CN115482693B - A commercial vehicle road test and detection technology training method and device - Google Patents
A commercial vehicle road test and detection technology training method and deviceInfo
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- CN115482693B CN115482693B CN202211060661.4A CN202211060661A CN115482693B CN 115482693 B CN115482693 B CN 115482693B CN 202211060661 A CN202211060661 A CN 202211060661A CN 115482693 B CN115482693 B CN 115482693B
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Abstract
The invention provides a training method and device for a road test detection technology of a commercial vehicle, comprising the following steps of S1, collecting voice information and operation image information of a detection person by a detection end, sending the voice information and the operation image information to a learning end, receiving and playing and displaying the voice information and the operation image information by the learning end, simulating the operation of the detection person by a learner in a virtual scene, simulating the preparation work of a test, S2, collecting the scene information of a dynamic test road condition by the detection end, transmitting the scene information to the learning end in real time, and carrying out the dynamic simulation test operation in the simulation scene by the student according to the scene information collected in real time. According to the invention, the whole course detection workflow is collected and transmitted to the learning end for display, the consistency between the detection end and the learning end is high, the operation of the learning end of a learner and the test are synchronously carried out, so that the simultaneous synchronous learning of multiple persons is realized, and the popularization of the detection method is facilitated.
Description
Technical Field
The invention belongs to the technical field of automobile detection teaching, and particularly relates to a training method and device for a road test detection technology of a commercial vehicle.
Background
With the rapid development of the economy in China, a large number of commercial vehicles such as freight vehicles, engineering vehicles and the like are widely applied. The road test of the commercial vehicle is an important means for checking whether the vehicle is safe or not, and because the application condition of the vehicle is very complex, the detection condition is also relatively harsh, the test flow is complex, the danger coefficient is high, and most of the existing detection methods aiming at the commercial vehicle are a mode of one driving and one detecting (one driver and one detecting person). The learner cannot intuitively learn at the first visual angle, so that the learning effect is poor, the teaching efficiency is low, and the limitation of the learning popularization of the detection method is increased.
The conventional test method teaching mainly uses theory teaching or intermittent teaching in a mode of on-site guidance of a tester outside a test site before each test starts, has poor learning effect and high consumed time and cost, so the application designs a training method and device for the road test technology of the commercial vehicle.
Disclosure of Invention
In view of the above, the invention aims to provide a training method and a training device for a road test detection technology of a commercial vehicle, so as to solve the problems of poor teaching and learning effects, high consumed time and high cost of the existing test method.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
In a first aspect, the invention provides a training method for a road test detection technology of a commercial vehicle, comprising the following steps:
The method comprises the steps that S1, a detection person performs preparation work of a vehicle road test at a detection end, the detection end collects voice information and operation image information of the detection person and sends the voice information and the operation image information to a learning end, the learning end receives and plays and displays the voice information and the operation image information, and a learner simulates operation of the detection person at the learning end and simulates preparation work of the test in a virtual scene;
S2, carrying out a vehicle road dynamic test by a detector, acquiring road condition scene information of the dynamic test by the detector, transmitting the road condition scene information to a learning end in real time, and carrying out dynamic simulation test operation under a simulation scene by the student according to the scene information acquired in real time.
Further, the step S1 specifically includes the following steps:
the preparation work of the vehicle road test at the detection end comprises the steps of test equipment installation, test vehicle parameter setting and test equipment debugging;
after the debugging work is finished, the detection personnel state the operation of each step in the preparation work, explain the repeated steps in detail, the detection end collects the voice information of the detection personnel and sends the voice information to the learning end;
the detection end collects operation images in a test vehicle cab, performs data processing on the collected operation image information, and displays the processed operation image information in a three-dimensional operation scene mode.
Further, the step S1 further comprises the steps that the learner learns the preparation work flow of the detection personnel according to the played voice information and the displayed three-dimensional operation scene, and performs virtual operation of test preparation work in the virtual scene.
Further, the step S2 specifically includes the following steps:
after the test vehicle is ready to work, the test vehicle is driven to a test pavement to carry out a test;
The method comprises the steps that a detection end collects dynamic test road condition scene information, data processing is conducted on the scene information to obtain a three-dimensional driving scene, and the three-dimensional driving scene is displayed;
The detection personnel state the operation of each step in the detection process, explain the heavy point steps in detail, the detection end collects the voice information of the detection personnel and sends the voice information to the learning end, the learner learns the operation instruction of the detection personnel in the test process, performs virtual operation and simulates the running condition of the vehicle in the experience test process.
In a second aspect, the invention provides a commercial vehicle road test detection technology training device applying the commercial vehicle road test detection technology training method according to the first aspect, wherein the training device comprises detection end equipment and learning end equipment;
The detection end equipment comprises a first image acquisition device, a second image acquisition device, a detection device and a voice acquisition device, wherein the first image acquisition device is used for acquiring test operation scene information of a detection person, the second image acquisition device is used for acquiring road condition change scene information in the test process, the detection device is used for detecting speed change and steering angle change of a copilot and transmitting acquired speed data and steering angle data to the learning end equipment, and the voice acquisition device is used for acquiring voice information of the detection person;
The learning terminal equipment comprises an image display device, an image processing device, a simulation seat, an operation handle and a loudspeaker, wherein the image processing device is connected with the image acquisition device through a wireless network, the received image information is converted into a three-dimensional scene which can be displayed by the image display device, a learner performs corresponding operation in the virtual display scene by utilizing the operation handle according to the operation steps of a detection person, the simulation seat is used for simulating a road condition scene in the test process, and the loudspeaker is used for receiving and playing the voice information acquired by the voice acquisition device in real time.
Further, the simulation seat comprises a safety belt, a base, a steering mechanism, a swinging mechanism, a processor and an electric control device;
The processor obtains actual acceleration, steering angle and swing value according to the received speed data and steering angle data, processes the control signals of the simulation seat, and the electric control device controls the simulation seat to incline and rotate according to the control signals so that the motion of the simulation seat is consistent with that of the copilot seat;
the swinging mechanism and the steering mechanism are used for simulating the state change of the vehicle in the vehicle test process, and sideslip and rotation conditions caused by uneven braking force of each shaft and different factors of road surface adhesion coefficients on two sides of wheels;
The steering mechanism comprises a steering shaft and a control motor, the lower end of the steering shaft is connected with the output end of the control motor, the upper end of the steering shaft is connected with the center of the bottom surface of the base, the control motor is arranged on the base, and the electric control device controls the steering shaft to act according to corresponding signals;
The swinging mechanism comprises a swinging motor, and the swinging motor is arranged below the base and used for controlling the simulation seat to swing.
Further, the speed data includes a vehicle running curvature radius R, and the calculation formula is:
Where Vforward is the instantaneous vehicle speed and AngRate is the instantaneous angular speed.
Further, the method also comprises the step of calculating the instantaneous lateral acceleration of the vehicle as follows:
a y is the instantaneous lateral acceleration of the vehicle, a' y is the lateral acceleration acquired by an acceleration sensor, g is the gravitational acceleration, and phi is the roll angle of the vehicle body.
Compared with the prior art, the training method and the training device for the commercial vehicle road test detection technology have the following beneficial effects:
(1) According to the training method and device for the road test detection technology of the commercial vehicle, disclosed by the invention, the whole process collection and detection work flow is transmitted to the learning end for display, the consistency of the detection end and the learning end is high, the operation of the learning end of a learner and the test are synchronously carried out, so that simultaneous synchronous learning of multiple persons is realized, and the popularization of the detection method is facilitated.
(2) According to the training method and the training device for the road test detection technology of the commercial vehicle, disclosed by the invention, the real-time simulation of the vehicle state can be realized through the steering mechanism and the swinging mechanism of the seat, the safety simulation is realized, and the safety of a learner is ensured;
(3) According to the training method and device for the road test detection technology of the commercial vehicle, the rolling radius of the test vehicle is determined through the calibration of the high-precision wheel speed sensor and the radar velocimeter, the accuracy of the instantaneous speed of the test vehicle is improved, and the accuracy of the detection method is further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a detection technology training device based on a virtual reality technology according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an interaction process between a detection end and a learning end according to an embodiment of the present invention;
fig. 3 is a schematic diagram of positions of a main display area and a sub display area in a virtual scene according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, in a first embodiment, the present invention provides a training method for a road test and detection technology of a commercial vehicle, including the following steps:
The method comprises the steps that firstly, a detecting person performs preparation work of a vehicle road test at a detecting end, the detecting end collects voice information and operation image information of the detecting person and sends the voice information and the operation image information to a learning end, the learning end receives and plays and displays the voice information and the operation image information, and a learner simulates operation of the detecting person at the learning end and simulates preparation work of the test in a virtual scene.
The detection personnel performs preparation work such as instrument installation, parameter setting and equipment debugging, and selects equipment such as a high-precision wheel speed sensor, a gyroscope, a measurement steering wheel, a robot, a data acquisition device and the like for installation according to test operation rules and test requirements;
The high-precision wheel speed sensor is arranged on wheels on two sides of the test vehicle, can measure the precision wheel speed, and is combined with the rolling radius of the vehicle to determine the instantaneous speed of the test vehicle;
the gyroscope is arranged on the rigid structure of the copilot seat, and vehicle parameters and accurate coordinates thereof relative to the test vehicle are input into the gyroscope and used for measuring the side inclination angle, the lateral acceleration, the yaw rate and the like of the body of the test vehicle;
The measuring steering wheel is arranged on the steering wheel of the test vehicle and is reinforced so that the steering wheel does not move relative to the steering wheel of the test vehicle, and the measuring steering wheel is used for reading the steering angle of the steering wheel and the torque acted on the steering wheel;
the robot is arranged in the cab and connected with the measuring steering wheel, and does not generate relative movement with the cab. The corresponding data is input to control and measure the rotation speed, angle, torque and the like of the steering wheel;
The data acquisition device is arranged in the cab and can be connected with the equipment according to test requirements to measure a series of parameters such as vehicle running curvature radius, yaw rate, vehicle body side inclination angle, lateral acceleration, vehicle instantaneous speed, steering wheel corner, steering wheel torque, detection time and the like, wherein the vehicle running curvature radius, yaw rate, vehicle body side inclination angle and lateral acceleration are used as test vehicle test results and also used as imported data of the learning end processor, and the parameters such as vehicle instantaneous speed, steering wheel corner, steering wheel torque, detection time and the like can be stored as original data processed after the test according to the test requirements.
The detection personnel state the operation of each step in the preparation work, explain the important steps in detail, the voice information of the detection personnel is collected by the voice acquisition device, and the voice information is sent to the learning end.
The first image acquisition device acquires an image in the cab, sends acquired image information to the image processing device, obtains a three-dimensional operation scene through processing of the image processing device, sends the three-dimensional operation scene to the image display device, and displays the three-dimensional operation scene in a main display area of the image display device.
At the learning end, the voice information of the detection personnel is played at the learning end through a loudspeaker and used as a site instruction in the teaching process, so that the learner can know important details of the operation flow;
The method comprises the steps of learning a preparation work flow of a detection person through voice information played by a loudspeaker and a three-dimensional operation scene displayed by an image display device by a learner, and performing virtual operation of test preparation work in a virtual scene by using a handle, wherein if the problems of wiring errors, inconsistent parameter setting and the like exist in the preparation process, an alarm sends out a visual warning signal and an audible warning signal, and the visual warning signal and the audible warning signal exist all the time until the operation is correct.
And secondly, carrying out a vehicle road dynamic test by a detector, acquiring road condition scene information of the dynamic test by the detector, transmitting the road condition scene information to a learning end in real time, and carrying out dynamic simulation test operation under a simulation scene by the student according to the scene information acquired in real time.
After the intelligent vehicle is ready to work, a professional driver drives the test vehicle and runs the test vehicle to a test road surface according to related requirements to develop a test according to an instruction of a tester, a second image acquisition device acquires scene information such as test environment, road surface information and the like in real time, the scene information is sent to an image processing device, a three-dimensional running scene is obtained through processing of the image processing device, the three-dimensional running scene is sent to an image display device, and the three-dimensional running scene is displayed in a secondary display area of the image display device.
The detection personnel state the operation of each step in the detection process, explain the repeated steps in detail, the voice acquisition device acquires the voice information of the detection personnel and sends the voice information to the learning end.
The invention adopts a high-precision wheel speed sensor to measure the instantaneous wheel speed n of the vehicle, and combines the rolling radius of the vehicle to measure the rolling radius i, thus obtaining more accurate instantaneous speed Vforward of the vehicle, and the calculation formula is as follows:
Vforward=2πi·n;
Because the rolling radius of different vehicles has difference, in order to make the rolling radius value more accurate, the radar velocimeter is adopted to monitor the instantaneous speed of the vehicle before each test, and the value of the rolling radius i is adjusted by measuring the instantaneous speed V of the vehicle by mark of mine to the velocimeter, so that the rolling radius value meets the following requirements:
At the moment, the vehicle instantaneous speed Vfrorward obtained by the high-precision wheel speed sensor is consistent with a radar speed measurement result V.
The detection end acquires the instantaneous speed and the yaw rate of the vehicle to calculate the running curvature radius R of the vehicle:
the Vforward is the instantaneous speed of the vehicle, angRate is the instantaneous angular speed, and the learning end simulation seat adjusts the seat posture of the student according to the running curvature radius value R of the vehicle.
The lateral acceleration a y at each moment is also calculated while adjusting the student's posture in order to make it the same feel:
a y is the instantaneous lateral acceleration, a' y is the lateral acceleration indicated by the acceleration sensor, g is the gravitational acceleration, The roll angle of the vehicle body is collected by a gyroscope.
In the running process of a test vehicle, the information such as the instantaneous speed, yaw rate, vehicle body side inclination angle, lateral acceleration, vehicle running curvature radius and the like of the vehicle are obtained through equipment such as a high-precision wheel speed sensor, a data acquisition device, a gyroscope and the like, the actual instantaneous lateral acceleration, seat side inclination angle and seat deflection angle of a copilot are obtained after the information is processed by a processor, and then the obtained control signals of the seat are obtained.
The auxiliary display area of the image display device is used for displaying the test environment and road surface information in the running process of the test vehicle while controlling the movement of the seat, so that the trainee can feel the feeling of being in the scene.
In the test process, the voice information of the detection personnel is played through the loudspeaker on the seat, so that the learner learns the operation instruction of the detection personnel in the test process.
As shown in fig. 2, in a second embodiment, the present invention further provides a training device for a commercial vehicle road test detection technology, which applies the training method for a commercial vehicle road test detection technology according to the first embodiment, and the training device includes a detection end device and a learning end device;
the detection end equipment comprises an image acquisition device, a detection device and a voice acquisition device;
The image acquisition device (can be a camera) is arranged inside a cab of the test vehicle and comprises a first image acquisition device and a second image acquisition device, wherein the first image acquisition device is fixed on the left side of a headrest of a seat of a copilot and is used for acquiring test operation scenes of detection personnel, and the second image acquisition device is arranged at the upper position of a front windshield and is used for acquiring road condition change scenes in the test process and comprises scene information such as test environments, road surface information and the like.
The detection device comprises a high-precision wheel speed sensor, a gyroscope, a measurement steering wheel, a robot, a data acquisition device and the like;
The high-precision wheel speed sensor is arranged on wheels on two sides of the test vehicle, can measure the precision wheel speed, and is combined with the rolling radius of the vehicle to determine the instantaneous speed of the test vehicle;
the gyroscope is arranged on the rigid structure of the copilot seat, and vehicle parameters and accurate coordinates thereof relative to the test vehicle are input into the gyroscope and used for measuring the side inclination angle, the lateral acceleration, the yaw rate and the like of the body of the test vehicle;
The measuring steering wheel is arranged on the steering wheel of the test vehicle and is reinforced so that the steering wheel does not move relative to the steering wheel of the test vehicle, and the measuring steering wheel is used for reading the steering angle of the steering wheel and the torque acted on the steering wheel;
the robot is arranged in the cab and connected with the measuring steering wheel, and does not generate relative movement with the cab. The corresponding data is input to control and measure the rotation speed, angle, torque and the like of the steering wheel;
The data acquisition device is arranged in the cab and can be connected with the equipment according to test requirements to measure a series of parameters such as vehicle running curvature radius, yaw rate, vehicle body side inclination angle, lateral acceleration, vehicle instantaneous speed, steering wheel corner, steering wheel torque, detection time and the like, wherein the vehicle running curvature radius, yaw rate, vehicle body side inclination angle and lateral acceleration are used as test vehicle test results and also used as imported data of the learning end processor, and the parameters such as vehicle instantaneous speed, steering wheel corner, steering wheel torque, detection time and the like can be stored as original data processed after the test according to the test requirements.
The voice acquisition device is arranged on the right side of the top of the copilot and used for acquiring voice information of a detector.
The learning terminal equipment comprises an image display device, an image processing device, a simulation seat, an operation handle and a loudspeaker;
The image processing device is connected with the image acquisition device through a wireless network and converts the received image information into a three-dimensional scene which can be displayed by the image display device. The output end of the image processing device is connected with the output end of the image display device, and the three-dimensional scene is transmitted to the image display device for display.
The image display device (which can be a VR display screen or VR glasses) is used for receiving the data information transmitted from the image processing device in real time, the image display device presents a virtual scene of the cab and the road information, instruments and equipment required for the automobile road test are arranged in the scene, and the instruments and equipment are used for preparing work before the simulation test of the learner. As shown in fig. 3, the front windshield glass of the virtual scene is set to be a main display area and a secondary display area, the whole front windshield glass range is the main display area for displaying the operation image of the detection personnel in the detection end cab, and the secondary display area is positioned at the right lower corner of the main display area for displaying the road condition scene in the running process of the detection end test vehicle, so that the learner can observe the operation steps of the detection personnel and the road condition change condition in the test process.
The handle is used for enabling a student to conduct corresponding operation according to the operation steps of the detection personnel and in a virtual display scene, and an alarm module is further arranged at the student end and used for giving an alarm when the student has problems of dangerous operation, wrong wiring, inconsistent parameter setting and the like.
The high-precision wheel speed sensor measures the accurate wheel speed, the instantaneous speed of the test vehicle is determined by combining the rolling radius of the vehicle, the gyroscope measures the roll angle, the lateral acceleration, the yaw rate and the like of the vehicle body of the test vehicle, the data acquisition device is connected with the equipment according to the test requirement, and a series of parameters such as the instantaneous speed, the yaw rate, the roll angle, the lateral acceleration, the running curvature radius of the vehicle and the like of the vehicle are acquired and displayed by inputting a required algorithm.
The simulation seat comprises a safety belt, a base, a steering mechanism, a swinging mechanism, a processor and an electric control device, wherein the processor obtains control signals of the simulation seat after data processing according to received information such as the instantaneous speed, the yaw rate, the roll angle, the lateral acceleration, the running curvature radius of the vehicle and the like of the vehicle, and the electric control device controls the seat to incline and rotate according to the control signals, so that the movement of the seat is consistent with that of a copilot seat.
The swinging mechanism and the steering mechanism are used for simulating the conditions of sideslip, rotation and the like caused by the factors of uneven braking force of each shaft, difference of road adhesion coefficients at two sides of wheels and the like in the vehicle test process.
The steering mechanism comprises a steering shaft and a control motor, the lower end of the rotating shaft is connected with the output end of the control motor, the upper end of the rotating shaft is connected with the center of the bottom surface of the base, and the control motor is arranged on the base. The electric control device controls the action of the transmission shaft according to the corresponding signals.
The swinging mechanism comprises a swinging motor, and the swinging motor is arranged below the base and used for controlling the seat to swing.
When the vehicle is running at a constant speed, the seat remains in a stable state.
When the speed is changed
And when the wheel speed sensor detects that the vehicle is accelerated, controlling the simulated seat to accelerate forwards to generate acceleration corresponding to the detection end co-driver seat.
When the test vehicle turns
When the vehicle turns, the simulated seat is controlled to adjust and rotate according to the running curvature radius and the lateral acceleration of the vehicle, the inclination angle is proportional to the lateral acceleration, the instantaneous steering angle of the vehicle is obtained through integral calculation by utilizing the instantaneous speed and the curvature radius of the vehicle when the test vehicle turns, and the rotation angle of the seat is consistent with the steering angle of the vehicle.
And the speakers are arranged at the left and right sides of the upper end of the simulated seat back and are used for receiving and playing the voice information acquired by the voice collecting device in real time.
Specific examples are as follows:
The method is used for learning anti-lock braking performance tests, the detection process relates to various working conditions of different loads, different attachment coefficient pavements and no vehicle speed, the test process is complex, the danger coefficient is high, an N3-class truck is taken as an example, detection end detection personnel carry out preparation work of the test before dynamic test, the detection personnel are correctly connected with equipment such as a high-precision wheel speed sensor, a pressure sensor, a vehicle speed instrument, a data acquisition device and the like, and corresponding parameter settings such as working voltage and range of the pressure sensor, rolling radius of the high-precision wheel speed sensor and the like are carried out. The operation process is collected by the first image collecting device, and the operation instruction is collected by the voice collecting device and transmitted to the learning end in real time.
The learning end image processing device receives and processes the image information of the detection end, the processed image information is displayed in the main display area, and the operation instruction is played through the loudspeaker. The learner sequentially completes corresponding preparation work according to the content of the main display area and the operation instruction. If the learner has the problems of wrong wiring, inconsistent parameter setting and the like in the preparation process, such as wrong parameter setting of the high-precision wheel speed sensor, the alarm sends out a voice prompt and displays a flashing mark image at the left upper corner of the main display area until the learner corrects the error, and the voice prompt and the mark image disappear.
And the test vehicle is ready to work, and a detection end detector runs the test vehicle to a test pavement to develop a test according to the legal requirements. And stopping the vehicle at a departure position, accelerating to a specified speed, driving to a specified road surface, and rapidly braking after reaching the specified road surface to stop the test vehicle. In the process, the detection end detection device collects speed change and steering angle change of the front passenger seat. And transmitting the acquired speed data and steering data to a learning end in real time by the second image acquisition device. The learning end processor obtains actual acceleration, rotation angle and swing value according to the received speed data and steering data, processes the obtained control signal of the seat, and the electric control device controls the seat to incline and rotate according to the control signal, so that the movement of the seat is consistent with that of the co-driver seat.
In the test process, dangerous situations such as sideslip or rotation of the vehicle, which are caused by the problems of uneven braking force of the vehicle, uneven water film on the road surface, failure of ABS and the like, can be met. The learning end can receive the movement data at the same time, and the seat is controlled to complete corresponding movement under the action of the electric control device, so that a student can not be injured under the protection of the safety belt, and can feel the real state in the test process.
Besides the study of the anti-lock braking performance test, the training device and the training method of the commercial vehicle road test detection technology can be also used for teaching the test such as the commercial vehicle electronic stability control system performance test, the curve braking test, the steering force and the steering stability test.
Those of ordinary skill in the art will appreciate that the elements and method steps of each example described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the elements and steps of each example have been described generally in terms of functionality in the foregoing description to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed methods and systems may be implemented in other ways. For example, the above-described division of units is merely a logical function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. The units may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.
It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit the technical solution of the present invention, and although the detailed description of the present invention is given with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention, and all the modifications or substitutions are included in the scope of the claims and the specification of the present invention.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (6)
1. The training method for the commercial vehicle road test detection technology is characterized by comprising the following steps of:
The method comprises the steps that S1, a detection person performs preparation work of a vehicle road test at a detection end, the detection end collects voice information and operation image information of the detection person and sends the voice information and the operation image information to a learning end, the learning end receives and plays and displays the voice information and the operation image information, and a learner simulates operation of the detection person at the learning end and simulates preparation work of the test in a virtual scene;
the preparation work of the vehicle road test at the detection end comprises the steps of test equipment installation, test vehicle parameter setting and test equipment debugging;
A inspector selects a high-precision wheel speed sensor, a gyroscope, a measurement steering wheel, a robot and a data acquisition device for installation according to a test operation rule and test requirements;
The data acquisition device is arranged in the cab and is connected with the equipment according to test requirements, and measures the running curvature radius, yaw rate, vehicle body side inclination angle, lateral acceleration, vehicle instantaneous speed, steering wheel corner, steering wheel torque and detection time parameters of the vehicle, wherein the running curvature radius, yaw rate, vehicle body side inclination angle and lateral acceleration of the vehicle are used as test vehicle test results and also used as the imported data of the learning end processor;
s2, carrying out a vehicle road dynamic test by a detector, acquiring road condition scene information of the dynamic test by the detector, transmitting the road condition scene information to a learning end in real time, and carrying out dynamic simulation test operation under a simulation scene by the student according to the scene information acquired in real time;
In the running process of a test vehicle, the instantaneous speed, yaw rate, side inclination angle, side acceleration and running curvature radius information of the vehicle are obtained through a high-precision wheel speed sensor, a data collector and a gyroscope, the actual instantaneous side acceleration and seat side inclination angle of a copilot are obtained after the information is processed by a processor, the seat deflection angle is obtained, and further the control signal of the simulation seat is obtained, and an electric control device controls the inclination and rotation of the simulation seat according to the control signal, so that the motion of the simulation seat is consistent with that of the copilot, and a learner can feel the motion condition of the vehicle in the test process;
When the dangerous situations of sideslip or rotation of the vehicle caused by uneven braking force of the vehicle, uneven water film on the road surface and failure of the ABS are encountered in the test process, the learning end receives motion data at the same time, and controls the simulation seat to complete corresponding motion under the action of the electric control device;
The method further comprises the steps of:
The high-precision wheel speed sensor is adopted to measure the instantaneous wheel speed n of the vehicle, the rolling radius i is measured by combining the rolling radius of the vehicle, and the more accurate instantaneous speed Vforward of the vehicle is obtained, wherein the calculation formula is as follows:
Vforward=2πi·n;
Because the rolling radius of different vehicles has difference, in order to make the rolling radius value more accurate, the radar velocimeter is adopted to monitor the instantaneous speed of the vehicle before each test, and the value of the rolling radius i is adjusted by measuring the instantaneous speed V of the vehicle by mark of mine to the velocimeter, so that the rolling radius value meets the following requirements:
at the moment, the vehicle instantaneous speed Vfrorward obtained by the high-precision wheel speed sensor is consistent with a radar speed measurement result V;
the detection end acquires the instantaneous speed and the yaw rate of the vehicle to calculate the running curvature radius R of the vehicle:
wherein, vforward is the instantaneous speed of the vehicle, angRate is the instantaneous angular speed, and the learning end simulation seat adjusts the seat posture of the learner according to the running curvature radius value R of the vehicle;
The lateral acceleration a y at each moment is also calculated while adjusting the student's posture in order to make it the same feel:
a y is instantaneous lateral acceleration, a ′ y is lateral acceleration indicated by an acceleration sensor, g is gravitational acceleration, phi is vehicle body roll angle and is acquired by a gyroscope.
