Automated moving platform
This disclosure describes systems and methods used in the development and validation of autonomous vehicles ability to track objects with sensors. This application describes a self-propelled autonomous platform and methods for carrying a pedestrian, cyclist or vehicular type target in a predetermined pattern during one or more testing runs. The self-propelled autonomous platform includes a sensor configured to retract within a platform housing of the self-propelled autonomous platform when being driven over during a test run.
1. A self-propelled platform, comprising:
a plurality of wheels;
a motor configured to drive at least one of the plurality of wheels;
a platform housing comprising a support surface configured to carry at least one target and a sloped periphery configured to accommodate passage of an autonomous vehicle over the platform housing; and
a suspension comprising a plurality of springs coupling the plurality of wheels to the platform housing, the plurality of springs configured to transition the platform from a first state to a second state in response to a threshold amount of weight being applied to the platform housing, wherein the platform housing is lower in the second state than it is in the first state.
2. The self-propelled platform of claim 1 , further comprising a retractable sensor, wherein the retractable sensor protrudes from the platform housing when the suspension is in the first state and is retracted within the platform housing when the suspension is in the second state.
3. The self-propelled platform of claim 2 , wherein the retractable sensor is mechanically coupled to one of the plurality of wheels by a spring and at least one linkage.
4. The self-propelled platform of claim 2 , wherein the retractable sensor comprises an optical sensor.
5. The self-propelled platform of claim 2 , wherein the retractable sensor comprises a LiDAR sensor.
6. The self-propelled platform of claim 2 , wherein the retractable sensor is a first retractable sensor and the self-propelled platform further comprises a second retractable sensor facing in a different direction than the first retractable sensor.
7. The self-propelled platform of claim 2 , further comprising a motor configured to transition the retractable sensor between the protruding position and the retracted position based on a determined proximity of the autonomous vehicle to the self-propelled platform.
8. The self-propelled platform of claim 1 , wherein the sloped periphery of the platform housing and the plurality of wheels are in direct contact with a surface upon which the self-propelled platform rests when the self-propelled platform is in the second state.
9. The self-propelled platform of claim 1 , wherein the suspension comprises a rigid chassis coupled to each wheel of the plurality of wheels, wherein the chassis is coupled to the platform housing by the plurality of springs.
10. The self-propelled platform of claim 1 , wherein a first wheel of the plurality of wheels is coupled to the platform housing by a first spring of the plurality of springs and a second wheel of the plurality of wheels is coupled to the platform housing by a second spring of the plurality of springs.
11. The self-propelled platform of claim 1 , wherein the threshold amount of weight is between 25 kg and 75 kg.
12. The self-propelled platform of claim 1 , further comprising a weight on wheels sensor configured to distinguish between the first state and the second state, wherein the motor is configured to cease operation in response to sensor data from the weight on wheels sensor indicating the self-propelled platform is in the second state.
13. The self-propelled platform of claim 1 , wherein the motor is a first motor and the self-propelled platform further comprises a second motor configured to drive a second wheel of the plurality of wheels, wherein the first motor is configured to drive a first wheel of the plurality of wheels independent from the second motor.
14. The self-propelled platform of claim 13 , wherein a drive axis of the first motor is aligned with an axis of rotation of a first wheel of the plurality of wheels.
15. The self-propelled platform of claim 1 , wherein in the first state the self-propelled platform has an overall height of less than 8 cm.
16. The self-propelled platform of claim 1 , wherein an outside surface of the platform housing comprises at least one permanent magnet configured to secure a target with a magnetically attractable plate or magnet to the platform housing.
17. The self-propelled platform of claim 16 , wherein the target is shaped to simulate a pedestrian or cyclist.
18. The self-propelled platform of claim 1 , further comprising a wireless communication module configured to receive commands that change a movement route of the self-propelled platform.
19. The self-propelled platform of claim 1 , further comprising:
a retractable sensor, wherein the retractable sensor protrudes from the platform housing when the suspension is in the first state and is retracted within the platform housing when the suspension is in the second state;
a motor configured to transition the retractable sensor between the protruding position and the retracted position; and
a wireless communication module configured to receive commands that direct the motor to transition the retractable sensor between the protruding and retracted positions.