as a leg placing position of the user.
5. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 or 4, wherein:
the industrial personal computer is installed and fixed on the top surface of the front part of the wire control chassis and is positioned below the front equipment installation frame;
the GNSS antennas are respectively arranged at the front end and the rear end of the wire control chassis and are respectively arranged on the lower cross beams of the front equipment mounting rack and the rear equipment mounting rack;
the IMU module is arranged on the wire control chassis and is positioned right above the center of the rear shaft;
the laser radar module is arranged on a top cross beam of the front equipment mounting frame;
the millimeter wave radar module is arranged at the front part of the vehicle and positioned in front of the front equipment mounting frame;
the ultrasonic radar module is fixedly installed in the middle of the lower cross beam of the front upper equipment installation frame;
the camera module is arranged on a top cross beam of the front equipment mounting frame and is positioned below the laser radar module;
the display is arranged on the equipment mounting frame in the front of the drive-by-wire chassis, can be extended, folded and rotated, the direction of the screen can be adjusted according to the requirements of passengers, and the display can be additionally arranged on the equipment mounting frame in the rear for demonstration.
6. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein:
the industrial personal computer is an industrial vehicle-mounted industrial personal computer supporting a GPU high-end display card;
the GNSS antenna realizes centimeter-level positioning under the condition of no shielding signal;
the IMU module has the interface of GNSS antenna, and the surperficial below also has one to synthesize pencil socket, divides a plurality of interfaces and links to each other with other equipment respectively, includes: one network cable interface in the IMU module integrated wire bundle is connected with a wireless router, and GNSS differential positioning information transmitted from a nearby base station is received through the wireless router; the other USB interface which is branched out by the IMU module comprehensive wire harness is connected with the industrial personal computer; the IMU module comprehensive wire harness is also provided with a time service branch wire harness of a laser radar;
the laser radar module selects a laser radar with line laser beam number, collects and sends point cloud data within 100 meters in real time, and can construct a real-time map or record three-dimensional data in an Apollo system and an ROS system;
the resolution of the camera module is not less than 1920 x 1080, and the forward looking angle can ensure that the road ahead is covered;
the wireless router is internally provided with an SIM card with an industrial Internet of things data standard not lower than 4G, and can receive data of the mobile Internet.
7. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: the industrial personal computer inputs experimental data or control instructions through a keyboard; the keyboard adopts wireless keyboard, links to each other with the industrial computer through wireless USB module.
8. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: the front end face and the rear end face of the linear chassis are provided with anti-collision bumpers, pressure sensors are arranged in the linear chassis, signals are transmitted to the linear chassis through a CAN bus after a vehicle is collided, and the linear chassis CAN be braked emergently.
9. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: and the emergency brake button is pressed, so that a brake command is transmitted to the linear chassis brake system through the CAN bus to perform one-key braking.
10. A manned vehicle testing platform for ADAS testing and autopilot testing according to claim 1 wherein: the remote controller is also provided; the remote controller has the highest control authority, and realizes one-key connection of the line control chassis in an emergency; the data of the remote controller is directly communicated with a signal receiver on a vehicle data CAN bus through wireless signals, an accelerator system and a brake system of the vehicle are controlled by the remote controller to accelerate, decelerate and brake, and a steering system is controlled to control the steering of the drive-by-wire chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010873602.3A CN112162540B (en) | 2020-08-26 | 2020-08-26 | Manned vehicle experiment platform for ADAS experiment and automatic driving test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010873602.3A CN112162540B (en) | 2020-08-26 | 2020-08-26 | Manned vehicle experiment platform for ADAS experiment and automatic driving test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112162540A true CN112162540A (en) | 2021-01-01 |
| CN112162540B CN112162540B (en) | 2021-08-27 |
Family