2. The method for training a road test detection technique for a commercial vehicle according to claim 1, wherein the step S1 further comprises the steps of:
after the debugging work is finished, the detection personnel state the operation of each step in the preparation work, explain the repeated steps in detail, the detection end collects the voice information of the detection personnel and sends the voice information to the learning end;
the detection end collects operation images in a test vehicle cab, performs data processing on the collected operation image information, and displays the processed operation image information in a three-dimensional operation scene mode.
3. The method for training the road test detection technique for the commercial vehicle according to claim 2, wherein the step S1 further comprises the steps that the learner learns the preparation work flow of the detection staff according to the played voice information and the displayed three-dimensional operation scene, and performs the virtual operation of the test preparation work in the virtual scene.
4. The training method for the road test detection technology of the commercial vehicle according to claim 1, wherein the step S2 specifically comprises the following steps:
after the test vehicle is ready to work, the test vehicle is driven to a test pavement to carry out a test;
The method comprises the steps that a detection end collects dynamic test road condition scene information, data processing is conducted on the scene information to obtain a three-dimensional driving scene, and the three-dimensional driving scene is displayed;
The detection personnel state the operation of each step in the detection process, explain the heavy point steps in detail, the detection end collects the voice information of the detection personnel and sends the voice information to the learning end, the learner learns the operation instruction of the detection personnel in the test process, performs virtual operation and simulates the running condition of the vehicle in the experience test process.
5. A commercial vehicle road test detection technique training apparatus applying the commercial vehicle road test detection technique training method according to any one of claims 1 to 4, characterized in that the training apparatus comprises a detection end device and a learning end device;
The detection end equipment comprises a first image acquisition device, a second image acquisition device, a detection device and a voice acquisition device, wherein the first image acquisition device is used for acquiring test operation scene information of a detection person, the second image acquisition device is used for acquiring road condition change scene information in the test process, the detection device is used for detecting speed change and steering angle change of a copilot and transmitting acquired speed data and steering angle data to the learning end equipment, and the voice acquisition device is used for acquiring voice information of the detection person;
The learning terminal equipment comprises an image display device, an image processing device, a simulation seat, an operation handle and a loudspeaker, wherein the image processing device is connected with the image acquisition device through a wireless network, the received image information is converted into a three-dimensional scene which can be displayed by the image display device, a learner performs corresponding operation in the virtual display scene by utilizing the operation handle according to the operation steps of a detection person, the simulation seat is used for simulating a road condition scene in the test process, and the loudspeaker is used for receiving and playing the voice information acquired by the voice acquisition device in real time.
6. The training device for the road test detection technology of the commercial vehicle according to claim 5, wherein the simulated seat comprises a safety belt, a base, a steering mechanism, a swinging mechanism, a processor and an electric control device;
The processor obtains actual acceleration, steering angle and swing value according to the received speed data and steering angle data, processes the control signals of the simulation seat, and the electric control device controls the simulation seat to incline and rotate according to the control signals so that the motion of the simulation seat is consistent with that of the copilot seat;
the swinging mechanism and the steering mechanism are used for simulating the state change of the vehicle in the vehicle test process, and sideslip and rotation conditions caused by uneven braking force of each shaft and different factors of road surface adhesion coefficients on two sides of wheels;
The steering mechanism comprises a steering shaft and a control motor, the lower end of the steering shaft is connected with the output end of the control motor, the upper end of the steering shaft is connected with the center of the bottom surface of the base, the control motor is arranged on the base, and the electric control device controls the steering shaft to act according to corresponding signals;
The swinging mechanism comprises a swinging motor, and the swinging motor is arranged below the base and used for controlling the simulation seat to swing.
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