ID=73860170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010873602.3A Active CN112162540B (en) | 2020-08-26 | 2020-08-26 | Manned vehicle experiment platform for ADAS experiment and automatic driving test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112162540B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113140140A (en) * | 2021-05-07 | 2021-07-20 | 思博智能科技(中山)有限公司 | Education training is with driving car with autopilot function |
| CN113268054A (en) * | 2021-04-06 | 2021-08-17 | 深圳元戎启行科技有限公司 | Unmanned vehicle control method, device, medium, and unmanned vehicle |
| CN115188250A (en) * | 2022-08-25 | 2022-10-14 | 天津市硕恒科技发展有限公司 | Safety self-inspection line control chassis teaching system and method |
| CN115390567A (en) * | 2022-09-11 | 2022-11-25 | 南京悠阔电气科技有限公司 | Automatic obstacle-avoiding walking robot based on artificial intelligence |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774291A (en) * | 2016-12-26 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of electric-control system of automatic Pilot electric automobile |
| CN107037817A (en) * | 2017-06-19 | 2017-08-11 | 吉林大学 | A kind of intelligent electric motor car longitudinal side is to integrated control platform and vehicle |
| WO2017157865A1 (en) * | 2016-03-18 | 2017-09-21 | Jaguar Land Rover Limited | Navigation aid |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109752008A (en) * | 2019-03-05 | 2019-05-14 | 长安大学 | Intelligent vehicle multi-mode cooperative positioning system, method and intelligent vehicle |
-
2020
- 2020-08-26 CN CN202010873602.3A patent/CN112162540B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017157865A1 (en) * | 2016-03-18 | 2017-09-21 | Jaguar Land Rover Limited | Navigation aid |
| CN106774291A (en) * | 2016-12-26 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of electric-control system of automatic Pilot electric automobile |
| CN107037817A (en) * | 2017-06-19 | 2017-08-11 | 吉林大学 | A kind of intelligent electric motor car longitudinal side is to integrated control platform and vehicle |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109752008A (en) * | 2019-03-05 | 2019-05-14 | 长安大学 | Intelligent vehicle multi-mode cooperative positioning system, method and intelligent vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113268054A (en) * | 2021-04-06 | 2021-08-17 | 深圳元戎启行科技有限公司 | Unmanned vehicle control method, device, medium, and unmanned vehicle |
| CN113140140A (en) * | 2021-05-07 | 2021-07-20 | 思博智能科技(中山)有限公司 | Education training is with driving car with autopilot function |
| CN115188250A (en) * | 2022-08-25 | 2022-10-14 | 天津市硕恒科技发展有限公司 | Safety self-inspection line control chassis teaching system and method |
| CN115390567A (en) * | 2022-09-11 | 2022-11-25 | 南京悠阔电气科技有限公司 | Automatic obstacle-avoiding walking robot based on artificial intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112162540B (en) | 2021-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112162540B (en) | Manned vehicle experiment platform for ADAS experiment and automatic driving test | |
| CN106774291B (en) | Electric control system for automatically driving electric automobile | |
| CN112147999B (en) | Automatic driving experiment AGV vehicle platform | |
| CN109795487B (en) | Device and method for controlling train travel of vehicles | |
| EP4261092A1 (en) | Control method, related device, and computer-readable storage medium | |
| EP3593336B1 (en) | Method for transforming between a long vehicle combination and a platoon on the move | |
| JP7320001B2 (en) | Information processing device, information processing method, program, mobile body control device, and mobile body | |
| CN208101973U (en) | A kind of intelligent driving auxiliary anti-collision system | |
| CN110562171B (en) | Automobile electric control system and automobile | |
| CN110053617B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN113156927B (en) | Safety control method and safety control device for autonomous driving vehicle | |
| WO2024146195A1 (en) | Automatic operation system for electronic guided rubber-tyred tram | |
| CN111422196A (en) | Intelligent networking automatic driving system and method suitable for mini bus | |
| CN112918491B (en) | Parallel driving control system and method | |
| WO2020116194A1 (en) | Information processing device, information processing method, program, mobile body control device, and mobile body | |
| JPWO2018173161A1 (en) | Crew restraint structure | |
| CN111824180A (en) | Unmanned mine car automatic driving control system with fusion obstacle avoidance function | |
| CN111169444A (en) | Collision relieving system and method for bus | |
| CN108819938A (en) | Parking system and automobile | |
| JP2007210403A (en) | Vehicle driving assistance device | |
| CN113140140A (en) | Education training is with driving car with autopilot function | |
| JP2019156133A (en) | Vehicle controller, vehicle control method and program | |
| CN211943272U (en) | Automatic driving controller, automatic driving system of vehicle and vehicle | |
| CN112677996A (en) | Vehicle driving system and vehicle | |
| WO2018173138A1 (en) | Occupant restraining structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |